While running a print I touched the motors and was surprised just how hot they were, this was with the Stepper drivers set to the correct voltage as per setup guide, also the step sticks themselves (with heatsinks I had) are running really really hot to touch, i.e too hot to touch. Ive backed all of mine off from the recommended amount and haven't had anything stall. I will monitor, just wondering if anyone else is seeing the same thing? Stephen...
I'm using one of these to measure the temperature of my motors: They are really cheap on Ebay, and the reading is pretty accurate. With prints shorter than half an hour my motors are 35°C on average (ok 95°F). When running longer, they are actually quite hot, 45°C or so (113°F), and indeed very hot to touch. So yes, it is indeed normal.
A faulty stepper driver would cause the driver to be very hot at the correct voltage. Motors do get pretty hot but shouldn't get so hot you can't keep your finger on it.