Speed can be varied by either changing the voltage or pulsing the motor. Most computer controlled DC motors are pulsed. Pulses of a fixed voltage are sent to the motor, usually by an Electronic Speed Controller or ESC. A pulse of 1.5 ms causes no motion. Wider pulses cause faster spinning in one direction. Shorter pulses cause faster spinning in the opposite direction. Eventually, an overstressed ESC stops pulsing and turns one wire on and one wire off, depending on the direction.
Dithering the stepper signal at a higher frequency than the motor can respond to will reduce this "static friction" effect. Because windings are better utilized, they are more powerful than a unipolar motor of the same weight. This is due to the physical space occupied by the windings.
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