An apparatus and method for digitally detecting a tracking error signal using multiple phase clocks. The current applied to the coils assembling is stopped during a passive phase in order to complete a rotary motion based primarily to the magnetic relation between the static body and the movable body, more particularly the magnetic relation between the coils assembling and the permanent magnets in order to reduce the heat and energy consumption and therefore increasing the motor life. The cartridge housing is an open bay on the tool, and is adapted to receive cartridges which allow the user to fire non-lethal rounds such as bean bags, rubber balls, O.