From 1997–2000, the E39 model range in North America consisted of the 528i, 540i, and M5. In 2001, the 528i was discontinued and replaced by the 525i and 530i. With the E39, two steering types and double pivot, MacPherson strut suspensions systems are used. For the 520i–530i models, BMW, for the first time in a 5 series, utilised rack and pinion steering. This not only offers weight reductions over the recirculating ball type used on the V8s, but also provides quicker steering response through its variable ratio, as well as a more precise feel. This system steers from the front of the axle. Various engine sizes and configurations have been available. The North American market saw the 525i, 528i, 530i, 540i and M5. The European range was however, more diverse, with BMW offering the 520i, 523i, 525i, 528i, 530i, 535i, 540i, 525tds, 520d (the only four-cylinder 5-Series engine on this generation), 525d, 530d and M5.