Reference Manual

PMAC 2 Software Reference

PMAC Program Command Specification 299

Remarks

This command loads the currently selected (with TSEL) transformation matrix for the

coordinate system with rotation/scaling values contained in the nine Q-variables starting

with the specified one. This has the effect of renaming the current commanded X, Y, and

Z axis positions (from the latest programmed move) by multiplying the XYZ vector by

this matrix.

The rotation and scaling is done relative to the “base” XYZ coordinate system, defined

by the axis definition statements. The math performed is:

[Xrot Yrot Zrot]

= [Rot Matrix] [Xbase Ybase Zbase]

This command does not cause any movement of any axes. It simply renames the present

positions.

Note:

When using this command to scale the coordinate system, use the I, J, K

vector specification for circle commands. Do not use the radius center

specification. The radius does not get scaled.

Example

Create a 3x3 matrix to rotate the XY plane by 30 degrees about the origin

Q40=COS(30) Q41=SIN(30) Q42=0

Q43=-SIN(30) Q44=COS(30) Q45=0

Q46=0 Q47=0 Q48=1

AROT 40 ; Implement the change

Create a 3x3 matrix to scale the XYZ space by a factor of 3

Q50=3 Q51=0 Q52=0

Q53=0 Q54=3 Q55=0

Q56=0 Q57=0 Q58=3

AROT 50 ; Implement the change