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PATRIOT WIRELESS Manual

1. 85 P SINGLE DATA RECORD ene nene 86 Q RESET COUNTERG ccccssccecsessececessceceseeecsesaececseeeecsesuececseaaececseaeecsesaeeecsesaeeessueeecesaeeecseaaeees 87 RECEPTOR ALIGNMENTS ccccceccceseseseseceseseseseseveseresesesesesessseseseseseseseseseseseseseceseseseseseseeenees 88 AB ALIGNED RECEPTORS MAP ccccscssseseseseseseseseseceseceveseseseseseseresesesereseseseceseseseseseseceeeseresenens 90 AK SAVE OPERATIONAL CONFIGURATION cccccesesececesssesesesesesesesesesesesesesesesesereseseseseseeeseseeesens 91 2 UNLAUNCH MARKER cccscsssesssesesesesesssesssesesesevesesesesesesesesesesesesesesesesesesesesesesesesesesesesesesens 92 ui eli 93 E Am 94 AW SET OPERATIONAL CONFIGURATION ccccceseceeeeececseeeeceeeceeecesesesesesereseeesereseseseresereseresenens 95 AY INITIALIZE SYSTEM eoe entes de Dee eoe e ete ba Ce ep epe este tese 96 Z READ OPERATIONAL CONFIGURATION nnne enne enne ene n eene en en nnn 97 95 SIGNAL STRENGTH eren eren eran 100 APPEND
2. 56 ASCII 84 N Binary Response 84 O ASCII 58 O Binary Response 58 Output Data Types 57 P ASCII Response 85 P Binary 85 RS 232 Pin Outs 23 Switch Settings esses 24 System Status Indicators 5 21 U ASCII 59 U Binary Response 59 X ASCII Response eee 61 X Binary Response 61 Y ASCII 63 97 98 U Set Units iiie certe ttr ettet leet 59 lii mx acted 7 REV C PATRIOT WIRELESS MANUAL 65 Unlaunch Marker esses 37 91 Unlaunch Launch Marker 35 Update 40 A 7 D 1 E E 1 USB Buffering 76 USB Communications 5 USB Driver Installation 5 16 USB IO tirer aca E 24 Useful Range eee ROI 7 User Command Set Summary 49 User Default
3. 5 6 RS 232 eret rate shots rete tentent s 23 4221 mc 24 Safety NOLC6S iiit te eese pieta ii Save current receptor alignment 33 Save Operational Configuration 90 Saving Alignment Data esses 32 SDK Software Developer s Kit 7 Select Launch 36 Set Autolaunch Criteria 65 Set Echo 64 Set Operational Configuration 94 Set UNIS T 59 Setting Receptor Alignment 30 Setting Up terrere 2 SEU System Electronics Unit 1 23 A 7 SEU w power supply D 1 Signal Strength sse 99 Single Data Record Output 85 Software Developer s Kit SDK A 7 Specifications D 1 REV C PATRIOT WIRELESS MANUAL Startup Receptor Alignment Configuration 70 Static Accuracy D 1 7 Station Wildcard 46 7 uiri qe 45 System Commands 45 System Electronics Unit SEU 1 23 7 System Operation eeceecesecesecseeseeeseeenes 29 System Output Data Records B 1 Table A ASCII
4. 75 A Binary Response eee 75 ASCII Response TI B Binary TI ASCII Response 78 Binary 78 95 ASCII 99 95 Binary Response 99 ASCII 87 Binary Output 88 ASCII Response eene 89 Binary Output Format 89 ASCII Response 64 Binary 64 ASCII 65 Binary Response eee 65 ASCII Response eee 67 Binary Response eee 67 ASCII 68 Binary Response see 69 U Binary Output Format 72 U marker ASCII Response 72 97 98 UO ASCII 72 97 98 lt gt Binary 93 ASCII 93 V receptor ASC
5. Syntax AE echo lt gt Part Description echo No echo mode pee Echo mode Remarks The system default for echo mode is OFF Output Record Table 25 AE ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 te 3 A Error Indicator 4 B ASCII Blank character 5 A 1 on 0 off 6 7 AA Carriage Return Line Feed Table 26 Binary Response Byte Index Format Description 0 7 Binary Header 8 I 1 on 0 off Examples 1 lt gt 0 lt gt Default is off REV C 64 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION G Set Autolaunch Criteria Description In Autolaunch mode PATRIOT WIRELESS detects and automatically launches or unlaunches wireless markers as they enter and leave the motion tracking environment Thresholds for marker detection may be set and read with this command Syntax G launch range unlaunch range Part Description Launch range Range index from to 100 Lower index corresponds to shorter range Unlaunch range Range index from to 100 Lower index corresponds to shorter range Remarks In the PATRIOT WIRELESS the launch and unlaunch range indices are translated into minimum detected signal levels at which the PATRIOT WIRELESS will automatically launch and unlaunch markers A lower launch range index means that a marker must be closer to a receptor and thus produce a higher detected signal level to cause i
6. eene 40 Installed A 3 Installed 56 Installing Host Software ss 15 L Launch 83 REV C PATRIOT WIRELESS MANUAL D A 3 Latency oue te dee RO A 3 D 1 Launch Marker ees 36 37 83 Launch Unlaunch Marker 35 38 Launched Marker sese A 4 Launched Marker ID sess 84 least significant bit LSB 4 least significant digit LSD 4 LED Indicator 23 Limited Warranty and Limit of Liability C 1 Line of Sight LOS 4 Lithium ion Lithium polymer Batteries Handling Recommendations 44 Lithium Lithium ion Lithium polymer Batteries Handling Recommendations ii LOS Line of Sight 4 LSB least significant bit 4 LSD least significant digit 4 Installed 56 Manual Marker Launch 36 Manual Marker Unlaunch 37 Market E 1 25 4 Marker Auto Launch Unlaunch 38 Marker Boresight sees 52 marker frequency 35 Marker Frequency Index 4 Marker Installation sees 40
7. sess 80 Active Marker 71 CODyright et ne he 1 Adaptive Filters 41 Counters Reset 86 Aligned Receptors Map 89 Customer Service E 1 Alignment D Marker Tip 81 Erase saved startup data 33 Data Format D 1 Save current receptor 33 Default Parameters eese 46 Alignment Reference Location 1 defaults factory sess A 2 Anchor Receptor 1 Direction A 2 Angular D 1 EC Declaration of Incorporation 1 a 1 EleVatiOB iie etienne terne tee oc pe A 2 ASCH enden OE sS 47 A 1 E mail contacts esee E 1 ASCII Format B 1 EMG eee dero paradise fleet i Attitude Filter Parameters 62 Erase saved startup alignment data 33 Attitude Matrix 1 Error Code Summary 50 Autolaunch Mode 75 Error Responses 48 Automatic Marker Launch and Unlaunch 38 Euler Angles ee A 4 AZIMU 1 Experiment with Data 22 battery charging risks 42 F 60 62 battery handling ii 44 F Output Format es
8. 78 Table 12 Binary Response 54 Table 47 D ASCII 81 Table 13 ASCII Response Header 56 Table 48 D Binary Response 81 Table 14 ASCII 56 Table 49 ASCII 85 Table 15 Binary 56 Table 50 N Binary Response 85 Table 16 Output Data 57 Table 51 P ASCII 86 Table 17 ASCII 58 Table 52 P Binary Response sss 86 Table 18 Binary Response 58 Table 53 A ASCII 88 Table 19 U ASCII 59 Table 54 A Binary Output Format 89 Table 20 17 Binary Response 59 Table 55 ASCII 90 Table 21 X ASCI 61 Table 56 B Binary Output Format 90 Table 22 X Binary Response 61 Tab
9. Save Operational Configuration on page 91 command AW Set Operational Configuration on page 95 and or the command X Operational Configuration ID on page 73 Output Record None Examples If the user wanted to set the system configuration back to its original factory default condition the following commands should be sent AW0 lt gt AY lt gt The system will now be in its original factory default condition The Y simulates turning the system power off then back on again 96 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN 7 Read Operational Configuration Description This command allows the user to view the operational configuration settings for the current factory default and saved custom configurations Syntax AZ slotnum lt gt Part Description slotnum 0 Factory default configuration 1 3 One of three user definable operational configurations that are stored within PATRIOT WIRELESS Remarks If no slotnum is supplied the current operational configuration will be returned Output Record The ASCII response to Z will be prepended by only the first characters of the normal 5 byte ASCII header Table 61 Z ASCII Response Header Byte Index Format Description 0 A 0 1 A 0 2 A T The body of the response will be a variable length block of text in the format below Data in italics will vary accord
10. 29 3 2 POWERING UP PATRIOT WIRELESS 29 3 3 RECEPTOR SETUP use aet elec us ex un Di vest eios Use ede 30 3 3 1 RECEPTOR POSITIONING AND eene hene enhn eene enne e eee nene ener eene 30 3 3 2 SETTING RECEPTOR ALIGNMENT 30 3 3 3 SAVING ALIGNMENT tetr trte r rtr rtr rtr etr rtr r r r r r E EEE EEr rererere ereere eee 32 3 3 4 REFERENCE FRAME SETUP eese enne hehe enin e ene 33 3 3 5 RECEPTOR CLOSE RANGE MODE c cscccseeeseseseseseseseseseceseceseseseseseseseseseseseseseseseseseseseresenesenees 34 3 4 MARKER OPERATION ccccccecececececececececeseseseseseseseseseseseseseseseseseseseseeeeeeesesesesesesesesesesesesesesereseseeeseseseseseeenens 35 3 4 1 MARKER LAUNCH AND UNLAUNCH eeeeeeeenhee ehe nene nene eren eren nnn 35 3 4 2 MANUAL MARKER L AUNGH e eeter eet re eror e roe epo vet oe ose qune Sep meo en ete neo ee Eee 36 3 4 2 1 MANUAL MARKER 37 3 4 2 2 AUTOMATIC MARKER LAUNCH AND UNLAUNCH eeeeeee eene nnn nn nnn nnn nnn
11. lt e lt 255 B 2 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION APPENDIX Limited Warranty and Limitation of Liability Polhemus warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Polhemus s delivery to the Buyer or two years and 30 days from the date ownership of Product passed to the Buyer whichever occurs first with the exception of FastSCAN Marker and mechanical failure of a battery assembly which have a warranty period of only one year Batteries have a 90 day warranty period Polhemus shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at Polhemus s option This warranty shall be considered void if the Product is operated other than in accordance with the instructions in Polhemus s User Manual or is damaged by accident or mishandling Parts or material which are disposable or expendable or subject to normal wear beyond usefulness within the warranty period such as lamps fuses etc are not covered by this warranty In the event any Product or portion thereof is defective Buyer shall promptly and within the warranty period notify Polhemus in writing of the nature of the defect and return the defective parts to Polhemus at the direction of Polhemus s Customer Service representative Upon determination by Polhemus that the parts or Products are
12. Allowable range of values 0 lt F lt 1 FLow A scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions setting this value to 1 0 disables the filter completely Allowable range of values 0 lt FLow lt FHigh or 1 0 to disable filter FHigh A scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow FHigh 1 Factor A scalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by 62 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 Factor 1 When the form of the command is YO 1 0 0 lt gt the attitude filter is disabled Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 Factor Set
13. 2 5 in 6 35cm L x 1 4 in 3 56cm W x 1 4 in 3 56cm weight 3 2 oz 90 7 gm Cable length 20 ft 6 1m or 60 ft 18 3m Power Requirements 100 240V AC 50 60 Hz Nominal 85 264 V AC 47 440 Hz max rating single phase 10 W REV C D 1 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION APPENDIX E Customer Service If problems are encountered with the PATRIOT WIRELESS or if you are having difficulty understanding how the commands work help is just a telephone call away Call Polhemus at the numbers listed below and select 2 for Customer Service and then 1 for Technical Support Polhemus is open Monday through Friday 8 00 AM to 5 00 PM Eastern Standard Time For the most part our customer service representatives are usually able to solve problems over the telephone and get you back into the fast lane right away Help is also available on our web page at www polhemus com Simply double click Technical Support and then select techsupport polhemus com to send us an email describing the problem or question If a problem requires repair of your system the customer service representative will issue a Return Merchandise Authorization RMA number and you may then return the system to the factory Do not return any equipment without first obtaining an RMA number Please retain and use the original shipping container if possible to avoid transportation damages for which you or your shi
14. POLHEMUS INNOVATION IN MOTION ATRIOT M WIRELESS PATRIOT M WIRELESS USER MANUAL URMO07PH207 REV NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Copyright O 2008 2013 by Alken Inc dba Polhemus Colchester Vermont U S A rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical photocopying recording or otherwise without the prior written permission of Polhemus No patent liability is assumed with respect to the use of the information contained herein While every precaution has been taken in the preparation of this manual Polhemus assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACE PATRIOT and PATRIOT WIRELESS are trademarks of Polhemus Windows is a registered trademark of Microsoft Corporation FCC Statement This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designated to provide reasonable protection against interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause interference to radio communications Operation
15. ssn esis tote e t Pe ERR A A 6 Place 37 Position amp Orientation P amp O 1 A 6 Position Filter 60 Power Requirements esee D 1 Powernng Up rhet 29 Print Output Continuous 80 Q Reset Counters 86 Quad Charger ideo HESS 27 Quaternion 2 6 Dcum D 1 Read Operational Configuration 96 Receptor iue iere 1 24 A 6 D 1 Receptor Alignment eee 30 Receptor Alignment Configuration 70 Receptor Alignment 87 Receptor Close Range Mode 34 Receptor Close Range Mode 78 Receptor Ports ies eee gne 23 Receptor Positioning and Setup 30 Receptor Setup eese een 30 Receptors number of D 1 Reference Frame 33 Reference location 31 Reference Location eese A 6 Reset Counters 86 Resolution eite bere renes D 1 Response 2 2 A 6 Response Format Notes 47 Return Merchandise Authorization RMA E 1 RMA Return Merchandise Authorization E 1 o M A 6 RS 232 5 petet seria 1 23 68 RS 232 Communications
16. 1 1992 2 1995 EN 61010 1 1993 A2 1995 REV C 1 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN Safety Notices Warnings e Before turning on the instrument be aware that the mains plug shall only be inserted in a socket outlet provided with a protective ground contact You must not negate the protective action by using an extension cord power cable without a protective conductor grounding Grounding one conductor of a two conductor outlet is not sufficient protection Whenever it is likely that the ground protection is impaired you must make the instrument inoperative and secure it against any unintended operation e This instrument contains no user serviceable parts Do not attempt to service the unit Return it to Polhemus for repair e Do not perform any unauthorized modification to the instrument e Do not operate the instrument in the presence of flammable gasses or fumes Operation of any electrical instrument in such an environment constitutes a definite safety hazard e Do not use the instrument in a manner not specified by the manufacturer To Clean the Instrument If the instrument requires cleaning 1 Remove power from the instrument 2 Clean the external surfaces of the instrument with a soft cloth dampened with a mixture of mild detergent and water Make sure that the instrument is completely dry before reconnecting it to a power source HANDLING RECOMMENDATIONS
17. 5 Actuate the power switch to the ON position and observe that the power indicator illuminates green Turn to the front of the unit to note the four red LED charge indicators With no batteries inserted for charging these indicators may or may not blink To charge one to four of the Lithium ion Lithium polymer battery packs perform the following l The power switch can be in either the ON or OFF position when inserting batteries but at the outset we recommend turning off the power or unplugging the power supply from the power mains Insert one or more battery packs into the receptacles The charging circuits are independent of each other for each charging station so that the station chosen is totally arbitrary Move the power switch to ON or plug in the power supply and observe that the power indicator illuminates Observe that the indicator corresponding to the battery being charged in the receptacle above it will illuminate steadily without flickering ON and OFF While a battery is charging the red LED indicator remains solid ON and when the battery is totally charged the indicator will automatically extinguish Any combination of the four indicators could be occurring at a given time random ON OFF solid ON or solid OFF depending on the state of usage and state of battery charge s After the indicator is extinguished the fully charged battery may be removed and is ready for use in a marker After all batteri
18. INNOVATION IN List of Tables Table 1 System Status Indicators 5 Table 36 U marker ASCII Response 72 Table 2 LED Indicators 23 Table 37 UO ASCII 72 Table 3 RS 232 Pin Outs eee 23 Table 38 U Binary Output Format 72 Table 4 Switch Settings 24 Table 39 ASCII 73 Table 5 ASCII Response 47 Table 40 X Binary 73 Table 6 Binary Response Format 48 Table 41 ASCII Response 75 Table 7 ASCH 52 Table 42 9 A Binary 75 Table 8 Binary 52 Table 43 ASCII Response 77 Table 9 F ASCII 53 Table 44 B Binary 77 Table 10 F Binary 53 Table 45 ASCII 78 Table 11 G ASCII 54 Table 46 Binary
19. NOTE Windows Vista and later does not bundle the HyperTerminal serial communications utility To use the PATRIOT WIRELESS ASCII interface on Vista you will need to install a third party application to perform COM port serial communication 2 Configure HyperTerminal and open a serial port e In HyperTerminal enter a session name choose an icon and select OK In the Connect using field select the desired COM port COM1 and select OK In the Bits per second field select 115200 In the Data bits field select 8 default In the Parity field select None default In the Stop bits field select 1 default In the Flow control field select None and select OK REV C 20 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN 3 You ould now have a serial connection opened to PATRIOT WIRELESS Turn the system on In 5 to 10 seconds you will see the startup message in the HyperTerminal Screen PATRIOT WIRELESS Ready Refer also to Table 1 on page 5 To track a wireless marker PATRIOT WIRELESS receptors must be aligned By default PATRIOT WIRELESS receptor is automatically aligned as the anchor receptor at 0 0 0 so for this Getting Started example it is not necessary to align any receptors To learn more about receptor alignment refer to Section 3 3 Receptor Setup Further to track a wireless marker the marker must be launched To manually launch the marker make sure th
20. 0 0 0 Issuing a command without the optional parameters will return whether a marker is boresighted or not It will not return the boresight reference angles Output Record Table 7 ASCII Response Byte Index Format Description 0 A First Digit of marker number 1 A Second Digit of marker number 2 A B 3 A Error Indicator 4 B ASCII Blank character 5 A 1 0 On 0 0 Off 8 AA Carriage Return Line Feed Table 8 B Binary Response Byte Index Format Description 0 7 Binary Header 8 Fl 1 0 On 0 0 Off Examples B1 1 10 20 30 5 lt gt Boresights marker to 10 degrees in azimuth 20 degrees in elevation and 30 5 degrees in roll B1 0 lt gt Unboresights marker 1 4 1 lt gt Boresights marker 4 to the default values of 0 0 0 B3 lt gt Returns 0 0 to indicate that marker 3 is not presently boresighted or 1 0 to indicate that it is REV C 52 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN F Output Format Description This command selects the Binary or ASCII output data format ASCII format means that the data is generally human readable while binary format is generally computer readable Regardless of output data format selected all input data commands to PATRIOT WIRELESS must be in ASCII format Syntax F fmt lt gt Part Description fmt Defines the type of output from PATRIOT WIRELESS The choi
21. 01 that echoes the marker number 01 followed by six floating point numbers for the XYZAER position and orientation of the marker NOTE The values displayed in the sample output above are not the actual values they represent an arbitrary placement of the marker and anchor receptor Continue experimenting with the position and orientation data See Experiment with PATRIOT WIRELESS Data below 1 7 Experiment with PATRIOT WIRELESS Data 1 With one or more launched markers in a stationary position take some initial samples of data using the P Single Data Record Output command see page 86 or the C Continuous Print Output on page 80 Move the launched marker six inches toward the reference point or anchor receptor and place it in a stationary position The value of the X position data will decrease by approximately six inches The Y and Z values will remain roughly the same as the original data If you left the attitude of the marker approximately the same as it was when you started then the attitude data also will be approximately the same Change the orientation of one or more of the launched markers without changing position Try twisting it in azimuth in the same plane as the floor by approximately 45 degrees and fix it in place Now collect another data frame The first four columns will be approximately as they were in Step 1 but the Azimuth data in column 5 will have changed by approximately 4
22. 76 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Output Record Table 43 B ASCII Response Byte Index Format Description 0 A 0 1 A o 2 A 3 A Error Indicator 4 B ASCII Blank character 5 0 Disabled 1 Enabled 6 7 AA Carriage Return Line Feed Table 44 B Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 Disabled Ox01 Enabled Examples The command to disable USB buffering mode is B0 lt gt REV C 77 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN Receptor Close Range Mode Description This command enables or disables Close Range Mode for one or all receptors Close Range Mode may be useful in environments where markers are expected to track within 12 18 inches of the receptor Syntax Rreceptor mode lt gt Part Description receptor 1 2 Specifies which receptor to read set mode Wildcard may be used to read all receptor arguments mode Defines the status of Close Range mode for receptor The choices are Off Extended Range Mode On Close Range Mode default Remarks By default Close Range mode is enabled for all receptors As with other configuration commands if no mode argument is provided the current value of the setting is returned in the default response frame NOTE When Close Range mode is employed for a recep
