Using subprograms in kinematics

[PeterD]

We have been using sub programs for common functions inside the kinematics, this has worked very well for several years, we recently started using the ARM processor and the kinematics will occasionally run amok.

My question is.

Can you use sub programs inside kinematics?

If you can, what limitations are imposed?

[steve.milici]

Yes, you can. See the “Power PMAC User’s Manual” in the section “Coordinate-System Kinematic Subroutines” starting on page 497. Specifically see the subsection “Generalizing the Routines to Multiple Coordinate Systems” starting on page 508 for specific limitations and usage. We would need to know the details of “run amok” to further comment.