GantryLogicalType Parameter

The GantryLogicalType parameter defines Decoupling Control behavior of a gantry. A value of zero specifies that the axis is the Linear (R) logical axis of the gantry. A value of one specifies that the axis is the Yaw (Theta) logical axis of the gantry. A gantry under Decoupling Control must have exactly one R axis and one Theta axis.

The R axis controls linear motion on the gantry, and its position is the average of the physical spar carriage positions. The Theta axis controls angular motion on a gantry, and its position is derived from the difference between the physical spar carriage positions.

Figure: Linear (R) and Yaw (Theta) logical axes on a Decoupling Control gantry