Gantry mode

Additional monitoring mechanisms apply to gantry axes with regard to the deviation of axis positions and special strategies for compensating these deviations. Static (also mechanical) gantry mode is defined by configuration because the axes are firmly coupled to one another due to the machine structure. Dynamic (also programmable) gantry mode can be defined in the NC program. The axis parameters listed in the following table must be assigned depending on the type of gantry mode:

Parameter

Static
gantry mode *

Dynamic
gantry operation

gantry_ax_nr

X

 

gantry_max_diff_resetable

X

X

gantry_max_diff_reset_locked

X

X

gantry_offset

X

 

gantry_vb_korr

X

X

gantry_diff_check_without_homing

X

 

gantry_synchronous_slave_homing
(only for SERCOS drives)

X

 

cnc_controlled_stop_after_error

X

 

gantry_on_mode

X

 

gantry_max_homing_dist

X

 

gantry_slave_no_homing

X

 

gantry_independent_set_refpos

X

 

gantry_slave_relative_homing

X

 

*In static gantry mode the corresponding axis mode bit must additionally be set for the master and slave axes (P-AXIS-00018).