There are three kinds of gantry motion with different coupling strengths between two axes. 1. Position control with two axes: weak coupling 2. Position control with the main axis, and speed control with the secondary axis: medium coupling 3. Position control with the main axis, and torque control with the secondary axis: strong coupling Example 1: A one-piece linear module or carriage for the Y-axis; Example 2: Two motors drive a screw, i.e., the two axes drive a single device. Gantry motion settings: 1. Use the parameter P1-01 Control Mode to configure the tracking mode for the secondary axis. 2. Use the parameter P2-58 to enable the gantry function and commands. 3. Use the following parameters to adjust tracking of the secondary axis. P2-54 -> The Gain of Synchronous Speed Control P2-55 -> Integral Compensation to Synchronous Speed P2-56 -> Integral Compensation to Synchronous Position P2-57 -> The Bandwidth of Synchronous Control