The MICADO atmospheric dispersion corrector (ADC) will be the first ADC built for an astronomical instrument that has to operate in a cryogenic environment (T = 77 K). A detailed understanding of the system behaviour is necessary to maximise the operational lifetime of the planned design concept and to design a suitable controller. The MICADO ADC design features a friction drive concept that is powered by a commercially available permanent magnet stepper motor (PMSM). Here, we report on an extensive characterisation of this PMSM. By matching the experimental results to an analytical description of PMSMs, we obtain a solid foundation to build a complete dynamical model of the ADC system. A prototype of the ADC design concept had already been built and tested at its operational temperature. The results from these tests allowed us to compare the measured and modelled response and discuss the implications. With respect to the motor characterisation, we find no significant performance difference of the tested stepper motor when operated at room temperature, compared to at 77 K. However, we do find that static friction plays a large role in the precise response of the ADC mechanism
