Pan-Tilt Unit (E Series) Command Reference Manual
Contents
1. 7 6 Voltage and Temperature Query The PTU includes sensors for both input voltage and internal temperature 7 6 1 Commands O 7 6 2 Syntax Query PTU voltage and internal temperature O lt delim gt 7 6 3 Example This command queries the PTU input voltage and temperature O Input 30 VDC 86 degF 8 Power Control The constant current motors used in FLIR PTUs allow you to control power consumption using simple commands This is useful for battery powered operation reducing internal temperatures and extending motor life 8 1 Hold Power Mode Set and query the current power level applied to axis motors when holding position stationary Regular Power is the highest amount of hold power available because stepper motors generate significantly more holding torque than dynamic torque This allows you to use the Low Power hold mode in most situations If needed you may use Regular Power hold mode for brief periods when maximum holding torque is required CAUTION EXTENSIVE USE OF REGULAR POWER HOLD MODE CAN GENERATE SIGNIFICANT HEAT AND POSSIBLY SHORTEN PTU COMPONENT LIFE If your payload is light enough and or suitably positioned you may be able to shut power off completely when holding Before doing this verify that your payload will not back drive the PTU when holding under all expected conditions Back driving causes the PTU to lose track of pan and tilt position which requires a unit reset See S2. PS1900 PP2600 A PS600 PP 260 0 PS1900 Speed Control 4 1 4 See Also e Position commands Section 3 1 and Section 3 2 e Position resolution units Section 3 3 e Speed bounds Section 4 5 4 2 Relative Speed Specify desired axis speed in positions per second relative to the current speed or query the current axis speed The relative speed change or delta is measured in positions per second relative to the speed before the command is issued For example if the PTU is moving at 1 000 positions per second adding a delta of 300 using a relative speed command will increase the speed to 1 300 positions per second You can change speeds on the fly Soeed changes that will result in a speed outside the speed bounds return an error and are not executed 4 2 1 Commands e PD e TD 4 2 2 Syntax e Query current pan speed PD lt delim gt e Set desired delta offset pan speed PD lt positions sec gt lt delim gt e Query current tilt speed TD lt delim gt e Set desired delta offset tilt speed TD lt positions sec gt lt delim gt 4 2 3 Example The following command sequence instructs the pan axis to move to the far left then slowly move right decrease speed on the fly by 150 positions second and then query the current speed T PS1900 PP2600 A PS600 PP 2600 PD 150 PD Current Pan speed is 450 positions sec 4 2 4 See Also e Position commands Section 3
3. Fonmatting Convention iaa 10 Getting Started ida aa ias 13 2 1 ASCII Command Synta ia ii eaten 13 2 2 PowWer Level iii da 14 2 3 SACCElSFATION SG 25 20 n a a a Wied cade vs a a e aaa aeua taaa aa 14 2 4 Serial Command listapi AA A ev eee 15 A 15 242 SPCC sece dices saheleeae ed ccoxsiel es hcen waa wo beta od ved Plane ra end ese aS 15 2 4 3 CONTINUOUS Axis ROtati0ON cocococcccnccnnnnnononnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnananininins 15 244 LiMitSiini aa aaa aria dia 16 24 5 Unit Control n e ae E a Ea AA ESEE e EE Ke EAEE PEES 16 A O NT 16 2 47 Serial Bc Expanded Oia tia 17 24 8 Step MOSS iii as 17 DAD SINE WI o da seen 17 ZA LO IP Networle nani a a EE EEEE dade ACEEA 17 POSICION ii A A A A I EA 19 3 1 Absolute POSITION enana a a a a a E 19 g ToS COMMANGS a a a i coches evan eases a a e ra aes oe es deed a A ET Ie 19 A S ANA E E A N E A EA 19 SAS EM pl AEE E A EE E A es eee 19 e A O a l a 19 3 2 OTFSEL Position eaa a EE E aAA eo A A E E E TEE aE 20 A A E E O E A E bvenrtaes 20 A e ech aS EAE EA A A 20 E E ech coed eaacececaasycevearies E E E Ov PR 20 B24 ANO 20 3 3 Resolution per POSItiOn cccccccssssssssceceeeessssssesececeeeessseeseseceeeesssuaeaeeenesesessesnaeees 21 33 1 2 Command Sa a a Maks a tt 21 Vic AS IN 21 IM do A e tl e lo ea 21 Bed NN 21 3 4 Limit Position QUETICS ccccscccececceccenssssescecececceusussseseecececeeseuessseeceeeecesss
4. 1 and Section 3 2 e Position resolution units Section 3 3 e Speed bounds Section 4 5 E Series Command Reference Manual 4 3 Acceleration Specify or query axis acceleration and deceleration for speeds above the base speed Acceleration is specified in positions per second per second Note The PTU requires several seconds to re compute the internal tables used to rapidly execute speed ramping when calculating acceleration and El deceleration Acceleration therefore cannot be changed on the fly If the PTU is moving and you attempt to change the acceleration the PTU will immediately slow to a halt 4 3 1 Commands e PA e TA 4 3 2 Syntax e Query desired pan acceleration PA lt delim gt e Set desired pan acceleration PA lt positions sec2 gt lt delim gt e Query desired tilt acceleration TA lt delim gt e Set desired tilt acceleration TA lt positions sec2 gt lt delim gt 4 3 3 Example The following command sequence illustrates different rates of acceleration PA Pan acceleration is 2000 positions sec sec PB Current Pan base speed is 1000 positions sec PU Maximum Pan speed is 2902 positions sec A PPO PS1900 PP2600 A PA1500 PPO A 4 3 4 See Also Position resolution units Section 3 3 Speed Control 4 4 Base Start Up Speed Specify or query the axis base start up speed in positions per second The default base speed is O positions per secon
5. B lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt Expanded I O Where e Aand B indicate RS232C expansion port CHA and CHB e lt baud gt may be 300 1200 2400 4800 9600 19200 or 115200 bits per second e lt databits gt may be 7 or 8 data bits per byte e lt parity gt is case insensitive and may be N none E even or O odd e lt handshaking gt is not case sensitive and may be N none H hardware handshaking X XON XOFF software handshaking F both hardware software handshaking 10 2 3 Example The following command sets the expansion serial port channel CHA to a baud rate of 9 600 bits second with 8 data bits per byte no parity and no handshaking A 9600 8 N n The following command sets the expansion serial port channel CHB to a baud rate of 19 200 bits second with 8 data bits per byte no parity and hardware handshaking B 19200 8 n H 10 2 4 See Also To communicate with an expansion serial port channel Section 10 1 E Series Command Reference Manual This page intentionally left blank 11 Step Modes E Series PTUs support various step modes for precise resolution control 11 1 Configuring Step Mode You may configure separate step modes for the pan and tilt axes including automatic stepping When automatic stepping is enabled the controller will automatically select the correct step mode based on the PTU s current speed and
6. PTU to a position using any standard motion control commands and then store that position as a preset numbered from 0 to 32 You can then command the PTU to any previously stored preset using a Go to command Presets are retained when the PTU is powered down 8 Note When moving to a preset the PTU will follow the currently set motion parameters such as acceleration base rate etc 3 11 1 Commands e XS e XG e XC E Series Command Reference Manual 3 11 2 Syntax e Set preset XS lt index gt lt delim gt e Goto preset XG lt index gt lt delim gt e Clear Preset XC lt index gt lt delim gt In the above examples lt index gt is the number of the stored preset position Valid index numbers are integers between 0 and 32 3 11 3 Example The following command sequence sets the PTU to position 500 400 store that position as preset 0 move the PTU to position 600 800 and then return it to the previously stored preset O position PP500 TP400 A XS0 PP600 TP800 A XGO 4 Speed Control Each PTU combines precise position control with precise speed and acceleration control This allows you to quickly and accurately predict any given PTU position at any given time e The base start up speed is the instantaneous velocity that the PTU axis can achieve without losing synchronization when starting from a full stop Base speed capabilities are more a function of the motors rather than load characteri
