Zeta, S, ES Series Step Motors Discontinued & Suggested Replacements
- Perla Madrigal (Unlicensed)
- James Wiley
- Eric Rojas (Unlicensed)
- Corey Boyles
Bulletin SD1471 The S, ZETA and ES series stepper motors were discontinued in 2022.
These were all the same step motors and had a 10-foot cable as standard. The ZETA motor came with a ZETA drive connector on the end (screw-terminal), the S motor came with a S drive connector on the end, and the ES step motor had no connector.
Basic Parts numbers
ES21B-DNR10 | S57-51-MO | ZETA57-51-MO | ZETA57-51 |
ES22B-DNR10 | S57-83-MO | ZETA57-83-MO | ZETA57-83 |
ES23B-DNR10 | S57-102-MO | ZETA57-102-MO | ZETA57-102 |
ES31B-DNR10 | S83-62-MO | ZETA83-62-MO | ZETA83-62 |
ES32B-DNR10 | S83-93-MO | ZETA83-93-MO | ZETA83-93 |
ES33B-DNR10 | S83-135-MO | ZETA83-135-MO | ZETA83-135 |
OEM83-62-MO | OEM83-62-MO-DS34 |
OEM83-93-MO | OEM83-93-MO-DS34 |
OEM83-135-MO | OEM83-135-MO-DS34 |
All custom products based on the above parts are also discontinued, for example:
CP*S57-51-XXXXX CP*ZETA57-51-XXXXX CP*ES21B-XXXXX
Suggested Replacements
The HV motors are the best choice for replacing the ES/ZETA/S motors, offering higher torque, better lead times and more competitive pricing. Below is a recommended cross-over chart to the closest equivalent HV motor. Rated current of the motor should be reviewed against the available current from the stepper drive. Speed torque curves linked below should be compared to evaluate potential performance differences.
ES/ZETA/S Motor specifications and Speed Torque Curves
LV/HV Stepper Motor Specifications and Speed Torque Curves
HV Crossover Chart
This chart shows the ES, S, and ZETA motor with shared characteristics along with the recommended HV replacement. See the notes column and associated footnotes that summarize mechanical differences
Description | ES | S | ZETA | HV | Notes |
|---|---|---|---|---|---|
231, double shaft, flat | ES21B-DFR10 | S57-51-MO-F | HV231-02-10 | ||
231, double shaft, key, encoder | ES21B-DKR10-EC | CP*HV231-02-10-EC | 3,4 | ||
231, double shaft | ES21B-DNR10 | S57-51-MO | ZETA57-51-MO | HV231-02-10 | 1 |
231, double shaft, encoder | ES21B-DNR10-EC | S57-51-MO-E | ZETA57-51-MO-E | CP*HV231-02-10-EC | 1,4 |
231, single shaft, flat | ES21B-SFR10 | HV231-01-10 | |||
231, single shaft | ES21B-SNR10 | S57-51-MO-S | ZETA57-51-MO-S | HV231-01-10 | 2 |
232, double shaft, flat | ES22B-DFR10 | S57-83-MO-F | ZETA57-83-MO-F | HV232-02-10 | |
232, double shaft, flat, encoder | ES22B-DFR10-EC | CP*HV232-02-10-EC | 4 | ||
232, double shaft | ES22B-DNR10 | S57-83-MO | ZETA57-83-MO | HV232-02-10 | 1 |
232, double shaft, encoder | ES22B-DNR10-EC | S57-83-MO-E | ZETA57-83-MO-E | CP*HV232-02-10-EC | 1,4 |
232, single shaft, flat | ES22B-SFR10 | HV232-01-10 | |||
232, single shaft | ES22B-SNR10 | S57-83-MO-S | ZETA57-83-MO-S | HV231-01-10 | 2 |
232, double shaft, flat | ES23B-DFR10 | S57-102-MO-F | ZETA57-102-MO-F | HV232-02-10 | |
232, double shaft, flat, encoder | ES23B-DFR10-EC | ZETA57-102-MO-E-F | CP*HV233-02-10-EC | 4 | |
233, double shaft | ES23B-DNR10 | S57-102-MO | ZETA57-102-MO | HV233-02-10 | 1 |
233, double shaft, encoder | ES23B-DNR10-EC | S57-102-MO-E | ZETA57-102-MO-E | CP*HV231-02-10-EC | 1,4 |
233, single shaft, flat | ES23B-SFR10 | HV233-01-10 | |||
233, single shaft | ES23B-SNR10 | S57-102-MO-S | ZETA57-102-MO-S | HV233-01-10 | 2 |
341, double shaft, flat | ES31B-DFR10 | HV341-02-10 | 5 | ||
341, double shaft, key, encoder | ES31B-DKR10-EC | CP*HV341-02-10-EC | 5,9,10 | ||
