multi-axis

Configure a multi-axis gantry to integrate a gantry made up of multiple single-axis gantries into your machine.

First, physically assemble the gantry and connect it to your machine’s computer. Next, configure each single-axis gantry that is part of the muti-axis gantry.

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

{
  "components": [
    {
      "name": "local",
      "model": "pi",
      "api": "rdk:component:board"
    },
    {
      "name": "xmotor",
      "model": "gpiostepper",
      "api": "rdk:component:motor",
      "attributes": {
        "board": "local",
        "pins": {
          "dir": "11",
          "pwm": "13",
          "step": "15"
        },
        "stepperDelay": 50,
        "ticksPerRotation": 200
      }
    },
    {
      "name": "ymotor",
      "model": "gpiostepper",
      "api": "rdk:component:motor",
      "attributes": {
        "board": "local",
        "pins": {
          "dir": "16",
          "pwm": "18",
          "step": "22"
        },
        "stepperDelay": 50,
        "ticksPerRotation": 200
      }
    },
    {
      "name": "zmotor",
      "model": "gpiostepper",
      "api": "rdk:component:motor",
      "attributes": {
        "board": "local",
        "pins": {
          "dir": "29",
          "pwm": "31",
          "step": "33"
        },
        "stepperDelay": 50,
        "ticksPerRotation": 200
      }
    },
    {
      "name": "xaxis",
      "model": "single-axis",
      "api": "rdk:component:gantry",
      "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",
      "model": "single-axis",
      "api": "rdk:component:gantry",
      "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",
      "model": "single-axis",
      "api": "rdk:component:gantry",
      "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",
      "model": "multi-axis",
      "api": "rdk:component:gantry",
      "attributes": {
        "subaxes_list": ["xaxis", "yaxis", "zaxis"],
        "move_simultaneously": "false"
      }
    }
  ]
}

The following attributes are available for multi-axis gantries:

AttributeTypeRequired?Description
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

Test the gantry

Once your gantry is configured and connected, open the gantry’s TEST panel on the CONFIGURE or CONTROL tabs.

Use the panel to adjust the position of the actuator on the axis and check whether it moves as expected.

Gantry test panel.

If the gantry does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.