7. Power The available power commands are DESCRIPTION Query pan hold power DESCRIPTION Tilt hold power low DESCRIPTION Query tilt move power PHR Pan hold power regular Tilt hold power off TMH Tilt move power high PHL Pan hold power low Query pan move power TMR Tilt move power regular Pan hold power off TH Query tilt hold power PMR Pan move power high Pan move power regular Tilt move power low Query VDC and temp THR Tilt hold power regular PML Pan move power low Please see Section 8 for more information about the power commands Getting Started 2 4 7 Serial amp Expanded I O The available serial and Expanded I O commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION Serial port settings _ lt id gt Unit select JE Joystick enable A ChannelA U Query network ID JD Joystick disable B ChannelB Please see e Section 9 for more information about the host serial commands e Section 10 for more information about the expanded I O commands 2 4 8 Step Modes The available step mode commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION WP Query pan step mode WPE Pan axis eighth step WTH Tilt axis half step WPF Pan axis full step WPA Pan axis auto step WTA Tilt axis quarter step WPH Pan axis half step WT Query tilt step
8. Step Modes Section 11 3 4 Limit Position Queries These queries return the axis position limits either factory set or user limits Please refer to your PTU User Manual for more information about limits 3 4 1 Commands The available limit position queries are e PN e PX E Series Command Reference Manual e TN e TX 3 4 2 Syntax e Query minimum pan position PN lt delim gt e Query maximum pan position PX lt delim gt e Query minimum tilt position TN lt delim gt e Query maximum tilt position TX lt delim gt 3 4 3 Example The following query sequence enables limits resets the PTU queries the pan and tilt axis limits and then attempts to pan the PTU beyond its limits to return an error message LE RE PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 PP3200 Maximum allowable Pan position is 3090 3 4 4 See Also e Position resolution units Section 3 3 e Achieving larger axis bounds Section 6 3 5 Position Limit Enforcement Determines whether position commands beyond the detected pan axis limits are allowable When limits are enabled default commands outside of the limits return an error message and are not executed In this mode the PTU only reaches limits when it has lost synchronization a condition that requires a unit reset see Section 7 1 The PTU displays P on the host comp
9. Tilt E Series Command Reference Manual covers the software control interface for the following E Series PTUs e PTU D48 E Series e PTU D100 E Series e PTU D300 E Series Each PTU also includes a User Manual specific to that unit model such as PTU D48 E Series User Manual The User Manual describes the electrical and mechanical interfaces and includes general setup and use instructions The E Series command set described in this manual is backwards compatible with prior PTU models with the following exceptions e Range of motion command syntax has been updated Section 6 e Network commands have been added to support the Ethernet interface Section 13 Note This manual is not intended for use with the PTU D46 or PTU D47 If you have a PTU D46 or PTU D47 please refer to the PTU D46 47 Command Reference Manual 1 1 Safety Please refer to and comply with all safety warnings contained in your PTU User Manual 1 2 E Series Features The E Series of PTUs includes the following new features e Built in Ethernet Web IP interface for easy configuration control and diagnostics e Improved power protection circuitry e 32 pin base connector for simplified wiring e Integrated digital encoder with feedback interface for more robust positioning e Programmable ranges of motion e Higher command rates with lower latency and jitter e Reduced calibration movement E Series Command Reference Manual e Support for future integ
10. lt delimiter gt is a character used to denote the end of a command Valid delimiter characters can be either SPACE or ENTER The basic ASCII query syntax is lt command gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt delimiter gt is a character used to denote the end of a query Valid delimiter characters can be either SPACE or ENTER For example e Command PP lt position gt lt delim gt sets the desired absolute pan position e Query PP lt delim gt returns the current absolute pan position Commands and queries return results that display on the terminal screen as follows e A successfully executed command displays on the terminal screen where lt CR gt is a carriage return e A successfully executed query displays lt QueryResult gt where lt QueryResult gt is the result of the query you just executed e A failed command displays lt ErrorMessage gt where lt ErrorMessage gt describes the error encountered e A pan axis limit hit asynchronously displays P e Atilt axis limit hit asynchronously displays T E Series Command Reference Manual El Note You may see one or multiple P or T errors This is normal behavior This sample command sequence pans the PTU to the left waits and then pans it back to the right with queries after finishing each pan movement PP 2 500 A PP Current Pan position is 2500 displays on the termi
11. parameter may return an error For example the defined base and upper speeds may make certain acceleration settings impossible changing the base and upper speeds may then make your desired acceleration feasible The PTU returns an error message when necessary The PTU allows on the fly position speed and directional changes When changing direction on the fly the PTU manages all deceleration direction reversal and acceleration to achieve the most recently specified target speed and acceleration rates E Series Command Reference Manual PS As a A o a e ces o eee scec ess SCENARIO 1 SCENARIO 2 SCENARIO 3 Upper Speed Limit Time Figure 1 Axis Speed during On The Fly Desired Speed and Position Changes 4 1 Absolute Speed Specify the desired axis speed in positions per second or query the desired speed for the selected axis Speed is the rate at which the PTU moves to execute movement commands You can change speeds on the fly Speed commands outside the speed bounds return an error and are not executed 4 1 1 Commands e PS e TS 4 1 2 Syntax e Query desired pan speed PS lt delim gt e Set desired pan speed PS lt positions sec gt lt delim gt e Query desired tilt speed TS lt delim gt e Set desired tilt speed TS lt positions sec gt lt delim gt 4 1 3 Example The following command sequence instructs the pan axis to move to the far left then slowly move right and speed up on the fly
12. positions per second When placed into the pure velocity control mode the PTU will finish on the opposite pan side The factory restore DF command restores independent control mode CI PS1000 PP 3000 A CV 5 PP 3000 PS1000 A PP Current pan position is lt pos gt DF RE where lt pos gt is the current pan position 4 6 4 See Also e Position commands Section 3 1 and Section 3 2 e Speed commands Section 4 1 and Section 4 2 5 Continuous Axis Rotation The PTU D300 PTU D100 and PTU D48 with optional slip ring support continuous rotation in both of the control modes described in Section 4 6 This section describes the command syntax and semantics that support continuous axis rotation You do not need to disable limits in order to enable continuous rotation 5 1 Continuous Rotation These commands allow you to enable or disable continuous 360 degree pan rotation 5 1 1 Commands e PCE e PCD Note These commands supersede the previous 1CPT command Executing 8 this command on an E Series PTU will return an error message E Series PTUs compute the fastest safe reset speed based on user specified parameters such as limits speed acceleration etc 5 1 2 Syntax e To enable continuous pan rotation PCE lt delim gt e To disable continuous pan rotation PCD lt delim gt 5 1 3 Example This command sequence disables continuous panning resets the pan axi
13. process all units as though the unit were in eighth step mode while allowing the PTU to move at the higher speeds allowed by the half step setting 11 1 1 Commands W 11 1 2 Syntax W lt axis gt lt resolution gt where lt axis gt can be either T Tilt axis or P Pan axis lt resolution gt can be either F H Q E A for Full Half Quarter Eighth and Auto step resolution 11 1 3 Example The following command sets the Tilt axis to eighth step resolution and recalibrates the tilt axis WTE E Series Command Reference Manual This page intentionally left blank 12 PTU Serial Networks This section describes the commands used to configure set and query the PTU serial network configuration 12 1 Unit Network ID Specify or query the PTU controller network unit ID number The default PTU unit ID is O when the PTU is not networked and is in the default interactive communications mode Be sure to assign a unique unit ID number to each PTU on the network Assigning a unit ID of O to a PTU places the PTU back in the default interactive non networked communication mode 12 1 1 Commands U 12 1 2 Syntax e Query current PTU network unit ID U lt delim gt e Set PTU to interactive mode non networked U0 lt del im gt e Set PTU network unit ID U lt unit_ID gt lt delim gt where lt unit_ TD gt is between 1 and 127 12 1 3 Example The following queries a PTU unit ID
