Servotronix CDHD2S User Manual page 178

Application Setup
Flexible gantry yaw alignment
In a rigid gantry system, the yaw value is 0 and the X and Y axes are orthogonally aligned.
Therefore, no yaw alignment is required. But in a flexible gantry system, offset may occur. Use
parameter GANTRYOFFSET to align yaw.
The GANTRYOFFSET value is the difference (distance) between the Y1 and Y2 reference points.
Typically, the reference point is the motor index or home switch.
If the motor manufacturer's specifications provide the motor index positions of Y1 and Y2, the
GANTRYOFFSET value can be simply calculated as the difference between the Y1 index position and
the Y2 index position.
If the value of GANTRYOFFSET is unknown, use one of the following methods to determine its
value:
Use an offset measuring device (such as a laser interferometer) to measure manually.
⚫
This method is regarded as the most accurate and recommended.
Automatic measurement using parameter GANTRYOFFSET. You can use the
⚫
command GANTRYFINDOFFST to monitor the measurement status. When the
measurement is completed, the GANTRYFINDOFFST value becomes 1. The parameter
GANTRYOFFSET represents the measured value. Perform this measurement
procedure multiple times to ensure measurement accuracy. To apply and maintain
the GANTRYOFFSET value, set GANTRYOFFSETST=1.
Once completed, save the results to drive memory.
System GANTRYOFFSET only needs to be defined once. Subsequent homing commands will
use the correct GANTRYOFFSET value. In addition, the flexible gantry system will be aligned
according to the GANTRYOFFSET value every time it is powered on or switched from the disabled
state to the enabled state.
Figure 6-57 Gantry yaw alignment
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