341, double shaft | ES31B-DNR10 | S83-62-MO | ZETA83-62-MO | HV341-04-10 | 7 |
341, double shaft, encoder | ES31B-DNR10-EC | S83-62-MO-E | ZETA83-62-MO-E | CP*HV341-02-10-EC | 5,10 |
341, single shaft, flat | ES31B-SFR10 | HV341-01-10 | 6 | ||
341, single shaft, key | ES31B-SKR10 | HV341-01-10 | 6 | ||
341, single shaft | ES31B-SNR10 | S83-62-MO-S | ZETA83-62-MO-S | HV341-03-10 | 8 |
342, double shaft, flat | ES32B-DFR10 | S83-93-MO-F | ZETA83-93-MO-F | HV342-02-10 | 5 |
342, double shaft, flat, encoder | ES32B-DFR10-EC | CP*HV342-02-10-EC | 5,10 | ||
342, double shaft, key | ES32B-DKR10 | S83-93-MO-K | ZETA83-93-MO-K | HV342-02-10 | 5 |
342, double shaft, key, encoder | ES32B-DKR10-EC | ZETA83-93-MO-E-K | CP*HV342-02-10-EC | 5,9,10 | |
342, double shaft | ES32B-DNR10 | S83-93-MO | ZETA83-93-MO | HV342-04-10 | 7 |
342, double shaft, encoder | ES32B-DNR10-EC | S83-93-MO-E | ZETA83-93-MO-E | CP*HV342-02-10-EC | 5,7,10 |
342, single shaft, flat | ES32B-SFR10 | HV342-01-10 | 6 | ||
342, single shaft, key | ES32B-SKR10 | ZETA83-93-MO-S-K | HV342-01-10 | 6 | |
342, single shaft | ES32B-SNR10 | S83-93-MO-S | ZETA83-93-MO-S | HV342-03-10 | 8 |
343, double shaft, flat | ES33B-DFR10 | S83-135-MO-F | ZETA83-135-MO-F | HV343-02-10 | 5 |
343, double shaft, flat, encoder | ES33B-DFR10-EC | CP*HV343-02-10-EC | 5,10 | ||
343, double shaft, key | ES33B-DKR10 | S83-135-MO-K | ZETA83-135-MO-K | HV343-02-10 | 5 |
343, double shaft, key, encoder | ES33B-DKR10-EC | ZETA83-135-MO-E-K | CP*HV343-02-10-EC | 5,9,10 | |
343, double shaft | ES33B-DNR10 | S83-135-MO | ZETA83-135-MO | HV343-04-10 | 7 |
343, double shaft, encoder | ES33B-DNR10-EC | S83-135-MO-E | ZETA83-135-MO-E | CP*HV343-02-10-EC | 5,7,10 |
343, single shaft, flat | ES33B-SFR10 | S83-135-MO-S-F | HV343-01-10 | 6 | |
343, single shaft, key | ES33B-SKR10 | S83-135-MO-S-K | HV343-01-10 | 6 | |
343, single shaft | ES33B-SNR10 | S83-135-MO-S | ZETA83-135-MO-S | HV343-03-10 | 8 |
HV23x-02-10 : Double shaft with a single flat
HV23x-01-10 : Single shaft with a single flat
HV23x motors are not available with keyways
-E or -EC models include a 1000 lines encoder. HV23x motors can be supplied with a similar 1000ppr encoder. Request through a local distributor as a custom product. Please note the HV motors with encoder will have a 10 piece MOQ required per shipment and so in many cases if an encoder is required, converting the system to a servo solution may be the better option.
HV34x-02-10 : Double shaft with a double flat
HV34x-01-10 : Single shaft with a double flat
HV34x-04-10 : Double shaft, round
HV34x-03-10 : Single shaft, round
HV34x motors are not available with keyways
10. -E or -EC models include a 1000 lines encoder. HV34x motors can be supplied with a similar 1000ppr encoder. Request via Extranet Quote system, Custom Electronics
NEMA23 : ES2x, S57-xx, ZETA57-xx models
HV23x motors have the same face mounting, shaft length and shaft diameter (0.25inch)
S57-xx, ZETA57-xx models include a rubber boot and 9-pin connector pre-wired for a ZETA drive. ES2x and HV23 motors do not include a connector
S/ES/ZETA motors had tapped holes on the rear plate to mount an encoder. HV motors do not have tapped holes unless requested as a custom product.
NEMA34 : ES3X, S83-xx, ZETA83-xx models
HV34x motors have the same face mounting as the S83/ES3/ZETA83 motors
S/ES/ZETA motors had tapped holes on the rear plate to mount an encoder. HV motors do not have tapped holes unless requested as a custom product.