14. rate at which the PTU travels between them are controlled B Note E Series PTUs can be set to pure velocity control mode when user limits are specified Your PTU also supports controlling pan and tilt via a pure velocity control mode that uses signed changes in the commanded axis speed In this mode the speed command is a signed value where the sign determines the direction of movement and the value determines the speed of movement in that direction as follows e Ifthe commanded speed is negative the axis is automatically commanded to the minimum axis position e If the commanded speed is positive the axis is automatically commanded to the maximum axis position e If the commanded speed is 0 axis movement is halted In pure velocity control mode issuing a speed command for a given axis effectively overrides any position commands that are currently being executed By default the PTU defaults to the independent control mode on power up the speed control mode is not saved when the PTU powers down 4 6 1 Commands e C e Cl e CV 4 6 2 Syntax e Query the current speed control mode C lt delim gt e Set to independent control mode default CI lt delim gt e Set to pure velocity control mode CV lt delim gt E Series Command Reference Manual 4 6 3 Example This command sequence places the PTU into the default independent control mode and pans to position 3000 at a rate of 1 000
15. returns to its home position upon receiving a character from the host computer 3 10 1 Commands e M e ME e MD e MQ 3 10 2 Syntax e Initiate monitoring pan axis only M lt pan pos 1 gt lt pan pos 2 gt lt delim gt e Initiate monitoring both axes M lt pan pos 1 gt lt pan pos 2 gt lt tilt pos 1 gt lt tilt pos 2 gt lt delim gt e Initiate the last defined monitor command M lt delim gt 8 Note The power up monitoring default is the most recently saved auto scan mode e Begin monitoring M lt delim gt Position e Enable monitor at power up ME lt delim gt e Disable monitor at power up MD lt delim gt e Query power up monitor status MO lt delim gt 3 10 3 Example Executing the following command at power up starts the PTU scanning between its most recently saved default limits M To stop scanning and return the PTU to the home position lt delim gt This example enables pan axis monitoring between the specified positions M 2500 100 This example enables pan and tilt monitoring between the specified positions M 2500 100 800 600 This example enables tilt axis monitoring between the specified positions M0 0 300 300 3 10 4 See Also Limit Position Queries Section 3 4 3 11 Position Presets Position preset functionality is provided for backward compatibility with legacy CCTV applications E Series PTUs support 33 position presets which allow you to command the
16. user defined Pan Position is 1000 PXU1500 PXU Maximum user defined Pan Position is 1500 LE L Limit bounds are ENABLED PP 3000 A PP Current Pan position is 3000 PP3200 Maximum allowable Pan position is 3090 LU L Limit user defined bounds are enabled User Defined Limits A PP Current Pan position is 1000 6 2 4 See Also Position commands Section 3 1 and Section 3 2 E Series Command Reference Manual This page intentionally left blank 7 Unit Commands The commands and queries listed in this chapter allow you to issue housekeeping commands and queries to the PTU 7 1 Reset PTU This command controls PTU calibration By default the PTU resets both axes automatically upon power up You may also issue a reset mode command to control how the PTU resets on power up and allow you to reset individual axes A reset calibration allows the PTU to determine the home position and should therefore occur before you issue any axis position commands A non calibrated PTU has axis minimum and maximum positions set to 0 meaning that any position commands issued when limits are enabled see Section 6 2 will return an error message Payloads beyond the PTU s handling capacity may cause the reset to fail Always test load handling ability as described in your PTU User Manual 7 1 1 Commands e R e RD e RT e RP e RE 7 1 2 Syntax e Perform Reset calibration R lt delim gt
17. High Performance Pan Tilt Unit E Series VERSION 4 00 REVISION DATE September 2010 Command Reference Manual E Series Command Reference Manual DOCUMENT CONTROL Date Author Rev Changes 09 2010 A Hernandez 4 00 Initial E Series release COPYRIGHT NOTICE Pan Tilt Unit Model PTU D48 E Series User s Manual 1991 2010 by FLIR Motion Control Systems Inc 890C Cowan Road Burlingame California 94010 650 692 3900 FAX 650 692 3930 www FLIR com MCS All rights reserved Protected under numerous U S patents including 5463432 and 580241 with other patents pending No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means including but not limited to electronic mechanical photocopying recording or otherwise without the prior written permission of FLIR Motion Control Systems Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of FLIR Motion Control Systems Inc FLIR Motion Control Systems Inc cannot be held liable for any mistakes in this manual and reserves the right to make changes Table of Contents 1 SITET OCUCTION isis 9 1 1 S SAT A O O 9 1 2 E Series Features in te tans e e a ia ds 9 1 3 About This Manual cccccnnococucnncnnnnnononnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnanannnnonnnnss 10 1 3 1
18. The PTU saves the following reset modes for power up reset control e Disable reset upon power up RD lt delim gt e Reset tilt axis only RT lt delim gt e Reset pan axis only RP lt delim gt e Reset both pan and tilt axes upon power up RE lt delim gt E Note Issuing an RE command followed by a DS command see Section 7 2 restores the default of calibrating both axes at power up E Series Command Reference Manual 7 1 3 Example This command sequence switches reset modes and performs a reset calibration between each mode change RT R RP RE R 7 2 Default Save Restore Save current axis settings as defaults that are preserved when the PTU is powered up and or restore factory defaults The PTU can save and restore the following settings e Serial port settings Host CHA CHB e Maximum speed e Desired speed e Base speed e Acceleration e Hold power e Move power e Monitor positions e Continuous rotation mode e Step mode e User limits e Echo mode CAUTION THE PTU SAVES DEFAULTS TO EEPROM WHICH HAS A LIFETIME MAXIMUM NUMBER OF WRITES BEFORE MEMORY FAILURE OCCURS WHILE IT IS VERY UNLIKELY THAY YOU WILL REACH THESE LIMITS YOU SHOULD AVOID EXCESSIVE SAVING OF CURRENT DEFAULTS DURING THE PTU LIFE 7 2 1 Commands e DS e DR Unit Commands e DF 7 2 2 Syntax e Save current settings as defaults DS lt delim gt e Restore stored defaults DR lt delim gt e Restore fac
19. Us E Note D series PTUs and earlier do not support Ethernet connections or the commands described in this chapter E Series PTUs are designed to accept an IP address assigned by a DHCP server by default If this fails the PTU will attempt a direct connection with the host computer You may determine the PTU IP address using the PTU Finder utility included on the CD that shipped with your PTU Please refer to your PTU User Manual for more information 13 1 MAC Address Queries or sets the PTU Media Access Control MAC address 13 1 1 Commands e NA 13 1 2 Syntax e Query current PTU MAC address NA lt delim gt e Specify PTU MAC address NA lt mac_address gt lt delim gt Where lt mac_address gt is the desired MAC address A MAC address consists of 6 pairs of hexadecimal numbers separated by colons For example 34 A0 CB 25 12 3E 13 1 3 Example The following code sequence queries the PTU MAC address changes that address and verifies that the change has occurred NA MAC address is D9 38 E8 21 94 AF NA34 A0 CB 25 12 3E NA MAC address is 34 A0 CB 25 12 3E 13 2 IP Address Queries or sets the PTU Internet Protocol IP address 13 2 1 Commands e NI E Series Command Reference Manual 13 2 2 Syntax e Query current PTU IP address NI lt delim gt e Specify PTU IP address NI lt ip_address gt lt delim gt Where lt ip_address gt is the desired IP address An IP address consists of 4 grou
