Whoa there, that link describes a 15 ohm bipolar motor? You almost certainly want a much lower impedance motor if you're running from 24V supply. Why such a high impedance stepper?? What's the application?
Normally a NEMA bipolar is about 1 to 2 ohm winding, 2 to 4A current rating, and a stepper driver will
buck-converter down to drive it giving lots of spare voltage for actually spinning the motor (the faster
it spins, the more voltage you require).
Steppers pull lots of power all the time, batteries aren't usually feasible for a stepper motor system.
Also a 15A supply is overkill, thats 120W available per motor.