Configure a Multi-Axis Gantry

Configure a multi-axis gantry to integrate a multi-axis gantry into your robot:

Navigate to the Config tab of your robot’s page in the Viam app. Click on the Components subtab and click Create component. Select the gantry type, then select the multi-axis model. Enter a name for your gantry and click Create.

Creation of a multi-axis gantry component in the Viam app config builder.

Edit and fill in the attributes as applicable.

{
  "components": [
    ... // < INSERT YOUR MOTOR AND SINGLE-AXIS GANTRY CONFIGURATIONS >
    {
        "name": "<your-fake-gantry-name>",
        "type": "gantry",
        "model": "multi-axis",
        "attributes": {
            "subaxes_list": [
                "<xaxis-name>",
                "<yaxis-name>",
                "<zaxis-name>"
            ]
        },
      "depends_on": []
    }
  ]
}

{
  "components": [
    {
      "name": "local",
      "type": "board",
      "model": "pi"
    },
    {
      "name": "xmotor",
      "type": "motor",
      "model": "gpiostepper",
      "attributes": {
        "board": "local",
        "pins": {
          "dir": "11",
          "pwm": "13",
          "step": "15"
        },
        "stepperDelay": 50,
        "ticksPerRotation": 200
      }
    },
    {
      "name": "ymotor",
      "type": "motor",
      "model": "gpiostepper",
      "attributes": {
        "board": "local",
        "pins": {
          "dir": "16",
          "pwm": "18",
          "step": "22"
        },
        "stepperDelay": 50,
        "ticksPerRotation": 200
      }
    },
    {
      "name": "zmotor",
      "type": "motor",
      "model": "gpiostepper",
      "attributes": {
        "board": "local",
        "pins": {
          "dir": "29",
          "pwm": "31",
          "step": "33"
        },
        "stepperDelay": 50,
        "ticksPerRotation": 200
      }
    },
    {
      "name": "xaxis",
      "type": "gantry",
      "model": "single-axis",
      "attributes": {
        "length_mm": 1000,
        "board": "local",
        "limit_pin_enabled_high": false,
        "limit_pins": ["32", "36"],
        "motor": "xmotor",
        "gantry_rpm": 500,
        "axis": {
          "x": 1,
          "y": 0,
          "z": 0
        }
      }
    },
    {
      "name": "yaxis",
      "type": "gantry",
      "model": "single-axis",
      "attributes": {
        "length_mm": 1000,
        "board": "local",
        "limit_pin_enabled_high": false,
        "limit_pins": ["37", "38"],
        "motor": "ymotor",
        "gantry_rpm": 500,
        "axis": {
          "x": 0,
          "y": 1,
          "z": 0
        }
      }
    },
    {
      "name": "zaxis",
      "type": "gantry",
      "model": "single-axis",
      "attributes": {
        "length_mm": 1000,
        "board": "local",
        "limit_pin_enabled_high": false,
        "limit_pins": ["10", "12"],
        "motor": "zmotor",
        "gantry_rpm": 500,
        "axis": {
          "x": 0,
          "y": 0,
          "z": 1
        }
      },
      "frame": {
        "parent": "world",
        "orientation": {
          "type": "euler_angles",
          "value": {
            "roll": 0,
            "pitch": 40,
            "yaw": 0
          }
        },
        "translation": {
          "x": 0,
          "y": 3,
          "z": 0
        }
      }
    },
    {
      "name": "my_multi-axis_gantry",
      "type": "gantry",
      "model": "multi-axis",
      "attributes": {
        "subaxes_list": ["xaxis", "yaxis", "zaxis"],
        "move_simultaneously": "false"
      }
    }
  ]
}

The following attributes are available for multi-axis gantries:

AttributeTypeInclusionDescription
subaxes_listarrayRequiredAn array of the name of each of the sub-axes, the single-axis gantries that make up the multi-axis gantry.
move_simultaneouslybooleanOptionalA boolean indicating if the sub-axes should move together, or one at a time when MoveToPosition is called.
Default: false


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