Gantry operation

Additional monitoring mechanisms with regard to the deviation of the axis positions and special strategies for compensating for these deviations apply to gantry axes. Static (also mechanical) gantry mode is defined by configuration because the axis 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:

Parameters

Static
gantry mode *

Dynamic
gantry mode

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).