The basic configuration for the stepper motor includes a permanent magnet on its rotor and coils on the stator. A rotating magnetic field is generated by applying alternating positive and negative currents to the stator coils. The most common configuration of a stepper motor in use today is a two phase bipolar driven motor. This motor needs an H-Bridge to drive each of the two phases. The stepper is a synchronous machine and the rotational speed is directly controlled by the rate at which the currents in the stator are changed.