23. Marker Launch and Unlaunch 35 Marker Operation 35 Marker Placement eese 37 Marker Reference Frame 54 Marker Tip 81 Markers Number of Wireless D 1 Measure Receptor P amp O Relative to Origin 31 Models cec E EE 1 most significant bit MSB A 4 Motion Tracking Environment A 4 MSB most significant bit 4 N Launched Marker ID 84 Notaio I 45 O Output Data List esee 57 Operational Commands esses 79 Operational Configuration ID 73 Orientation 4 Output Considerations 40 Output Data List 57 Output Format eese 53 Output Last etr tetti A 5 VET VIC 45 P Single Data Record Output 85 P amp O Measure Receptor relative to Origin 31 Position amp Orientation 1 A 6 Parameter defaults sees 46 PATRIOT WIRELESS A 6 Phase Step iecit ea 92 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION Physical Characteristics D 1 PM OUI us eene me 6 16 29
24. REV C 44 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 4 PATRIOT WIRELESS System Commands 4 1 Overview This section of the document specifies the PATRIOT WIRELESS Command Interface It provides the basis for Interface development The Command Interface defines the structure and function of commands PATRIOT WIRELESS will respond to and the messages PATRIOT WIRELESS will provide to an external device or Host The Command Interface is comprised of ASCII commands The interface is designed to work in a dumb terminal mode thus keeping the communications protocol simple and easy to use These commands provided the building blocks for the Polhemus PATRIOT WIRELESS SDK Additional information is provided in this document to give the reader some background in the terminology and general science behind the Polhemus tracking technology Key factors that influence the design of the interface are also discussed commands are input on the RS 232 serial port or USB port Additionally format notations and conventions for commands and outputs are presented first 4 2 Command Syntax 4 2 1 Notation The following notations are used in this manual to describe PATRIOT WIRELESS command syntax Items shown inside square brackets are optional To include optional items type only the information inside the brackets Do not type the brackets lt gt Represents an ASCII carriage return or ente
25. Range User Defaults XYZ or X Y Z XYZAER Yaw lt gt The unit of assumed distance PATRIOT WIRELESS allows measurement in either inches or centimeters The rate at which motion tracking data can be made available from the PATRIOT WIRELESS The maximum distance at which the resolution and noise performance of the PATRIOT WIRELESS can be realized The values assigned to certain system variables by the user Stored in non volatile memory the system receives these variable values at power up The Cartesian coordinates of position tracking where normally X is in the forward direction Y is in the right hand direction and Z is downward The output string of data reporting the position XYZ and orientation AER Azimuth Elevation and Roll of the tracking marker Same as azimuth Used in text to indicate the Enter key Used in text to indicate the Ctrl key A 7 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION APPENDIX B System Output Data Records ASCII FORMAT Table 66 Initiating Commands ASCII Format P or C continuous mode Byte Index Format Description 0 First Digit of Marker Number mil A Second Digit of Marker Number a 2 A Command Letter E 3 A Error Indicator 4 B ASCII Blank character 5thrun A See Possible Formats below 1 n 2 lt gt A P amp O response frame may not contain a Carriage Return Line Feed as specifi
26. Response Format Byte Index TYPE Description 0 1 US Frame Tag always PL or 0x4C50 for PATRIOT WIRELESS e 2 UC Receptor or Marker Number a 3 UC Initiating command or if a 2 character command 4 4 UC Error Indicator T5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body Error codes presented in the Error Indicator field are detailed in PATRIOT WIRELESS Error Code Summary on page 50 No Error is represented by NULL 0x00 Error Responses When in binary mode error responses are always prepended by the binary frame header followed by the ASCII error string In ASCII mode error responses have no header See PATRIOT WIRELESS Error Code Summary on page 50 for a complete listing of error responses REV C 48 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN 4 3 PATRIOT WIRELESS User Command Set Summary Command Description Decimal Hexadecimal Notes Page B Boresight 66 42 0 0 off 1 0 32 C Continuous Print Output 67 43 80 D Marker Tip Offset 68 44 81 F Output Format 70 46 Q asc 1 bin 53 Marker Reference Frame 71 47 54 L Launch Marker 76 4C 83 M Installed Markers 77 4 56 N Launched Marker ID 78 4E 85 Output Data List 79 4F 51 P Single Data Record Output 80 50 86 Q Reset Counters 81 51 0 both 1 FC 2 TS 87 U Set Units 85 55 0 in 29 X Position Filter Parameters 88 58 60 Y Attitude Filter Param
27. Using PATRIOT WIRELESS Marker Batteries on page 7 REV C 3 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION aA Y POLHEMUS 10 12 inches Figure 1 5 Receptor Marker Test Setup Make note of the marker number in your test setup The marker number label is located on the top of the marker as shown in Figure 1 6 POLHEMUS m Figure 1 6 Marker Number Label 6 Ensure that the power switch is in the OFF position logic 0 DOWN With the separate power supply UNPLUGGED from the wall connect the power input cable to the PATRIOT WIRELESS The power supply can now be plugged into a 110 220 VAC outlet See Figure i Figure 1 7 Power Connector REV C 4 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION USB or RS 232 Communications e For USB continue with Step 7 e For RS 232 skip to Step 11 NOTE Only one I O mode USB or RS 232 can be active at a time If at any time the USB is connected between the powered tracking system and the host computer USB will become operational automatically and any RS 232 connection will be disabled To re enable the RS 232 connection the SEU must be reset or powered down and up with the USB cable disconnected For USB Communications 7 Identify the USB cable and insert it into the receptacle as shown in Figure 1 8 Connect the other end of the USB cable to the host computer Figure 1 8 USB Cable Connect
28. configurations Remarks When using the W command the Y Initialize System on page 96 or system power cycle must be applied to make PATRIOT WIRELESS use the operational configuration Output Record None Examples If the PATRIOT WIRELESS configuration had been altered by sending various other commands and saving the result to the configuration non volatile memory and the user wanted to return the system to its original factory default settings then the following commands should be sent WO AY After initialization the system non volatile configuration memory will be set with all of the factory default parameters This exercise is especially useful when the system has been modified to the point where the user is not sure how to get back to factory defaults NOTE Care should be taken because all non saved custom settings will be lost as a result of the reset 95 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION AY Initialize System Description This command reinitializes the entire system to an advanced power up state The user should allow sufficient time for the system to run through its self test and initialization as signified by completion of LED flashing explained in Step 8 of Getting Started on page 5 before attempting to send the system additional commands Syntax AY lt gt Remarks This command should be used in conjunction with the command
29. defective and covered by the warranty set forth above Polhemus at its option shall repair or replace the same without cost to Buyer Buyer shall be responsible for any import export duties tariffs and pay all charges for transportation and delivery costs to Polhemus s factory for defective parts where directed to be sent to Polhemus and Polhemus shall pay for transportation costs to Buyer s facility only for warranty replacement parts and Products Removed parts covered by claims under this warranty shall become the property of Polhemus In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that Polhemus may invoice Buyer for all reasonable expenses incurred in inspecting testing repairing and returning the Products and that Buyer will pay such costs on being invoiced therefor Buyer shall bear the risk of loss or damage during transit in all cases Any repaired or replaced part or Product shall be warranted for the remaining period of the original warranty or thirty 30 days whichever is longer Warranties shall not apply to any Products which have been a repaired or altered other than by Polhemus except when so authorized in writing by Polhemus or b used in an unauthorized or improper manner or without following normal operating procedures or c improperly maintained and where such activities in Polhemus s sole judgment have adversely affected the Products Neither
30. eee IO dH 25 Receptor Alignment Dialog 31 Receptor and Receptor Connector Cord 3 Receptor Connection 3 Receptor Marker Test Setup 4 RS 232 Cable 6 RS 232 Display 18 Save or Erase Startup Alignment Data 33 Select Launch 36 Select marker to unlaunch 38 Set Receptor Alignment 31 32 Spring clip improperly seated 14 Successful battery installation 14 Unlaunching a marker 38 USB Cable Connection 5 ounce A 2 IIPEI B 2 FEOW ies ceiceexivsscecsscesceeststseltet va ton gevs en 60 62 jsp 2 Frequency Index eese A 4 G Marker Reference Frame 54 Getting 1 Hardware Switches 24 Hemisph re ie emere ere A 3 lr A 3 Host Software Installation 2 15 16 Considerations eee 29 WO Latency eben A 3 WO Ports iere rmt nne tre D 1 Increment seseseemR 41 67 A 3 Initialize System 95 Install marker
31. eescetteteies patei 68 gt Delimiter oi er te eee tex 45 Phase Step eee ttes 92 so Repeat eroe ta ter ttti teh 45 S Startup Receptor Alignment Config 70 Unique 2 character command 46 U Active Marker 71 Optional eere 45 WhoAml eere 93 Ctrl or Control 46 W Set Operational Configuration 94 CFathes Or eet etr etin nn 45 Operational Configuration ID 73 lt gt Enter ciet mettere 45 Initialize 95 Command Format 46 7 Read Operational Configuration 96 Command Reference eese 51 B USB Buffering 76 Command Set Summary 49 S Signal Strength sss 99 Command Syntax seen 45 B Marker Boresight ssss 52 Component Description sese 23 c Entet sess odessa terea A 7 Configuration Changes eese 41 422 iicet eret id 24 Configuration Commands 51 6 Degrees of 1 Contact information sese E 1 eet tea 1 Continuous Print Output
32. examples of what medical companies have done with the Products after obtaining all necessary or appropriate medical certifications The end user OEM VAR must comply with all pertinent FDA CE and all other regulatory requirements REV C C 2 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION APPENDIX D Specifications Update Rate 50 Hz Latency 20 milliseconds Number of Receptors 1102 Number of Wireless Markers 1104 Ports USB RS 232 to 115 200 Baud both are standard Static Accuracy 1 0 degree and 0 3 inch 0 75cm using 1 marker and 1 receptor at 30 inches 76 2cm Accuracy is installation dependent typical accuracy may normally result in 1 to 3 degrees and 1 to 3 inches 2 54cm to 7 62cm Resolution 0 002 in 0 05 mm at 12 in 30 cm range 0 005 orientation Range Individual receptors have a range of 8 foot radius 16 foot diameter depending on receptor arrangement range may increase somewhat Angular Coverage All attitude Data Format Operator selectable ASCII or IEEE 754 binary English Metric Units Physical Characteristics SEU w power supply 6 7 17 cm L x 6 25 in 15 9 cm W x 1 75 in 4 44 cm H Weight 14 1 oz 0 4 kg Extended Wireless Marker 3 00 in 7 62cm L x 1 66 in 4 22cm W x 0 97 in 2 46cm weight 2 8 oz 79 4 gm Standard Wireless Marker discontinued 2 92 in 7 4cm L x 1 56 in 3 96cm W x 0 85 in 2 16cm weight 2 oz 56 7 gm Receptor
33. indicated in the upper 16 bits and aligned receptors are indicted in the lower 16 bits Output Record Table 55 B ASCII Response Byte Index Format Description 0 0 1 A 0 2 b 3 A Error Indicator 4 B ASCII Blank character 5 8 XXXX Hex bitmap of detected receptors 9 12 XXXX Hex bitmap of aligned receptors 13 14 AA Carriage Return Line Feed Table 56 AB Binary Output Format Byte Index Format Description 0 7 Binary Header 8 11 I Detected and Aligned Receptor bitmap Examples The B command may produce the ASCII response below indicating that receptors 1 and 2 are detected and only receptor 1 is aligned 00b 00030001 90 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN AK Save Operational Configuration Description This command allows the user to save an operational configuration to one of three configuration records stored in PATRIOT WIRELESS non volatile configuration memory The configuration saved is the configuration currently defined Syntax Kslotnum Part Description slotnum 3 One of three user definable operational configurations that are stored within PATRIOT WIRELESS Remarks Configuration slot number 0 is reserved for the factory default configuration A 15 character null terminated ID string should be assigned to the user defined configuration before a is issued See
34. is located in the list of installed known wireless markers The interval of time needed by the host computer to transfer data from the PATRIOT WIRELESS into the host application The interval of time between requesting a PATRIOT WIRELESS data point and receiving it into the host computer The interval of time between when measurement data were collected and when the P amp O result is formatted ready for transfer to the host computer In some systems namely active PATRIOT WIRELESS there is a time interval between when the data is collected and when the P amp O computation can be done Hence this definition is intended to correspond to the center point of data collection time so that latency is straightforward and understandable as stated Other tracking systems e g inertial may produce raw data continuously or nearly continuously PATRIOT WIRELESS latency in this case reduces to the A 3 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION Launched Marker Line Of Sight LOS LSB LSD Marker Marker Frequency Index MSB PATRIOT WIRELESS MANUAL computation time for producing the answer ready for transfer to the host computer An activated wireless marker The process of activating a marker is known as launching the marker A marker is activated by default when launched into the system It can subsequently be deactivated but is still considered as launched A wireless marker from which data results are expected must be
35. markers This should be done each time a setup is modified Recepton Mipnment Receptor Alignment Data lt 81 00000 0 0000 00000 0 0000 0 0000 0 0000 ice Euler f 2 NOTALIGNED tc Quatemion qu Startup Alignment Wireless Reference Frame Startup Alignment Save Current Alignment Y Erase Startup Alignment Figure 3 3 Save or Erase Startup Alignment Data NOTE This does not erase the current alignment data It only erases the startup alignment data If the PATRIOT WIRELESS is currently aligned it will remain aligned until it is restarted See the PiMgr Online help for details NOTE It is not necessary to erase the saved startup alignment before saving a new receptor alignment See also 4S Startup Receptor Alignment Configuration on page 70 3 3 4 Reference Frame Setup By default all marker P amp O is referenced to the alignment reference location used during alignment In some circumstances it may be necessary to select another frame of reference for position and or orientation for the tracked markers REV C 33 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN For example if the receptors must be mounted upside down rolled 180 or in some other orientation relative to the alignment reference location the frame of reference can be set so that marker orientations will also be rolled 180 The frame of reference cou
36. nn 38 3 4 3 MARKER INSTALLATION ee etee oue euo e eee voee eswoedasedoo ecb cec 40 Bea NPD Mud S MEER m m 40 3 0 OUTPUT CONSIDERATIONS erein ooes teen Saee Eee ter aen eue eue ouch vue Saee a buen sods eased nab eue eee ee 40 3 6 1 ADAPTIVE FILTERS NOR t 41 3 6 2 INCREMENT narenn senora 41 3 7 gt CONFIGURATION CHANGES e oreet en oet caen ouch eun oves eue eue veux ouch quse Saee bes ves vu a oue vus one 41 3 8 CHARGING MARKER ss pones rore s trei eren eren eren eite eene eren nena 41 4 PATRIOT WIRELESS SYSTEM COMMANDS scccsssscscsssscccessscccsssccccsssccsessccecesssccecescaccecssceecscsacescsssacecessseeces 45 AT SOVER VIEW EE 45 42 COMMAND SYNTAX eret epe eem deu ee TED PERI TEUER PEU TE SR See eae e su eu oe IET PR ue FIRED EE 45 REV C iii NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 4 2 1 45 4 2 2 COMMAND FORMAT NOTES eos oce n Poe eoa eo so cou See aeneus ee Teneo ease 46 STATION WIEDCARD eeereetert tu tke ree TU TE see e TEE UE 46 DEFAULT PARAMETERS e
37. of this equipment in a residential area is likely to cause interference in which case the user will be required to correct the interference at the user s own expense Medical Device Use Polhemus is a Good Manufacturing Practices GMP Contract Manufacturer under U S FDA Regulations We are not a manufacturer of Medical Devices Polhemus systems are not certified for medical or bio medical use Any references to medical or bio medical use are examples of what medical companies have done with the Products after they have obtained all necessary or appropriate medical certifications The end user OEM VAR Distributor must comply with all pertinent FDA CE regulations pertaining to the development and sale of medical devices and all other regulatory requirements EC Declaration of Incorporation This Product Complies with the following European Community Directives 89 336 EEC as amended by 92 3 1 EEC 73 23 EEC Low Voltage as amended by 93 68 EEC The following standards were used to verify compliance with the directives EMC TEC 61326 1 1997 A1 1998 EN 61326 1 1997 A1 1998 CCISPR 11 1990 EN 55011 1991 Group 1 Class A 6100 4 2 1995 A1 1998 EN 61000 4 2 1995 ESD 4kV CD 8kV AD TEC 6100 4 3 1995 EN 61000 4 3 1995 3V m 80 AM 6100 4 4 1995 EN 61000 4 4 1995 0 5kV line line IkV line earth IEC 6100 4 6 1995 EN 61000 4 6 1995 3V 8096 AM power line Australia New Zealand AS NZS 2064 1 Safety 61010 1 1990
38. the appropriate RS 232 Properties on the right Select OK REV C 17 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Jacker onfiduratiui 1 MAIUS General Connection Fiters AutoLaunch Frame Rate r Connection Type r 5 232 Properties Com Port h Baud Rate 15200 Parity None RS 232 C USB Figure 1 31 RS 232 Display 5 To create a connection select the Connect button on the PiMgr toolbar see Figure 1 29 When the connection has been established the connection icon at the lower right will change to V 6 To track a wireless marker PATRIOT WIRELESS receptors must be aligned By default PATRIOT WIRELESS receptor 1 is automatically aligned as the anchor receptor at 0 0 0 so for this Getting Started example it is not necessary to align any receptors To learn more about receptor alignment refer to Section 3 3 Receptor Setup 7 Further to track a wireless marker the marker must be launched Display the Launch Marker dialog see Figure 1 33 Open this dialog via the Device menu Device gt Wireless Operations gt Launch Marker see Figure 1 32 type the 17 Launch Marker keyboard shortcut page 83 in the PiMgr window v Cunits 2 Motion Graphics Tools Help Ej E Tracker Configuration BAAR xB Station Configuration Sh Ctrl Z Store Current Co
39. the status of USB Buffering Mode The choices are 0 Disabled Enabled default Remarks By default USB buffering mode is enabled As with other configuration commands if no mode argument is provided the current value of the setting is returned in the default response frame Buffering Mode applies to USB data I O only RS 232 data buffering is controlled by the host computer With USB buffering enabled a First In First Out FIFO buffer collects motion data in scenarios where the host computer is not able to capture it at the rate that it is generated This does not guarantee that data is not lost but it helps in transient conditions where the host computer does not have continuously available CPU and memory resources to capture every frame over USB PATRIOT WIRELESS can buffer up to 2 300 bytes of data A consequence of enabling USB buffering mode is that the FIFO operation may result in data latency When the buffer is full P amp O frames delivered to the host computer are not real time As such they may not reflect the P amp O of the stations at that instant in time The P amp O reported may be several frames behind real time depending on the frame rate frame size and buffer size With USB buffering mode disabled the FIFO buffer does not fill up with motion data Each time the host computer requests a new frame the frame delivered is guaranteed to be as close to real time as possible thus avoiding data latency
40. which you will measure the position and rotation of each of your receptors This point may be inside or outside of your motion environment It does not matter where it is but it is important that the position and orientation of each receptor be measured from this location NOTE By default Receptor 1 is automatically aligned at the origin This alignment may be edited using the steps below 2 Measure Receptor Position and Orientation Relative to the Origin Next carefully measure the position and orientation of each receptor relative to the reference location To specify a receptor s measured P amp O find the entry of the receptor in the receptor list at the top of the dialog and select the button next to that entry see Figure 3 2 The Set Receptor Alignment dialog will appear Enter the measured P amp O into the fields in this dialog and select OK as shown in Figure 3 2 REV C 31 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Reception Siguan Recenter Alignment Data uum E e 8 1 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 Force Manual Euler 2 NOTALIGNED Quatemion aurait Receptor 2 Position 2 inches 00 0000 40 0000 00 0000 Euler Orientation el roy 00 0000 00 0000 000000 Figure 3 2 Set Receptor Alignment The receptor will now be indicated in the receptor l
