In the previous slides, the current mode was presented. In this mode, the current is directly measured and actions are performed based on this measurement. The second method is the voltage mode, in which the current is not measured. Shown on the left side of this slide is the schematic of a stepper motor; VPH is the voltage applied to the motor, Rm the resistance of the motor, Lm the inductance of the motor, and the Back EMF of the motor. On the right is the vector representation of the system. The principle of the voltage mode is, knowing the fixed values of BEMF, resistance, and inductance of the motor, and having a target current, the voltage to apply is calculated to reach the target current.