This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical shaft encoder feedback was proven to be unsatisfactory predominantly due to elasticity of the couplings and ball-nut backlash. As a result, a laser interferometry-based measurement system was used for position data acquisition. Experimental results highlight the occurrence of limit-cycles due to inherent friction by the rails, ball-nuts and bearings. The derived model parameters were determined both by theoretical calculations and experimental response observation.