A wide array of rotational speeds is usually attained because the speed is proportional to input pulse frequency General guideline: Use microstepping for easy motion; rely on whole methods for place precision; confirm real position with sensors for significant applications. On this context, the stepper motor plays a strategic function: https://guidegreg56.bloggazza.com/38793974/analysis-of-phase-sequences-in-a-four-wire-stepper-motor