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Size 4 13mm

Z-Theta Multi-Axis System
Watch the ultra-compact 2-axis Z-theta in motion!

Watch video Possibilities in Motion: Join Keith Knight, New Product Innovation Manager at Haydon Kerk Pittman, as he discusses the new ultra-compact 2-axis design.

Performance in an Ultra-Compact 2-axis Design. Designed for easy integration in OEM assemblies, the Haydon Kerk Z-Theta offers linear + rotary point to point motion in an compact footprint.  Unlike in-house component-up designs requiring engineering, multiple vendors and complex assembly integration, Z-Theta is a modular “bolt-in” package.

At the core of Z-Theta is the patented ScrewRail™, which combines guidance and linear transmission in a slender co-axial profile.  Haydon Kerk’s unique dual-motion integration with a pair of stepper motors adds rotary (theta) motion in manner that reduces motion system size by 50-80% as compared to alternative approaches, and less expensively than the equivalent components purchased separately.

The highly configurable Z-Theta provides flexibility, value, durability and performance suited for a host of lab automation, semiconductor and light factory automation applications.  Performance is customized through a variety of leadscrew resolutions, available free-wheeling and anti-backlash nut selections, stepper motor configuration options, and optical encoder line counts.

  • Compact co-axial design enables small footprint
  • Easy integration into system design
  • Pre-engineered modular design reduces supply chain and time to market
  • Configuration options optimize performance for specific applications
  • Compatible with a wide range of drive and controllers

  • Specifications +


    ZT04: Size 23 Rotary Motor, Size 17 Linear Motor
    Stroke Length Limit in [mm] 12 [305]
     Speed Limit  in/sec [mm/s]  6 [152]
    Axial Force Limit lb-f [N]
    15 [67] 
    Load Limit (mass) lb [kg]
    5 [2.3] 
    Moment Load in-lb [NM]
    15 [1.7]
    Torque, Theta Axis Motor in-lb [NM] 3 [0.34]
    Nut Length in [mm]
    1.4 [36]
    Unit Height in [mm] Travel + 5.5 [140]
    Width, Mounting Flange in [mm]  2.23 [57]
    Rail Material
    Rail Runout in/in [mm/25mm] 0.002 [0.05] 
    Rotary Repeatability (Open Loop) in [mm]
     +/-0.005 [0.13]
    Rotary Resolution (@6" Radius) in [mm]  +/-0.0031 [0.08
    Duty Cycle    100%

    ZT04: Linear Specifications
    Lead Code
    E1 E2  E4  E6  E7
     Lead in [mm] 0.050 [1.27]
    0.100 [2.54] 0.250 [6.35] 0.500 [12.7]
    1.00 [25.4]
    Nominal Screw Diameter in [mm] 0.25 [6]
    Max Drag Torque oz-in
    TBD 3.0
    Torque to Move Load oz-in/lb 

    TBD 1.5
     Resolution (Open Loop)  in


    Size 23:   57 mm (2.3 inch) Hybrid Rotary Stepper Motor (1.8⁰ Step Angle)
    Part No. A B C
    Stack Length Single
     Wiring Bipolar
     Winding Voltage  3.25 Vdc Vdc  12 Vdc
     Current/phase  2.0 Arms  1.3 Arms 540 mArms 
     Resistance/phase 1.63 Ω 3.85 Ω 22.2 Ω
      Inductance/phase 3.5 mH  10.5 mH  58 mH
     Holding Torque  8.5 kg-cm
     Power consumption  13 W
     Insulation Class  Class B
     Insulation resistance  20 MΩ


    Size 17: 43 mm (1.7 inch) Hybrid Rotary Stepper Motor (1.8° Step Angle)
    Part No. A B C
    Stack Length Single
    Wiring Bipolar
    Winding Voltage 2.33 5 12
    Current/phase 1.5 Arms 700 mArms 290 mArms
    Resistance/phase 1.56 Ω 7.2 Ω 41.5 Ω
    Inductance/phase 1.9 mH 8.7 mH 54 mH
    Power consumption 13 W
       37 gcm2
    Insulation Class Class B (Class F available) 
    Insulation resistance 20 MΩ
  • Dimensional Drawings +

    Please note: Metric numbers are for reference only.

    Z-theta Dimensional Drawing 
  • Connector Pinouts +


    Rotary Motor Connector Pinout

    Pin # Rotary Motor Connector Pinout
    1 Phase 1 Start
    3 Phase 1 Finish
    4 Phase 2 Finish
     6  Phase 2 Start


    Pin # Rotary Encoder Connector Pinout
    1 - 8 Not used
    9 DCOM**
    10 Not used
    11 VDD**
    12 Chan. A+
    13 Not used
    14  Chan. B-
    15   DGND
    16  Chan. B+
    17 +5V 
    18  Index-
    19 Chan. A- 
    20  Index+
    **Connects to EMI Filter Circuit 


    Linear Motor Connector Pinout

    Pin # Linear Motor Connector Pinout
    1 Phase 2 Start
    3 Phase 2 Finish
    4 Phase 1 Finish
    6 Phase 1 Start