20. an position is 500 P0O1500 A PP Current Pan position is 1000 3 2 4 See Also e Position resolution units Section 3 3 e Position limits Section 3 4 e Position execution modes Section 3 6 and Section 3 7 Position limit enforcement modes Section 3 5 Position 3 3 Resolution per Position This query returns the axis resolution per position moved in seconds of arc Note A degree of arc is divided into 60 minutes of arc and each minute of arc 8 is further divided into 60 seconds of arc A degree of arc therefore contains 3600 seconds of arc and each second of arc is equal to 1 3600 of a degree or 0 0002778 3 3 1 Commands The available resolution per position queries are e PR e TR 3 3 2 Syntax e Query pan resolution PR lt delim gt e Query tilt resolution TR lt delim gt 3 3 3 Example To pan the PTU 21 3 degrees to the left PR 92 5714 seconds arc per position PO828 To calculate the number of degrees per position use the formula Resolution 3600 In this example each position equals 0 025714 which is 92 5714 3600 Dividing the number of degrees you want to move the PTU by the number of degrees per position yields the number of positions to move the PTU Using this resolution if you want to pan the PTU 21 3 left from its current position you must first translate the desired number of degrees into positions Dividing 21 3 by 0 025714 yields 828 positions 3 3 4 See Also
21. ce Manual 9 1 3 Example The following command sets the host serial port RS 232 RS 485 to 19200 baud with 8 data bits per byte no parity no handshaking and keeps the power up baud rate at the default 9600 19200 F The following command sets the host serial port RS 232 RS 485 to 19200 baud with 8 data bits per byte no parity no handshaking and changes the power up baud to 19200 19200 T 9 1 4 See Also Setting the PTU controller unit ID Section 12 1 10 Expanded I O Many usage scenarios require additional serial units that are attached to or located near the PTU These devices can be connected directly to the host computer which requires additional serial ports on the host plus additional serial cabling Some E Series PTU configurations offer an optional Expanded Input Output ElO option that adds CHA CHB TTL lines through the payload interface Please refer to your PTU User Manual for more information about available lines and wiring The PTU controls serial port expansion channels You may configure CHA and CHB RS 232 communications for expanded port baud rates data bits parity and handshaking Each channel operates independently and the PTU fully buffers bidirectional data flow to allow for communications rate mismatch Point to point communications between the PTU serial port and an expansion channel e g CHB is initiated by the host computer Point to point communications is broken upon command from the
22. d Note The PTU requires several seconds to re compute the internal tables used 8 to rapidly execute speed ramping when calculating speeds The base speed therefore cannot be changed on the fly If the PTU is moving and you attempt to change the base speed the PTU will immediately slow to a halt 4 4 1 Commands e PB e TB 4 4 2 Syntax e Query desired pan base speed PB lt delim gt e Set desired pan base speed PB lt positions sec gt lt delim gt e Query desired tilt base speed TB lt delim gt e Set desired tilt base speed TB lt positions sec gt lt delim gt 4 4 3 Example The following command sequence homes the pan axis moves it far left changes the base rate then moves back to home Ta PPO PB Current Pan base speed is 0 positions sec PP2600 A PB1000 PPO A 4 4 4 See Also e Position resolution units Section 3 3 e Acceleration Section 4 3 e Speed bounds Section 4 5 E Series Command Reference Manual 4 5 Speed Bounds Set and query the upper and lower speed bounds for desired speed commands 8 Note The PTU requires several seconds to re compute the internal tables used to rapidly execute speed ramping when calculating speeds The upper speed bound therefore cannot be changed on the fly If the PTU is moving and you attempt to change the upper speed the PTU will immediately slow to a halt 4 5 1 Commands PU PL TU TL 4 5 2 Syntax Query upp
23. e The following command sequence queries the PT host name specifies a new name and then verifies the change NN Current host name is D48 NN UNIT1 NN Current host name is UNIT1 13 5 Network Mask Query or specify a PTU network subnet mask A subnet mask determines the subnet an IP address belongs to 13 5 1 Commands NS 13 5 2 Syntax e Query PTU network mask NS lt delim gt e Specify PTU network mask MS lt subnet gt lt del im gt where lt subnet gt is the desired network mask A network mask consists of 4 groups of 1 3 decimal numbers separated by periods For example 255 255 255 0 13 5 3 Example This command sequence queries the PTU network mask specifies a new network mask and then verifies the change NS The network mask is 255 255 0 0 NS255 255 255 0 NS The network mask is 255 255 255 0 PTU D48 E Series User Manual E Series Command Reference Manual v 4 00 09 2010 SFLIR Motion Control Systems 890C Cowan Road Burlingame CA 94010 p 650 692 3900 f 650 692 3930 www FLIR com MCS
24. ection 7 1 8 Note Back driving usually occurs on the tilt axis because of the higher torque loads applied by the payload 8 1 1 Commands e PH e PHR e PHL e PHO e TH e THR e THL e THO E Series Command Reference Manual 8 1 2 Syntax e Query pan hold power mode PH lt delim gt e Regular pan hold power mode PHR lt delim gt e Low pan hold power mode PHL lt delim gt e Off pan hold power mode PHO lt delim gt e Query tilt hold power mode TH lt delim gt e Regular tilt hold power mode PHR lt delim gt e Low tilt hold power mode PHL lt delim gt e Off tilt hold power mode PHO lt delim gt 8 1 3 Example The following command sequence queries the pan hold power mode sets the mode to LOW and then verifies the change PH Pan in REGULAR hold power mode PHL PH Pan in LOW hold power mode 8 2 In Motion Power Mode Set and query the current power level applied to axis motors when in motion transiting DUTY CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN OVERHEAT THE CAUTION THE HIGH POWER SETTING IS INTENDED ONLY FOR INTERMITTENT PTU MOTORS 8 2 1 Commands e PM e PMH e PMR e PML e TM e TMH e TMR e TML 8 2 2 Syntax Query pan move power mode High pan move power mode Regular move power mode Low pan move power mode Query tilt move power mode High tilt move power mode Regular tilt move power mode Low tilt move power mode 8 2 3 Example The follow
25. er pan speed limit Set upper pan speed limit Query lower pan speed limit Set lower pan speed limit Query upper tilt speed limit Set upper tilt speed limit Query lower tilt speed limit Set lower tilt speed limit 4 5 3 Example This command sequence queries the upper and lower pan speeds and attempts to exceed those limits in order to return an error message PU lt delim gt PU lt positions sec gt lt delim gt PL lt delim gt PL lt posii tions sec gt lt delim gt TU lt delim gt TU lt posit tions sec gt lt delim gt TL lt delim gt TL lt posit tions sec gt lt delim gt PU Maximum Pan speed is 1985 positions sec PS3300 Pan speed cannot PSLI PL Minimum Pan speed is PL20 Motor speed cannot PL40 4 5 4 See Also Position resolution units Section 3 3 exceed 1985 positions sec 31 positions sec be less than 31 pos sec Speed Control 4 6 Speed Control Modes PTU position and speed control are independently controlled by default In this mode speed commands represent unsigned magnitudes that determine how fast the PTU travels between independently commanded positions while not affecting the commanded positions themselves This mode is appropriate for both e pure position control methods when pan tilt control is affected solely by commanding pan tilt position and e hybrid position velocity control methods when both pan tilt positions and the
26. ertical spaces between commands This manual also contains important safety information and instructions in specially formatted callouts with accompanying graphic symbols These callouts and their symbols appear as follows throughout the manual WARNING WARNINGS ALERT YOU TO THE POSSIBILITY OF PERSONAL INJURY OR DEATH IF THESE INSTRUCTIONS ARE NOT FOLLOWED Introduction CAUTION CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED El Note Notes provide helpful information E Series Command Reference Manual This page intentionally left blank 2 Getting Started This chapter describes the ASCII command syntax used when controlling a PTU via a serial connection lists the available commands and discusses power level and acceleration considerations Please also refer to the Quick Start section in your PTU User Manual for information about getting your PTU up and running quickly 2 1 ASCII Command Syntax A PTU uses both commands and queries A command tells the PTU to do something such as pan to a specific angle A query asks the PTU to return the requested value such as reporting the current pan angle The basic ASCII command syntax is lt command gt lt parameter gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt parameter gt is an alphanumeric value such as the desired pan position and e
