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When comparing NEMA 17, NEMA 23, and NEMA 34 stepper motors, we focus on performance-critical factors such as torque output, physical size, power requirements, and real-world application suitability. The NEMA standard defines the motor's mounting faceplate dimensions, not its electrical or torque performance. However, in practical engineering and industrial usage, NEMA size strongly correlates with torque capacity, current handling, and mechanical strength.
As stepper motor manufacturers and system integrators, we evaluate these three NEMA frame sizes from a performance-driven and application-oriented perspective, helping engineers, OEMs, and automation designers select the optimal motor for their motion control systems.
Stepper motor torque scales with:
Stator size
Magnetic flux density
Rotor inertia
Winding design
Rated current and voltage
Larger NEMA sizes typically deliver higher holding torque, better resistance to load variation, and improved stability at low speeds. However, they also require more space, higher power, and stronger mechanical structures.
Faceplate size: 42 × 42 mm
Typical holding torque: 30–80 N·cm
Rated current: 0.8–2.0 A
Voltage range: 2–6 V (coil rated)
Shaft diameter: 5 mm
NEMA 17 stepper motors excel in precision positioning, low inertia systems, and compact mechanical designs. Their smaller rotor mass enables faster acceleration and deceleration, making them ideal for applications where speed response and positioning accuracy matter more than brute force.
With microstepping drivers, NEMA 17 motors deliver smooth motion control and reduced resonance, even in open-loop systems.
3D printers and desktop CNC machines
Medical instruments
Laboratory automation
Camera sliders and optical positioning systems
Small robotic arms
Low power consumption
Compact and lightweight
Cost-effective for high-volume production
Excellent compatibility with embedded controllers
Limited torque for heavy loads
Reduced performance at higher speeds
Not suitable for industrial-duty cycles
Faceplate size: 57 × 57 mm
Typical holding torque: 120–300 N·cm
Rated current: 2.0–4.5 A
Voltage range: 3–8 V (coil rated)
Shaft diameter: 6.35–8 mm
NEMA 23 stepper motors represent the most widely used industrial stepper motor size. They provide a strong balance between torque, speed, and size, making them suitable for both desktop and light industrial automation.
Compared to NEMA 17, NEMA 23 motors maintain higher torque at mid-range speeds, especially when paired with high-voltage stepper drivers.
CNC milling machines
Laser cutting and engraving systems
Pick-and-place equipment
Packaging automation
X-Y gantry systems
Strong torque-to-size ratio
Broad availability of drivers and accessories
Suitable for continuous-duty operation
Easy integration with gearboxes and brakes
Higher power consumption than NEMA 17
Requires robust power supply and cooling
Larger footprint in compact systems
Faceplate size: 86 × 86 mm
Typical holding torque: 400–1200 N·cm
Rated current: 4.0–8.0 A
Voltage range: 4–12 V (coil rated)
Shaft diameter: 12–14 mm
NEMA 34 stepper motors are designed for high-load, high-inertia, and industrial-grade applications. Their large stator and rotor assemblies generate exceptional holding torque and strong resistance to external disturbances.
These motors perform best at low to medium speeds, where torque stability and positional rigidity are critical.
Industrial CNC routers
Plasma cutting machines
Heavy conveyor systems
Textile and printing machinery
Large robotic positioning platforms
Extremely high torque output
Excellent load-holding capability
Suitable for harsh industrial environments
Compatible with closed-loop stepper systems
Large size and high weight
Higher system cost
Requires industrial-grade drivers and power supplies
| Parameter | NEMA 17 | NEMA 23 | NEMA 34 |
|---|---|---|---|
| Holding Torque | 30–80 N·cm | 120–300 N·cm | 400–1200 N·cm |
| Frame Size | 42 mm | 57 mm | 86 mm |
| Typical Current | ≤2.0 A | 2.0–4.5 A | 4.0–8.0 A |
| Weight | ~0.3 kg | ~1.0 kg | 3–6 kg |
| Application Level | Light-duty | Medium-duty | Heavy-duty |
Selecting the correct stepper motor frame size is best achieved by aligning application requirements with motor performance characteristics. Below, we outline clear, application-driven recommendations for NEMA 17, NEMA 23, and NEMA 34 stepper motors, focusing on load conditions, duty cycles, precision needs, and system scale.
Recommended for systems prioritizing compact size, precision, and low power consumption.
NEMA 17 stepper motors are ideal when space is limited and loads are relatively light. Their lower rotor inertia allows for rapid acceleration, making them well-suited for applications that require fine positioning accuracy rather than high torque.
