Z-Axis Parameter Brief
This will be used as a vertical Axis in a Cartesian Robot. It will be mounted to another
linear axis. This axis would ideally have several configuration possibilities. The 3 maximum
forces and 3 maximum moments have been determined. These forces are actual though and do
not include a factor or safety. Please include your factor of safety in your recommended parts.
Ideally the end caps and cart would be able to withstand these forces for mounting purposes.
This axis will need to move 420 lbs. at a max speed of 2.683282 m/s with maximum acceleration
and deceleration of 6 m/s2. If you do not have a linear guide to meet these specifications please
give the closest match and let me know if you think a custom design would be possible. Please
let me know if you have any breaking options and e-stop bumpers. Also, please include what
mounting options would be available, prices, and any CAD drawings.
Electrical Compatibility Constraints:
50-60 HZ frequency, 230 Vac, 5-10 amps
The z-axis length considerations: The stroke length (aka travel length or stroke) will be
600 mm. There will need to be a 50 mm e-stop zone located on each end. This will bring
the total length of the z-axis to 700 mm.
o This table displays the total axis lengths WITH OUT a 50 mm e-stop zone located
at each end.
With Out 0.05 m e-stop Zones
mm m ft
600 0.6 1.968504
800 0.8 2.624672
1000 1 3.28084
1200 1.2 3.937008
o This table displays the total axis lengths WITH a 50 mm e-stop zone located at
each end.
Total axis length With 0.05 m
e-stop zones
mm m ft
700 0.7 2.296588
900 0.9 2.952756
1100 1.1 3.608924
1300 1.3 4.265092
General information for the axis and motor are as follows.
General Information
Max Velocity 2.683282 m/s 8.80116356 ft/s Note: Displayed below
Acceleration 6 m/s2 19.68504 ft/s2
Temp. of Operation 140 o F 60 o C
Linear Accuracy ± 0.384615 mm/m ± 0.004615 in/ft
Repeatability ± 0.25 mm ± 0.00025 m ± 0.000068 in ± 0.00082 ft
8
Life Requirements 30,000,000 cycles 2.56x10 ft of travel
Downtime 0.10%
Frequency 50-60 Hz
Voltage 230 Vac, 3-phase
Current 5-10 amps
Air Pressure
(if needed) 60 - 100 psi
Sensors induction or photo 3-wire with LED
The z-axis, with all components, cannot exceed 100 lbs. The maximum load the z-axis
will carry is 160 lbs.
Weight/ Loads
Weight Mass (slugs) Mass (N)
Max Weight of Entire Axis 100 lbs 3.1081 slugs 444.822 N
Max Load 160 lbs 4.9729 slugs 711.715 N
Motor requirements, this will also include all information in the General Information
table.
Motor Requirements
Force Needed 2576.25 N 579.165 lbs
Max Velocity 2.6832 m/s 8.80116356 ft/s
2
Acceleration 6 m/s 19.68504 ft/s2
(NOTE: also needed, will be information found in the General
Information Table, top of page, and the Cycle Time Table, last
table)
The following table shows values of the forces and moments used in the free body
diagrams that follow.
Forces and Moments
FZ 579.165 lbs 2576.25 N
FX 441.442 lbs 1963.63 N
FY 441.442 lbs 1963.63 N
MY 1230.41 ft.lbs 1668.22 N.m
MX 1809.96 ft.lbs 2453 N.m
MZ 319.285 ft.lbs 432.893 N.m
The Cycle Time for the z-axis will be as follows.
corresponding stroke lengths max speed per stroke length
mm m ft m/s ft/s cycle time (s)
600 0.6 1.968504 1.897367 6.22336244 0.6324555
800 0.8 2.624672 2.19089 7.18611995 0.7302967
1000 1 3.28084 2.44949 8.03432636 0.8164966
1200 1.2 3.937008 2.683282 8.80116356 0.8944272
Please note: that the B1, B2, and B3 are “Brackets” or locations that the forces shown on the
following will act. Please see the diagram in the upper right of the following page.
B1 acts at the top end cap
B2 acts at the bottom end cap
B3 acts at the cart