3D Printer Axis - The Basics - Simply Explained - All3DP

26/05/2020 3D Printer Axis: The Basics – Simply Explained | All3DP
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Space: The 3-Dimensional Frontier
3D Printer Axis: The Basics

Finding the right –
3D Simply Explained
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by Lucas Carolo
2 days ago
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CONTENTS
X, Y, & Z Linear Motion System
Cartesian Printers Linear Motion System: Stepper Motors
CoreXY Printers Linear Motion System: Leadscrews
Delta Printers Linear Motion System: Timing Belt
Other Styles: Polar & Scara Common 3D Printers
A 3D printer must move in three-dimensional space to create 3D objects.

Read on to learn all about how 3D printer axis systems work.
3D PRINTER AXIS: THE BASICS
X, Y, & Z
A 3D printer's lateral movement is usually on the X- and Y-axis (Source: gr33nonline)
Let’s start with the basics of three-dimensional space: Any point in space can be located
and described by three coordinates, commonly referred to as X, Y, and Z. Each of these
linear coordinates provides information about a single direction, or axis, and
is perpendicular to the other two. While one single axis can successfully indicate a
position along a line, with three axes, we can situate any object in space.
This is why every FDM 3D printing system requires at least three different orthogonal axes
to be able to create three-dimensional objects. Machine models use different movement
systems to maneuver the hot end to deposit the melted lament accordingly. The layer-by-
layer deposition process is highly dependent on the axes’ movement, which has a direct
in uence on your prints, including quality and speed.
A 3D printer’s lateral movement is usually assigned to the X- and Y-axis, while the Z-axis
corresponds to vertical motion. By this convention, each layer is deposited by a
combination of the X and Y movement, while the Z movement is responsible for moving
layers at a pre-de ned height set in the 3D slicer.
In this article, we’ll be covering all aspects of FDM 3D printing movement, including the
different kinematic systems and mechanisms. Let’s start with the different types of 3D
printers and how they move.
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Cartesian Printers
Cartesian 3D printers are the most common design among consumer desktop models (Source: Prusa3D)
The XYZ coordinate system that we referred to earlier is known as the Cartesian system,
named after mathematician René Descartes. In 3D printing, these coordinates determine
the position of the hot end nozzle, which is moved around by different rails and driving
systems.
The so-called Cartesian 3D printers rely on one or more electrical motors along each axis,
having a rectangular build area and usually a square-shaped moving print bed. These
printers are the most common design among consumer desktop 3D printers, with a
few variations that we’ll explore in detail later in this article.
The moving components for these printers can be quite heavy, making sudden direction
changes a problem at higher speeds. This issue relates to the printer’s jerk settings and
can lead to inaccurate deposition and even print failures. Nevertheless, Cartesian
3D printers have the simplest movement systems of all, and are often used in DIY 3D
printer projects.
Set It Right
3D Printer Calibration: How to Calibrate Your 3D Printer
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C XY P i t
CoreXY Printers
CoreXY printers make use of a rather complicated timing belt assembly for lateral movement (Source: Rep_AL)
Working within a Cartesian coordinate system and therefore qualifying as a type of

Cartesian 3D printers, CoreXY 3D printers use quite a unique movement mechanism. Their
XY lateral movement is driven by two motors and long timing belts in a rather complicated
and dynamic system. The vertical movement (Z-axis) is done entirely by the build plate
and always in a downward direction.
While CoreXY 3D printers have numerous advantages, perhaps the most valued is their
ability to handle printing at much higher speeds. These printers have fewer and lighter
moving parts, which enables faster hot end movement and printing overall. The motors
responsible for the XY movement are stationary and attached to the printer’s frame,
reducing the vibration signi cantly, which also contributes to faster and high-quality
printing.
However, relying too much on long timing belts can turn out to be an issue as they must
always be properly aligned and tensioned. Low-tensioned belts can lead to inaccurate
movements while overly-tensioned belts will increase wear and tear greatly. Low-quality
belts can also be a major source of issues in this type of printer.
Get To The Core