41. with the PATRIOT WIRELESS A CD ROM containing the records is also supplied as backup To view marker data records installed in the PATRIOT WIRELESS open the Manage Wireless Markers dialog from the PiMgr GUI Tools menu This dialog displays serial numbers of all marker records installed in the PATRIOT WIRELESS sorted by frequency index From this dialog marker records can be manually installed and un installed although this utility should be required only in rare circumstances The M Installed Markers command see page 56 may also be used to retrieve a list of installed markers from the PATRIOT WIRELESS directly Markers purchased individually must be installed to the PATRIOT WIRELESS before they can be tracked effectively The marker records are supplied on a CD ROM and the self installing executable on the CD will automatically copy the marker records to the host computer and install them onto the PATRIOT WIRELESS through a guided step by step process Once installed the markers can be viewed in the Manage Wireless Markers dialog 3 5 Update Rate The data output update rate for the PATRIOT WIRELESS is 50 Hz 3 6 Output Considerations Many applications of the PATRIOT WIRELESS involve using its data output to manipulate some type of computer graphics in real time In this circumstance it is important to allow the data to be processed as quickly as possible and to optimize PATRIOT WIRELESS configurations so as to diminish latenc
42. 13 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION AN Increment Description This command sets position and orientation thresholds for new data When these thresholds are set the position and orientation reported in the continuous data stream does not change until the threshold has been passed Position data for each axis changes only when the position threshold has been exceeded on that axis and only that axis position changes Orientation changes when the total rotation vector changes by the attitude threshold Thresholds are measured from the P amp O of the marker when this command is issued Continuous data does continue to flow with the unchanged P amp O information See also Configuration Changes on page 41 Syntax N marker position increment attitude increment Part Description marker 1 4 frequency index of marker position increment Position delta threshold in inches or centimeters 0 18 attitude increment Attitude delta threshold in degrees 0 45 Remarks The position increment argument is specified in either inches or centimeters depending on the units specified by the U Set Units command page 59 Output Record Table 29 AN ASCII Response Byte Index Format Description A First digit of marker number 1 A Second digit of marker number 2 A n 3 A Error Indicator 4 B ASCII Blank character
43. 5 11 Sxx xxxB Position increment 12 18 Sxx xxxB Angle increment 19 20 A Carriage Return Line Feed Table 30 N Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Position increment 12 FL Attitude increment Examples To set the P amp O increments for launched marker one to 1 inch and 15 degrees 1 1 0 15 0 lt gt 67 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Q RS 232 Port Configuration Description This command sets the RS 232 port configuration The system output port settings include RS 232 BAUD rate and parity only Syntax O rate parity Part Description rate bits per second Valid arguments include Table 31 ASCII Baud Rate Values Rate Baud Rate 24 2 400 48 4 800 96 9 600 192 19 200 384 38 400 576 57 600 1152 115 200 parity Table 32 ASCII Parity Values Parity Meaning 0 None soy Odd E Even Remarks See RS 232 on page 23 for reference on the use of RS 232 for communicating with PATRIOT WIRELESS The default RS 232 communications parameters are 115 200 baud no parity In addition e The number of data bits is always eight 8 e The number of stop bits is always one 1 e Hardware Handshake is always disabled Output Record Table 33 O ASCII Response Byte Index Format Description 0 A 0 1 0 2 3 Er
44. 5 degrees Continue to experiment with the system as described in Steps 2 and 3 to demonstrate that it measures the position and orientation 6 Degrees Of Freedom of the marker s with respect to the reference point or anchor receptor 22 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 2 Component Description 2 1 System Electronics Unit SEU The SEU is a stand alone unit that may be located anywhere that is convenient to the work area AC power and the host computer It contains the required input and output connectors and controls to support up to 2 receptors the USB port and the RS 232 port See Figure 1 1 on page 1 for a picture of the SEU The PATRIOT WIRELESS supports up to 4 wireless markers 2 1 1 Receptor Ports 2 The receptor ports are 15 pin high density receptacle D type connectors located on the front of the SEU as shown in Figure 1 2 on page 2 The PATRIOT WIRELESS SEU supports up to 2 receptors 2 1 2 LED Indicator An LED power on indicator is located on the front of the SEU Upon power up the indicator will blink red for 5 10 seconds while the system performs its initialization and self test routines When these routines are completed the indicator changes from blink mode to steady on mode indicating that the system is ready for operation At this point the LED color gives the status of the receptor alignment If the LED continues to flash red the self test and startup has
45. 92 90493 2 4193 4042 X Directional Cosines 2 2 2 2 do G1 2 43 2 4340 4 4 G GitG5 G 2 49 9091 2 4 4 9 2 9 9 9 A special sensor connected to the PATRIOT WIRELESS SEU for monitoring marker signals needed to compute marker P amp O An arbitrary point P amp O near the motion tracking environment that can be defined to PATRIOT WIRELESS for basing all reported marker P amp O measurements If an Anchor Receptor is in use the Reference Location is the P amp O of the Anchor The interval of time between a request to the PATRIOT WIRELESS to collect a data point and when that data is available for input from the PATRIOT WIRELESS Coordinate of orientation tracking about the azimuth elevation axis where an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing A 6 NOVEMBER 2013 POLHEMUS INNOVATION IN SDK Station Sync PATRIOT WIRELESS MANUAL Software Developer s Kit Software development toolset available for Polhemus motion tracking systems consists of programming libraries help files and sample code Sometimes referred to as APL although API refers specifically to the programming libraries used to control the instrument Generic term for marker or receptor in tracker command syntax Synchronization For example sync signal System Electronics Unit SEU PATRIOT WIRELESS chassis Units Update Rate Useful
46. ANUAL INNOVATION IN moTion 1 Conte File View Device Motion Graphics Tools Help Status Pane Polhemus Tracker Configuration Default File View Device Motion Graphics Tools Help File View Device Motion Graphics Tools Ei E E BI e 2 N n Recording None Frames 00 00 00 tracker connection Figure 1 29 PiMgr Screen Display No Connection 3 If you want to create a USB connection skip to Step 5 PiMgr defaults to USB connection 4 If you want to create an RS 232 connection first configure the serial port settings by opening the Tracker Configuration dialog Open this dialog via the Device menu Device Tracker Configuration see Figure 1 30 or use the 47 Read Operational Configuration shortcut see page 97 Device Motion Tode map MEE Tracker Configuration Station Configuration Sh Ctrl Z Store Current Configuration Ctrl K Select Startup Configuration Ctrl W Toggle Connection Alt X LATUS Receptor Alignment Launch LATUS Marker Unlaunch LATUS Marker Phase Step LATUS Marker Pra o tradi conection r f Figure 1 30 PiMgr Device Menu Tracker Configuration With the dialog displayed select the Connection tab as shown in Figure 1 31 Select the RS 232 Connection Type on the left and
47. ARAMETERS hehe enne ehe n ee enne ene nene Ene nenne erre ene e rne nnn 62 AB SET ECHO MODE CT EP 64 AG SET AUTOLAUNCH CRITERIA cccsssssssssssssssesesssesssssssscssssssesssesssesssssssecesssssesesesssenesesesenens 65 INCREMENT 67 AC RS 232 PORT CONFIGURATION ue eoo tpe Fut xu veto noe Un o Le Ev Led 68 AS STARTUP RECEPTOR ALIGNMENT CONFIGURATION ccce enne nennen eene en nn enn 70 AU ACTIVE MARKER 71 AX OPERATIONAL CONFIGURATION ID eee nenne nene enne enne nnne 73 AUTOLAUNCH etre in eise E E vetet beer e Euros 75 USB BUFFERING MODE beret aie aio Pe ke ke ES Re EN ek 76 RECEPTOR CLOSE RANGE enn 78 46 OPERATIONAL COMMANDS itinere diete iet EE E EEEE Es 79 CONTINUOUS PRINT OUTPUT ec Ear ertet inneren nin 80 D MARKER TIP OFFSET 0 sc0esssesssesssssesssesesssesesesesssesesesesesesesesesssesesesesesesesesesesesesesesssesesesesens 81 L LAUNCH MARKER a es coe to eo det c so sanubsestandes Tasa ese ade ce cen 83 N LAUNCHED MARKER ID eese
48. Byte Index Format Description 0 7 Binary Header 8 n See Table 16 page 57 Data Output Item 1 configured O Output Data List command see page 57 1 m See Table 16 page 57 Data Output Item 2 See Table 16 page 57 Data Output Item n Examples If the system is being used in an application where data is only needed a certain number of times or on command then the single data record output should be used To poll the system for a single data record send the command as follows P One data record from PATRIOT WIRELESS will be sent to the host computer 86 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN Q Reset Counters Description This command allows the user to zero the frame counting and the frame timestamp feature The frame counting feature is always enabled however it is only output when specified through the Output Data List command on page 57 The framecount is a positive integer value indicating the relative frame number since system start or the last reset Rollover occurs after 232 frames The timestamp feature is always enabled however the timestamp is only output if it has been specified in the Output Data List command on page 57 The timestamp is a positive integer value indicating the number of milliseconds since the last reset operation or system start Rollover occurs after 232 milliseconds Syntax Qcounter lt gt Part Des
49. D ROM drive using Windows Explorer Select Setup exe The Host Software Installation Panel will appear Select Install Host Software The installation wizard will walk you through the installation 3 For simplicity it is recommended that you use the default installation settings suggested by the installation wizard 1 4 1 USB Driver Installation 1 If you used the default installation settings when installing the Host Software above the PATRIOT USB Driver Package was installed 2 Ona Windows 7 or Windows 8 host when PATRIOT WIRELESS is connected via USB for the first time the PATRIOT USB drivers will be loaded automatically REV C 15 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN 3 On a Windows XP host the first time PATRIOT WIRELSS is connected the host will display a Found New Hardware message The host will then launch the Found New Hardware Wizard to locate and install the USB drivers for PATRIOT WIRELESS 4 When the Found New Hardware Wizard displays select the Install software automatically option and select Next 5 The wizard will install the PATRIOT Loader When it has completed select Finish 6 The same process will be launched again automatically to install the Polhemus PATRIOT USB runtime driver Repeat the same selections and the process will be complete 1 5 Using the Polhemus PiMgr GUI NOTE If you have not yet installed the Host So
50. FOR LITHIUM ION OR LITHIUM POLYMER BATTERIES In order to obtain optimum performance please follow the warnings and safety instructions listed in the handling precautions below e Keep Lithium ion Lithium polymer batteries away from children If a battery is swallowed promptly call your doctor Do not allow any Lithium ion Lithium polymer battery to come into contact with water or liquid of any kind Do not leave the battery near flames heaters microwave ovens stoves fireplaces or other high temperature locations Excessive heat could cause the battery to deteriorate Do not heat the battery or throw it into a fire This can damage the safety vent and cause the electrolyte to catch fire Do not leave the battery in a hot condition like strong direct sunlight inside automobiles behind the windscreen etc This can overheat the cell and will reduce the battery s performance Do not damage the battery in any way by nailing hammering crushing etc This can cause the cell to leak and or to short circuit internally Do not combine batteries of different capacities types or brands e If a battery leaks or emits a strange odor during use or storage stop using the cell immediately Leaking electrolytes are flammable e If any fluid that has leaked from the battery comes into contact with skin or clothing rinse with tap water or other clean water immediately Contact with skin can cause irritation or burns e If fluid from a b
51. II Response 93 AV receptor Binary Response 93 ASCII 73 Binary 73 AZ ASCH RESPONSE uus 96 97 7 ASCII Response Header 96 7 Binary Response 96 98 Y Binary Response 63 ASCII Baud Rate Values 68 ASCII Parity Values sees 68 ASCII Response 47 B ASCH 52 B Binary Response esee 52 Binary Response 48 Binary RS 232 69 D ASCII Response eee 81 D Binary Response 81 F ASCII Response 53 F Binary Response 53 G ASCII 54 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION G Binary Response 54 Initiating Commands ASCII Format P or C continuous B 1 Initiating Commands Binary Format P or C continuous 4 B 2 LED Indicators eee 23 ASCII 56 ASCII Response Header 56 M Binary
52. IX A Terms ACronyinsS e m A 1 APPENDIX B System Output Data Records esei trennen nennen enne nee B 1 PN OIBISISULYMC B 1 Id redi6NUENUME B 2 APPENDIX C Limited Warranty and Limitation of Liability eese C 1 APPENDIX D mE H D 1 APPENDIX E Customer Service ccccccccccccsseseececccecceuesececcccceecsscececceeceuaseeecesecesuausaecceceseuuausnceceeseeauaneeeseeseeauans E 1 REV C iv NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN List of Figures Figure 2 1 PATRIOT WIRELESS 1 Figure 2 24 Standard marker battery insertion 13 Figure 2 2 PATRIOT WIRELESS Front Rear Panels 2 Figure 2 25 Spring clip improperly seated 14 Figure 2 3 Receptor and Receptor Connector Cord 3 Figure 2 26 Proper seating of spring clip 14 Figure 2 4 Receptor Connection 3 Figure 2 27 Successful standard marker battery installation Figure 2 5 Receptor Marker Test Setup M 14 Figure 2 6 Marker Number Label 4 Figure 2 28 Marker Power Switch and LED 15 Figure 2 7 Power Connector 4 Figure 2 29 PiM
53. Initiating Commands Binary Format P or Table 34 O Binary 69 C continuous mode esses B 2 Table 35 Binary RS 232 69 REV C NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 1 Getting Started Congratulations on your purchase of Polhemus most innovative motion tracking system to date The PATRIOT WIRELESS This section of the manual is provided to help get your tracking system up and running quickly It covers the basics of understanding and setting up the system to demonstrate its principles However this is meant only as a starting point to show that the system is operating properly before delving into more detailed setup The remaining sections of this manual serve as a complete reference resource for PATRIOT WIRELESS operation 1 4 PATRIOT WIRELESS Models The PATRIOT WIRELESS is designed to track Position and Orientation P amp O of mobile wireless Markers relative to a user defined coordinate system referenced to a fixed array of special sensing units called Receptors Receptors are cabled to the SEU System Electronics Unit and are arrayed over the motion tracking environment They track the magnetic field signals emanating from the wireless battery powered markers The position and orientation of each marker is calculated and communicated from the SEU to a host computer via RS 232 or USB Mar
54. NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN X The returned record could display the following Current Configuration 1 0 Default 1 Configuration 1 2 Configuration 2 3 KOK KK KKK KKK K K K K K Startup Configuration 1 In this case two unique configurations are stored in PATRIOT WIRELESS configuration memory The third configuration is not defined To set an ID for the third configuration do the following XConfigurationst3 K3 lt gt To make this configuration the startup configuration AW 3 lt gt REV C 74 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN A Autolaunch Mode Description This two character command sets and reads PATRIOT WIRELESS current autolaunch mode status Syntax A mode lt gt Part Description mode Autolaunch disabled Default mode Deed Autolaunch enabled Remarks Autolaunch mode enables the PATRIOT WIRELESS system to automatically launch and unlaunch markers by user defined signal level criteria This criteria is set with the G Set Autolaunch Criteria command on page 65 When a marker s signal level above the launch criteria is detected that marker is automatically launched When the signal level falls below the unlaunch criteria the marker is unlaunched Since the marker is being launched from an unknown position and orientation the PATRIOT WIRELESS is unable to guarantee that the
55. OFF switch and the green Power ON indicator LED that is just over the top corner of the chassis between the DC receptacle and the switch Figure 2 6 Standard Marker Battery Charger and Power Supply Rear View REV 28 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 3 SYSTEM OPERATION NOTE Several of the processes for system operation are described in this section using the Polhemus PiMgr GUI For detailed instructions on getting started with PiMgr see Using the Polhemus PiMgr GUI on page 16 Where applicable steps in these procedures also include reference to the ASCII command or commands needed to perform them Finally if you are using the Polhemus SDK to program your own interface to the PATRIOT WIRELESS the steps detailed here will be of interest but for programming guidelines please refer to the Polhemus SDK Online HELP program Navigate to this help program via the Windows START menu Start gt All Programs gt Polhemus gt 3 1 Considerations There are two possible interface configuration options available on the PATRIOT WIRELESS USB or RS 232 Each configuration supports either Binary or ASCII formats Upon power up or system initialization if the USB cable is not plugged into the SEU the PATRIOT WIRELESS will automatically send data to the RS 232 interface The USB cable can be plugged in at any time and the PATRIOT WIRELESS will shift to USB operation If the USB is unplug
56. RIOT WIRELESS MANUAL INNOVATION IN MOTION STATION 1 STATION 2 STATION 3 STATION 4 Figure 1 20 Standard Marker Batteries Charging 5 To remove the battery place your middle finger on one side and thumb on the other of the battery charger see Figure 1 21 Figure 1 21 Standard Marker Preparing to remove the battery Then pull the retaining clip back using the nail of your index finger and remove the battery from the charger see Figure 1 22Error Reference source not found Figure 1 22 Standard Marker Lifting the battery 6 To install the battery into the marker orient the battery so that the two tabs are toward the two corresponding slots in the marker see Figure 1 23 REV C 12 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Figure 1 23 Standard marker battery tab orientation Tip the battery at an angle and insert tabs in marker slots see Figure 1 24 Figure 1 24 Standard marker battery insertion Be certain that the spring tab on the battery pack seats fully into the marker base A slight push down and forward on the spring tab with your forefinger will ensure that good battery contact will result see Figure 1 25 and Figure 1 26 REV 13 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Figure 1 25 Spring clip improperly seated Figure 1 26 Proper seating of spring clip Be sure the retaining clip clicks into place so tha
57. S 2 UC Marker Number 3 UC Initiating command 4 UC Error Indicator 5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body X y Z position Cartesian coordinates FL 3 ay az el roll Euler orientation angles FL 3 direction cosines of the sensor s x y z axes FL 3 The system data record contents are specified by the user using the command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined The notation FL 3 refers to the ANSI IEEE Standard for Binary Floating Point Arithmetic 754 1985 format of data This is defined in the standard as MSB LSB Bit 31 Bit 30 23 Bit 22 0 Sign Exponent Fraction Byte 3 Byte 2 Byte 1 Byte 0 The IEEE floating point format uses sign magnitude notation for the mantissa and an exponent offset by 127 In a 32 bit word representing a floating point number the first bit is the sign bit The next 8 bits are the exponent offset by 127 1 the actual exponent is e 127 The last 23 bits are the absolute value of the mantissa with the most significant 1 implied The decimal point is after the implied 1 or in other words the mantissa is actually expressed in 24 bits In the normal case an IEEE value is expressed as 1 5 2 e 127 O1 f
58. USING THE PATRIOT WIRELESS ASCII INTERFACE eee ee emen 20 1 7 EXPERIMENT WITH PATRIOT WIRELESS DATA eeee e ememememenenennn nennen etes senes sese 22 2 COMPONENT DESCRIPTION 23 2 1 SYSTEM ELECTRONICS UNIT 23 2 1 1 RECEPTOR PORTS 2 23 2 1 2 LED INDICATOR MEER T 23 2 1 3 NAP M 23 2 1 4 Bh 89 wr 24 2 1 5 NE E 24 2 2 teet nitet ets 24 23 EXTENDED MARKER AEE sees esee esse 25 24 STANDARD MARKER DISCONTINUED 27 2 5 QUAD CHARGER DISCONTINUED csssesceceessececsseeeceesceeceesaeeecesneeeseaesecsesuececseneeceeaeeecsesaeeesssnaeessseneeeees 27 3 SYSTEM OPERATION 29 3 1
59. actor If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type X Syntax X F FLow FHigh Factor Part Description F A scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values 0 lt F lt 1 FLow A scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 lt FLow lt FHigh or 1 0 to disable filter FHigh A scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow FHigh 1 Factor A scalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by 60 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 Factor 1 When the form of the comm
