The L6470 can be configured to operate the stepper motor for full step, half step or microstepping operation with up to 128 microsteps per step using voltage mode drive for the microstepping. Most microstepping controls today operate in current mode because this mode compensates for variations in power supply voltage and back EMF of the motor to keep the motor torque constant. However, voltage mode has been shown to create smoother operation of the motor. Voltage mode also eliminates the need for a current sensing resistor and the associated current control circuit.