27. host computer Communications from a serial device attached to an expansion serial channel is buffered by at least 200 characters This buffer can overflow when hardware handshaking is not used verify that attached devices do not exceed the buffer size before the host computer can read their serial data 10 1 Serial Communications Target These commands establish point to point communications between the host computer connected to the PTU serial port and either the expanded serial port CHA CHB or PTU Selecting an expansion port channel switches the host computer communications from the PTU to the external device connected to the selected port To resume communications with the PTU the host computer issues another command that selects the PTU as the desired communication target Note The expansion port baud rate does not affect communications with the El serial port connecting the host computer to the PTU The default PTU serial communications baud rate is 9600 10 1 1 Commands e A oe B 10 1 2 Syntax e Establish communications with CHA A lt delim gt e Establish communications with CHB B lt delim gt E Series Command Reference Manual e Resume communications with the PTU controller lt delim gt The following modified commands ensure that lt raw bytes gt bytes will pass directly from the host computer to the expanded serial port without any attempt to change the communications target This allows string
28. ida 39 6 1 POSITION LIMIT QUEE Suit A Aa 39 6 11 COMMANS ci id A A AA S 39 AS E A A A ee eee AL cht A O 40 AA a a ces adhe ea codebase was aa Dilan Heim os 40 OMA SEA A iba 41 6 2 Position Limit Enforcement rearen aida ie iieii 41 A AS AO 41 PES A O A E A 42 6 2 3 Exa Mp lenean O O anaa 42 a A E SEE ALSO E A E A E E AA AA 43 UNE Command Sesio ii 45 7 1 ROS N l K A EA E EEI AEEA 45 ya EAN COMMMANNGS A A O 45 Pe EA 45 e A ERE eer 46 7 2 Default Save ReStOre cccccscccccscssssecsecscccscsssssecsscecesssscseassessscsessesssssessecsessaseeaees 46 F251 lt Comma dS An a a Need davue detec in aa Aa doesbacdetus vacate e 46 Ted De Satay O EEA AEO E AE ci a de 47 7 3 SE CNO Aeae NON 47 E Series Command Reference Manual LIV COMIMANGS ria a A AR das 47 AS A A II A 47 A NO 47 7 4 Redal io Gelinas sets seamed asa E 47 PAD COM MMS A tail ia 47 PMD Sa A AN A 48 TAS D LAN SIE dd ee sale Mee it E EE E OA ES As Nel A E AE 48 7 5 Controller Firmware Version eessssssssssssssssssssssrereressesssttrersssssssststereerssesteterreesseesseeee 48 eT E oTa TAO Su das 48 Te Er a O EEE AA E Me Aa E A 48 7 5 3 Example a a hasta ccs a a a a et a ara a 48 7 6 Voltage and Temperature QU TY ccconocoooonccnoncnonononnnnnnnnnononnonnnnnnnnnnonnnonnnnnnnnnnnnnnnnnnnnos 48 ES A A A 48 E e A A A E A 48 TA E TIE C E EEE E E E E E E A E A E SEEE 48 BS Power Control canon cvacccsncenssavccvascansaaniessacdsasasocu
29. ing command sequence queries the pan move power mode sets the mode to LOW and then verifies the change PM lt delim gt PMH lt delim gt PMR lt delim gt PML lt delim gt TM lt delim gt TMH lt delim gt TMR lt delim gt TML lt delim gt PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Power Control E Series Command Reference Manual This page intentionally left blank 9 Host Serial Port Serial PTU communications always use the following settings e Start bits 1 e Stop bits 1 e Data bits 8 e Handshaking None In addition you may specify the following serial communications settings e Baud rate up to 115200 baud default is 9600 e Parity default is none 9 1 Baud Rate This command specifies the baud rate for the RS 232 RS 485 serial communications between the PTU and the host computer when the PTU is not networked and has the default unit ID of O B Note Serially networked PTUs automatically use the default communications settings described above El Note E Series PTUs do not support host byte delays E 9 1 1 Commands 9 1 2 Syntax Specify baud and default lt baud gt lt startup default gt lt delim gt where e lt baud gt may be 600 1200 2400 4800 9600 19200 or 115200 bits per second e lt startup default gt may be either T to apply your specified baud at power up or F to use the default 9600 baud E Series Command Referen
30. later sections within this manual for complete information about the available commands and their usage 2 4 1 Position The available position commands are CMD DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION PP Pan position XS Set preset Immed execution mode TP Tilt position XG Go to preset S Slaved mode PO Pan offset XC Clear preset H Halt all TO Tilt offset M Monitor HP Halt pan PR Pan resolution ME Monitor auto enable HT Halt tilt TR Tilt resolution MD Monitor auto disable A Await MQ Monitor auto query Please see Section 3 for more information about the position commands 2 4 2 Speed The available speed commands are DESCRIPTION CMD DESCRIPTION DESCRIPTION Pan speed Tilt acceleration Tilt upper speed TS Tilt speed Pan base speed TL Tilt lower speed Pan speed offset Tilt base speed Query control mode TD Tilt speed offset PU Pan upper speed Cl Set to position control PA Pan acceleration PL Pan lower speed CV Set to velocity control Please see Section 4 for more information about the speed commands 2 4 3 Continuous Axis Rotation The available continuous axis rotation commands are CMD DESCRIPTION CMD DESCRIPTION DESCRIPTION PC Pan continuous PCD Pan continuous disable PCE Pan continuous enable Please see Section 5 for more information about the continuous axis co
31. mmands E Series Command Reference Manual 2 4 4 Limits The available limit commands are DESCRIPTION DESCRIPTION CMD DESCRIPTION PN Minimum pan position PNU User defined pan min L Query limit status PX Maximum pan position PXU User defined pan max LE Enable limits TN Minimum tilt position TNU User defined tilt min LD Disable limits TX Maximum tilt position TXU User defined tilt max LU User limits NOTES 1 Factory limits 2 This command is retained for backward compatibility For E Series PTUs it is best to either use continuous pan mode to exceed limits or enable user limits to reduce range of motion Please see Section 6 for more information about the limit commands 2 4 5 Unit Controls The available unit control commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION RP Reset pan Query firmware version R Reset Query feedback mode DS Default save RD Disable reset Enable verbose feedback DR Restore saved settings RT Reset tilt Enable terse feedback DF Restore factory defaults EE Enable host cmd echo RE Reset both axes Query echo mode ED Disable host cmd echo NOTES 3 Subsequent resets and any power on reset will only affect this axis 4 This also enables reset on power up Please see Section 7 for more information about the unit commands 2 4 6
32. mode WTE Tilt axis eighth step WPQ Pan axis quarter step WTF Tilt axis full step WTA Tilt axis auto step Please see Section 11 for more information about the step mode commands 2 4 9 Serial Network The available PTU serial network command is U Please see Section 12 for more information about this command 2 4 10 IP Network The available IP network commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION NA MAC address NMS Network mode static NN Network host name NI IP address NMD Network mode dynamic NS Network mask NM Query network mode Please see Section 13 for more information about the IP network commands E Series Command Reference Manual This page intentionally left blank 3 Position This chapter describes the available PTU position commands and queries 3 1 Absolute Position Specify or query the absolute pan or tilt axis position Desired positions can be changed on the fly without waiting for previous position commands to complete 3 1 1 Commands The available absolute position commands queries are e PP e TP 3 1 2 Syntax e Query current absolute pan position PP lt delim gt e Set desired absolute pan position PP lt position gt lt delim gt e Query current absolute tilt position TP lt delim gt e Set desired absolute tilt position TP lt position gt lt delim gt 3 1 3 Example The following command sequence sends