60. and is X0 1 0 0 lt gt the position filter is disabled Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 Factor Set to 0 95 Output Record Table 21 ASCII Response Byte Index Format Description A 0 1 A 0 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed Table 22 X Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Filter Sensitivity 12 FL Filter High Value 16 FL Filter Low Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system X 2 2 8 95 lt gt active stations will now have filtering applied to the position measurements To turn off position filters X0 1 0 0 lt gt REV C 61 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Y Attitude Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filte
61. angle and insert tabs in marker slots see Figure 1 14 Figure 1 14 Extended Marker Battery Insertion Figure 1 15 Extended Marker Successful Battery Installation REV C 9 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 1 3 2 Charging the Standard Marker Battery discontinued Figure 1 16 Standard Marker Battery 1 Locate the batteries the charger and the charger s power supply and power cord see Figure 1 17 Figure 1 17 Standard Marker Battery Charging Components REV 10 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 2 Slip the two batteries into any two of the receptacles atop the charger see Figure 1 18 Figure 1 18 Standard Marker Placing Batteries into Charger 3 Plug the power supply into the rear of the charger and then into the power mains as depicted in Figure 1 19 Figure 1 19 Standard Marker Battery Charger Power ON 4 Turn on the power switch on the rear of the charger The green power ON indicator will illuminate The two red charging LED s where the batteries are inserted will also illuminate see Figure 1 20Error Reference source not found The other two charging LED s will flash on and off and can be disregarded Total charging time of up to 2 5 hours may be required depending on the initial charge status Each charging LED will extinguish when the battery is fully charged REV C 11 NOVEMBER 2013 POLHEMUS PAT
62. arker 1 will now be displayed as X Y Z direction cosines plus carriage return line feed 2 lt gt The output for all markers will be position only REV C 58 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION U Set Units Description This command sets the distance unit to either metric centimeters or English inches Subsequent input and output lengths will be interpreted as centimeters or inches respectively Syntax U units lt gt Part Description units Defines the type of input and output Units The choices are English Inches Tutos Metric Centimeters Remarks The system default unit format is inches As with all other configuration commands if the units parameter is not stated in this command the current units setting will be returned in the default response body Output Record Table 19 U ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 UV 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for inches for centimeters 6 7 AA Carriage Return Line Feed Table 20 U Binary Response Byte Index Format Description 1 8 Binary Header 9 12 I 0x00 for inches 0x01 for centimeters Examples Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches U0 lt gt The system will now output data in inches and i
63. at the receptor and powered on marker are positioned in the test setup as described in Figure 1 5 in Section 1 2 Step 5 Use the L Launch Marker command see page 83 in the HyperTerminal screen by typing the following lt gt denotes the Enter key 11 lt gt With this command the PATRIOT WIRELESS will attempt to launch a marker located directly behind Receptor 1 To verify that the marker was launched use the SU Active Marker Map command see page 71 u0 The PATRIOT WIRELESS will respond with a hexadecimal bitmap identifying the known markers In our Getting Started example marker 1 is being used so the bitmap will have bit 1 set and the PATRIOT WIRELESS response will be 00u 000000000001 If no markers were active the bitmap would be all zeros See the SU Active Marker Map command reference on page 71 for a detailed explanation of this command PATRIOT WIRELESS is now ready to collect motion data from the marker Collect a single data record from PATRIOT WIRELESS by typing the P Single Data Record Output command on page 86 noting that there is no lt gt required with this command P PATRIOT WIRELESS will respond with a single frame of position and orientation data for marker 1 01 4 608 1 488 0 345 6 706 2 283 24 355 21 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN This frame of data is comprised of the ASCII header
64. attery gets into a person s eye rinse the eye immediately with clean water and seek medical attention promptly Do not rub the eye REV C ii NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN Table of Contents SAFETY NOTICES iiss II ee II TO CEBAN THE INSTRUMENT eter eee hte ete ener tee o vane Pee te reser te aee ed eae er TEE TER E ERE II 1 GETTING STARTED P 1 1 1 PATRIOT WIRELESS MODELS 00 cccccccccccccccecsssssccsccecsessssscesececeessssecsscesseesesssessssccecsessasssesceseessssesssesees 1 12 SETTING UP PATRIOT WIRELESS cccccccccccccccecsscccccececsscssccsccccecsessscssceccessesssesssescecsesseesesesceseesessesseceses 2 13 CHARGING AND USING PATRIOT WIRELESS MARKER BATTERIES eee eene 7 1 3 1 CHARGING THE EXTENDED MARKER BATTERY enne nennen eere 7 1 3 2 CHARGING THE STANDARD MARKER BATTERY DISCONTINUED eene eene 10 1 3 3 USING WIRELESS MARKERS eene hh eene enin enne e eren nenne eene nene nene nene eren eene eene nnn 14 1 4 INSTALLING PATRIOT WIRELESS HOST 15 1 5 USING THE POLHEMUS PIMGR 16 1 6
65. both launched and activated Not obscured or blocked from view such as a clear line of sight for optical uses Least Significant Bit Least Significant Digit A wireless rechargeable battery powered module that creates a unique set of orthogonal signals that the tracking environment receptors use to gather data for computing marker position and orientation Markers are referenced by their Frequency Index Up to 4 marker frequencies and thus 4 active markers can be tracked by PATRIOT WIRELESS Index by which markers are referenced Up to 4 marker frequencies can be tracked by PATRIOT WIRELESS one marker per frequency Multiple markers of the same frequency may be installed in PATRIOT WIRELESS non volatile memory but only one may be active or launched at one time Once launched markers are referenced by their index 1 4 also called Marker Index or Marker Number This number is reflected on the marker as M1 M2 etc Most Significant Bit Motion Tracking Environment The volume in which motion tracking is specified to Orientation Angles perform as prescribed Receptors are placed in a contiguous pattern to define this environment where markers can be tracked The azimuth elevation and roll angles that define the current orientation of the marker coordinate frame with respect to the designated reference frame The Euler angle coordinates that are output by PATRIOT WIRELESS as one measure of marker orien
66. ces are 0 ASCII output 1 Binary output Remarks The default output data format is ASCII The Polhemus SDK uses binary output exclusively As with other configuration commands if no fmt argument is provided the current value of the setting is returned in the default response frame If a software application is written to receive binary data from PATRIOT WIRELESS and there is a requirement to take it off line temporarily to do visual checks the user would enable the ASCII output data format in order to be able to easily read PATRIOT WIRELESS data on the PC monitor The user may wish to write a software application for PATRIOT WIRELESS where a fast update rate is crucial In order to reduce data throughput size PATRIOT WIRELESS could be set to output in binary instead of ASCII Output Record Table 9 ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 A T 3 A Error Indicator 4 B ASCII Blank character 5 A 0 6 7 AA Carriage Return Line Feed Table 10 Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00000001 Examples The command to enable binary output mode for the system is Fl lt gt REV C 53 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN G Marker Reference Frame Description This command modifies the translation and or rotation reference frame coordinates for all launch
67. changes the marker reference frame to 0 180 0 REV C 46 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION e By omitting the el parameter from the command 2 0 180 lt gt the marker reference frame would then change to 0 180 180 The el setting remains unchanged e Similarly the az parameter can be defaulted by G2 el roll lt gt e The roll parameter can be defaulted by G2 az el lt gt The trailing comma is not required when the last parameter s are omitted 4 2 3 Response Format Notes Depending on the F Output Format configuration setting see page 53 frames received from PATRIOT WIRELESS in response to the commands detailed in this document will conform to one of the following format definitions ASCII ASCII response frames are described in this document using the following notation Is an character B s Is a blank or space NT Is the sign character or a space for ME Is a decimal digit 0 9 B sse Is an ASCII string P OE Is a hex digit 0 F Carriage return line feed CRLF i e M J OxOd 0x0a Repeat contents of parentheses n times Example A format 3 Sx xxxxB would be output as 1 1111 2 2222 3 3333 Except where noted ASCII mode response includes a standard 5 character response header The default ASCII response frame format is as follows Table 5 ASCII Response Format Byte I
68. cription counter 0 Reset both framecount and timestamp 1 Reset framecount only 2 Reset timestamp only Remarks None Output Record None Examples To zero the framecount execute the following Ql lt gt 87 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Receptor Alignments Description This command manually sets or reads the alignment P amp O data for a specified receptor Receptor P amp O may be configured using either Euler angles page A 5 or quaternions see Orientation Angles Figure 0 1 The alignment P amp O is the actual P amp O of the receptor in the PATRIOT WIRELESS alignment frame Syntax Areceptor X Y Z Az El Ro lt gt or Areceptor X Y Z Q1 Q2 03 4 Part Description receptor 1 2 Specifies which receptor to read or set alignment Wildcard may be used to read all receptor arguments X X coordinate of receptor position Y Y coordinate of receptor position Z Z coordinate of receptor position Az Azimuth coordinate of receptor Euler orientation El Elevation coordinate of receptor Euler orientation Ro Roll coordinate of receptor Euler orientation Q1 Parameter 1 of receptor orientation quaternion Q2 Parameter 2 of receptor orientation quaternion Q3 Parameter 3 of receptor orientation quaternion Q4 Parameter 4 of receptor orientation quaternion Remarks Although the alignment orientation may be set using either Euler angles or quaternion
69. d the receptor with the front of the marker positioned in line with the tail of the receptor The marker and the receptor are oriented with the same or similar az el ro orientation This is the default marker launch position depicted in Figure 1 5 on page 4 With the marker oriented this way the receptor is in the marker s default hemisphere e If there is more than one powered marker in the launch vicinity of the launching receptor specify the receptor plus the optional marker and marker hemisphere arguments This enables the system to identify the correct frequency for launch Use the hemisphere parameter to indicate how the marker is oriented with respect to the specified receptor More than one hemisphere value may appear to be correct determine the correct hemisphere Imagine a vector extending from the marker to the receptor The x y orz component of that vector with the largest magnitude is the launch hemisphere you should specify See the Examples below 83 NOVEMBER 2013 POLHEMUS INNOVATION IN Output Record None Examples To launch any marker positioned in the default marker launch position behind Receptor 2 as depicted in Figure 1 5 To launch any marker positioned above Receptor 2 so that the receptor is in the marker s Z 4 hemisphere Two markers 1 and 3 are positioned behind Receptor 2 Both are in the default launch position the receptor is in their 0 hemisphere To launch marke
70. e P Single Data Record Output keyboard shortcut see page 86 This will cause PiMgr to request a single data frame from the PATRIOT WIRELESS To collect continuous motion data select the Continuous button m gt on the toolbar or type the C Continuous Print Output keyboard shortcut see page 80 To stop continuous data collection un select the r3 button or type C or P REV C 19 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION The contents of the motion data frames will be displayed in the Text Pane at the top of the PiMgr display The airplane image in the Graphics Pane of the screen will move to the retrieved position and orientation See Figure 1 35 i File View Device Motion Graphics Tools Help Os 4 4 555 1 873 0 263 16 889 7 670 36 052 For Help press F1 Tracker connected via serial port Figure 1 35 PiMgr Data Record Display Using Marker 4 The Text Pane will display the marker number and the retrieved XYZAER position and orientation Position in inches Euler Orientation in degrees Marker X Y Z Azimuth Elevation Roll Number 4 4 555 1 873 0 263 16 009 7 670 36 052 1 6 Using the PATRIOT WIRELESS ASCII Interface 1 Navigate to HyperTerminal from the Windows XP Start Menu Start gt All Programs gt Accessories Communications HyperTerminal
71. e U Set Units command see page 59 2 add one inch in X to the marker tip offset type D1 1 0 0 0 lt gt To verify that the tip offset was entered correctly type D1 to read it back The D1 command should produce the ASCII response below indicating that the marker with frequency index 1 has the new tip offset 01D 1 000 0 000 0 000 REV C 82 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION L Launch Marker Description This command instructs PATRIOT WIRELESS to detect a new marker near the specified receptor Syntax Lreceptor marker hemisphere lt gt Part Description receptor 1 or 2 the receptor at which a new marker will be launched marker 1 2 3 or 4 frequency index of marker to be launched or 1 to launch any marker detected in the specified hemisphere below hemisphere 0 5 hemisphere of the marker in which the launching receptor is positioned The choices are Q X default Y 4 7 Remarks To provide the correct position and orientation a marker must be started launched from a known position and orientation with respect to a given receptor This allows the system to phase lock onto the marker and compute accurate runtime marker P amp O Use the L command in one of two ways e Specify only the launching receptor to launch any marker that is detected in the default marker launch position Place any marker 1 4 behin
72. e Frame Rotation 59 60 AA Carriage Return Line Feed Table 12 Binary Response Byte Index Format Description 54 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 0 7 Binary Header 8 FL X Reference Frame Translation 12 FL Y Reference Frame Translation 16 FL Z Reference Frame Translation 20 FL Azimuth Reference Frame Rotation 24 FL Elevation Reference Frame Rotation 28 FL Roll Reference Frame Rotation Examples Scenario 1 If there were a requirement to mount the anchor receptor upside down e g it is more mechanically feasible this way then the following command would be used to set the reference frame manually with the orientation rolled 180 G2 0 0 0 0 0 180 The P amp O measurements for all markers will now look as if the anchor had not been mounted upside down Scenario 2 Without knowing the exact P amp O of the desired frame of reference the lowest index marker e g marker 1 could be used to set the frame of reference Marker 1 would be positioned at the desired origin and pointing along the desired X axis Then that marker s P amp O would become the new reference frame for all markers by using the GO lt gt command Or if only the orientation of that marker were needed for the reference then the 1 lt gt command would be used 55 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN Installed Markers Descr
73. ed marker This offset then acts as the measurement reference instead of the source coil inside the marker Marker tip offset settings are not saved in the PATRIOT WIRELESS configuration They must be re applied each time PATRIOT WIRELESS is PATRIOT WIRELESS MANUAL restarted Syntax Nmarker Yoff Zoff Part Description marker to 4 frequency index of marker Xoff X direction tip offset Yoff Y direction tip offset Zoff Z direction tip offset Remarks The marker does not have to be launched for the tip offset to be stored Output Record Table 47 D ASCII Response Byte Index Format Description 0 First Digit of Marker Frequency Index 1 Second Digit of Marker Frequency Index 2 A N 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB X offset 12 18 Sx xxxB Y offset 19 25 Sx xxxB Z offset 26 27 AA CRLF Table 48 D Binary Response Byte Index Format Description 0 7 Binary Header 8 FL X offset 12 FL Y offset 16 FL Z offset Examples If the user created a special marker attachment that extended exactly one inch from the end of marker one an marker tip offset would have to be made to use that attachment as the marker reference point To do so the following steps should be taken 81 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 1 Verify that PATRIOT WIRELESS is measuring units in inches by sending th
74. ed by the user with the command Original Precision X y Z position Cartesian Coordinates 3 Sxxx xxx az el roll Euler orientation angles 3 Sxxx xxx direction cosines of the sensor s x y z axis 3 Sx xxxxx Orientation Quaternion Q0 Q3 4 Sx xxxxx Stylus Switch x where x Oorl Extended precision 2 position Cartesian coordinates 3 Sx xxxxxESxxb az el oll Euler orientation angles 3 Sx xxxxxESxxb Tt The system data record contents are specified by the user using the command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined NOTE Original precision is retained for compatibility with previous Polhemus 3SPACE systems Also note that some item values are repeated as extended precision items although no output difference is made i e space cr lf gt Original and extended precision may be freely mixed in an output record but it is recommended that extended precision be used if compatibility is not required as the original precision may be deleted in future systems REV C B 1 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN BINARY FORMAT Table 67 Initiating Commands Binary Format P or C continuous mode Byte Index TYPE Description HEADER 0 1 US Frame Tag always LU or 0x4C55 for PATRIOT WIRELES
75. ed in the handling precautions below e Keep Lithium ion Lithium polymer batteries away from children If a battery is swallowed promptly call your doctor e Do not allow any Lithium ion Lithium polymer battery to come into contact with water or liquid of any kind Do not leave the battery near flames heaters microwave ovens stoves fireplaces or other high temperature locations Excessive heat could cause the battery to deteriorate Do not heat the battery or throw it into a fire This can damage the safety vent and cause the electrolyte to catch fire e Do not leave the battery in a hot condition like strong direct sunlight inside automobiles behind the windscreen etc This can overheat the cell and will reduce the battery s performance e Do not damage the battery in any way by nailing hammering crushing etc This can cause the cell to leak and or to short circuit internally Do not combine batteries of different capacities types or brands e If a battery leaks or emits a strange odor during use or storage stop using the cell immediately Leaking electrolytes are flammable e If any fluid that has leaked from the battery comes into contact with skin or clothing rinse with tap water or other clean water immediately Contact with skin can cause irritation or burns e If fluid from a battery gets into a person s eye rinse the eye immediately with clean water and seek medical attention promptly Do not rub the eye
76. ed markers P amp O measurements The reference frame may be configured from a launched marker s current P amp O or from user provided XYZAER values The reference frame is not a marker specific setting Syntax Gcommand X Y Z A E R lt gt Part Description command Set reference frame to rotation and translation of lowest launched marker Tes Set reference frame to rotation of lowest launched marker Set reference frame rotation and translation to XYZAER values given CM Reset reference frame rotation and translation to zero The following parts apply only to command value 2 X X reference frame translation Y Y reference frame translation Z Z reference frame translation A Azimuth reference frame angle of rotation E Elevation reference frame angle of rotation R Roll reference frame angle of rotation Remarks The default marker reference frame is 0 0 0 0 0 0 Issuing a G lt gt will read the current marker reference frame Output Record Table 11 ASCII Response Byte Index Format Description A 0 1 A 0 2 A 3 Error Indicator 4 B ASCII Blank character 5 13 Sxxx xxxB X Reference Frame Translation 14 22 Sxxx xxxB Y Reference Frame Translation 23 31 Sxxx xxxB Z Reference Frame Translation 32 40 Sxxx xxxB Azimuth Reference Frame Rotation 41 40 Sxxx xxxB Elevation Reference Frame Rotation 50 58 Sxxx xxxB Roll Referenc
