Rigid gantry system
In a rigid gantry structure, the Y and X axes are strictly orthogonal (at right angles to each
other), and the mechanical coupling between them is inelastic. When one Y-axis moves, the other
Y-axis moves accordingly without causing any axis offset.
Figure 6-55 Rigid gantry structure
Flexible gantry system
In a flexible gantry structure, the mechanical coupling between one or two Y-axes and the X-
axis is elastic.
The differential motion of the two Y-axes causes a certain amount of rotational motion around
the center of the gantry. This rotational motion (yaw) is considered a differential axis by the CDHD2S
system.
Therefore, the flexible gantry system needs to control the difference between the Y1 and Y2
axis positions.
Figure 6-56 Flexible gantry structure
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