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Chapter 6 - Hardware Reference
6-10
S21, S22, S23 Hybrid Step Motor Specifications
Electrical Specs. S21T S21V S22T S22V S23T S23V
Continuous Stall Torque oz-in [N-m] 65 [0.46] 100 [0.71] 125 [0.88]
Recommended Current/Phase Amps 1.05 2.1 1.5 3.0 1.75 3.5
Winding Resistance @ Ambient Ohms 5.4 1.35 4.8 1.2 4.4 1.1
Inductance mH 18 4.5 18 4.5 18 4.5
Max. Winding Temperature °F [°C] 212 [100] 212 [100] 212 [100]
Mechanical Specs.
S21T S21V S22T S22V S23T S23V
Rotor Inertia oz-in-s
2
[kg-m
2
] 1.66x10
-3
[1.17x10
-5
] 3.31x10
-3
[2.34x10
-5
] 4.97x10
-3
[3.51x10
-5
]
Axial Shaft Load lbs [N] 25 [111] 25 [111] 25 [111]
Radial Shaft Load @ 0.5 inches lbs [N] 5.6 [25] 5.6 [25] 5.6 [25]
Motor Weight lbs [kg] 1.6 [0.73] 2.4 [1.1] 3.2 [1.5]
Step Angle (full step) degrees 1.8 1.8 1.8
Notes:
• T = Series V = Parallel
• Parallel (V) wiring: 50% duty cycle
max above 5 rps (300 rpm).
• IDC step motors require a torque
safety margin of at least 30%.
.002
A
A
.003
.002
A
IDC Motor Wiring
Series
YELLOW
WHT/YEL
WHT/RED
RED
SHIELD
BLACK
WHT/BLK
WHT/ORG
ORANGE
Parallel
YELLOW
WHT/RED
RED
WHT/YEL
SHIELD
BLACK
WHT/ORG
ORANGE
WHT/BLK