77. ed to be repeated when PATRIOT WIRELESS is started or restarted If the data is not saved alignment must be repeated after each startup or restart Syntax Scommand Part Description command Erase eR Store Remarks None Output Record None Examples To store the current receptor alignment data type 51 lt gt 70 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION AU Active Marker Map Description The purpose of this command is to allow the host to turn a launched marker or off in software A marker is enabled by launching but it can then be disabled or enabled again by using this command When a marker is launched and enabled data records for that marker will be transmitted If the marker is disabled no data records from that marker will be transmitted Syntax AU marker state lt gt or UO bitmap Part Description marker 1 4 Frequency index of launched marker to enable disable Causes active station bitmap to be retrieved or set state Dess Disabled lisse Enabled n a if marker 0 bitmap 16 bit bitmap reflecting state of each marker represented as a hexadecimal number Remarks If marker is supplied without a state then the current states of all launched markers are returned See Output Data List on page 57 The default condition depends on the number of markers that are currently launched The default cond
78. ee 53 Baud Rate sente eo A 2 FACTOR eda ue ttti tend 60 62 Benign 2 Factory Defaults sse 2 Binary d 48 A 2 BCC Statement 1 Binary B 2 e 60 62 bits per second A 2 Figure Boresipht iue tee tertie REPE sh 52 Autola ncb testi ter ERREUR 39 REV C NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION Battery Charger amp Power Supply rear view 28 Battery Charger Power ON 11 Battery Charger front view 27 Battery Charging Components 10 Battery insertion eee 13 Battery tab 13 Euler Angles tentent A 5 Front and Rear Panels 2 Lifting the battery 12 I EU MERE 27 Marker 10 Marker Launch Orientation 37 Marker Number 4 Marker Power Switch and LED 15 PATRIOT WIRELESS 1 PiMgr Screen Display No Connection 17 Placing Batteries into Charger 11 Power Connector 4 Preparing to remove the battery 12 Proper seating of spring clip 14 Receptor e
79. eee vi vc eo eee Yee eue vao oue ae nuh oet uu Saee uua ooo eeu ue nese den ENE sas Seco epe 46 4 2 3 RESPONSE FORMAT NOTES cesa a e a etae neo vue come oes 47 e E 47 BINARY M s 48 ERROR RESPONSES EE ue tape erus oues Vue oett sue Sue ueste eva ue Sue vei ones SUR 48 4 3 PATRIOT WIRELESS USER COMMAND SET 0 49 4 4 PATRIOT WIRELESS ERROR CODE SUMMARY een 50 43 COMMAND REFERENCE 51 4 5 1 CONFIGURATION COMMANDS racinet ree aene aio n aai KEE A ERA TA SENE NES EE SERAT AE Nis 51 B MARKER BORESIGHT osc ET 52 OUTPUT FORMAT 53 G MARKER REFERENCE FRAME 0s0sesesesesesesesesesevesevesesesesesereseseseseseseseceseseseceseseseseseseseneeenens 54 INSTALLRD ENSURE E 56 QSOUFPUT 57 ee re D LM He D AT 59 X POSITION FILTER PARAMETERS css0esesesesesesesesecesesesesesesesesereseseseseseceseceseresesecesesenesesesenens 60 Y ATTITUDE FILTER P
80. en however markers must be installed and launched Each physical marker has a unique ID and data set Marker data records are stored or installed in PATRIOT WIRELESS memory When a marker is launched or introduced into the tracking environment the PATRIOT WIRELESS detects the frequency of the new marker signal If marker data associated with that frequency has been installed PATRIOT WIRELESS will begin tracking the marker using the installed data set Some Notes about Marker Frequency e Only one marker of a given frequency can be launched at any given time There are four 4 possible marker frequencies e If more than one marker data record for a frequency is installed PATRIOT WIRELESS will try each data record for that frequency and select the record that produces the best result e If no records are found for a frequency the marker will be tracked with default marker data values but the accuracy will be impaired Each newly shipped PATRIOT WIRELESS has marker data records pre installed for any markers that are shipped with the PATRIOT WIRELESS Markers shipped individually must be installed to the PATRIOT WIRELESS before they can be tracked effectively A CD containing this data will be shipped with the new marker s ready to install on the system See Marker Installation on page 40 3 4 1 Marker Launch and Unlaunch Markers can be launched and unlaunched manually or automatically To autolaunch a marker two receptors must be i
81. ent operational system configuration This command also allows the user to view the IDs of all valid stored configurations within PATRIOT WIRELESS non volatile configuration memory Syntax Xstring Part Description string A 15 character ASCII string ID that describes the current configuration Remarks A valid configuration ID is up to 15 characters plus a null terminator If no string argument is supplied with this command PATRIOT WIRELESS will respond with a list of the currently saved configuration IDs A string of 15 asterisks followed by the null character indicates an undefined configuration Output Record Table 39 X ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 x 3 A Error Indicator 4 B ASCII Blank character 5 21 16 A B Current Configuration Record ID 22 37 16 A B Configuration Record ID 1 38 53 16 A B Configuration Record ID 2 54 69 16 A B Configuration Record ID 3 70 71 AA Carriage Return Line Feed Table 40 X Binary Response Byte Index Format Description 0 7 Binary Header 8 CH 16 Current Config ID 24 CH 16 Default Config ID 40 CH 16 Config slot 1 ID 56 CH 16 Config slot 2 ID 72 CH 16 Config slot 3 ID 88 CH 16 Startup Config ID Examples To determine what configurations are available in the PATRIOT WIRELESS issue the following command 73
82. ersion lt gt Table 58 V lt gt Binary Response Byte Index Format Description 0 7 Binary Header 8 UC Receptor count 2 9 UC PATRIOT WIRELESS Type 4 PATRIOT WIRELESS 10 UC Max marker count 4 11 CHI Same as ASCII response minus ASCII header Table 59 4V receptor ASCII Response Format Description nnvAB 5 char ASCII header string Receptor n ID id string lt gt Receptor num product ID Receptor n Serial Number sernum string lt gt Receptor num serial number Table 60 V receptor Binary Response Byte Index Format Description 0 7 Binary Header 8 I ID 12 CH Serial Number Examples To determine the firmware version of the System Controller module in PATRIOT WIRELESS issue the following command AV lt gt The record returned will contain the version number of the System Controller Sensor Processor I O Processor and Boot Loader as well as the firmware package part number 94 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION W Set Operational Configuration Description This command sets the system non volatile operational configuration to one of four values This new default configuration will be used upon subsequent system initializations This command does not change the current configuration of the device until the device is restarted Syntax AW slotnum lt gt Part Description slotnum 0 Default Factory configuration 1 3 Custom user defined
83. es have been charged the charger should be turned OFF and or its power supply unplugged from the power mains Do not keep batteries plugged in charger with charger power OFF The batteries will very slowly discharge back through the charger 42 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION CAUTION The Quad Charger is specifically designed to charge the batteries contained in the Polhemus wireless marker Its voltage and charging current are adjusted for this particular Lithium ion Lithium polymer battery The charger should NOT be used to charge any other battery Lithium ion Lithium polymer or other type Even among Lithium ion Lithium polymer batteries the characteristics vary such that charging is unique for any given design To misuse the charger for charging any other battery the user assumes all liability risks of damage to the battery the charger and to the operator or other equipment Please note that Lithium ion Lithium polymer batteries have excellent self discharge characteristics so that keeping extra batteries charged and waiting for use is the best strategy for quickly powering up a marker even after a month long wait REV C 43 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION HANDLING RECOMMENDATIONS FOR LITHIUM ION OR LITHIUM POLYMER BATTERIES In order to obtain optimum performance please follow the warnings and safety instructions list
84. esponse Byte Index Format Description 0 7 Binary Header 8 CH 16 Marker ID string Examples The N2 command may produce the ASCII response below indicating that the launched marker with frequency index 2 has the serial number ID 298A50002 02N 298A50002 REV C 85 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION P Single Data Record Output Description In non continuous output mode this command polls PATRIOT WIRELESS for a single data record If more than one marker is launched and enabled then data from each active marker will be sent in numerical order marker 1 first marker 2 second etc that is a complete cycle of active markers will be output Output mode refers to whether the system automatically transmits data records to the host continuous output mode or the host must request data records by polling the system each time non continuous mode Syntax P NOTE This is the only PATRIOT WIRELESS command that does NOT require a lt gt Remarks The system default enables single data record output mode Output Record Table 51 P ASCII Response Byte Index Format Description 0 A First Digit of Marker Number 1 Second Digit of Marker Number 2 A Error Indicator 3 B Blank 4 m See Table 16 page 57 Data Item 1 M 1 n See Table 16 page 57 See Table 16 page 57 Data Item n Table 52 P Binary Response
85. eters 89 59 62 A Receptor Alignments 1 01 88 B Aligned Receptors Map 2 02 90 E Set Echo Mode 5 05 O off 1 on 64 G Set Autolaunch Criteria 7 07 65 K Save Operational Configuration 11 OB 91 AL Unlaunch Marker 12 0C 92 N Increment 14 67 O RS 232 Port Configuration 15 68 P Phase Step 16 10 93 S Startup Receptor Alignment Configuration 19 13 70 AU Active Marker Map 21 15 71 V WhoAml Software versions 22 16 94 W Set Operational Configuration 23 17 95 X Operational Configuration ID 24 18 73 Y Initialize System 25 19 96 Z Read Operational Configuration 26 1 Autolaunch Mode 00 65 00 41 O off 1 on 23 USB Buffering Mode 00 66 00 42 O off 1 76 R Receptor Close Range Mode 00 82 00 52 O off 1 78 es Signal Strength 00 83 00 53 100 REV C 49 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT WIRELESS MANUAL 4 4 PATRIOT WIRELESS Error Code Summary These error codes may appear as binary values in binary mode frame headers In ASCII mode only the text meaning appears Error CSCAANIAUNKWN HE OS Hexadecimal 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0a 0x0b 0x0d Ox0f 0x10 0x14 0x16 Oxla Ox1b 0 1 0 1 0 1 0 1 0 20 0 21 0 22 0 23 0 24 0 46 ASCII Text Meanin No Error Invalid Command Invalid Station Invalid Parameter Too Few Parameters Too Many Parameters Parameter Below Limit Parameter Above Limit Communica
86. failed The following table summarizes the LED condition Table 2 LED Indicators e Steady green System operational Detected receptor is ready for marker detection e Solid red System operational Detected receptor is not ready needs alignment 2 1 3 RS 232 I O The RS 232 I O serial connector is a standard 9 pin plug D type connector located on the rear panel of the SEU as shown in Figure 1 2 on page 2 The pinout identification for this connector is shown in Table 3 below Table 3 RS 232 Pin Outs Pin PATRIOT WIRELESS Host 1 Not used Not used 2 RxD TxD 3 TxD RxD 4 Not used Not used 5 GND GND 6 Not used Not used 7 Not used Not used 8 Not used Not used 9 Not used Not used The PATRIOT WIRELESS is set to 115 2K baud as the default speed This setting can be changed with the 0 RS 232 command on page 68 REV C 23 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Hardware Switches NOTE UP switch position is a logic 1 and DOWN is logic 0 The hardware switches are located on the rear panel of the SEU to the left of the RS 232 serial port connector as depicted in Figure 1 8 on page 5 PATRIOT WIRELESS reads baud rate and parity RS 232 connection settings from these switches only on power up If you change the switches to obtain a different setting you must restart PATRIOT WIRELESS either by using the Y Initialize Sys
87. ftware follow the instructions in Installing PATRIOT WIRELESS Host Software on page 15 before proceeding By following the instructions in this section you will use the Polhemus PiMgr Graphical User Interface connect to configure the PATRIOT WIRELESS in the test scenario created for Getting Started Detailed instruction on the use of these and other PiMgr features can be found in PiMgr s online help program accessed through the PiMgr Help menu buttons or the What s This toolbar help button If you selected the default settings when you installed the PATRIOT WIRELESS Host Software on your computer you will find a shortcut to the PiMgr application on your Windows desktop The icon looks like this Otherwise navigate to the program through the windows Start menu Start gt All Programs gt Polhemus PiMgr 1 The initial PiMgr screen will appear as in Figure 1 29 With no PATRIOT WIRELESS system connected notice that the icon appears in the lower right corner Once connected the icon will change to W 2 If the PATRIOT WIRELESS is already connected to the computer the PiMgr will discover the connection immediately upon startup If PiMgr has a PATRIOT WIRELESS connection now skip to Step 6 If not you will need to manually create the connection once you have powered up the PATRIOT WIRELESS To do this first you must select the type of connection you wish to create REV C 16 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS M
88. ge output data when the new P amp O of markers has changed by a specified amount or increment In the PIMgr GUI set the increment in the Device gt Station Configuration dialog Increment tab See the ASCII Command N Increment on page 67 3 7 Configuration Changes The PATRIOT WIRELESS will start up with a default configuration unless set to a different start up configuration Up to three user defined configurations can be stored in the PATRIOT WIRELESS Any one of these configurations can be set as the startup configuration In the PiMgr GUI manage configurations in the Device gt Store Current Configuration or the Device gt Select Startup Configuration dialogs See also ASCII Commands Save Operational Configuration on page 91 W Set Operational Configuration on page 95 for instructions on how to set and store configurations 3 8 Charging Marker Batteries Operation of the charger is accomplished as follows 1 Assure that the power switch is in the OFF position 2 Plug in the power supply circular 5 VDC cord at the receptacle near the power switch 3 Plug the power cord into the power supply Plug the power cord into a power mains outlet using any adapters as appropriate since it will operate under AC voltages of 100 240 volts and 47 63 Hz prior to inserting any of the battery packs REV C 41 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 4
89. ged the PATRIOT WIRELESS power must be recycled to shift back to RS 232 operation 3 2 Powering Up PATRIOT WIRELESS To power up the PATRIOT WIRELESS first ensure that the power switch on the back panel is in the OFF DOWN position e Connect the power cord to the power supply then connect the power supply to the SEU and plug the power cord into the AC wall outlet e Plug in the desired number of receptors and secure them with the connector screws e Plug in the desired I O cable USB or RS 232 e Turn the power switch to the ON UP position Upon power up the front panel LED indicator will blink red for 5 to 10 seconds to indicate the system is performing initialization and self test During this time system operation is not possible At the completion of the power up sequence the LED will change from a flashing red state to a steady state The LED will remain solid red if any connected receptors have not been aligned This is not a system failure but a warning that the receptors must be aligned prior to tracking markers See Table 2 LED Indicators on page 23 for a description of the LED status If connected via RS 232 a PATRIOT WIRELESS Ready text message will be sent to the RS 232 port when initialization is complete This message will be seen if the port is connected to a host system and a terminal emulation program is running If connected via USB no message appears after initialization After the front panel l
90. generic term for marker s or receptor s whichever the command applies to Unless otherwise noted commands do not take any punctuation immediately following the command letter However if an optional first parameter is to be omitted a comma is necessary between the command letter and the next argument With the exception of the command and unless otherwise noted all command strings are terminated with lt gt carriage return A numeric floating point value will be accepted by the machine if any of the following formats are used for example 3 0 may be specified as 3 3 3 0 or 3 0E 00 Station Wildcard When using a command that requires a receptor or marker number as the parameter the user may wish to apply the command to all receptors or markers of the PATRIOT WIRELESS In such situations a character may be used in place of the station receptor or marker number to apply the settings to every receptor or marker in the PATRIOT WIRELESS e g N 0 5 4 0 would change the P amp O increments for every launched marker to 0 5 inches and 4 0 degrees e g N1 0 5 4 0 would change the P amp O increments for marker 1 only Default Parameters Commands that take multiple parameters can be used to change a subset of the parameters and leave the remaining parameter values unchanged For example e The command G2 az el roll changes the marker reference frame to az el roll e The command 2 0 180 0 lt gt
91. ght Ctrl P B Troher connected via serial port Figure 3 6 Unlaunching a marker 2 Select an individual launched marker from the list identified by 4 or select all markers by selecting on see Markers Select a 1 297450006 2 NOT LAUNCHED 3 NOT LAUNCHED 4 NOT LAUNCHED Figure 3 7 Select marker to unlaunch 3 Select the button to unlaunch the selected marker s Refer also to the ASCII Command L Unlaunch Marker on page 92 3 4 2 2 Automatic Marker Launch and Unlaunch Before launching markers automatically two receptors must be installed and properly aligned see 3 3 2 Setting Receptor Alignment page 30 and a configuration setting must be applied to PATRIOT WIRELESS to put it into AutoLaunch mode Refer to 2A Autolaunch Mode command on page 75 for a discussion on AutoLaunch orientation ambiguity This setting can be saved in the startup configuration so that PATRIOT WIRELESS will always REV C 38 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION be in this mode when it is started or reset see Configuration Changes on page 41 When in this mode PATRIOT WIRELESS will detect when a marker enters the motion tracking environment and will automatically launch the marker and begin tracking it Similarly PATRIOT WIRELESS will detect when the marker has left the environment and will automatically unlaunch i
92. gr Screen Display No Connection 17 Figure 2 8 USB Cable Connection 5 Figure 2 30 PiMgr Device Menu Tracker Configuration17 Figure 2 9 RS 232 Cable Connection 6 Figure 2 31 RS 232 Display 18 Figure 2 10 Extended Marker Battery 7 Figure 2 32 PiMgr Wireless Options Submenu 18 Figure 2 11 Extended Marker Battery Charging Figure 2 33 Launch Marker Dialog 19 Components 7 Figure 2 34 Marker in PiMgr Status Pane 19 Figure 2 12 Placing Extended Marker Batteries into Figure 2 35 PiMgr Data Record Display Using Marker 4 Charger rte ee 20 Figure 2 13 Extended Marker Battery Tab Orientation 8 Figure 3 1 Receptor 25 Figure 2 14 Extended Marker Battery Insertion 9 Figure 3 2 Extended Marker Dimensions inches 26 Figure 2 15 Extended Marker Successful Battery Figure 3 3 Extended Marker Battery Charger 26 Installation 9 Figure 3 4 Standard Marker Dimensions inches 27 Figure 2 16 Standard Marker Battery 10 Figure 3 5 Standard Marker Battery Charger Front View27 Figure 2 17 Standard Marker Battery Charging Figure 3 6 Standard Marker Battery C
93. harger and Power Components 10 Supply Rear View 28 Figure 2 18 Standard Marker Placing Batteries into Figure 4 1 Receptor Alignment Dialog 31 Charger 11 Figure 4 2 Set Receptor Alignment 32 Figure 2 19 Standard Marker Battery Charger Power ON Figure 4 3 Save or Erase Startup Alignment Data 33 11 Figure 4 4 Select Launch Receptor 36 Figure 2 20 Standard Marker Batteries Charging 12 Figure 4 5 Marker Launch Orientation 37 Figure 2 21 Standard Marker Preparing to remove the Figure 4 6 Unlaunching a marker 38 battery 12 Figure 4 7 Select marker to unlaunch 38 Figure 2 22 Standard Marker Lifting the battery 12 Figure 4 8 Autolaunch 39 Figure 2 23 Standard marker battery tab orientation 13 Figure 5 1 Euler Angles 5 DUE TO SOFTWARE AND HARDWARE MODIFICATIONS SCREEN OR PRODUCT EXAMPLES APPEARING IN THIS MANUAL MAY VARY SLIGHTLY FROM THE ACTUAL SCREENS OR PRODUCTS THE USER ACCESSES NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL
94. he X forward direction of the marker is toward the rear of the receptor The receptor and marker should be aligned head to tail see Figure 3 5 Y y E 9 u Figure 3 5 Marker Launch Orientation 3 Launch Marker With the marker positioned select the button To launch additional markers repeat steps 1 through 3 Select the button to close the dialog See also ASCI Command L Launch Marker on page 83 NOTE It is possible to specify the marker you wish to launch and the hemisphere from which the marker is launching Refer to the PiMgr Online help for details or to the ASCII command reference L Launch Marker on page 83 3 4 2 1 Manual Marker Unlaunch Markers are manually unlaunched simply by sending the L Unlaunch Marker command on page 92 To manually unlaunch a marker 1 Open the Unlaunch PATRIOT WIRELESS Marker dialog in the PiMgr GUI REV C 37 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION her S aag 1 Mobon Grachks Tools Help E rode Cerhgaratien x QatonConhgasbon Shore Current Configuration Select Configuration Markor BhisowShep Mike Chile Marker Qoresight LJ Receptor Alignment Ctrl A Launch Marker Unlaunch Marker Phase Step Marker Marker Boresi