33. motion and limits 6 1 Position Limit Queries Query both factory and user axis position limits 6 1 1 Commands e PN e PX e TN E Series Command Reference Manual e TX e PNU e PXU e TNU e TXU 6 1 2 Syntax e Query minimum pan factory user limit position PN lt delim gt e Query maximum pan factory user limit position PX lt delim gt e Query minimum tilt factory user limit position TN lt delim gt e Query maximum tilt factory user limit position TX lt delim gt e Query minimum pan user defined limit position PNU lt delim gt e Query maximum pan user defined limit position PXU lt delim gt e Query minimum tilt user defined limit position TNU lt delim gt e Query maximum tilt user defined limit position TXU lt delim gt e Set minimum pan user defined limit position PNU lt value gt lt delim gt e Set maximum pan user defined limit position PXU lt value gt lt delim gt e Set minimum tilt user defined limit position TNU lt value gt lt delim gt e Set maximum tilt user defined limit position TXU lt value gt lt delim gt E Note The PN PX TN and TX commands return either factory limits if user limits are not enabled or user limits if user limits are enabled 6 1 3 Example This command sequence resets the PTU to factory defaults queries the limits for each axis then commands a movement beyond the specified limits to return an error message and queries the user defined minimum pan posi
34. nal screen PP2500 A PP Current Pan position is 2500 displays on the terminal screen 2 2 Power Levels Each FLIR PTU model can accept power within a permissible range of voltages The ability of any PTU to successfully move the payload depends upon the inertial payload factors and their relationship to power supply voltage unit speed acceleration position motor torque etc In general higher voltages allow the PTU to handle heavier payloads Your specific installation will determine the amount of voltage available to the PTU You may then control how the PTU uses the available power for each axis when the payload is at rest hold power or in motion move power by specifying High Regular or Low power mode Please refer to e Section 8 2 for information on setting the PTU move power e Section 8 1 for information on setting the PTU hold power Please also refer to your PTU User Manual and Configuration Guide for more information about permissible payload and power voltage ranges 2 3 Acceleration You may also control the PTU acceleration In general lower acceleration settings place lower torque requirements on the PTU and mounting and allow heavier payloads to be mounted Acceleration is measured in positions per second per second Please see Section 4 3 for more information about setting acceleration Getting Started 2 4 Serial Command List These tables list the available serial commands Please refer to
35. ndent and pure velocity modes as described in Section 4 6 6 2 1 Commands e L e LE e LU e LD e PN e PX e TN e TX E Series Command Reference Manual 6 2 2 Syntax e Query current limit enforcement L lt delim gt e Enable factory limits LE lt delim gt e Enable user defined limits LU lt delim gt e Disable limit enforcement LD lt delim gt e Set minimum pan user defined limit PN lt panpos gt lt delim gt lt status gt e Set maximum pan user defined limit PX lt panpos gt lt delim gt lt status gt e Set minimum tilt user defined limit TN lt tiltpos gt lt delim gt lt status gt e Set maximum tilt user defined limit TX lt tiltpos gt lt delim gt lt status gt El Note User defined limits must be within the factory limit range 6 2 3 Example This command sequence resets the PTU queries the pan axis limits sets user pan axis limits enables limit enforcement commands the PTU beyond pan limits to return an error message enables user limit enforcement and queries the pan position after the PTU finishes panning to come within the user limits Note In this example the PTU pan position is beyond he specified user limit In El The PTU therefore automatically pans to the appropriate user limit when user limit enforcement is enabled R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 PNU 1000 PNU Minimum
36. nn a a a e dl 27 A O R E 27 SN O RA 28 311 3 EXA Mp Enean tance a a a tea oes a idee anaes 28 Ae SEE Control eis cceiasvstavcasedeas vaaaeccocendaceusrsuscanscenctasscsueaduattuacenmanscanenaeeuiiey 29 4 1 ADS O UE Speed tics craton s aE EA et aula aeons 30 ATA SS COMMAN GS a 555555 oes eas eas ea E Sas sae goo aos oe ota EG EET 30 DA Cy inte hath ore A A A A IRA 30 V e GE O 30 7a e RN A O ETE 31 4 2 Relative Speed enmener ura Ra td 31 AD T COMIMANGS ato iD AA aa E a Dos aie aa teas 31 OBEE A A A TNA 31 A NO 31 RS TN a a a eR ee Roath lt ey Ate aL cin pa AON tai 3 iat 31 Table of Contents 4 3 ACCION eiii citrato 32 A AN 32 E SM IN 32 43B EM Pl a a a RO ruse ease Sieh ue ON ate eee 32 BiB NO 32 4 4 Base Start Up Speedie e a a a a a aeaii 33 AAS COMME 33 A E IEA O 33 A O aana 33 AAA See Al O fades daeiaasavaskie asa lea lua a a ois bo Sater Seni obecaninadeveuastieatana cached a aa 33 4 5 Speed BOUNGS ts se 2 AN 34 A ieadaietacabes 34 Pe AI PU A ole Dall E se Sd 2h de gnats el 2 eds 34 45 3 EMO li A AA EGE E EESE 34 AS NT 34 4 6 Speed Control ModeSs iiisssierisrrinrsirierieiii rakietki dae eerie tanta 35 AG Al Comma NA Sna iia dede di aaa enc es 35 A A AS 35 AOS EX IMP tn Tacna nc EEC Tal ats eas ET ATi 36 4GA SN A A A 36 Continuous Axis Rotation ici 37 5 1 CONTINUOUS ROCA ON iriser NN 37 SA COMMONS ancianidad da li dt Add andes 37 A e A E E NN 37 A A A sath ota N 37 User Detined LIM d
37. nnnnnnonononannnnnnnnnnnnnnanononnnnno no nono nccnononnnn nn nanrcnonnnnnnns 62 122 t CANAS daa 62 IS O A E 62 DI a a aa E aa a a a aa a aa 62 122 4 SCO AlS it aii 62 13 O ea sieaa renons iier aenst ai oii 63 LD AAMACA LO E EAE T T ads he E E E O ENIoNi S 63 13 1 1 oa ala aT ao EEE R E E E TE E AET 63 M3312 Nit ta T EO AA R E EE T 63 LAS EM AE ies eee aA E T A E E E T E TE ET 63 13 2 IPAddress ci dpi bar 63 132 1 COMIMANS e et hainatia eatin e aE eaa eatas vse iea aeaa aa ae he VU Ts cn eaten 63 EPA A O Ta O eens 64 1 3 7273 S EXAMPI Ss 2865 8 de LaS E IA A a CA AS A e A ss 64 13 31 ENetWork Modern AEE A sda cedsussssdetasescevesdasscde cass ch sestenscathedess sataaee OS 64 A331 COMMANS A 64 LAI Mr A A dived AER 64 TSE MPI ii A A A E OE A at Aa 64 13 4 Network Host Name ccccccccccecsssssssnccceceeeesesssseeeeceesesesesneansececesecssaeauseceeeesesesaes 65 13 41 COMMAND a 65 13 4 2 A A NTE 65 134 3 EXP A A A AA A A 65 13 5 Network MaSK tii ia dee dean 65 EXA A a a a ash ide seen latina hate eiaad iaai eR 65 13 5 2 A O 65 13 5 3 Exa M l Ena di 65 E Series Command Reference Manual This page intentionally left blank 1 Introduction Each Pan Tilt Unit PTU from FLIR Motion Control Systems Inc includes a comprehensive set of available commands that give you full control over all functionality The E Series of PTUs features an expanded command set for even more control options This Pan
38. ps of 1 3 decimal numbers separated by periods such as 192 168 1 1 13 2 3 Example The following code sequence queries the PTU IP address changes that address and verifies that the change has occurred NI IP address is 192 168 1 1 NI10 0 0 3 NI IP address is 10 0 0 3 13 3 Network Mode Queries or sets the network IP addressing mode In static mode the PTU has a fixed IP address that can be specified using the NI command In dynamic mode the PTU accepts an IP address assigned by a Dynamic Host Control Protocol DHCP server Many Ethernet routers contain DHCP servers 13 3 1 Commands e NM e NMD e NMS 13 3 2 Syntax e Query current PTU network mode NM lt delim gt e Specify dynamic network mode NMD lt delim gt e Specify static network mode NMS lt delim gt 13 3 3 Example The following code sequence queries the network mode queries the PTU IP address switches the network mode to dynamic and then queries the PTU IP address again NM Network mode is static NI IP address is 192 168 1 1 NMD NI IP address is 10 0 0 3 IP Network 13 4 Network Host Name Query or specify a network host name for the PTU 13 4 1 Commands NN 13 4 2 Syntax e Query the PTU host name NN lt delim gt e Specify the PTU host name NN lt hostname gt lt delim gt Where lt hostname gt is the name of the PTU such as D48 13 4 3 Exampl
