6.18 Gantry System
6.18.1 Gantry system overview
The gantry system use two parallel axes (Y1 and Y2) to control a single linear axis that is
orthogonal (right angle) to the X-axis.
Figure 6-54 Gantry axis
In many gantry systems, the two parallel linear axes (Y1 and Y2) are controlled separately and
may interfere with each other, manifesting as vibration, high current consumption, slow acceleration
and velocity, and reduced accuracy.
The CDHD2S gantry system synchronizes the two Y-axes through two CDHD2S drives that work
together and use high-speed communications to generate and control motion along the Y-axis.
Each Y-axis can be driven by a linear or rotary motor.
Both Y-axes must use the same feedback device type with the same resolution.
6.18.2 Gantry type
The CDHD2S gantry system provides two gantry structure types: rigid and flexible. They are
different in the orthogonality of gantry axes and the coupling elasticity of axes.
Gantry type parameters (GANTRYTYPE) must be defined to ensure correct zeroing and
appropriate offset compensation.
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