95. he receptor at which the marker will be launched place the marker near that receptor in a known position and orientation and then instruct the PATRIOT WIRELESS to detect and launch the marker To perform the manual marker launch process you will need e The PATRIOT WIRELESS powered ON All receptors aligned refer to Receptor Alignments on page 88 e A powered ON wireless marker to launch If you are using the Polhemus PiMgr GUI to perform the manual marker launch e PiMgr should be running and have a connection to the PATRIOT WIRELESS established and e Launch PATRIOT WIRELESS Marker dialog is open Refer to the Help button on this dialog if needed Refer to PiMgr Online Help for instructions on opening this dialog 1 Select Launch Receptor First determine and specify at which receptor the marker will be launched Select the entry in the receptor list in the dialog Be sure that the receptor you have selected is detected and aligned and identified with E Select Launching Receptor ChE ooooo Launch 2 0 0000 40 0000 00000 00000 0 0000 00000 ES Select Marker mem 1 Marker 1 099 8 Figure 3 4 Select Launch Receptor REV C 36 NOVEMBER 2013 POLHEMUS i mora PATRIOT WIRELESS MANUAL 2 Place Marker Place the marker to the rear of the selected launch receptor and about 10 12 away from it Make sure that the marker is oriented so that t
96. ight indicates initialization is complete the host computer must initiate communication with the PATRIOT WIRELESS before any message will appear REV C 29 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN 3 3 Receptor Setup Before PATRIOT WIRELESS can generate position and orientation coordinates for wireless markers the position and orientation of the receptors must be known and a common frame of reference must be defined for the coordinates of the tracked markers The process of setting up the PATRIOT WIRELESS with this information is called Receptor Alignment Receptor alignment data can then be stored in PATRIOT WIRELESS non volatile memory so that the process does not need to be repeated unless the receptor positions are changed 3 3 1 Receptor Positioning and Setup When arranging receptors in the motion capture area there are a few things to keep in mind e PATRIOT WIRELESS accuracy is best when markers are within approximately 2 to 2 5 feet 0 6 0 75m of a receptor Therefore receptors should be arranged and mounted no more than 4 to 5 feet 1 2 1 5m apart e To minimize magnetic distortion secure receptors to non metallic surfaces with nylon fiberglass or stainless steel 302 screws e Route the receptor cables to the SEU in a manner that avoids hazards in the traffic pattern 3 3 2 Setting Receptor Alignment When configuring PATRIOT WIRELESS receptor alignments you choose an alignment reference
97. ing to the configuration settings being reported Table 62 on page 98 describes the text block line by line The binary response frame is described by Table 63 on page 99 97 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Table 62 4Z ASCII Response Format Description 00z Configuration name lt gt 3 char ASCII Header Config ID string lt gt Binary Yes No lt gt Metric Yes No lt gt Sync Mode 011 lt gt 0 Off 1 On Frame Rate 314 lt gt 3 Half 4 Default Echo Mode OnlOff lt gt lt gt Buffering OnlOff lt gt Autolaunch Mode OnlOff lt gt Autolaunch Criteria Sx xxxxx Sx xxxxx RS 232 Baud Rate baudrate lt gt See Table 36 on page 72 RS 232 Parity parity lt gt See Table 37 on page 72 lt gt Position Filter Sensitivity Sx xxx lt gt Position Filter Low Value Sx xxx Position Filter High Value Sx xxx Position Transition Rate Maximum Value Sx xxx lt gt Attitude Filter Sensitivity Sx xxx Attitude Filter Low Value Sx xxx Attitude Filter High Value Sx xxx Attitude Transition Rate Maximum Value Sx xxx lt gt lt gt Receptor 1 Close Range Mode OnlOff lt gt Receptor 2 Close Range Mode OnlOff lt gt lt gt The following text data will be repeated 12 times for each possible marker on PATRIOT WIRELESS Format Description Marker x Ma
98. ion 8 Turn on the PATRIOT WIRELESS using the power switch located on the back panel of the SEU A system status indicator located on the front panel of the electronics unit should flash red for 5 to 10 seconds indicating self test and setup When these routines are completed the indicator will display system status as described in Table 1 Table 1 System Status Indicators e Steady green System operational Detected receptor is ready for marker detection e Solid red System operational Detected receptor is not ready needs alignment Flashing red Failed self test and set up 9 The host should detect the USB connection and respond with a Found New Hardware message For step by step instructions for installing the USB drivers from the Host Software CD refer to USB Driver Installation on page 15 10 You are now ready to exercise the system With the USB connection you must use the Polhemus PiMgr GUI to do this Continue to Using the Polhemus PiMgr GUI on page 16 to begin REV C 5 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION For RS 232 Communications 11 Locate the RS 232 cable and insert it into the receptacle as shown in Figure 1 9 Most PC hosts have a 9 pin male D type connector for COM1 If you are using COM1 plug the remaining end of the cable into the COMI port of the host PC engage and secure in place by tightening the two retaining screws If your host computer ha
99. ion angles 3 Sxxx xxxB Float 5 Az El Ro Euler angles extended precision 3 Sx xxxxxxESxxxB Float 6 Direction Cosine Matrix 3 3 Sx xxxxxB CRLF 3 Float 7 Orientation Quaternion 4 Sx xxxxxB 4 Float 8 Timestamp A10 DWORD 9 Frame Count A1 A10 DWORD Remarks If the wildcard is specified instead of marker all active marker output lists will be set to the programmed value If output list parameters p pn are omitted from the argument list the current defined output list is returned Default is 0 2 4 1 P amp O cr lIf for all markers 57 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Output Record Table 17 ASCII Response Byte Index Format Description 0 A First Digit of Marker Number 1 A Second Digit of Marker Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 X Data Item 1 6 B 7 Remaining data items separated by blanks Table 18 O Binary Response Byte Index Format Description 0 7 Binary Header 8 I Data Item 1 12 I Data Item 2 16 I Data Item 3 84 I Data Item 20 NOTE In the binary output format the list of valid data items will be terminated with a 1 OXFFFFFFFF Examples The user may decide to use X Y Z direction cosines instead of the default output format In order to do so the following command should be sent 1 6 1 lt gt The output data for m
100. iption This command returns a list of markers that have been installed to PATRIOT WIRELESS Markers are installed using the marker Installation utility in the PiMgr GUI The list returned by this command reports markers in the order in which they were installed Syntax lt gt Remarks Note that the output record reports markers in the order that they were installed not in the order of marker Frequency Output Record Table 13 ASCII Response Header Byte Index Format Description 0 A 0 1 A 0 2 A 3 A Error Indicator 4 B ASCII Blank character The body of the response will be a variable length block of text described in Table 14 below The data in italics is defined in the right column The binary response frame is described in Table 15 Table 14 ASCII Response Format Description 00M x Marker s Installed lt gt 3 char ASCII Header number of markers installed The following text data will be repeated for each installed marker Freq x Marker Frequency index BBB 3 blanks S N BB 2 blanks s lt gt Marker Serial Number ID string CRLF Table 15 M Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Installed Marker Count The following 20 bytes are repeated for each installed marker 12 FL Frequency index 16 CH 16 Marker ID Examples On a PATRIOT WIRELESS with 7 mar
101. ist with a E The alignment data column associated with that receptor will also show the XYZAER coordinates that you have measured and input Repeat this process for each receptor in the array To perform this process through the ASCII interface refer to ASCII Command Receptor Alignments on page 88 NOTE Receptor alignments may be reconfigured at any time 3 3 3 Saving Alignment Data To avoid the need to realign the receptors each time the PATRIOT WIRELESS is restarted the receptor alignments can be saved as the Startup Alignment When a Startup Alignment has been saved the PATRIOT WIRELESS receptors will already be aligned and ready to go each time the PATRIOT WIRELESS is restarted Regardless of the existence of a Startup Alignment in PATRIOT WIRELESS memory the receptors be aligned and realigned at any time To manage the saved Startup Alignment data open the PATRIOT WIRELESS Receptor Alignment dialog in PIMgr GUI and select the Startup Alignment tab REV C 32 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION From this control you can e Save the current receptor alignment data as the Startup Alignment The next time the PATRIOT WIRELESS is restarted the receptors will be automatically aligned with the current alignment data e Erase the saved startup alignment data The next time the PATRIOT WIRELESS is restarted it will require receptor alignment before it can track
102. ition of a launched marker is 1 or enabled The default condition of an unlaunched marker frequency is 0 or disabled If zero 0 is supplied as the marker number this command will take a hexadecimal bitmap to identify ALL the enabled markers e g UO 3fff enables all markers NOTE Do not place Ox in front of the input hex bitmap If no bitmap is supplied the current active marker bitmap will be returned in the default response body This bitmap will indicate the launched markers in the upper 16 bits and the active markers in the lower 16 bits A marker must be launched and enabled to be active Enabling or disabling a marker number that does not exist e g marker 13 or any unlaunched marker frequency has no effect 71 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Output Record Table 36 U marker ASCII Response Byte Index Format Description 0 A First Digit of Marker Number 1 Second Digit of Marker Number 2 A tu 3 A Error Indicator 4 B ASCII Blank character 3 X Marker Freq 1 state 1 Active 0 InActive 6 X Marker Freq 2 state 1 Active 0 InActive 7 18 X Marker Freq 3 12 state 1 Active 0 InActive 19 20 AA Carriage Return Line Feed Table 37 UO ASCII Response Byte Index Format Description 0 A 0 1 0 2 tu 3 A Error Indicator 4 B ASCII Blank character 5 8 XXXX Hex bitmap
103. ker Byte Index Format Description 120 64 station count 1 1 20 Output Data List See Table 23 on page 63 To view the configuration settings for the current configuration issue the following command AZT lt gt To view the configuration settings for the factory default configuration issue the following command 70 lt gt 99 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION S Signal Strength Description This command is a diagnostic command that allows a user to see the relative signal strengths of the different marker frequencies that the PATRIOT WIRELESS is receiving To sample the environment for interfering frequencies this command would be executed with no markers activated Values with exponents in the e range are reasonable When this command is issued to the tracker a signal strength value for each of the twelve marker frequencies is output This allows a user to determine if interference exists for one or more markers in the tracking environment Syntax S lt gt Remarks This is a read only command Output Record Table 64 S ASCII Response Byte Index Format Description 0 5 char ASCII header string 6 BB 8 4 x xxxxBB Signal Strength 1 4 det by Receptor 1 40 lt gt CRLF 42 4 x xxxxBB Signal Strength 1 4 det by Receptor 2 74 lt gt CRLF Table 65 S Binary Response Byte Index F
104. ker P amp O is automatically aligned to a user defined reference point relative to the receptor array This user manual covers all PATRIOT WIRELESS models and configurations e The PATRIOT WIRELESS base system supports two receptors and up to four wireless markers Figure 1 1 PATRIOT WIRELESS REV C 1 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN 1 2 Setting Up PATRIOT WIRELESS The basic system consists of a System Electronics Unit SEU which requires at least one receptor at least one marker with rechargeable Lithium ion Lithium polymer battery and a charger for the battery The SEU can operate up to two receptors Up to four unique markers can be operated simultaneously The battery charger can charge up to four batteries simultaneously NOTE For the purpose of Getting Started the following assumptions are made e There is one receptor e There is one marker plus a spare marker battery e The marker batteries have been charged See Charging and Using PATRIOT WIRELESS Marker Batteries on page 7 e The host computer is running Windows XP or later and has an available USB or COM port e The Polhemus PiMgr GUI should be installed on the host computer See Installing PATRIOT WIRELESS Host Software on page 15 for instructions 1 Unpack the PATRIOT WIRELESS SEU receptor s marker s USB and RS 232 cables PATRIOT WIRELESS Host Software CD marker battery charger two po
105. kers installed issue the M lt gt command to produce the following ASCII report of all installed markers 00m 6 Marker s Installed Freq 1 S N 297A50005 Freq 4 S N 300A50006 Freq 2 S N 298A50002 Freq 3 S N 299A50001 Freq 1 S N 297A50003 Freq 2 S N 298A50002 56 NOVEMBER 2013 POLHEMUS INNOVATION IN Output Data List PATRIOT WIRELESS MANUAL Description This command allows the user to define the list of variables to be output to the host computer for the specified marker Any combination of items that produces a P amp O response frame of less than or equal to 1000 bytes is permissible NOTE Due to the high output rate of PATRIOT WIRELESS caution should be used when defining large output records to prevent overwhelming the host communications channel The output list refers to the subset of data items to be included in a data record Syntax O marker p1 p2 pn lt gt Part Description marker 1 to 4 which specifies the relevant marker pl pn Parameters that define the list of variables output to the host The possible parameters are listed below Table 16 Output Data Types ID Description ASCII Data Format Binary Data 0 ASCII space character A1 A1 1 ASCII carriage return linefeed A2 A2 2 X Y Z Cartesian coordinates of position 3 Sxxx xxxB Float 3 X Y Z Cartesian coordinates extended 3 Sx xxxxxxESxxxB Float precision 4 Az El Ro Euler orientat
106. ld also be set in a more dynamic fashion if the exact P amp O of the desired frame of reference is not known by placing a marker at the desired location and attitude and instructing the PATRIOT WIRELESS to use the marker s current P amp O as the reference frame instead of the anchor s P amp O It is also possible to use only the marker s orientation as a rotation reference and leave the origin as it is To configure the PATRIOT WIRELESS frame of reference open the Receptor Alignment dialog in the PiMgr GUI and select the Wireless Reference Frame tab From this control you can e Reset the frame of reference to 0 0 0 0 0 0 and restore it to the alignment reference location the anchor receptor or the reference location from which manual alignments were measured e Set the frame of reference explicitly to XYZAER coordinates e Set the frame of reference rotation to the current orientation of a marker e Set the frame of reference translation and rotation to the current P amp O of a marker See the PiMgr Online help for details NOTE When using a marker to set the frame of reference the lowest index marker that is currently active is used The PiMgr control indicates which marker should be used See also ASCII Command G Marker Reference Frame on page 54 3 3 5 Receptor Close Range Mode PATRIOT WIRELESS can support up to four markers with a single receptor It is for this reason that the PATRIOT WIRELESS receptor signal pr
107. le 57 AV ASCII 94 Table 23 ASCII 63 Table 58 V lt gt Binary Response 94 Table 24 Y Binary Response 63 Table 59 4V receptor ASCII Response 94 Table 25 E ASCH Response 64 Table 60 V receptor Binary Response 94 Table 26 Binary 64 Table 61 Z ASCII Response Header 97 Table 27 G ASCII 65 Table 62 Z ASCH Response 98 Table 28 4G Binary 65 Table 63 Z Binary 99 Table 29 N ASCII 67 Table 64 S ASCII 100 Table 30 AN Binary 67 Table 65 S Binary Response 100 Table 31 ASCII Baud Rate Values ee 68 Table 66 Initiating Commands ASCII Format P or Table 32 ASCH Parity 68 C continuous B 1 Table 33 O ASCII 68 Table 67
108. location Then the position and orientation relative to the reference location is measured by hand for each receptor in the array Each receptor s alignment P amp O data is then input to the PATRIOT WIRELESS To perform this alignment process you will need e All receptors mounted and connected to the PATRIOT WIRELESS e PATRIOT WIRELESS powered ON If you are using the Polhemus PiMgr GUI to perform the alignment e PiMgr should be running and have a connection to the PATRIOT WIRELESS established and e Receptor Alignment dialog should be open Open this dialog via the Device menu Device gt Wireless Operations gt Receptor Alignment see Figure 3 1 page 31 or type the keyboard shortcut Receptor Alignments page 88 in the PiMgr window Refer to the Help button on this dialog if needed REV C 30 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Shore Current Configuration Cie Select Startup Configuration MB Receptor Aignment Receptor Alignment Data 18 1 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 E 2 NOTALIGNED Euler C Startup Alignment wireless Reference Frame Startup Alignment Save Current Alignment _ Erase Startup Alignment Figure 3 1 Receptor Alignment Dialog 1 Choose a Reference Location First determine the alignment reference location a location from
109. ment free of the need for special calibration or compensation brought on by the unique features of a particular installation and its environment e g high light levels for optical tracking high sound levels for sonic tracking or high metallic distortion for magnetic tracking If not otherwise noted all measurements and statements pertaining to PATRIOT WIRELESS performance shall be regarded as occurring in such a benign environment Mathematical system based on two digits O and 1 Bits per second Not to be confused with the signaling or baud rate which is always equal to or higher than the bit rate See baud rate The cosines of the angles between the sensor s x y z axes and the X Y Z axes of the measurement reference alignment frame Coordinate of orientation tracking in the vertical plane where an increase in the angle is upward from the horizontal A term often substituted for elevation especially as it concerns flight is pitch The values assigned to certain system variables by the factory Stored in non volatile memory they are used to reinitialize the variables if configuration information is lost Term used to describe the software programmed into PATRIOT WIRELESS non volatile memory The interchange coding used to present data PATRIOT WIRELESS outputs either ASCII or BINARY data but accepts only ASCII inputs from the host 2 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION Hemisphere Host Inc
110. n the system is in continuous mode the data points from all enabled and launched markers are requested automatically and are streamed to the host continuously If more than one marker is enabled then the data from each marker will be sent in numerical order marker first marker 2 second etc Output mode refers to whether the system automatically transmits data records to the host continuous mode or the host must request data records by polling the system each time non continuous mode Syntax C lt gt Remarks The system default disables Continuous print output mode If the system is being used in an application where a fast update rate is critical then the continuous print output configuration should be enabled Issuing a P Single Data Record Output command see page 86 disables continuous print output mode See also Step Error Reference source not found of Getting Started on page Error Bookmark not defined for details on collecting motion data from a marker Output Record Continuous print output frame data See also P Single Data Record Output on page 86 Examples To enable continuous output mode send the command as follows C lt gt Data from PATRIOT WIRELESS will now flow continuously to the host computer 80 NOVEMBER 2013 POLHEMUS INNOVATION IN D Marker Tip Offset Description This command allows the user to introduce a custom offset to a select
111. ndex Format Description 0 A First Digit of Receptor or Marker Number 1 Second Digit of Receptor or Marker Number mi A Command Letter or if a 2 character command Q lt 3 Error Indicator ASCII Blank character 5 thru n A Response Body 1 n 2 lt gt A P amp O response frame may or may not contain a Carriage Return Line Feed as specified by the user with the O command If the receptor or marker number is not applicable to the command the first two fields will be ASCII zeros 0 Error codes presented in the Error Indicator field are detailed in PATRIOT WIRELESS Error Code Summary on page 50 No Error is represented by an ASCII blank character REV C 47 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Binary Binary response frames are described in this document using the following notation i unsigned short 16 bits signed short 16 bits Di o unsigned char 8 bits CH iii ev char 8 bits isi signed integer 32 bits DW unsigned double word 32 bits emm 32 bit single precision floating point in IEEE format consisting of sign bit 8 bit exponent and 23 bit mantissa SXXX XXXX XMMM MMMM MMMM MMMM MMMM MMMM eee I Array of size n of type preceding square brackets e g FL 3 Binary response frames are composed of an 8 byte frame header followed by a variable length frame body as follows Table 6 Binary
