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Stepper motors are ‘slower’ than DC motors and servos. As we will see in the next section each ‘step’ creates a physical movement. This movement has to finish before you can generate another step. So there is a maximum frequency at which you can generate steps. If you exceed this frequency then it will probably mean that the motor just fails to turn. So before you buy a stepper motor then make sure you know its ‘frequency’ as this will dictate the maximum speed (in revolutions per minute) that you can run the motor– see my practical example later.
You may, by now, think that a stepper motor means you can do without an encoder – but you still need to consider errors caused by skidding, or momentum, etc as mentioned earlier.