# Configuration

## Dynamic gantry mode

Additional monitoring mechanisms to monitor the deviation of axis positions and special strategies to compensate for these deviations apply to gantry axes.

Dynamic gantry mode can be defined in the NC program. In addition, the axis and channel parameters listed in the table below must be assigned:

Parameter | Required for dynamic Gantry mode
P-AXIS-00070 | gantry_ax_nr |
P-AXIS-00072 | gantry_max_diff_resetable | X
P-AXIS-00071 | gantry_max_diff_reset_locked | X
P-AXIS-00073 | gantry_offset |
P-AXIS-00074 | gantry_slave_no_homing |
P-AXIS-00075 | gantry_vb_korr | X
P-AXIS-00249 | gantry_diff_check_without_homing |
P-AXIS-00253 | gantry_synchronous_slave_homing ** |
P-AXIS-00254 | cnc_controlled_stop_after_error ** |

**only for SERCOS-drives

P-CHAN-00104 | restore_coupling_after_reset | Restore coupling after reset
P-CHAN-00105 | preserve_coupling_after_prog_end | Restore coupling at program end