Hi Craig,
a MoveVelocity is not yet build in, a MoveAbsolute can be done in the following ways?
1. For an individual movement an axis you have to explicitly allow it and disable the gantry monitoring function for the time.
This can be done via the Datalayer:
motion/axs/YOURAXIS/cfg/functions/coupling/gantry/move-allowed
It is recomended to reset the bit to false after the singe axis movement for safty reasons.
2. The message in your picture is because you configured the axes to be able to be part of a gantry but you didn't couple the gantry yet.
This has to be done with "ML_AxsAddToGantry" and remove it with "ML_AxsRemoveFromGantry"
3. Break out of the gantry mode is not possible while moving, you have to be in standstill (see description of ML_AxsRemoveFromGantry)
A workaround for you could be not to use gantry mode but to copy the command values from one axis also to the other axis in your application. But you have to do all the errorhandling by your application as well.
For gantry alignment there is an uncompiled example function block in CXA_GANTRYALIGNMENT which can be used and also adapted to your needs. This takes also care about the "move-alowed" bit.
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