112. nfiguration Ctri K Polhemus Select Startup Configuration Configura v Toggle Connection Default Alex D Receptor Alignment Ctr A Unlaunch Marker Phase Step Marker Ctrl P Marker Boresight B Tracker connected via serial port Figure 1 32 PiMgr Wireless Options Submenu REV C 18 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION cunch Marker Select Launching Receptor c ES 2 UnDetected Figure 1 33 Launch Marker Dialog Receptor 1 appears as detected and aligned Receptor 1 is designated as the anchor receptor because it is located at the Origin in Cartesian space 0 0 0 For Getting Started Receptor 2 appears as undetected is 8 To manually launch the marker make sure that the receptor and powered on marker are positioned in the test setup as described in Step 5 on page 3 Make sure that Receptor 1 is selected as the Launching Receptor in the Marker Launch Dialog as shown in Figure 1 33 and select Launch The PiMgr Status Pane displays the launched marker and its ID as shown below in Figure 1 34 Active Markers 7 1200440007 Figure 1 34 Marker in PiMgr Status Pane 9 PATRIOT WIRELESS is now ready to collect motion data from the marker To collect a single frame of motion data from the PATRIOT WIRELESS select the Single button on the toolbar or type th
113. nstalled and aligned see 3 3 2 Setting Receptor Alignment on page 30 There are tradeoffs involved with each approach Launching a marker manually takes more time the marker must be deliberately placed and oriented before instructing the PATRIOT WIRELESS to detect it Similarly unlaunching a marker requires an explicit instruction to the PATRIOT WIRELESS When a marker is launched automatically it can be introduced into the environment at any place or orientation and the PATRIOT WIRELESS will detect it and begin tracking it without any specific instruction to do so In this mode markers will also be automatically unlaunched when they leave the environment The tradeoff with automatic marker launch is that the PATRIOT WIRELESS cannot guarantee that it will report the orientation of the newly detected marker correctly Position will always be correct The reason for this is that the marker can enter the environment at any location and it can be at any orientation If the orientation is unknown initially the calculated orientation has only a one in four chance of being correct REV C 35 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION The orientation can be corrected with the P Phase Step command see page 93 after the marker has been launched automatically however the feasibility of this approach varies with the application 3 4 2 Manual Marker Launch When launching markers manually indicate t
114. nterpret input data in inches If the operator wanted the system to output its measurements in centimeters the following command should be sent Ul lt The system will now output data in centimeters 59 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN X Position Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the position outputs of the PATRIOT WIRELESS The user can adjust the parameters of this command to fine tune the overall dynamic response of the system The filter is a single pole low pass type with an adaptive pole location 1 a floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth i e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter F
115. ocessing does not employ Automatic Gain Control AGC If one marker is far from a receptor and forces a gain increase a second marker that is close to the receptor can cause saturation in the receptor s preamplifier Once a receptor saturates the tracking information is lost and the marker must be launched again For this reason the PATRIOT WIRELESS system defaults all receptors to Close Range Mode or a minimum receptor gain setting This allows markers to be tracked up to 5 feet 1 5 m away from a receptor and also operate within inches of a receptor If a longer range 5 8 feet is desired the Receptor Close Range can be disabled with the 9 R Receptor Close Range Mode ASCII command see page 78 With Close Range Mode disabled marker operation is possible up to 8 feet 2 5 m from the receptor but the closest a marker can operate to the receptor without causing preamp saturation is 12 18 inches 30 45 cm If two receptors are being used the Receptor Close Range Mode can be disabled as long as the receptor saturation is less than 5 feet 1 5 m This is because in this configuration if one receptor is saturated the other receptor is able to retain the tracking information REV C 34 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 3 4 Marker Operation When PATRIOT WIRELESS is ready already running and receptors are aligned it is capable of tracking up to 4 wireless markers Before this can happ
116. of launched markers 9 12 XXXX Hex bitmap for active markers 13 14 AA Carriage Return Line Feed Table 38 AU Binary Output Format Byte Index Format Description 0 7 Binary Header 8 11 I Launched and Active Marker bitmap Binary output is the same for both U marker and U0 lt gt Examples A user could launch four markers and then collect a data point from two markers at a time after disabling the other two To do so the following commands would be sent Send the command U3 0 to turn marker 3 off Send the command U4 0 to turn marker 4 off Press P to collect a data point from marker 1 and 2 Send the command U3 1 lt gt to turn marker 3 Send the command U4 1 lt gt to turn marker 4 on Send the command U1 0 lt gt to turn marker 1 off Send the command U2 0 lt gt to turn marker 2 off Press P to collect a data point from markers 3 and 4 Repeat steps 1 through 8 as necessary To turn on markers 1 and 3 while turning off markers 2 and 4 send AU0 05 lt gt where 05 corresponds to 0x05 00000101 Bits corresponding to markers 1 and 3 are set and those corresponding to 2 and 4 are cleared See bitmap syntax part description for this command 20 90 ON ON A REV 72 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION X Operational Configuration ID Description This command allows a 16 character ID to be assigned to the curr
117. orientation is correct For an automatic launch there are four possibilities for orientation 1 The correct orientation 2 180 degree error in azimuth 3 180 degree error in roll 4 180 degree error in azimuth and roll same as 180 in elevation If while using the Autolaunch feature orientation accuracy is of concern the AP Phase Step command on page 93 should be used to set the proper phase Output Record Table 41 A ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 A 3 A Error Indicator 4 B ASCII Blank character 5 A Autolaunch Mode 0 disabled 1 enabled 6 7 AA Carriage Return Line Feed Table 42 A Binary Response Byte Index Format Description 0 7 Binary Header 8 I Autolaunch Mode 0 disabled 1 enabled Examples To enable Autolaunch issue the following command 1 lt gt REV C 75 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION USB Buffering Mode Description This command enables or disables USB output buffering before USB transmission to the host When USB buffering is disabled PATRIOT WIRELESS operates in a real time mode in which only the most current frame of motion data is transmitted When enabled buffering mode allows host delays in requests for data without frame loss but with possible latency introduced Syntax B mode lt gt Part Description mode Defines
118. ormat Description 0 7 Binary Header 8 FL Signal Strength 1 detected by Receptor 1 12 FL Signal Strength 2 detected by Receptor 1 16 FL Signal Strength 3 detected by Receptor 1 20 FL Signal Strength 4 detected by Receptor 1 24 FL Signal Strength detected by Receptor 2 28 FL Signal Strength 2 detected by Receptor 2 32 FL Signal Strength 3 detected by Receptor 2 36 FL Signal Strength 4 detected by Receptor 2 Examples Example output for the S lt gt command 0045 0 343366 0 000096 0 000040 0 000072 0 040266 0 000050 0 000032 0 000087 REV 100 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION Appendices APPENDIX A 6DOF PATRIOT WIRELESS MANUAL Terms Acronyms The 6 Degrees Of Freedom XYZAER needed to define the position and orientation of an object in 3D space Alignment Reference Location Location from which each receptor position and orientation Anchor Receptor API ASCII Attitude Matrix Azimuth is measured during alignment This will also be the default reference point origin for marker tracking The receptor in a PATRIOT WIRELESS motion tracking environment to which the system references all marker P amp O data Application Programming Interface Programming library used to develop custom host software for driving the instrument Sometimes used interchangeably with SDK American national Standard Code for Information Interchange defines a certain 8 bit code for display and control character
119. pper would be liable If your system is still under warranty Polhemus will repair it free of charge according to the provisions of the warranty as stated in APPENDIX C of this document The proper return address 1s Polhemus 40 Hercules Drive Colchester VT 05446 Attention RMA From within the U S and Canada 800 357 4777 From outside the U S or Canada 802 655 3159 Fax 802 655 1439 REV C E 1 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Index A Autolaunch 75 DPS M 2 Receptor Close Range Mode 78 Buffering Mode sees 76 CHE 7 C Continuous Print Output 80 Receptor 87 CAUTION battery charging risks 42 Aligned Receptors 89 Charging and Using Marker Batteries 7 Set Echo Mode eese 64 Charging Marker Batteries 41 Set Autolaunch Criteria 65 Choose a Reference Location 31 Save Operational Configuration 90 Cleaning the instrument sees ii L Unlaunch 91 Close Range Mode sees 78 AN don mM 41 67 Command AO s RS 292
120. r M OxOd Whenever shown this value must be present to terminate the command sequence An ellipsis indicates that you can repeat an item A comma represents a delimiter in a list of optional parameters The comma must be present for those parameters which are omitted except for the case of trailing commas For example Qs p1 p4 lt gt is the proper command format when omitting parameters p2 and p3 Commas following the parameter p4 are not required if parameters p5 and p6 are omitted A vertical bar means either or Choose one of the separated items and type it as part of the command For example ONIOFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar REV C 45 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION A caret in front of a command letter indicates that the control key should be held down while typing the command letter Control commands produce ASCII values between 0x00 and Ox1F An at symbol in front of a command letter designates a unique 2 character command independent of the plain command letter or a control key sequence 4 2 2 Command Format Notes e Commands and alphabetic parameters are NOT case sensitive e Commands that use optional parameters use current system retained values for parameters omitted from the command See Station Wildcard below e The term station in the command syntax descriptions is a
121. r 3 only In launch position Receptor 1 is estimated to be at position 8 0 16 relative to Marker 2 The receptor 8 inches above and 16 inches to the left of the marker The Z component of this vector has the largest magnitude 16 and its sign is negative so the launch hemisphere is Z 5 To launch marker 2 84 PATRIOT WIRELESS MANUAL L2 lt gt L1 1 4 lt gt L2 3 0 lt gt L1 2 5 lt gt NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN N Launched Marker ID Description The command sets or reads the marker ID of a specified launched marker The launched marker is specified in this command by its Frequency Index Syntax Nmarker string lt gt Part Description marker 1 to 4 Frequency index of launched marker string 16 character marker ID string Remarks When a marker is launched PATRIOT WIRELESS associates the launched marker with an installed marker record This command may be used to confirm that the launched marker matches the retrieved data from non volatile memory or to change the marker data being used This command will seldom be used Output Record Table 49 N ASCII Response Byte Index Format Description 0 First Digit of Marker Frequency Index 1 Second Digit of Marker Frequency Index 2 A N 3 A Error Indicator 4 B ASCII Blank character 5 21 16 A B Marker ID string Table 50 N Binary R
122. r receptor number where applicable are supplied with the command PATRIOT WIRELESS will respond with the current value of the setting in the response frame body e When arguments are supplied the command modifies the setting and the PATRIOT WIRELESS sends no response to the command If the Set Echo Mode on page 64 is enabled PATRIOT WIRELESS echoes back the command as verification that the command was received and executed e Marker and receptor specific commands have an option to apply the setting to all markers or receptors See Station Wildcard on page 46 REV C 51 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN B Marker Boresight Description This command causes the marker to be electronically aligned in orientation with the user system coordinates and establishes the boresight reference angles for the station Azimuth elevation and roll outputs will equal the boresight reference values at the current orientation Any marker orientation can be designated as the zero orientation point A station may also be unboresighted with this command Syntax Bmarker action Azref Elref Rlref lt gt Part Description marker 1 to 4 which specifies the relevant marker action 1 to Boresight 2 to Unboresight Azref The azimuth reference angle Elref The elevation reference angle Rlref The roll reference angle Remarks The system default boresight reference values are
123. r that operates on the attitude outputs of the PATRIOT WIRELESS The user can adjust the parameters of this command to fine tune the overall dynamic response of the system The filter is a single pole low pass type with an adaptive pole location 1 a floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth i e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter Factor If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type Y Syntax Y F FLow FHigh Factor lt gt Part Description F A scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable
124. rement Installed Marker I O Latency Lag Latency PATRIOT WIRELESS MANUAL Each receptor can be thought of as existing within a magnetic field or sphere of space with the positive hemisphere above and the negative hemisphere below Only half of the total spatial sphere surrounding a receptor can be utilized at any one time and the launching of a marker into the tracking environment must be performed in the prescribed orientation for unambiguous position measurement Because of the inversion symmetry of the magnetic fields generated by the markers there are two possible mathematical solutions for the X Y Z position coordinates for each set of marker data processed and PATRIOT WIRELESS is unable to determine which solution is the correct one if the marker has not been launched properly Any device capable of supporting an RS 232C interface or the high speed USB interface and capable of bi directional data transmission Devices may range from a dumb terminal to a mainframe computer Position or orientation threshold for new data When increments are configured P amp O reported in the continuous data stream does not change until the threshold has been passed An installed marker is one whose data records have been downloaded to the PATRIOT WIRELESS A PATRIOT WIRELESS may have multiple wireless marker data sets installed in non volatile memory When a new marker is launched and activated the new marker is identified and its data
125. rker number Position Increment Sx xxx Attitude Increment Sx xxx Output List lt gt List of Output Data Items See Table 23 on page 63 REV C 98 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT WIRELESS MANUAL Table 63 Z Binary Response Examples Byte Index Format Description 0 7 Binary Header 8 A Config ID 24 I Bits Meaning 0 2 Baudrate Table 36 on page 72 3 4 Parity Table 37 on page 72 4 31 Reserved 28 I Bits Meaning 0 Continuous Mode 0 Off 1 On 1 Binary Mode 0 ASCII 1 Binary 2 Units Mode 0 Inches 1 CM 3 4 Sync Mode N A for PATRIOT WIRELESS 5 7 Reserved 8 9 Reserved 10 25 Station Bitmap 1 Active 26 Echo Mode 0 Off 1 On 27 Buffering Mode 0 Off 1 On 28 31 Reserved 32 FL Attitude Filter Sensitivity 36 FL Attitude Filter FLow 40 FL Attitude Filter FHigh 44 FL Attitude Filter FACTOR 48 FL Position Filter Sensitivity 52 FL Position Filter FLow 56 FL Position Filter FHigh 60 FL Position Filter FACTOR 64 I Frame Rate 4 Default 50Hz 68 I Autolaunch mode 1 Enabled 0 Disabled 72 FL 2 Autolaunch Criteria 80 FL 4 Position Increment 4 possible active Markers 96 FL 4 Attitude Increment 4 possible active Markers 112 I 2 Receptor Close Range Mode 0 Off 1 On 2 Receptors The following 80 bytes will be repeated 12 times for each possible active PATRIOT WIRELESS mar
126. ror Indicator 4 B ASCII Blank character 5 10 A Baud Rate see Table 31 on page 68 11 B Blank 12 A Parity see Table 32 on page 68 13 14 A Carriage Return Line Feed REV C 68 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Table 34 AO Binary Response Byte Index Format Description 0 7 Binary Header 8 I Baud Rate see Table 35 below 12 I Parity see Table 35 below Examples Suppose there is a requirement to change the baud rate in software to 19 200 baud after startup It can be accomplished with the following command without turning off and restarting the system O192 1 8 0 The system serial communication parameters will now be 19200 baud no parity 8 data bits and 1 stop bit NOTE The host communication software may have to be re set to the new baud rate 19 200 in order for communication with PATRIOT WIRELESS to continue Table 35 Binary RS 232 Codes Code Baud Rate Code Parity 1 2400 0 None 2 4800 1 3 9600 2 Even 4 19200 5 38400 6 57600 7 115200 69 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION AS Startup Receptor Alignment Configuration Description This command stores or erases the Receptor Alignments If store is selected the current receptor alignment data is saved When this data is saved to flash the receptor alignment process does not ne
127. rporates a removable rechargeable battery pack assembly a power switch and an LED power indicator Markers are available in 4 different frequencies for use with the PATRIOT WIRELESS system allowing for simultaneous operation in the motion tracking environment When the power switch is moved to the ON position the LED will flash red for less than a second and then go off The LED goes solid red when there is about 10 minutes life left in the battery If the LED does not flash when the power switch is moved to the ON position then the battery needs to be recharged A fully charged extended marker battery should operate for 6 hours or more NOTE As with all batteries capacity run time will diminish over time due to battery age and charging cycles REV C 25 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION SWITCH Figure 2 2 Extended Marker Dimensions inches The extended marker battery can be recharged with a standard off the shelf plug in battery charger such as the one pictured below in Figure 2 3 This charger is included in a complete PATRIOT WIRELESS system Figure 2 3 Extended Marker Battery Charger REV C 26 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 2 4 Standard Marker Discontinued The standard wireless marker uses a lithium ion lithium polymer battery The operation of the extended marker is the same as the extended marker A fully charged standard bat
128. s eeecececeeere A T Using the ASCII Interface 20 Using the Polhemus PiMgr GUI 6 16 29 W aPMIN BS EH ii Warranty uunc RI ESO 1 WHOA e EENE 93 Wildcard 46 Wireless Marker D 1 Wireless Markers Number of D 1 X Position Filter Parameters 60 X Y Zea erede Yn A 7 XY Zoe Rei oe Yen A 7 XYZNAERZA eed BE de YR A 7 Y Attitude Filter Parameters 62 peo 7 2013
129. s A three by three matrix containing the direction cosines of the sensor s X axis in column one the direction cosines of the sensor s Y axis in column two and the direction cosines of the sensor s Z axis in column three The order of the Euler angle rotation sequence is azimuth elevation and roll X Direction Cosines Y Direction Cosines Z Direction Cosines CA CE CA SE SR SA CR CA SE CR SA SR SA CE CA CR SA SE SR SA SE CR CA SR SE CE SR CE CR where CA Cos azimuth CE Cos elevation CR Cos roll SA Sin azimuth SE Sin elevation SR Sin roll The coordinate of orientation tracking in the horizontal plane where an increase in the angle is clockwise when viewed from above Azimuth is a rotation around the Z or vertical axis The 1 NOVEMBER 2013 POLHEMUS INNOVATION IN Baud Rate Benign Environment Binary bps Direction Cosines Elevation Factory Defaults Firmware Format PATRIOT WIRELESS MANUAL term yaw is often substituted for azimuth especially in the context of flight The signaling rate on a serial line For example to convey an 8 bit byte normally requires at least two additional bit times a start bit and a stop bit so that synchronization is possible without a separate clocking line For example such an arrangement implies for a 9600 baud rate conveyance of data at a 9600 8 10 7680 bit rate A tracking environ
130. s when reading the receptor alignment the orientation is always expressed as Euler angles Output Record Table 53 4A ASCII Response Byte Index Format Description 0 A First digit of receptor number 1 A Second digit of receptor number 2 A a 3 A Error Indicator 4 B ASCII Blank character 5 3 Sxxx xxxB Receptor alignment position 17 4 Sx xxxxxB Receptor alignment Euler orientation 29 30 AA Carriage Return Line Feed REV 88 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Table 54 4A Binary Output Format Byte Index Format Description 0 7 Binary Header 8 FL X 12 FL Y 16 FL Z 20 FL Azimuth 24 FL Elevation 28 FL Roll Examples The Al lt gt command may produce the ASCII response below indicating that receptor has an alignment position of 0 0 0 0 0 0 and orientation of 0 0 0 0 0 0 These alignment values indicate that receptor 1 is the anchor receptor 01 0 0000 0 0000 0 0000 89 0 0000 0 0000 0 0000 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Aligned Receptors Description This command returns bitmap reflecting detected receptors and aligned receptors This is a read only command Syntax lt gt Remarks The returned value of this command is a 16 bit hexadecimal bitmap This bitmap indicates detected receptors are
