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.
Servomotors are used for both high-end and low-end applications. On the high end are precision industrial components that use a rotary encoder. On the low end are inexpensive radio control servos (RC servos) used in radio-controlled models which use a free-running motor and a simple potentiometer position sensor with an embedded controller. The term servomotor generally refers to a high-end industrial component while the term servo is most often used to describe the inexpensive devices that employ a potentiometer. Stepper motors are not considered to be servomotors, although they too are used to construct larger servomechanisms. Stepper motors have inherent angular positioning, owing to their construction, and this is generally used in an open-loop manner without feedback. They are generally used for medium-precision applications.
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