2020 Best CoreXY 3D Printers
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Delta Printers
The kinematics of delta printers are not as intuitive when compared to Cartesian printers (Source: Adafruit)
Delta 3D printers employ a rather unique mechanism for movement, known in the industry
as “delta robot”. The hot end in these machines is attached to three moving arms
connected to separate vertical rails. None of these moving arms correspond to any
individual axis since any hot end movement is performed by all three arms
simultaneously.
The kinematics of delta printers are not as intuitive when compared to Cartesian printers.
Still, this system is based on linear vertical movement performed individually by each arm.
The trigonometric calculations done at the machine’s processor provide very accurate and
precise movements. Delta printers have completely stationary circular build plates, which
work well when printing circular models.
Delta 3D printers’ unique design favors height and are usually employed when printing
taller objects. At the same time, the smaller XY dimensions can be quite limiting. These
printers are also more di cult to calibrate and troubleshoot due to their higher
complexity.
Know Your Options

The Best Delta 3D Printers
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Other Styles: Polar & Scara
Check out the differences between a polar (left) and a scara (right) 3D printer (Source: Habr)
Although less common, there are a couple more notable 3D printer styles: polar and
scara. These builds are rarely seen in commercial desktop 3D printers, but they still can
work quite well.
Polar 3D Printers
Some 3D printers don’t rely on the Cartesian coordinate system at all for positioning. This
is the case for polar 3D printers, which require one linear dimension and two angles to
correctly position an object in space.
Polar 3D printers don’t require bulky frames and therefore can occupy o ce space more
e ciently. There are many variations to these types of printers, and in some cases, both
the hot end and circular plate can spin around for XY positioning, like seen in the video
below.
Sculpto 3D printer - Printer sk (Expert mode)
Scara 3D Printers
Scara stands for “selective compliance articulated robot arm”. As the name suggests, it
uses robotic arms to perform the XY movement while the vertical (Z-axis) movement is
usually done entirely by the built plate. Both robotic arms are driven by two individual
motors and their coupled movement allows the positioning of the hot end within the XY
plane. These printers can be fast but require high-quality moving joints for proper
functioning.
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Linear Motion System
There are a couple of different mechanisms that can drive linear motion in a 3D printer (Source: RepRap)
By now we know that regardless of the printer’s type, the linear motion system is one of
the most crucial mechanisms. Although the hot end is moved within three-dimensional
space, all movement can be broken down into linear motion in one axis.
The most common way to drive linear motion in 3D printers is by using motors. These
motors transform electrical energy, rst into rotational motion, and then use different
mechanisms to convert rotation into linear motion. Let’s turn our focus to three critical
mechanisms and their components to better understand the linear motion involved in 3D
printers’ axes.
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Linear Motion System: Stepper Motors
Stepper motors are categorized by standard sizing indicating their faceplate diameter (Source: Mikroe)
Stepper motors are by far the most used driving motor in the 3D printing world. These
brushless AC motors spin in increments (steps), having precise control of their rotation
even without position sensors for feedback. Since these are not highly complex
mechanisms, they are relatively inexpensive.
Stepper motors are identi ed according to their speci cations and their nomenclature is
standardized by the US National Electrical Manufacturers Association (NEMA). The
motors most often used for 3D printing are named after this American association,
usually referred to as “NEMA” followed by a number which indicates the size of its
faceplate. For example, the popular NEMA 17 has a faceplate diameter of 1.7 inches
(~43.18 mm).
For 3D printing, a torque range of 40 to 45 N.cm is su cient, being the standard level for
stepper motors. These motors provide a compromise between torque and speed, being
suitable for both heavier setups like Cartesian printers and the faster-printing CoreXY
style.
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Linear Motion System: Leadscrews

Leadscrews are usually used for vertical movement (Z-axis) in 3D printers (Source: Harari Projects)
Another important mechanism is leadscrews, which are machine components speci cally
designed for translating rotational motion into linear movement. While there are different
varieties of leadscrews, the most used are trapezoidal (ACME) leadscrews.
These rods are connected to the stepper motors by exible couplings that allow a certain
amount of end movement of the shafts, avoiding stress and wear in bearings and the
motors themselves. This setup is usually found in 3D printers’ vertical movement along
the Z-axis.
Perhaps the greatest advantage of using leadscrews for linear movement is the
signi cant push-force and self-locking ability, meaning they will (usually) not move if your
printer unexpectedly loses power. This is one of the reasons they’re often used for the
build platform motion. Leadscrews are rarely used for the X- or Y-axis though, mainly
because they are prone to severe backlash, leading to position inaccuracy, and they can
be quite slow.
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Linear Motion System: Timing Belt
The belt-pulley assembly is most used for X- and Y-axis movement in 3D printers (Source: SDI/SI)
Timing belts are “toothed” rubber belts that transfer rotational motion between two
components, usually a motor and a pulley. The linear movement is achieved once a
carriage is attached to the belt, with the motor being responsible for driving the whole
belt-pulley assembly.
These belts are identi ed according to their tooth pro le. A common timing belt used for
3D printing uses the “Poly Chain GT2” pro le, and is often referred to as simply “GT2”. The
motor pulley must have the same tooth pro le as the timing belt for the assembly
coupling to work properly.
This system is often used for providing motion to the X- and Y-axis in 3D printers and it’s
crucial to have the belt tension set up correctly. This is why many 3D printers have in-built
mechanisms for adjusting the belt tension.
Find Your Perfect Fit