39. rated geo pointing GPM and stabilization ISM functionality without the need for external hardware e Full backward compatibility with previous PTU models 1 3 About This Manual This section describes the formatting conventions and information contained in this manual 1 3 1 Formatting Conventions This manual uses several formatting conventions to present information of special importance Commands and other information that is new for the E Series PTUs include the E icon shown here Lists of items points to consider or procedures that do not need to be performed in a specific order appear in bullet format e ltem1 e Item 2 Procedures that must be followed in a specific order appear in numbered steps Perform this step first Perform this step second Specific keyboard keys are depicted in square brackets and are capitalized for example ESC If more than one key should be pressed simultaneously the notation will appear as KEY1 KEY 2 for example ALT F4 Interface elements such as document titles fields windows tabs buttons commands options and icons appear in bold text Menus and submenus have the notation Menu gt Submenu For example Select File gt Save means that you should first open the File menu and then select the Save option Specific commands appear in standard Courier font Sequences of commands appear in the order in which you should execute them and include horizontal or v
40. rrent Pan position is 2000 PPO A PP Current Pan position is 0 Compare the previous example to this one in which the PTU will begin to move to the first position and then while still in transit begin moving to the second position an on the fly position change PP Current Pan position is 0 PP2000 PPO 3 8 4 See Also You may use this command with either e Immediate Position Execution mode Section 3 6 e Slaved Position Execution mode Section 3 7 3 9 Halt Immediately decelerates and halts PTU movement 3 9 1 Commands e H 3 9 2 Syntax e Halt all PTU movement in both axes H lt delim gt e Halt pan axis movement only HP lt delim gt e Halt tilt axis movement only HT lt delim gt E Series Command Reference Manual 3 9 3 Example This command sequence pans the PTU to the right and then to the left The PTU must be in motion for you to see the H command in action PP2500 A PP 2500 Enter the following command while the PTU is moving H PP Current pan position is lt pos gt where lt pos gt is the current pan position which will be between 2500 and 2500 3 9 4 See Also You may use this command with either e Immediate Position Execution mode Section 3 6 e Slaved Position Execution mode Section 3 7 3 10 Monitor Auto scan This command defines and initiates repetitive PTU monitoring auto scanning Auto scanning stops immediately and the PTU
41. s queries the pan minimum and maximum limits then enables continuous panning and starts continuous rotation at a speed of 1 000 positions per second BED X RP PN Minimum Pan position is 6999 PX Maximum Pan position is 7000 PCE GV PS1000 E Series Command Reference Manual This page intentionally left blank 6 User Defined Limits E Series PTUs allow user defined limits on commanded positions The PTU must perform a power up Calibration to establish its axis coordinates after which the user defined limits restrict all subsequent movement commands for that axis to the specified allowable range of motion When user limits are activated movements commanded outside those limits will return an error message Factory limits define the possible range of motion allowed for an axis when limits are enabled and that axis cannot travel beyond those limits User defined limits are a subset of factory limits that can be defined by issuing commands to the PTU You can store user limits and have the PTU restore them on power up User limits must contain an origin 0 which means that you cannot set a minimum position above O or a maximum position below 0 8 Note If your PTU has an internal slip ring it is capable of full 360 degree pan motion User Range Factory Range Hard Range Negative an Positive max Non Overlapping Overlapping Non Continuous Range of Motion Range of Motion Figure 2 Range of
42. s like B to be embedded in communications between the host computer and the expanded serial port device without inadvertently breaking communications in mid stream e Establish protected communications with CHA A lt raw bytes gt lt delim gt e Establish protected communications with CHB B lt raw bytes gt lt delim gt where lt raw bytes gt is the number of bytes to follow that will be received from the host computer without being be scanned for changes in the serial communications target 10 1 3 Example The following command sequence establishes communications with the PTU switches communications channels then resumes communications with the PTU a PP Current pan position is 0 QA This text is sent directly to the serial device on CHA B This text is sent directly to the serial device on CHB A20 This B text is sent to CHA without choosing CHB a PP Current pan position is 0 10 1 4 See Also To set expanded serial port communications parameters Section 10 2 10 2 Expanded Serial Port These commands specify the communications parameters for the selected expanded serial port They do not affect communications between the PTU and the host computer 10 2 1 Commands oe DA oe MB 10 2 2 Syntax e Specify CHA parameters QA lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt e Specify CHB parameters
43. sievaacuesesssave ues seeccasnoanee 49 8 1 Hold PoWer Modena dad 49 ETI COMME A AA 49 Bids E SVMCAK E A OTRO 50 O 50 8 2 IN Motion Power Mode c ccccccccsccccecccssceccccecesseseeucusececescsueuuueueueceseessuueeuueueueeenss 50 82 Ll COMME Aaa 50 A A NS 51 B23 A O dpa T ane ete ent ea Piet 51 9 Host Serial Porta 53 9 1 BAU Raten aneor A AA AE AAA 53 OL COMMAND E coeeicea debe ced E A S 53 A A IN A A A A 53 3 EM e e e da e bo mel le 54 OLA SEA SO lt A A AS A A ea 54 10 Expanded O ii A A ch veasvaa aasentivvuns 55 10 1 Serial Communications Tateetivnppiie id 55 LOT COMMAS O A a 55 LO ELSA MV Ci A E E RAR RE II AE aa 55 10513 EXaMple nt A A A A E oe eas 56 VO AA SOO AO dadas 56 10 27 Expanded Serial PONG mirn o cee taiohes A ETSER 56 1 a A ANN 56 PA NE 56 102 3SE MP a Eas E E AE iN i NB ao 57 MARS O NN ANA 57 T1 Step MOdES incl acai EE AE ENEE anaa adores 59 11 1 Configuring Step Mode ccccnnonocoonnnnnnnnnnononcnnnnnnnnnnnnononnnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnannnnns 59 4137 T commands re meih n aa Sk ca est a a a a aa ha ee a T a e a dd 59 Table of Contents TILDA da a a a 59 k ia Re Ls Fd D Ml A E A cali 59 12 PTU Serial NetWorks iii ni is 61 121 UnttNetwork De att RARA AA 61 a A A 61 ES AS Ki A NO OT 61 a A des scledaed Westar E lyase uk Misses Mencia Masti creda 61 TDA SEA SO a a eI Ie NN lA Std ya panes ths 61 12 2 Unit Select Deselect ccnnononoconcci
44. stics e The upper speed limit is the maximum speed that the PTU axis can achieve e Motors lose torque as speed increases and acceleration is therefore necessary to achieve speeds above the base rate The PTU uses trapezoidal acceleration and deceleration for speeds between the base and maximum speed meaning that acceleration and deceleration occur at the same rate Acceleration is measured in positions per second per second For example a PTU accelerating from 500 positions per second at a rate of 150 positions per second per second will be moving at 650 positions per second after one second 800 positions per second after two seconds etc Figure 1 next page displays the relationships between lower base speed limits upper speed limits and velocity changes acceleration under three scenarios from left to right e Inthe first scenario a PTU axis starts at the base speed and accelerates to a desired constant speed slew rate which it holds for some time before decelerating to the base rate e Inthe second scenario additional speed changes are required that are below the base speed The PTU instantaneously changes speed e Inthe third scenario the PTU does not have enough time to accelerate to the desired slew speed before having to decelerate to stop at the desired position The upper speed base speed and acceleration parameters are interrelated Depending on how one or more of these parameters are set attempting to set another
45. sunagsseeees 21 3 4 1 COM MN E EEA EE RE E 21 Be Syntace O A O AA 22 SAITO EXAMP Eeee AA AA A A A EE l aid 22 E Series Command Reference Manual A T O E E TS 22 3 5 Position Limit Enforcement ccccconocoooonnnnnnnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnss 22 325 1 A ect Wek vetted eu boa eosecd A E ets Teese berets ioe 22 e cal tart hs ti ache ah te hr Gale Laat als Aeon Oh nec ge Ml ta aaa 23 A been a do Hun eet uee deme oes etiteaed 23 A C SEC AISO EE A E A LAPS EEO EE cabe deed Cost AEs meee E E at ita8 23 3 6 Immediate Position ExecutiON cccononooooncnnnncnonononcnnnnnnnnnnnnononnnnnononnnnn nn nnnnnnnnnnnnno nacos 23 E O 23 A O E etait O 23 3 6 3 A vessen es bela yeaa teal E E A E a ARENA 23 36 4 See AlO a ee a a a ee eee 23 3 7 Slaved Position EXeCUtION tas 24 A aE TAO EREE E E TAE E A T E E T 24 ETE ES EE A E E A TAES 24 A C I EEEE O ET ET 24 IAA SAA SO A ia 24 3 8 Await Position Completion cccconccoononcnnnnnononoonnnnnnnncnnnnnonnnonnnnnnnnnnn nn nnnnnnnnnnnnnonnnnos 24 COMME AE 24 E Cs A NN AO 24 3803 lt EXIME E E tr eee as 25 iO A O A a 25 3 9 Mali A A AA choi TAE 25 NL COMME yestGtue undtefuenet ete wet oe tuenetets 25 BI SM A Seat een Saree A cali ali 25 A TO 26 BiQ 4 SOCAIS Oss ita td eee DSS 26 3 10 A M nitot AUTOS CA ri ia 26 SAO LICONSA eI eR estan 26 LOLA Oti ii A A A AA eve A Ia 26 SOS EMP a sc e e lo do el ah 27 SN O 27 LL POSO Presets
