\subsection{Mclennan PM-304}
\textit{Platforms: All}

\ \newline
The Mclennan PM-304 controller is a single-axis servo controller from
Mclennan (www.mclennan.co.uk) that is no longer manufactured.

%
\newcommand{\MxFieldPmDAERsCDCZrecord}
{The name of the MX record for the RS-232 port that this controller
is plugged into.}
%
\newcommand{\MxFieldPmDAEAxisZnumber}
{The axis number for this encoder.}
%
\newcommand{\MxFieldPmDAEAxisZencoderZnumber}
{If a PM368 encoder display is installed, specify the axis encoder number
for it here.  If a PM368 is \textbf{not} installed, then specify -1 here.}
%
\newcommand{\MxFieldPmDAEMinimumZeventZinterval}
{It is possible for MX to send commands faster than the PM-304 can cope with.
This field sets a minimum time in seconds between commands sent to the PM-304.
A typical value for this field is 0.1 seconds.}
%
\ \newline
\MxPmDAEDriverFields
\ \newline

An example database for the PM-304 looks like this:
\begin{verbatim}
theta_rs232 interface rs232 tty "" "" 9600 7 E 1 N 0xd0a 0xd0a 1 0 /dev/ttyS3
theta  device motor pm304 "" "" 0 0 -5400000 200000 0 0 20000 -5e-05 0 deg theta_rs232 1 201 0.1
\end{verbatim}

The MX driver for the PM304 requires that responses from the controller
include an address prefix. By default, the PM304 has this feature turned off.
You may turn it on by sending the string
%
\begin{verbatim}
    1AD
\end{verbatim}
\ \newline
to the PM304, assuming that it is configured for address 1. Please note that
the AD command is a toggle, so if address prefixes are already turned on,
the AD command will turn them off. 

