# single-axis

Configure a `single-axis` gantry to integrate a single-axis gantry into your machine.
First, be sure to physically assemble the gantry and connect it to your machine’s computer.
Also, configure any [motor components](https://docs.viam.com/reference/components/motor/) that are part of the gantry.

- [JSON Template](https://docs.viam.com/reference/components/gantry/single-axis/#tabset-referencecomponentsgantrysingle-axis-1-0)

```json

```

The following attributes are available for `single-axis` gantries:

| Attribute                     | Type    | Required?   | Description                                                                                                                      |
|-------------------------------|---------|-------------|----------------------------------------------------------------------------------------------------------------------------------|
| `length_mm`                  | int     | **Required**| Length of the axis of the gantry in millimeters.                                                                                |
| `motor`                       | string  | **Required**| `name` of the [motor](https://docs.viam.com/reference/components/motor/) that moves the gantry’s actuator.                      |
| `board`                       | string  | Optional    | `name` of the [board](https://docs.viam.com/reference/components/board/) containing the limit switches and pins. If `limit_pins` exist, `board` is required. |
| `limit_pins`                  | object  | Optional    | The `boards`’s pins attached to the limit switches on either end. If the [motor](https://docs.viam.com/reference/components/motor/) used does not include an [encoder](https://docs.viam.com/reference/components/motor/encoded-motor/), `limit_pins` are required to be set. |
| `limit_pin_enabled_high`      | boolean | Optional    | Whether the limit pins are enabled.<br>Default: `false`                                                                          |
| `mm_per_rev`                 | int     | **Required**| How far the gantry moves (linear, distance in mm) per one revolution of the motor’s output shaft. This typically corresponds to Distance = PulleyDiameter * pi, or the pitch of a linear screw. |
| `gantry_mm_per_sec`          | int     | Optional    | The speed at which the gantry moves in millimeters per second. Used to calculate the gantry `motor`’s revolutions per minute (RPM).<br>Default: `100` RPM |

## Test the gantry

Once your gantry is configured and connected, open the gantry’s **TEST** panel on the **CONFIGURE** or [**CONTROL**](https://docs.viam.com/monitor/default-interface/#web-ui) tabs.

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

If the gantry does not appear on the **TEST** panel, or if you notice unexpected behavior, check your machine’s [**LOGS** tab](https://docs.viam.com/monitor/troubleshoot/#check-logs) for errors, and review the configuration.