Synchronous rectification during the off-time of the internal constant current control reduces power being dissipated from the output transistors, lowering the temperature of the A3987, improving reliability and eliminating the need for expensive external Schottky diodes. Low on resistance, RDS(ON) of the output power switches reduces power dissipation improving reliability and allowing higher average output currents for greater systems performance. The automatic slow and mixed PWM decay modes that are incorporated into the Step and Direction translator offer improved micro-stepping positional accuracy and reduced audible noise. Finally, a sleep mode that has savings and lowers system energy costs.