# Description

## Hard gantry (mechanical)

In the case of mechanical (also static) gantry, the axes are firmly coupled to one another due to the machine structure and are defined by the machine configuration (see figure).

## Notice

In the case of a mechanical gantry, a dynamic change to gantry coupling is not possible after controller start-up.

Mechanical gantry mode

## Soft gantry (programmable)

Machines that require no mechanical gantry mode due to their basic structure, for example milling machines with two independent slides, can be run by programming them in gantry mode. For example, this is necessary when slides must be linked to one another for clamping and machining large workpieces (see figure below).

Programmable gantry ("soft gantry”)

## Monitoring functions

- The axes specified in the gantry combination are coupled by setpoints. Coupling is monitored by actual values.
- A coupling offset can be specified between individual gantry axes.
- Two limits can be specified for monitoring.
- Monitoring is absolute after axis referencing or relative before referencing.