Chapter 6 - Hardware Reference

6-10

S21, S22, S23 Hybrid Step Motor Specifications

Electri cal 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-s2 [kg-m2] 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]
Moto r Weigh t lbs [k g ] 1.6 [0 . 7 3 ] 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