Delta Tau GEO BRICK LV User Manual

 

 

An axis can have several attributes, as specified below.  Note that for most axis functions, it does not 
matter what type of axis is used, or what letter is given it.  However, for some features, only particular axis 
names may be used. 

Cartesian Axes 

A Cartesian axis is one that may be put into a grouping of two or three axes so that movement along an 
axis is a linear combination of motion on two or three motors.  X, Y, and Z form one set of Cartesian axes; 
U, V, and W form the other.  In addition, there are several commands (NORMAL, circular move) that can 
reference the X, Y, and Z-axes through the use of I, J, and K-vectors, respectively. 
To make a Cartesian axis a linear combination of several motors, do so with an extended form of the axis 
definition statement.  For instance, a 30o rotation of the axes can be received from the motors with the 
following axis definition statements: 

In this case, a request for a Y-axis (or an X-axis) move would cause both motors #1 and #2 to move. 
Only the X, Y, and Z Cartesian axes may be used for PMAC’s circular interpolation routines, cutter radius 
compensation routines, and matrix axis transformation routines.  If you want to do circular interpolation on 
other axes, you can do it through blended short moves and trigonometry in subroutines. 

Y

(in)

2"

4"

cts

in

Motor #2  (10,000        )

45

2) Scaling and Rotation

X (in)

Y (in)

3) Orthogonality Correction

1 arc min

(exaggerated)

X (in)

#1 -> 10000.00X - 2.91Y
#2 -> 10000.00Y

#1 -> 7071.07X - 7071.07Y

#2 -> 7071.07X + 7071.07Y

1) Scaling and Translation

#1 -> 10000X + 40000
#2 -> 10000Y + 20000

Motor #1  (10,000        )

cts

in

cts

in

Motor #2  (10,000      )

cts

in

Motor #2  (10,000      )

Motor #1  (10,000        )

cts

in

Motor #1  (10,000        )

cts

in