Voltage mode control also brings outstanding performance: the sine wave profile is more accurate than with current control mode, being more accurate allows a true 128 microsteps vs. sixteen microsteps for the current mode, and 128 microsteps allows for more accurate positioning and less resonance, mechanical noise, and vibrations at low speed. This can be summarized as a much smoother operation. The dSPIN is a full digital implementation allowing generation of speed profile and featuring stall detection.