The voltage mode allows the design of a stall detection. As explained previously, the Back EMF must be compensated and the faster the motor spins the higher the applied voltage is in order to get a stable current. If the motor stalls, the Back EMF is not present anymore but the powerSTEP01 continues to apply the same voltage. This triggers an increase in the current that is detected. The stall detection threshold is programmable. Based on the characteristics of the motor and the speed of the motor, a stall detection threshold can be calculated. If the current is above this threshold, that means the motor is stalled.