# Overview

## Description

In addition to default path programming, axes can also be operated in coupled state. This is referred to as gantry mode. Contrary to normal synchronous mode, additional position deviation monitoring mechanisms are active and specific error reactions apply.

## Properties

The following conditions apply to gantry mode with several axes

- identical drive types
- identical axis dynamic and control parameters
- identical error response (or no internal drive error response)

A distinction is made between:

- Soft gantry (programmable) Machines that do not require any mechanical gantry mode due to their basic structure can be operated by programming them in gantry mode
- Hard gantry (mechanical): Static gantry mode is defined by configuration since the axis are firmly coupled to one another due to the machine structure.

## Parameterisation

Extensive settings are required in the channel and axis parameter lists to configure soft and hard gantry modes.

## Programming

Soft gantry: The #SET AX LINK and #AX LINK NC commands are provided in extended syntax for the programmable gantry mode: The coupled axes are defined by programming.

Hard gantry: Only the master axis in the channel is known for a hard gantry coupling. This can be programmed in the NC program. The coupled axes are defined by configuration.