After initialization, motion with constant target velocity position is just a write into one register of the TMC429. The TMC429 takes care concerning acceleration, and velocity, and micro step generation. Moving with target velocity of the TMC429 is called VELOCITY_MODE. There is an additional mode called HOLD_MODE available, where the TMC429 immediately follows the programmed velocity. This mode is intended for software control of motion profiles where the TMC429 takes care concerning real time step generation.