> ## Documentation Index
> Fetch the complete documentation index at: https://docs.researchanddesire.com/llms.txt
> Use this file to discover all available pages before exploring further.

# iHSV57 Legacy Motor

> Pre-2024 recommended motor option, now superseded by the Gold Motor

The iHSV57 series was the original recommended motor for OSSM builds before 2024.

<Warning>
  This motor is no longer recommended for new builds. Use the [57AIM30 Gold Motor](/ossm/Hardware/motor/standard-build-motor) instead.
</Warning>

## Why the iHSV57 is No Longer Recommended

The 57AIM30 Gold Motor replaced the iHSV57 as the standard build motor due to several significant improvements:

| Factor               | iHSV57          | 57AIM30 Gold Motor            |
| -------------------- | --------------- | ----------------------------- |
| Length               | 100% (baseline) | 40% shorter                   |
| Weight               | 100% (baseline) | 50% lighter                   |
| Peak force           | 100% (baseline) | 30% higher                    |
| Cost                 | 100% (baseline) | \~20% cheaper                 |
| Over-torque handling | Motor disables  | Configurable torque reduction |

## Existing iHSV57 Builds

If you have an existing OSSM with an iHSV57 motor:

<Note>
  Your build remains fully functional. The iHSV57 is a capable motor—you do not need to upgrade unless you want the benefits of the Gold Motor.
</Note>

### Upgrading to Gold Motor

The 57AIM30 Gold Motor is a drop-in replacement for the iHSV57:

* Same NEMA23 mounting pattern
* Same shaft diameter
* Compatible with existing actuator hardware

<Info>
  If upgrading from iHSV57 to Gold Motor, you may need to add a 1500µF capacitor (minimum 50V) to PCB versions older than V2.3 to handle regenerative braking.
</Info>

## Programming Requirements

Like all OSSM motors, the iHSV57 requires programming to set the steps per revolution to 800. Refer to the [motor programming guide](/ossm/Hardware/motor/programming) for instructions.