Desktop 3D printers
Small CNC engravers
Medical and laboratory instruments
Optical alignment systems
Consumer robotics and smart devices
Compact mechanical footprint
Excellent microstepping smoothness
Low heat generation
Cost-efficient for high-volume OEM projects
High axial loads, large gantries, or continuous industrial duty cycles are involved.
Recommended for balanced performance between torque, speed, and system flexibility.
NEMA 23 stepper motors are the most versatile choice for general automation. They provide enough torque for mechanical transmission systems while maintaining manageable size and cost. This makes them a standard selection for industrial and semi-industrial motion platforms.
CNC milling and routing machines
Laser cutting and engraving equipment
Pick-and-place automation
Linear actuators and X-Y gantry systems
Packaging and labeling machinery
Strong torque-to-size ratio
Broad compatibility with gearboxes and brakes
Stable performance at medium speeds
Suitable for both open-loop and closed-loop control
Very high inertia loads or extreme torque margins are required.
Recommended for high-load, high-inertia, and industrial-grade motion systems.
NEMA 34 stepper motors are designed for applications where torque stability, rigidity, and reliability are critical. Their large stator and rotor assemblies deliver exceptional holding torque, making them suitable for demanding mechanical environments.
Industrial CNC routers
Plasma and waterjet cutting machines
Heavy conveyor and material handling systems
Textile, printing, and woodworking machinery
Large robotic positioning platforms
Very high torque output
Excellent load-holding capability
Long service life under continuous operation
Ideal for closed-loop stepper systems
Compact design, low power consumption, or lightweight construction is a priority.
Choose NEMA 17 for compact, precise, low-load motion systems
Choose NEMA 23 for general automation and CNC applications
Choose NEMA 34 for industrial, high-torque, heavy-load equipment
By matching motor frame size to real-world application demands, system designers achieve higher efficiency, improved reliability, and optimized cost-performance ratios across their motion control solutions.
Larger motors demand:
Higher current-rated stepper drivers
Increased DC bus voltage for speed performance
Adequate thermal management
Shielded cabling to reduce EMI
For NEMA 34 systems, we strongly recommend digital or closed-loop stepper drivers to optimize torque utilization and minimize energy loss.
When selecting a stepper motor, understanding closed-loop and open-loop operation is critical, as it directly impacts performance, accuracy, and system reliability. The choice between these control methods depends on the motor size, load requirements, and application complexity.
Open-loop control is the most common method for stepper motors, where the controller sends step pulses to the motor driver without feedback on the rotor’s actual position.
Simple and cost-effective
Requires no encoder or position sensor
Works well for low to medium torque applications
Limited error detection—risk of missed steps under heavy load
NEMA 17 motors in compact 3D printers
Small CNC machines with low inertia loads
Light-duty automation where torque margins are adequate
Lower system cost
Simplified wiring and control logic
Sufficient for most precision tasks under controlled load
Can lose steps under sudden load changes
Reduced performance in high-torque, high-inertia applications
No automatic correction for positional errors
Closed-loop control integrates a feedback sensor (typically an encoder) to monitor the rotor position in real-time. The controller adjusts current and step pulses to maintain accurate positioning, effectively combining the simplicity of stepper motors with the reliability of servo systems.
Real-time monitoring and correction of motor position
Improved torque performance and dynamic response
Reduced heat and energy consumption by optimizing current
Capable of handling heavier loads and high-inertia systems
NEMA 23 motors in mid-sized CNC and automation systems
NEMA 34 motors in industrial, high-torque machinery
Applications requiring precise position verification and fault detection
Eliminates missed steps and reduces mechanical stress
Higher efficiency through adaptive current control
Supports complex motion profiles and high-speed operation
Ideal for systems with variable loads or external disturbances
Higher system cost due to encoders and advanced drivers
Slightly more complex wiring and setup
Requires compatible closed-loop drivers for full benefit
| NEMA Size | Typical Control | Reasoning |
|---|---|---|
| NEMA 17 | Open-loop | Low torque and light loads make feedback unnecessary |
| NEMA 23 | Open-loop or Closed-loop | Moderate loads may benefit from closed-loop for precision |
| NEMA 34 | Closed-loop | High torque and industrial loads require real-time position correction |
Choosing the appropriate control method ensures that the stepper motor operates at peak efficiency, maintains positional accuracy, and prevents mechanical failures under dynamic load conditions. Closed-loop systems are increasingly preferred for industrial and heavy-duty automation, while open-loop remains sufficient for light-duty and compact designs.
NEMA 17 delivers compact precision for light loads
NEMA 23 offers the best balance of torque and flexibility
NEMA 34 provides industrial-grade performance for demanding applications
Selecting the correct NEMA size ensures optimal performance, system stability, and long-term reliability.
