Reference Manual

PMAC 2 Software Reference

180 PMAC On-Line Command Specification

from the motor home position. (This is the starting offset; it can later be changed in several

ways, including the PSET, {axis}=, ADIS, and IDIS commands).

If the specified motor is currently assigned to an axis in a different coordinate system, PMAC

will reject this command (reporting an ERR003 if I6=1 or 3). If the specified motor is

currently assigned to an axis in the addressed coordinate system, the old definition will be

overwritten by this new one.

To undo a motor’s axis definition, address the coordinate system in which it has been

defined, and use the command #{constant}->0. To clear all of the axis definitions

within a coordinate system, address the coordinate system and use the UNDEFINE command.

To clear all axis definitions in all coordinate systems, use UNDEFINE ALL.

For more sophisticated systems, two or three cartesian axes may be defined as a linear

combination of the same number of motors. This allows coordinate system rotations and

orthogonality corrections, among other things. One to three axes may be specified (if only

one, it amounts to the simpler definition above). All axes specified in one definition must be

from the same triplet set of cartesian axes: XYZ or UVW. If this multi-axis definition is

used, a command to move an axis will result in multiple motors moving.

Example

#1->X ...... ; User units = counts

#4->2000 A . ; 2000 counts/user unit

#8->3333.333Z-666.667 ; Non-integers OK

#3->Y ............... ; 2 motors may be assigned to the same axis;

#2->Y ............... ; both motors move when a Y move is given

#1->8660X-5000Y ;This provides a 30o rotation of X and Y...

#2->5000X+8660Y ;with 10000 cts/unit – this rotation does

#3->2000Z-6000 ;not involve Z, but it could have

This example corrects for a Y axis 1 arc minute out of square:

#5->100000X ;100000 cts/in

#6->-29.1X+100000Y ;sin and cos of 1/60