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.
A unipolar stepper motor has one winding with center tap per phase. Each section of windings is switched on for each direction of magnetic field. Since in this arrangement a magnetic pole can be reversed without switching the direction of current, the commutation circuit can be made very simple (e.g., a single transistor) for each winding. Typically, given a phase, the center tap of each winding is made common: giving three leads per phase and six leads for a typical two phase motor. Often, these two phase commons are internally joined, so the motor has only five leads.
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