Gantry Topic

Use the Gantry topic to set parameters and define the Decoupling Control behavior of a gantry. This topic and its modules are in the Axes category of the Configure workspace in Automation1 Studio.

Gantry Module

The Gantry module lets you set the parameters used to define the Decoupling Control behavior of a gantry. For more information about gantries in Automation1, see Gantry Systems Overview.

Manually Configure Decoupling Gantry Control

Device Catalog and Machine Setup are the best tools that you can use to configure Decoupling Gantry Control because they holistically configure the gantry axes. But if you have an exceptional situation, you can edit parameters manually to configure decoupling gantry control. If you do this, you must also set the correct values for other non-gantry parameters for the axes, which include default speeds and fault thresholds.

  1. Use Device Catalog and Machine Setup to configure the two gantry axes as if they were independent axes.

    2. For Example

    Let's say that you have a typical H-bridge gantry design. You must configure each spar as a Direct Drive Linear Stage.

  2. On the left panel of the Configure workspace, find the Axes category. Then select the Gantry topic.

  3. In the Axis drop-down box, select the logical linear (R) axis. Set the values for the parameters that follow:

    1. GantryAxisMask Parameter

    2. GantryLogicalType Parameter

    3. GantryMechanicalDesign Parameter

    4. GantryFeedbackSeparation Parameter

      IMPORTANT: The value of the GantryFeedbackSeparation Parameter depends on the mechanical construction of the gantry. Make sure you read the help page for this parameter before you configure it.

    5. GantryPhysicalDirection Parameter

  4. In the Axis drop-down box, select the logical Yaw (Theta) axis. Set the values for the parameters that follow:

    1. GantryAxisMask Parameter

    2. GantryLogicalType Parameter

    3. GantryMechanicalDesign Parameter

    4. GantryFeedbackSeparation Parameter

    5. GantryPhysicalDirection Parameter

  5. Set the CountsPerUnit Parameter for the Yaw (Theta) axis. If you have a decoupled gantry with linear physical axes, such as a traditional H-bridge gantry, do the steps that follow:

    1. In the Axes category of the Configure workspace, select the Units topic.

    2. In the Axis drop-down box, select the logical linear (R) axis. Record the CountsPerUnit value. In the equation that follows, this value is CountsPerUnit.R.

    3. Use the equation that follows to calculate the CountsPerUnit for the Theta axis. The last part of the equation converts radians to degrees. If you are using other rotary units, you must convert the units.

    4. In the Axis drop-down box, select the logical Yaw (Theta) axis. Use the value that you calculated to set the CountsPerUnit parameter for the Theta axis.

    IMPORTANT: For gantries with rotary physical axes, such as dual-drive gimbals, the CountsPerUnit value for the logical difference axis (Theta) is the same as that of the logical average axis (R).

  6. Set the UnitsName Parameter for the Yaw (Theta) axis.

  7. To keep these parameter changes active after the next controller reset, you must save them to the controller. Click Save All on the left panel of the Configure workspace.

Thresholds Module

The Thresholds module lets you define the Decoupling Control behavior of a gantry. For more information, see Gantry Systems Overview and the GantryMisalignmentThreshold Parameter.

Related Help Pages 

Axes Category Overview

Parameters