46. the pan axis to the left waits then sends it to the right PP 2 500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 3 1 4 See Also Please refer to the following sections for more information e Position relative offset and desired position queries Section 3 2 e Position resolution units Section 3 3 e Position limits Section 3 4 e Position execution modes Section 3 6 and Section 3 7 e Position limit enforcement modes Section 3 5 E Series Command Reference Manual 3 2 Offset Position Specify the desired pan or tilt axis position as an offset relative to the current position or query the current axis position You may change desired offset positions on the fly without waiting for previous position commands to complete 3 2 1 Commands The available offset position commands queries are e PO e TO 8 Note Standard E Series PTUs may not support offset commands E Series E PTUs with optional hard stops installed may support these commands 3 2 2 Syntax e Query desired pan position PO lt delim gt e Set desired offset pan position PO lt position gt lt delim gt e Query desired tilt position TO lt delim gt e Set desired offset tilt position TO lt position gt lt delim gt 3 2 3 Example The following command sequence sends the pan axis to position 500 then sends it 1500 positions to the left of position 500 PP 500 A PO Current P
47. then sets and stores the unit ID configuration so that the PTU will use the new ID number when it powers up U Unit ID is 0 Ul U Unit ID is 1 Ul DS 12 1 4 See Also Unit Select Deselect Section 12 2 E Series Command Reference Manual 12 2 Unit Select Deselect This command selects the PTU to be controlled A PTU will execute incoming host computer commands only when the preceding unit_ TD selected by the host is equal to either e The PTU s assigned unit ID e 0 Note A host computer can issue commands for simultaneous execution by all networked PTUs by using unit ID 0 however only one PTU can provide El feedback to the host computer at a time A PTU only provides feedback to the host computer when its ID is selected by the computer and buffers outgoing data until polled up to about 100 bytes 12 2 1 Commands _ lt unit_ID gt 12 2 2 Syntax e Select a PTU for bi directional data _ lt unit_ID gt lt delim gt e Broadcast to all networked PTUs _O lt delim gt where lt unit_ TD gt is between 1 and 127 12 2 3 Example The following command sequence selects PTU 1 sets its pan position to 300 then selects all networked PTUs and simultaneously sets their pan positions to 300 A PP300 _0 PP300 al 12 2 4 See Also Unit Network ID Section 12 1 13 IP Network The commands in this chapter support the Ethernet connectivity included with E Series PT
48. tion R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 LE PP3200 Maximum allowable Pan position is 3090 PNU Minimum Pan user defined position is 1000 User Defined Limits 6 1 4 See Also e Position resolution units Section 3 3 e Achieving larger axis bounds Section 6 2 6 2 Position Limit Enforcement These commands specify whether position commands beyond the factory or user defined limits are allowable El Note Factory limits are enabled and enforced by default When limits are enabled commands beyond those limits return an error message and are not executed When factory limits are enabled the PTU will only reach those limits when it has lost synchronization This error condition requires a unit reset as described in Section 7 1 A PTU that reaches a factory limit sends P or T to the serial port to indicate that the specified limit was hit AL El Note You may see one or multiple P or T errors This is normal behavior You may disable limit enforcement when larger operational pan ranges are required as described in Section 5 The PTU accepts positional commands beyond the specified limits when limits are disabled Enabling user defined limits triggers an error message when the PTU is commanded to positions beyond those limits The PTU respects user limits in both indepe
49. tive slaved position execution mode Section 3 7 E Series Command Reference Manual 3 7 Slaved Position Execution Instructs the PTU to only execute positional commands only after an Await Position Completion command is executed see Section 3 8 or when put into Immediate Execution mode see Section 3 6 This mode is useful when you need coordinated pan and tilt axis movements 3 7 1 Commands eo S 3 7 2 Syntax e To enable slaved execution mode S lt delim gt 3 7 3 Example This command sequence changes the position execution mode move the axes to specified positions then adds an Await Position Completion command to move the PTU in both axes simultaneously DR S PP1500 TP 900 PP Current TP Current A PP Current TP Current 3 7 4 See Also Alternative immediate position execution mode Section 3 6 Pan position is 0 Tilt position is 0 ct ct Pan position is 1500 Tilt position is 900 3 8 Await Position Completion Awaits the completion of the most recently issued pan and tilt axis position commands Use this command to coordinate axis motions 3 8 1 Commands e A 3 8 2 Syntax e Tocommand the PTU to await the completion of previous position commands A lt delim gt Position 3 8 3 Example This commands sequence instructs the pan axis to move to a position then move to another position PP Current Pan position is 0 PP2000 A PP Cu
50. tory defaults DF lt delim gt 7 3 Echo Specify or query whether the PTU will echo incoming commands from the host 7 3 1 Commands e E e EE e ED 7 3 2 Syntax e Query current echo mode E lt delim gt e Enable host command echoing EE lt delim gt e Disable host command echoing ED lt delim gt 7 3 3 Example This command sequence queries the pan position disables echoing and reattempts the query to demonstrate that echoing is disabled 22 is not returned when the pan position is queried after disabling echoing PP 22 ED PB 7 4 Feedback Command and query the ASCII feedback returned by PTU commands 7 4 1 Commands o FV e FT e F E Series Command Reference Manual 7 4 2 Syntax e Enable verbose ASCII feedback FV lt delim gt e Enable terse ASCII feedback FT lt delim gt e Query ASCII feedback mode F lt delim gt 7 4 3 Example This command sequence demonstrates verbose and terse feedback then queries the current feedback mode EV x PP Current pan position is 0 ET PP 0 F ASC terse mode 7 5 Controller Firmware Version Query the PTU firmware version and copyrights 7 5 1 Commands V 7 5 2 Syntax Query PTU firmware version V lt delim gt 7 5 3 Example This command queries the PTU firmware version V Pan Tilt Controller v2 12 1d1 C14 E C 2003 Directed Perception Inc All Rights Reserved
51. uter port when it reaches its pan axis limits and T when it reaches its tilt axis limits El Note You may see one or multiple P or T errors This is normal behavior 3 5 1 Commands e L e LD eo LE Position 3 5 2 Syntax e Query current pan position limit mode L lt delim gt e Enable pan position limits LE lt delim gt e Disable pan position limits LD lt delim gt 3 5 3 Example This command sequence queries the current limit status and maximum pan limit attempts to pan the PTU beyond its pan limit to return an error message then disables limits and repeats the pan command which now executes successfully because of the disabled limits L Limit bounds are ENABLED soft limits enabled PX Maximum Pan position is 3090 PP3200 Maximum allowable Pan position is 3090 LD PP3200 A PP Current Pan position is 3200 3 5 4 See Also Position commands Section 3 1 and Section 3 2 3 6 Immediate Position Execution Instructs the PTU to immediately execute positional commands This is the default mode When switching from slaved execution mode see Section 3 7 any queued commands will be executed 3 6 1 Commands 3 6 2 Syntax e Enable immediate execution mode T lt delim gt 3 6 3 Example This command sequence enables immediate execution mode and then sends a pan command to the PTU which will begin moving immediately PP1000 3 6 4 See Also Alterna
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