Servotronix CDHD2S - Gantry Parameters and Commands

Application Setup
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When COMMODE=1 (EtherCAT/CANopen communication; with fieldbus), the operation mode
can be profile position (opmode1), periodic cycle position (opmode8), and homing (opmode6).
Reference commands can be generated by EtherCAT/CANopen, pulse train or serial
communication devices.
6.18.5 Gantry parameters and commands
The following parameters are used to configure and monitor gantry applications.
Some parameters apply to both main and differential axes, while others apply only to one
gantry axis. Please refer to the VarCom documentation for details.
Table 6-26
VarCom
Description
GANTRYMODE
Define whether the position loop is applied to the mean or the difference between the
positions of two gantry motors.
GANTRYCMDTYPE
Define how the gantry drive responds to reference commands. Defines the
position feedback value that the drive will report through
EtherCAT/CANopen object and encoder simulation.
GANTRYALIGNMODE
Define the alignment method of flexible gantry system.
GANTRYTYPE
Define the gantry structure as rigid or flexible.
GANTRYCOMMSTATE
Indicate whether the gantry drive is communicating.
GANTRYINTERFACE
Define the controller interface used to connect the communication cables between
gantry drives.
GANTRYMSTRPFB
Gantry main position feedback value=(Y1+Y2)/2 (read-only).
GANTRYDIFFPFB
Gantry differential position feedback value=(Y1-Y2) (read-only).
GANTRYMSTRVFB
Gantry main position feedback value=(V1+V2)/2 (read-only).
GANTRYDIFFVFB
Gantry differential position feedback value=(V1-V2) (read-only).
GANTRYMSTRICMD
Current command generated by gantry master controller (read-only).
GANTRYDIFFICMD
Current command generated by gantry differential controller (read only).
GANTRYALIGN
Start the gantry Y-axis alignment program.
GANTRYALIGNED
Indicate whether the Y-axis of the gantry is aligned (read-only).
GANTRYFINDOFF
Indicate the program for finding the difference (distance) between reference points Y1
and Y2.
GANTRYFINDOFFST
Indicate the status of gantry offset finding program.
GANTRYOFFSET
Distance difference between reference points Y1 and Y2 Required value of flexible
gantry system.
GANTRYOFFSETST
Indicate whether the stored GANTRYOFFSET value is valid and can be used for
alignment program.
GANTRYPRTNRMFB
Second (pairing) gantry motor position (read-only).
GANTRYPRTNRICMD
Second (pairing) gantry axis current command (read-only).
GANTRYPRTNRVFB
Second (pairing) gantry motor velocity (read only).