131. s a 25 pin D connector for the RS 232 port you will need a 9 to 25 pin D connector adapter with the proper genders Note that this adapter must not compromise the NULL MODEM sense of your cable Figure 1 9 RS 232 Cable Connection 12 You are now ready to exercise the system e To use the Polhemus PiMgr GUI continue to Using the Polhemus PiMgr GUI on page 16 e To use PATRIOT WIRELESS ASCII interface through the Windows HyperTerminal program refer to Using the PATRIOT WIRELESS ASCII Interface on page 20 REV C 6 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 1 3 Charging and Using PATRIOT WIRELESS Marker Batteries 1 3 1 Charging the Extended Marker Battery Figure 1 10 Extended Marker Battery 1 Locate the batteries and the charger of extended marker see Figure 1 11 Figure 1 11 Extended Marker Battery Charging Components REV C 7 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 2 Slip the batteries into the receptacles atop the charger see Figure 1 12 E Figure 1 12 Placing Extended Marker Batteries into Charger 3 To install the battery into the marker orient the battery so that the two slots of battery contact is toward the marker pins see Figure 1 13 d Figure 1 13 Extended Marker Battery Tab Orientation REV C 8 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Tip the battery at an
132. shall warranties apply in the case of damage through accidents or acts of nature such as flood earthquake lightning tornado typhoon power surge s or failure s environmental extremes or other external causes Warranties shall not apply to any Products if the Products are defective because of normal wear and tear or d used for any purpose without obtaining any applicable regulatory approvals REV C C 1 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION POLHEMUS DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE POLHEMUS MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE WITHOUT LIMITING THE FOREGOING POLHEMUS S MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATSOEVER EXCLUSIVE OF CLAIMS FOR PATENT INFRINGEMENT AND REGARDLESS OF THE FORM OF THE ACTION INCLUDING BUT NOT LIMITED TO CONTRACT NEGLIGENCE OR STRICT LIABILITY SHALL BE LIMITED TO BUYER S ACTUAL DIRECT DAMAGES NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED The Products are not certified for medical or bio medical use Any references to medical or bio medical use are
133. t The sensitivity of PATRIOT WIRELESS to marker signals entering and leaving the environment is configurable so that the feature can be tuned to the environment to prevent the Autolaunch from triggering in error To enable the PATRIOT WIRELESS AutoLaunch mode e Open the Tracker Configuration dialog in the PiMgr GUI e Select the AutoLaunch tab e Select the Enable AutoLaunch checkbox e To adjust the launch and unlaunch signal sensitivity modify the Launch and or Unlaunch range criteria 28 A Select Configuration Cile v Togge Gonnecion ARK Wireless Operations General Connection Filters Buffeing AutoLaunch Enable AutoLaunch AutoLaunch Range Criteria Launch Range Index Unlaunch Range Index Near Figure 3 8 Autolaunch REV C 39 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN NOTE Higher values in these index criteria cause PATRIOT WIRELESS to be more sensitive to detected signal levels and therefore allow new markers to be automatically launched or unlaunched when farther away from detecting receptors e Select the button to apply the new PATRIOT WIRELESS settings Refer to ASCII Commands A Autolaunch Mode on page 75 and 4G Set Autolaunch Criteria on page 65 3 4 3 Marker Installation Each newly shipped PATRIOT WIRELESS has marker data records pre installed for any markers that are shipped
134. t The standard receptor measures approximately 1 5 inches H x 1 5 inches W x 2 5 inches L and has a cable length of up to 60 feet The dimensions for the standard receptor are shown in Figure 2 1 including the position of the electrical center The receptor package provides three mounting holes for the inch nylon screws supplied REV 24 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN NOTE Nylon hardware is provided to install the receptor Lightweight fasteners such as wall mount adhesive or double sided tape can be used to affix each receptor to its temporary location Metallic hardware such as screws nuts and bolts in moderate proximity to the receptor have little to no effect on the accuracy of the PATRIOT WIRELESS operation LENGTH bd to 1 U Nu 260 ELECTRICAL CENTER Figure 2 1 Receptor 2 3 Extended Marker The extended marker uses quick charging lithium ion technology ensuring maximum battery life and maximum power The position and orientation of the marker is measured relative to a pre defined coordinate reference frame in the motion tracking environment By default this reference frame is defined by one of the receptors which is designated as the anchor Receptor The dimensions of the extended marker are shown in Figure x x The marker inco
135. t the battery will not disengage during use see Figure 1 27 This same procedure should be employed when installing the battery into either a marker or the battery charger Figure 1 27 Successful standard marker battery installation 1 3 3 Using Wireless Markers Find the small power switch on one end of the marker Figure 1 28 Slide it ON away from the LED and observe that the LED power indicator next to the switch illuminates briefly indicating that the marker is live The LED illuminates only briefly to conserve power A fully charged REV C 14 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION standard battery should operate for up to 2 continuous hours A fully charged extended marker battery should operate for 6 hours or more Note As will all batteries capacity run time will diminish over time due to battery age and charging cycles Figure 1 28 Marker Power Switch and LED When the battery is nearing complete discharge the marker s LED power indicator will illuminate continuously the battery should be replaced or recharged immediately 1 4 Installing PATRIOT WIRELESS Host Software NOTE PATRIOT WIRELESS Host Software is intended to be installed on a computer running Windows XP or later 1 Insert the PATRIOT WIRELESS Host Software CD ROM into your computer s CD ROM drive 2 If the PATRIOT WIRELESS Host Software Installation Panel does not run automatically then navigate to the C
136. t to be automatically launched Similarly a higher unlaunch range index means that the marker may travel farther away and thus produce a lower detected signal level in a receptor before it will be automatically unlaunched See also P Phase Step on page 93 The default launch range index criterion is 50 The default unlaunch range index criterion is 50 Output Record Table 27 4G ASCII Response Byte Index Format Description 0 0 1 0 2 3 Error Indicator 4 B ASCII Blank character 5 8 xxxB Launch range index 9 12 xxxB Unlaunch range index 13 14 AA Carriage Return Line Feed Table 28 4G Binary Response Byte Index Format Description 0 7 Binary Header 8 DW Launch range index 12 DW Unlaunch range index REV C 65 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION Examples To increase the distance from a receptor at which a marker will be autolaunched increase the launch range index To increase the distance from a receptor at which a launched marker may travel before it is automatically unlaunched increase the unlaunch range index To instruct PATRIOT WIRELESS to automatically launch a marker when a signal level corresponding to an index of 60 or more is detected and to unlaunch when a signal level corresponding to an index of 40 or less is detected use the following command G60 40 66 NOVEMBER 20
137. tation are graphically A 4 NOVEMBER 2013 POLHEMUS INNOVATION IN PATRIOT WIRELESS MANUAL defined in Figure 0 1 The Euler angles azimuth elevation and roll are designated y and These angles represent an azimuth primary sequence of frame rotations that define the current orientation of the marker with respect to the zero orientation state of the reference receptor or a user defined reference orientation The defining rotation sequence is an azimuth rotation followed by an elevation rotation followed by a roll rotation The azimuth angle w is defined as a rotation of the X and Y reference axes about the Z reference axis Note that the transition axes labeled X and Y represent the orientation of the X and Y axes after the azimuth rotation The elevation angle 0 is defined as a rotation of the Z reference axis and the X transition axis about the Y transition axis Note that the transition axis labeled 77 represents the orientation of the Z reference axis after the elevation rotation Note also that the current x axis of the current sensor frame represents the orientation of the X transition axis after the elevation rotation Lastly the roll angle is defined as a rotation of the Y and Z transition axes about the x axis of the marker frame Note that the y and z axes of the current sensor frame represent the orientation of the Y and Z transition axes after the roll rotation Note also that in the e
138. tem command page 96 or by cycling the power Alternatively the O 5 232 Port Configuration command page 68 may be used to configure the RS 232 connection during operation However after using this command and saving the new settings to the startup configuration W Set Operational Configuration page 95 the saved settings will be ignored during the next power up or system initialize Y Initialize System in deference to the hardware switch settings The hardware switches are numbered 1 to 5 from left to right Switch setting definitions are provided in Table 4 below Table 4 Switch Settings Baud Rate Switches Parity Switches 1 2 3 4 5 AMI jy 115 200 jy U None jy jy f 57600 jy ft Odd jy f y 38400 f U Even f 19200 f ft reserved f 4 i 9600 f f 4800 f ft i 2400 f ft f reserved 2 1 4 USB I O The USB connection is made with a standard Series A receptacle connector 2 1 5 RS 422 I O The PATRIOT WIRELESS does not come with an RS 422 option If RS 422 is needed standard conversion modules are available from several sources Contact Polhemus Customer Service see APPENDIX E if help is needed 2 2 Receptor The receptor is a cabled device that tracks electro magnetic fields produced by the wireless markers Arrays of receptors usually are fixed to positions on non metallic surfaces in the desired motion tracking environmen
139. tery should operate for up to 2 continuous hours Note The standard marker has been discontinued The PATRIOT WIRELESS now ships with the extended marker The dimensions if the standard marker are shown in Figure 2 4 a _ REMOVABLE BATTERY PACK 1 LED POWER SWITCH Figure 2 4 Standard Marker Dimensions inches 2 5 Quad Charger Discontinued A charger is provided for maintaining the charge on up to four of the standard marker Lithium ion Lithium polymer batteries at a single time Recharging time to maximum capacity is approximately 2 5 hours regardless of the number of batteries being recharged The standard marker charger consists of three components the charger chassis a power cord and an external power supply Figure 2 5 shows the charger It has receptacles across its top that are identical in size and shape to the actual PATRIOT WIRELESS marker so that the battery pack is inserted and extracted in exactly the same fashion as in the marker The easiest way to insert the battery is shown in Figure 1 24 The most successful way to extract the battery is to use the grip and fingernail placement shown in Error Reference source not found Figure 2 5 Standard Marker Battery Charger Front View REV C 27 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION Figure 2 6 shows the rear view of the charger including the power supply connected to it the ON
140. the X Operational Configuration ID command on page 73 and the W Set Operational Configuration on page A Output Record None Examples Assume a user wants to save the current custom operational configuration for use later The user also wants to make this configuration the default power up configuration for the user s PATRIOT WIRELESS The following commands should be issued XNewIDstring Assigns an ID string to current configuration Saves current configuration to first config slot WI Sets Config Slot 1 to startup config 91 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION AL Unlaunch Marker Description This command instructs PATRIOT WIRELESS to remove the specified marker from the launched marker list After unlaunch PATRIOT WIRELESS no longer collects data for the marker Syntax Lmarker Part Description marker to 4 Frequency index of launched marker Remarks A marker should be unlaunched whenever it is turned off the battery needs to be recharged or it is removed from the motion capture area If this is not done the PATRIOT WIRELESS will continue to report a P amp O solution from the ambient noise Output Record None 92 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION AP Phase Step Description The phase step command is used in conjunction with the autolaunch mode
141. tion Failure with Sensor Processor Board Error Initiating Sensor Processor 1 Error Initiating Sensor Processor 2 Error Initiating Sensor Processor 3 Error Initiating Sensor Processor 4 No Sensor Processors Detected Memory Allocation Error Excessive Command Characters Entered Non fatal text message Error Synchronizing Sensors Indicated Receptor Not Present Error aligning Receptor No Markers recognized by System Launch Error Launch Receptor is not aligned Wildcard is not supported by this command No markers of this frequency have been installed on the system Not used No marker of this frequency has been launched Error Installing Marker Marker Serial Number not found for this frequency Receptor PROM Error Unsupported Receptor Detected 50 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 4 5 Command Reference 4 5 1 Configuration Commands Configuration Commands are typically issued during system setup They affect the overall operation of the PATRIOT WIRELESS Once a configuration has been established PATRIOT WIRELESS will operate in that configuration until power is removed a reset is issued or the configuration is changed again through a command The current configuration may be saved and used at initialization time by commands discussed in this section Unless otherwise indicated the default behavior of the configuration commands will be as follows e When no arguments except marker o
142. to 0 95 Output Record Table 23 Y ASCII Response Byte Index Format Description 1 0 2 A 0 3 4 Error Indicator 5 B ASCII Blank character 6 12 Sx xxxB Filter Sensitivity 13 19 Sx xxxB Filter Low Value 20 26 Sx xxxB Filter High Value 27 33 Sx xxxB Transition Rate Maximum Value 34 35 AA Carriage Return Line Feed Table 24 Y Binary Response Byte Index Format Description 1 8 Binary Header 9 12 FL Filter Sensitivity Value 13 16 FL Filter Low Value 17 20 FL Filter High Value 21 24 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system Y 2 2 8 95 active stations will now have filtering applied to the attitude measurements To turn off attitude filters Y0 1 0 0 lt gt REV C 63 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN AK Set Echo Mode Description This command enables and disables the communications echo mode In echo mode PATRIOT WIRELESS responds to configuration modifying commands by echoing back the command that was received Recall that without echo mode configuration modifying commands generate no response message from the PATRIOT WIRELESS See Configuration Commands on page 51 This allows feedback to the user when modifying configuration settings In binary mode the echo is prefixed by the standard 8 byte binary header
143. to set the correct orientation for the markers Syntax 4Pmarker lt gt Part Description marker 1 to 4 Frequency index of launched marker Remarks When in autolaunch mode the orientation has four possibilities 1 The correct orientation 2 180 degree error in azimuth 3 180 degree error in roll 4 180 degree error in azimuth and roll same as 180 in elevation Each time the phase step command is applied PATRIOT WIRELESS steps to the next of these phases When the marker s reported orientation data is correct the correct phase has been reached and the command should not be applied again See also 4G Set Autolaunch Criteria on page 65 Output Record None 93 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION AV WhoAmI Description This command returns the basic identification and firmware version of the PATRIOT WIRELESS Syntax V receptor Part Description receptor 1 2 Specifies which receptor to read version information Output Record Table 57 V ASCII Response Format Description OOVAB lt gt 5 char ASCII header string Polhemus PATRIOT WIRELESS lt gt Boot Loader Version version string lt gt Boot Loader Version System Controller Version version string lt gt System Controller Version I O Processor Version version string lt gt T O Processor V
144. tor that receptor s effective range becomes approximately half that of Extended Range Mode 96 inches Disable Close Range Mode in the following circumstances Where markers are tracked in larger volumes or Where markers will not be tracked within 12 18 inches of receptors or e in smaller areas where 2 receptors are in use and receptors are positioned within 3 4 feet of each other Output Record Table 45 R ASCII Response Byte Index Format Description 0 A First digit of receptor number 1 Second digit of receptor number 2 2A 4 Error Indicator 5 B ASCII Blank character 6 A 0 Normal Range 1 Close Range 7 AA Carriage Return Line Feed Table 46 R Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 Normal Range 0x01 Close Range Examples The command to enable Close Range mode for receptor 1 is R1 1 lt gt The command to enable Close Range mode for all receptors is R 1 lt gt REV C 78 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MoTION 4 6 Operational Commands Operational commands are typically executed during normal system operation They do not affect the configuration of the PATRIOT WIRELESS REV C 79 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN Continuous Print Output Description This command enables the continuous print output mode Whe
145. wer supplies and two power cords See Figure 1 1 2 Set up the PATRIOT WIRELESS close to your host computer but within reach of the receptor cable length to the test area 3 Examine the front and rear panels of the PATRIOT WIRELESS and review the locations of the receptor sensor power RS 232 and USB The layout of the front and rear panels is the same for all PATRIOT WIRELESS configurations See Figure 1 2 System Indicator Receptors RS 232 Power t Connector USB Power HARDWARE Switch SWITCHES Figure 1 2 PATRIOT WIRELESS Front Rear Panels REV 2 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN MOTION 4 Connect the receptor Uncoil a small length of the receptor cable and attach it to the Sensor 1 connector on the SEU Firmly engage and lock the receptor connector into place See Figure 1 3 and Figure 1 4 Tighten the two retaining screws to secure Figure 1 3 Receptor and Receptor Connector Cord SENSOR 2 Figure 1 4 Receptor Connection 5 Place the receptor head on a non metallic surface Dress the cable safely over to the SEU where it will not become entangled in a walkway Place the charged marker on the surface to the rear of the receptor and about 10 12 inches away from the receptor Make sure that the marker is oriented so that the direction is forward toward the rear of the receptor Refer to Figure 1 5 NOTE To charge a marker battery refer to Charging and
146. xample of Figure 0 1 the azimuth elevation and roll rotations are positive negative and positive respectively X Y Z Anchor Receptor Reference Frame X gt Rotated Marker Coordinate Frame Y Azimuth Elevation Roll Figure 0 1 Euler Angles Output List A list of the data items included in a data record A 5 NOVEMBER 2013 POLHEMUS INNOVATION IN P amp O PATRIOT WIRELESS Pitch Quaternion Receptor Reference Location Response Roll PATRIOT WIRELESS MANUAL Position and Orientation the six pieces of data needed to fully describe tracking of an object in 3D space Some tracking devices by virtue of their principle of operation can produce only position or only orientation whereas others can produce both P amp O although the user usually can opt for only those parameters desired A generation of wireless and expandable motion tracking tools PATRIOT WIRELESS can be configured with 1 or 2 receptors PATRIOT WIRELESS provides 6DOF tracking parameters on up to 4 wireless markers Same as elevation A four parameter quantity representing a vector and a scalar The quaternion q qo i qi j q2 qs can be used to represent the sensor s orientation without the need for trigonometric functions The attitude matrix output from PATRIOT WIRELESS can be equivalently represented by the following matrix using quaternions Y Directional Cosines Z Directional Cosines 2 41
147. y or lag Factors affecting latency are Output Record Length e Data Format binary is more efficient than ASCII e Filtering data are produced at normal times but will show effects of filter lag e USB Buffering Mode should be disabled to minimize latency see B USB Buffering Mode on page 76 Factors affecting lag are e Competing processes running on the host computer e Connection type RS 232 vs USB REV 40 NOVEMBER 2013 POLHEMUS PATRIOT WIRELESS MANUAL INNOVATION IN In general the RS 232 will have the lowest lag but any lag encountered using USB can be reduced or eliminated by disabling B USB Buffering Mode see page 76 3 6 1 Adaptive Filters The PATRIOT WIRELESS contains an adaptive filter that is designed to control noise in the data output The filter can be applied to position or orientation or both It should be noted that the effect that is seen in the data may have or appear to have a slower dynamic response with medium or heavy filtering selected Although data transferred is at normal time the filtering gives it the appearance of lag In the PiMgr GUI change the adaptive filters in the Tracker Configuration dialog Filters tab See the ASCII Commands Y Attitude Filter Parameters on page 62 and X Position Filter Parameters on page 60 for more information on setting the filters 3 6 2 Increment PATRIOT WIRELESS can be configured to only chan

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