Baby Lock has a basic Palette PTS available.
http://babylock.com/software/palette-pts/
Brother has a Ped Basic also.
http://www.brother-usa.com/HomeSewin...ftwarePED.aspx
I have seen the Brother for around $100 on ebay. Both include software, card, etc to transfer from your computer to the machine.
Should have added both are for the pes format.
One of the strong points about Brother and Baby Lock is both use the pes format and have lots of things that are interchangeable.