diff --git a/src/ophyd_async/epics/pmac/_pmacIO.py b/src/ophyd_async/epics/pmac/_pmacIO.py
index f8476e33d..4a98a8893 100644
--- a/src/ophyd_async/epics/pmac/_pmacIO.py
+++ b/src/ophyd_async/epics/pmac/_pmacIO.py
@@ -9,7 +9,8 @@
 class Pmac(StandardReadable):
     """Device that moves a PMAC Motor record"""
 
-    def __init__(self, prefix: str, name="") -> None:
+    def __init__(self, prefix: str, axes_on_brick: list[int], name: str = "") -> None:
+        self.prefix = prefix
         self.time_array = epics_signal_rw(
             npt.NDArray[np.float64], prefix + ":ProfileTimeArray"
         )
@@ -37,6 +38,12 @@ def __init__(self, prefix: str, name="") -> None:
                 for i, letter in enumerate(cs_letters)
             }
         )
+        self.CsAxisAssignment = DeviceVector(
+            {i: epics_signal_r(str, f"{prefix}:M{i}:CsAxis_RBV") for i in axes_on_brick}
+        )
+        self.CsPortAssignment = DeviceVector(
+            {i: epics_signal_r(str, f"{prefix}:M{i}:CsPort_RBV") for i in axes_on_brick}
+        )
         self.points_to_build = epics_signal_rw(int, prefix + ":ProfilePointsToBuild")
         self.build_profile = epics_signal_rw(bool, prefix + ":ProfileBuild")
         self.execute_profile = epics_signal_rw(bool, prefix + ":ProfileExecute")
diff --git a/src/ophyd_async/epics/pmac/_pmacTrajectory.py b/src/ophyd_async/epics/pmac/_pmacTrajectory.py
index e471164d5..ae0d200da 100644
--- a/src/ophyd_async/epics/pmac/_pmacTrajectory.py
+++ b/src/ophyd_async/epics/pmac/_pmacTrajectory.py
@@ -197,8 +197,16 @@ async def get_cs_info(self, motor: motor.Motor) -> tuple[str, int]:
         # Split "@asyn(PORT,num)" into ["PORT", "num"]
         split = output_link.split("(")[1].rstrip(")").split(",")
         cs_port = split[0].strip()
-        assert "CS" in cs_port, f"{motor.name} not in a CS. It is not a compound motor."
-        cs_index = int(split[1].strip()) - 1
+        if "CS" in cs_port:
+            # Motor is compound
+            cs_index = int(split[1].strip()) - 1
+        else:
+            # Raw Motor, CS 1 to be used - Straight through mapping
+            axis = int(split[1].strip())
+            cs_port = await self.pmac.CsPortAssignment[axis].get_value()
+            cs_axis = await self.pmac.CsAxisAssignment[axis].get_value()
+            cs_index = "ABCUVWXYZ".index(cs_axis)
+
         return cs_port, cs_index
 
     def _calculate_gaps(self, chunk: Frames[motor.Motor]):
diff --git a/tests/epics/pmac/test_pmac.py b/tests/epics/pmac/test_pmac.py
index 9ea10c7fb..f46cc7213 100644
--- a/tests/epics/pmac/test_pmac.py
+++ b/tests/epics/pmac/test_pmac.py
@@ -31,16 +31,25 @@ async def sim_y_motor():
     set_mock_value(sim_motor.acceleration_time, 0.5)
     set_mock_value(sim_motor.max_velocity, 5)
     set_mock_value(sim_motor.velocity, 0.5)
-    set_mock_value(sim_motor.output_link, "@asyn(BRICK1.CS3,8)")
+    set_mock_value(sim_motor.output_link, "@asyn(BRICK1,8)")
 
     yield sim_motor
 
 
+@pytest.fixture
+async def sim_pmac():
+    async with DeviceCollector(mock=True):
+        sim_pmac = Pmac("BLxxI-MO-STEP-01", axes_on_brick=[7, 8], name="sim_pmac")
+    set_mock_value(sim_pmac.CsAxisAssignment[8], "Y")
+    set_mock_value(sim_pmac.CsPortAssignment[8], "BRICK1.CS3")
+    yield sim_pmac
+
+
 async def test_sim_pmac_simple_trajectory(sim_x_motor) -> None:
     # Test the generated Trajectory profile from a scanspec
     prefix = "BLxxI-MO-STEP-01"
     async with DeviceCollector(mock=True):
-        pmac = Pmac(prefix, name="sim_pmac")
+        pmac = Pmac(prefix, axes_on_brick=[7, 8], name="sim_pmac")
     spec = fly(Line(sim_x_motor, 1, 5, 9), 1)
     info = PmacTrajInfo(spec=spec)
     trigger_logic = PmacTrajectoryTriggerLogic(pmac)
@@ -122,14 +131,11 @@ async def test_sim_pmac_simple_trajectory(sim_x_motor) -> None:
     await trigger_logic.kickoff()
 
 
-async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor) -> None:
+async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
     # Test the generated Trajectory profile from a scanspec
-    prefix = "BLxxI-MO-STEP-01"
-    async with DeviceCollector(mock=True):
-        pmac = Pmac(prefix, name="sim_pmac")
     spec = fly(Line(sim_y_motor, 10, 12, 3) * ~Line(sim_x_motor, 1, 5, 5), 1)
     info = PmacTrajInfo(spec=spec)
-    trigger_logic = PmacTrajectoryTriggerLogic(pmac)
+    trigger_logic = PmacTrajectoryTriggerLogic(sim_pmac)
     await trigger_logic.prepare(info)
     assert await trigger_logic.pmac.positions[9].get_value() == pytest.approx(
         [