3D Printer Belt: What to Consider & Which to Buy
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Common 3D Printers
There are literally dozens of possible combinations for linear movement (Source: Creality)
Now that we’re acquainted with the various types of 3D printers and their linear motion
systems, let’s nish off with a look at some popular 3D printers to see these principles in
real life.
Cartesian
MENDEL-STYLE 3D PRINTERS
• Brands: The Prusa i3 series and Creality’s Ender 3 series are Mendel-style, and so are
several DIY models.
• Characteristics: These printers have a oating X bar that’s raised and lowered along
the Z-axis, while the print bed moves back and forth on the Y-axis. One or two motor-
powered leadscrews work to move the X gantry up or down, where a further motor
moves the printer’s toolhead via timing belts.
DARWIN-STYLE 3D PRINTERS
• Brands: Many MakerBot and Ultimaker machines are Darwin-style, including the
MakerBot Replicator+ and the Ultimaker 3. This style is also popular in the RepRap
community.
• Characteristics: The print bed moves vertically along the Z-axis while the XY lateral
movement is on a xed height position.
C O R E X Y- S T Y L E 3 D P R I N T E R S
• Brands: Tronxy’s X5SA Pro and Two Trees’ Sapphire Pro are two popular CoreXY
machines. On the DIY side, the HyperCube is a favorite open-source project in the
maker community.
• Characteristics: CoreXY belts are responsible for XY motion, and both X and Y
motors remain stationary, reducing the weight of moving parts.
Delta
Delta 3D printers have fewer design variations. Let’s look at two of the most popular.
• The RepRap Kossel, named after the German Nobel Prize winner of 1910, is perhaps
the most known delta 3D printer. The Kossel open-source designs have a few
variants within its “family”, like the Kossel Pro and the Mini.
• SeeMeCNC’s Rostock is another very popular delta 3D printer design.
(Lead image source: Ivan Miranda via YouTube)
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License: The text of "3D Printer Axis: The Basics – Simply Explained" by All3DP is licensed under a Creative Commons
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26/05/2020 3D Printer Axis: The Basics – Simply Explained | All3DP

3D Printer Axis: The Basics

A 3D printer must move in three-dimensional space to create 3D objects.

3D PRINTER AXIS: THE BASICS

A 3D printer's lateral movement is usually on the X- and Y-axis (Source: gr33nonline)

3D PRINTER AXIS: THE BASICS

3D PRINTER AXIS: THE BASICS

Working within a Cartesian coordinate system and therefore qualifying as a type of

Get To The Core

3D PRINTER AXIS: THE BASICS

Know Your Options

3D PRINTER AXIS: THE BASICS

Other Styles: Polar & Scara

Sculpto 3D printer - Printer sk (Expert mode)

3D PRINTER AXIS: THE BASICS

Linear Motion System

3D PRINTER AXIS: THE BASICS

Linear Motion System: Stepper Motors

3D PRINTER AXIS: THE BASICS

Linear Motion System: Leadscrews

3D PRINTER AXIS: THE BASICS

Linear Motion System: Timing Belt

Find Your Perfect Fit

3D PRINTER AXIS: THE BASICS

(Lead image source: Ivan Miranda via YouTube)

Attribution 4.0 International License.

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a month ago • 1 comment 12 days ago • 2 comments a month a

Creality CR-10S 2020 Best 3D Mosa

All3DP Comment Policy

 Recommend t Tweet f Share Sort by Best

Start the discussion…

OR SIGN UP WITH DISQUS ?

Be the first to comment.

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