To support higher available torque, HV34x motors have 0.5inch shaft diameter compared to 0.375 inch for ES/S/ZETA. Due to the shaft diameter difference, users should also review requirements for keys and flats. In general, HV34 motors with double flats (01,02) will have the best lead times.
S83-xx, ZETA83-xx models include a rubber boot and 9-pin connector pre-wired for a ZETA drive. ES3x and HV34 motors do not include a connector
ZETA Systems
ZETA part numbers that do not include -MO indicate a motor plus ZETA4 drive system. For example, ZETA57-51 includes ZETA4 and ZETA57-51-MO. The ZETA4 drives were discontinued as of 2024.
The programmable single-axis ZETA6104, ZETA6108, OEMZL6104 and OEMZL6108 and SX6 and SX8 are no longer available. If looking for a single-axis drive replacement, users may want to consider the IPA servo drive controller with a servo motor:
Related FAQ: S/SX Motors - Replacing S/ZETA/ES series step motors with BE servo motors
Complete List of Discontinued Parts
ES21B-DFR10 | ZETA57-102 | OEM83-135-MO |
ES21B-DKR10-EC | ZETA57-102-E | OEM83-135-MO-DS34 |
ES21B-DNR10 | ZETA57-102-MO | OEM83-62-MO |
ES21B-DNR10-EC | ZETA57-102-MO-E | OEM83-62-MO-DS34 |
ES21B-SFR10 | ZETA57-102-MO-E-F | OEM83-93-MO |
ES21B-SNR10 | ZETA57-102-MO-F | OEM83-93-MO-DS34 |
ES22B-DFR10 | ZETA57-102-MO-S | S57-102-MO |
ES22B-DFR10-EC | ZETA57-102-S | S57-102-MO-E |
ES22B-DNR10 | ZETA57-51 | S57-102-MO-F |
ES22B-DNR10-EC | ZETA57-51-E | S57-102-MO-S |
ES22B-SFR10 | ZETA57-51-MO | S57-10223 |
ES22B-SNR10 | ZETA57-51-MO-E | S57-10223-NC |
ES23B-DFR10 | ZETA57-51-MO-S | S57-51-MO |
ES23B-DFR10-EC | ZETA57-51-S | S57-51-MO-E |
ES23B-DNR10 | ZETA57-83 | S57-51-MO-F |
ES23B-DNR10-EC | ZETA57-83-E | S57-51-MO-S |
ES23B-SFR10 | ZETA57-83-MO | S57-83-MO |
ES23B-SNR10 | ZETA57-83-MO-E | S57-83-MO-E |
ES31B-DFR10 | ZETA57-83-MO-F | S57-83-MO-F |
ES31B-DKR10-EC | ZETA57-83-MO-S | S57-83-MO-S |
ES31B-DNR10 | ZETA57-83-S | S83-135-MO |
ES31B-DNR10-EC | ZETA83-135 | S83-135-MO-E |
ES31B-SFR10 | ZETA83-135-E | S83-135-MO-F |
ES31B-SKR10 | ZETA83-135-MO | S83-135-MO-K |
ES31B-SNR10 | ZETA83-135-MO-E | S83-135-MO-S |
ES32B-DFR10 | ZETA83-135-MO-E-K | S83-135-MO-S-F |
ES32B-DFR10-EC | ZETA83-135-MO-F | S83-135-MO-S-K |
ES32B-DKR10 | ZETA83-135-MO-K | S83-62-MO |
ES32B-DKR10-EC | ZETA83-135-MO-S | S83-62-MO-E |
ES32B-DNR10 | ZETA83-135-S | S83-62-MO-S |
ES32B-DNR10-EC | ZETA83-62 | S83-93-MO |
ES32B-SFR10 | ZETA83-62-E | S83-93-MO-E |
ES32B-SKR10 | ZETA83-62-MO | S83-93-MO-F |
ES32B-SNR10 | ZETA83-62-MO-E | S83-93-MO-K |
ES33B-DFR10 | ZETA83-62-MO-S | S83-93-MO-S |
ES33B-DFR10-EC | ZETA83-62-S | S83-9333 |
ES33B-DKR10 | ZETA83-93 |
|
ES33B-DKR10-EC | ZETA83-93-E |
|
ES33B-DNR10 | ZETA83-93-MO |
|
ES33B-DNR10-EC | ZETA83-93-MO-E |
|
ES33B-SFR10 | ZETA83-93-MO-E-K |
|
ES33B-SKR10 | ZETA83-93-MO-F |
|
ES33B-SNR10 | ZETA83-93-MO-K |
|