The L6474 runs in current mode control, meaning the system forces the current in the motor and the current in the bridge is directly monitored. The L6470 runs in voltage mode control,  which means that a voltage is applied to the system, and knowing the specifications of the system such as BEMF, resistance and the inductance of the motor, the current going through the coils is known, but the current is not directly monitored. As the L6474 runs in current mode control, the highest number of microsteps is sixteen. This is limited by the ripples at a given current. The voltage mode is much smoother and the system runs with a true 128 microsteps. EasySPIN calculates all of the current levels, but then a clock must be provided to the chip to proceed to the next microstep and then create the speed profile. The L6470 integrates a speed profile, the microcontroller will send a command requesting to go from point A to point B, and the L6470 will perform all the actions. Auto-adjusted decay mode was previously discussed and is an advantage of the L6474 in current mode control. The L6470 operates with voltage mode control, and the decay is automatic. This is an advantage of this mode, no need to take care of it. Another added value of the L6470 is stall detection.