This slide summarizes the trade-offs between voltage and current mode. In the voltage mode there are 128 microsteps and good smoothness at low speed. Stall detection can be implemented easily with the voltage mode. The voltage mode works in an open loop as the current is not monitored, no shunt resistor is required. In high current applications, as all the current goes through the shunt resistors, expensive high power shunts are required. This also creates a large amount of power to dissipate on the board. The current mode controls the torque at high speed better and is also less sensitive to vibration. Depending on what the customer wants to do, one mode will be better than the other one for a particular application. Obviously some designers want to have the best of both worlds, and up to now they had to choose one part number for each mode; the powerSTEP01 can be programmed to work in both modes.