Abstract: A process for characterizing the motion of a synchronous motor in microstep mode to achieve desired precise velocity motion at the final output. The motor velocity is directly proportional to the frequency of the microstep excitation pulses which control the rate of change of sine/cosine motor currents. The motor is initially operated at normalized frequency by means of a digital memory which controls a microstep clock pulse rate. Velocity and position errors at discrete locations are then determined and frequency correction terms are inserted into the memory at a predetermined time before the correction is to take effect on the motor. Also disclosed is apparatus for controlling the operation of the motor with the thus created characterization enhanced memory. The operating apparatus includes means to devise sine and cosine signals which always remain in synchronism and through which the signals from the memory are applied to the quadrature windings of the motor.