Servo motors are usually mounted on a circuit board. Some have two wires traveling to the circuit board much like between a DC motor and ESC. Attached to the board are wires for motor power and again three wires going to the arduino, the same three wires mentioned above.
They are not controlled through a circuit board or ESC. They have to be connected to the arduino through a motor shield or custom built circuit. They are typically the most expensive. Stepper motors can have 4, 5, 6, or 8 wires. To use them with the arduino, understanding the internal wiring is absolutely necessary. The best way to learn the internal wiring is to assume no manual exists, and "discover" the internal wiring.
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