Dual Gantry Configuration

This page describes how to set up configuration for a Dual gantry setup. The example given is a Shapeoko with a Dual Y gantry.

Theory

A dual gantry setup uses 2 motors to drive a single axis. The 4 motors on TinyG can be used like so:

Motor | Axis 
------|------
Motor1 | X Axis
Motor2 | Y1 Axis
Motor3 | Y2 Axis
Motor4 | Z Axis

The Y2 axis has reverse polarity from Y1 as the 2 motors are facing each other and therefore need to turn in the opposite direction from each other.