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Help on stepper motor types and related driver chips? Answered

I have a pair of stepper motors, one with 4 wires(brown, black, yellow, orange) and the other with 5(black, brown, yellow red, orange) they are both from a printer and I want to be able to use them with Mach3 via the parallel port, what chips might I need to use to do this?

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The L293D is commonly used for this.  It's an H-bridge chip which allows you to reverse the polarity through the windings whereas the ULN2003 doesn't and is more suitable for the 5 wire type.
Both these chips only do the power switching - You'll need to generate the control waveforms in software.

The problem with that datasheet is there is no pinout to help me.

Put a resistance meter across the wires.  There will be two separate coils in there.  Connect one coil across one half of the H-bridge and the other to the other half.  Direction is a matter of trial and error but just reverse the pulse train to reverse the motor.