PMT-Short Axis (User Defined Center)

① Click the Basic Motion \ Short Axis tab

② Choose User Defined for the rotation center

③ Enter the XBot ID

④ Absolute Motion means Z, Rx, Ry, Rz are specified in absolute coordinates; Relative means Z, Rx, Ry, Rz are specified relative to the current XBot Z, Rx, Ry, Rz positions

⑤ Specify the X & Y position of the rotation center. (Always in absolute coordinates)

⑥ Specify the Z position of the rotation center

⑦ Choose desired unit for rotation angles (mrad or degrees)

⑧ Enter target position

⑨ Enter speed parameters

⑩ Click “Send” when ready

 

Note:

• If the user defined center is not the XBot center, non-zero Rx and Ry will affect the Z position of the XBot as well as the Rx and Ry position of the XBot.
• If the user defined center is not the XBot center, non-zero Rz will affect the X, Y position of the XBot as well as the Rz position of the XBot.