    Pin # Linear Encoder Connector Pinout
    1 GND
    2 Vcc +5VDC
    3 Index-
    4 Not used
    5 Chan. A-
    6 Chan. A+
    7 Chan. B+
    8 Chan. B-
    9 Index+
    10 Motor Ground

  • Performance Curves +


    Chopper Drive, 5 volt motor and 40 Vdc power supply (8:1 voltage ratio), X axis is Speed (Full-steps/sec), Y axis is Force (lb).
    The maximum step rate shown for each type of motor is the highest no-load start speed.
    Loading is on Axis with nut.
    Z-Theta Size 4 Performance Curves - Speed vs. Linear Force

    Chopper Drive, 5 volt motor and 40 Vdc power supply (8:1 voltage ratio), X axis is Speed (Full-steps/sec), Y axis is Torque (oz-in)
    Ramping can increase the performance f a motor by either increasing the top speed or getting a heavier load up to speed faster. Also, deceleration can be used to stop the motor without overshoot.

    Z-Theta Size 4 Rotary Performance Curves - Speed vs. Pull-out Torque

  • Encoders +

    All Haydon hybrid linear actuators are available with a specifically designed encoder for applications that require feedback. The compact optical incremental encoder design is available with two channel quadrature TTL squarewave outputs. An optional index is also available as a 3rd channel. The size 8 encoder provides resolutions for applications that require 250 and 300 counts per revolution.  The size 11, 14 and 17 encoder provides resolutions for applications that require 200, 400 and 1,000 counts per revolution.  The size 23 and 34 encoder is offered in resolutions of 200, 400, 1,000 and 2,000 counts per revolution. Encoders are available for all motor configurations — captive, non-captive and external linear.

    Simplicity and low cost make the encoders ideal for both high and low volume motion control applications. The internal monolithic electronic module converts the real-time shaft angle, speed, and direction into TTL compatible outputs. The encoder module incorporates a lensed LED light source and monolithic photodetector array with signal shaping electronics to product the two channel bounceless TTL outputs.

    Electrical Specifications

    Input Voltage
    4.5 5.0 5.5 VDC
    Output Signals
    4.5 5.0 5.5 VDC
    • 2 channel quadrature TTL squarewave outputs
    • Channel B leads A for a clockwise rotation of the rotor viewed from the encoder cover
    • Tracks at speeds of 0 to 100,000 cycles/sec.
    • Optional index available as a 34d channel (one pulse per revolution).

    Single Ended Encoder Pinout Size 8

    Connector Pin # 
     1 +5 VDC Power
    2 Channel A
    3 Ground
    4 Channel B

    Operating Temperature

    -10°C (14°F)  
    85°C (185°F) 

    Mechanical Specifications

    Acceleration 250,000 rad/sec2
    Vibration (5 Hz to 2 kHz)

    4 standard Cycles Per Revolution (CPR) or Pulses Per Revolution (PPR)

    250 300

    Others are available

    Encoder Dimensional Drawing
    Dimensions = (mm) inches

    21mm 21000 Series Size 8

    Size 8 Linear Actuator Encoder
    Note A: Lead screw extends beyond encoder on specific captive and non-captive motors. External linear shaft extension is available upon request.

    Please note: Metric numbers are for reference only.

  • Customize +

    Haydon Kerk can custom design and manufacture unique Z-Theta solutions to your application requirements. Special motor attributes, rail lengths, modified mounting patterns, alternate lead screws, lubrication, and encoders are just some of the typical adaptations engineered to customer needs. Every Haydon Kerk linear rail product is supported by an experienced technical team recognized for innovation, customization, and dedicated customer service.

  • Part Number Guide +

    Ordering Part Number for Z-Theta Size 4  
    ZT  04 A K  B A  J  A A E1 FY06 
     Prefix  Nominal Rail Size Nut Style  Coating  *   Motor Frame Size  Rotary Motor Rotary Motor Encoder Linear Motor Linear Motor Encoder  *   Nominal Leadscrew Thread Stroke / Unique Identifier 
    ZT = Z-Theta 04 = 1/2 in (13mm)  A = Free-wheeling 
    S = Uncoated    B = Steppers,
    Size 23 Rotary,
    Size 17 Linear
    A = 1.8°, 3.25VDC, Bipolar coils (4 wire) J = 12000 CPR  A = 1.8°, 2.33VDC, Bipolar coils (4 wire)   A = 500 CPR   E1 = .050-in (1.27mm) Xxx = Unique identifier
     B = Anti-backlash
    K = Kerkote® B = 1.8°, 5VDC, Bipolar coils (4 wire)

     X = No Encoder B = 1.8°, 5VDC, Bipolar coils (4 wire)

    C = 1000 CPR  E2 = .100-in
    E = 2000 CPR  E4 = .250-in (6.35mm)
     X = No Encoder  E6 = .500-in (12.7mm)
      E7 = 1.00-in (25.4mm) 
    *NOTE: Dashes must be included in Part Number (–) as shown above.
     For assistance, call our Engineering Team at +1-203-756-7441.