To achieve the high accuracy in the positioning and the smoothness in the motion, control of the average current, which is proportional to the torque and responsible for the positioning, must be improved. With traditional techniques based on current sensing, several inaccuracies are present. The transition from one step to the next is abrupt, thus giving a noisy and jerky motion. The current is detected with a peak control, not average, thus reducing the accuracy in positioning. The frequency of the PWM is not constant and can create some audio noise. The L6480 control technique eliminates these drawbacks: the motor is driven with a sinusoidal voltage waveform, the current does not need to be measured, the transition from one step to the next is softer and silent since the voltage duty cycle of the waveform is easily and perfectly controlled. This is why users can achieve a resolution of 128 microsteps, which is not possible using a current sensing technique.