This open gantry system features two independent YZ carriages on a common X-beam. Sage calls this configuration a "fixed Y".
The Z carriage plate rides in and out on a fixed cantilevered Y-beam, unlike traditional open gantry that has a Y-beam that slides across the top of the X-beam. This configuration frees up space behind the robot, usually need to be kept open to allow Y-beams to retract inward.

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