In the speed mode, the user can set the operating speed and then command the device to run at that speed. The L6470 will accelerate to the set speed and run at constant speed until commanded to stop. If the speed is changed and the device commanded to run at a new speed, the L6470 will accelerate to, or decelerate to, the new speed and run at that speed until it receives a new command. In the positioning mode commands can be sent to move forward or reverse a fixed number of steps, or to move to a fixed absolute position.  In either case the L6470 will execute the movement by accelerating, running at constant speed and decelerating back to zero, finishing at the commanded position. If the user sends a command to move 12,800 microsteps forward, which corresponds to one hundred steps of 128 microsteps, it will move one half of a rotation forward. It is also possible to reverse the direction and have it move one half rotation reverse, or it can be set for five full rotations forward.