Bipolar motors have a single winding per phase. The current in a winding needs to be reversed in order to reverse a magnetic pole, so the driving circuit must be more complicated, typically with an H-bridge arrangement "however there are several off-the-shelf driver chips available to make this a simple affair". There are two leads per phase, none are common.Static friction effects using an H-bridge have been observed with certain drive topologies.
An additional limitation, often comparable to the effects of inductance, is the back-EMF of the motor. As the motor rotor turns, a sinusoidal voltage is generated proportional to the speed (step rate). This AC voltage is subtracted from the voltage waveform available to induce a change in the current.
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