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3SPACE®

1. to a specified rat The parameters are rate may be specified as follows 3 300 12 1200 24 2400 48 4800 96 9600 192 19200 384 38400 576 57600 or 1152 115200 parity N none O Odd E even bits 7 or 8 HHS Set to 1 enables use of hardware handshake RTS CTS Set to 0 disables use of hardware handshake Note 1 The number of stop bits is always one 1 Note 2 For seven 7 bits parity may be NONE ODD or EVEN For eight 8 bits there is never a parity bit i e NONE 111 Default Relatives OPM3609 002C November 1993 Note 3 8 data bits are required when using either the standard binary format or the 16 BIT format Based on I O switch settings none KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKEKKEKK 112 OPM3609 002C OPM3609 002C November 1993 November 1993 OUTPUT TRANSMIT MODE CONTINUOUS PRINT OUTPUT KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKKK KKK AR Description Transmit mode refers to whether the system automatically transmits a data Syntax e record when it is ready CONTINUOUS or the host must request each data record Class configuration by sending a P command to the system NON CONTINUOUS The current transmit Purpose This command enables the continuous print mode may be retrieved from the status output mode for the system serial port record Refer to Section 6 0 for
2. for m y coordinate envel for ope ope ope ope cne CNe cne cne cne ope OPM3609 002C November 1993 zmin the minimum z coordinate for the position operational envelope If any of the parameters are omitted the current value of that parameter is used The system default values are 200 200 200 200 200 200 in centimeters Relatives Q KKEKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK AAA AAA AAA AAA AAA 81 POSITION OPERATIONAL OPM3609 002C November 1993 ENVELOPE KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KK KKK KKK KKK KKK 7 7 7r RECORD ID ENTIFIER INITIATING COMMAND byte s 1 Z 3 4 11 12 19 205 251 28 35 36 43 44 51 5253 Identification Station Maximum Maximu Maximu Minimu Minimu Minimum m m m m Record type 2 number Sub record type WYN x coordinate value y coordinate value z coordinate value x coordinate value y coordinate value z coordinate value Carriage return line feed Format A1 A1 A1 SXXX SXXX SXXX SXXX SXXX SXXX XXX XXX XXX XXX XXX XXX kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxx kxx xx 82 OPM3609 002C OPM3609 002C November 1993 November 1993 HEMISPHERE a Description Because of the symmetry of the magnetic fields generated by the tran
3. RESUME DATA TRANSMISSION KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK Syntax O Class standard Purpose Resumes data transmission to the host device following suspension of transmission by a S command If a previous Q command has been issued without an intervening S this command will have no effect Relatives S KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK 122 STATIONS Description Default Commands OPM3609 002C November 1993 A station is a transmitter receiver pair The four receivers paired with the one available transmitter are assigned station numbers one through four 1 4 Stations may be activated or deactivated If a station is active data records are transmitted for that station otherwise no data records for that station are transmitted At least one station must always be active Revr Select Switch determines th available power up active receivers 1 123 OPM3609 002C November 1993 ACTIVE STATION STATE KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK Syntax Class Purpos lstation state lt gt standard Set the on off station state If the Relatives optional parameter is missing the system returns the current state for the specified station as an output record of type 1 The parameters are Station FASTRAK 1 to 4 depending on configuration state 0 of
4. limitation is 13 inches i e the receivers of any one instrument must be no closer than 13 0 inches from the transmitters of any of the other remaining three instruments that are synchronized If only three instruments are synchronized then this limitation is 11 5 inches and if only two instruments are synchronized then this limitation is reduced to 9 0 inches Additionally the minimum transmitter to transmitter lateral separation distance is 4 0 inches When synchronizing multiple instruments the Master instrument may be synchronized in any mode desired or required Internal External or Video using the appropriate y command corresponding to the chosen mode However each of the remaining daisy chain connected instruments Slaves must be configured in the External Sync mode utilizing the y1 command The above mentioned WARNING applies as well to each of the slave instruments in any multiple system synchronization scheme 6 6 System Commands and Outputs There are two classes of system commands one class for configuring the state of the instrument and the other for controlling its performance characteristics Not all system commands have intrinsic outputs although verification may be made The commands are presented in functional alphabetical order Where applicable a description of the detailed content of the data records output on the instrument s RS 232 or IEEE 488 ports are given for each co
5. r n of the in ingers OPM3609 002C OPM3609 002C November 1993 November 1993 point in the direction of positive roll angles The units of the coordinates are interpreted according to the value of UNITS as set by the U and u command Figure 8 System Alignment 43 44 Commands OPM3609 002C November 1993 Age oR ALIGNMENT REFERENCE FRAME KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KEKK Syntax Class Purpose Astation Ox Oy Oz Xx Xy Xz Yx Yy Yz lt gt configuration The alignment command defines a referenc frame to which all position and orientation output data is referred NOTE This command operates ncrementally If the command is entered nd the user then changes his her mind he R command must be used to reset the lignment reference frame BEFORE the mand is re entered This is ESPECIALLY MPORTANT to remember if the user makes an and wants to correct th rroneous nput The command is useful in this ncremental mode ONLY TO THE MOST HISTICATED user and should not be ttempted unless you have th xpertise to nderstand and use the results The ommand parameters are E O FU Q E b0 HQ dp sp H H O 5 tation 10 to 4 which specifies the relevant transmitter receiver pair Ox Oy Oz the cartesian coordinates of the
6. location of a data item in the output record is not determined until the record contents are defined 104 OPM3609 002C OPM3609 002C November 1993 November 1993 The notation 16BIT is a special binary output This equates to xx011111 11111111 or full scale format reserved for those users that need less positive number of 299 963 cm which equates to accurate but faster I O It contains only 14 bits of 118 096 inches For orientation angles full scale accuracy and is output in the following format without is 179 978 degrees respect to the F ASCII or f binary command setting For negative values position X Y Z full scale is 300 cm which equates to 118 110 inches For This format is limited to X Y Z position item 18 orientation angles full scale is in the 0 command and AZ EL Roll Euler orientation 180 degrees For the quaternion values full scale angles item 19 in the 0 command and the unit less US la four 4 values of the Orientation Quaternion item 20 in the O command Data format is 2 s complement Lo byte Each 8 bit byte of the 16 bit data will have its high Hi byte order bit set to zero except for the lead ing data BSE PO Mo RSG aR Oh ge Ole fOr pe O j o1 21 1010 byte which is set to 1 as a sync bit in the data fOr io OPI that is output in this format Se Sen Dit Two things must be noted here First the sync 0
7. lt 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 proportionately limiting the decay to the low filter limit whenever the input conditions effect a Allowable range of values 0 lt FACTOR lt 1 When the form of the command is x 1 lt gt the position filter is disabled This is the system default configuration Relatives none Note The default mode for all filter parameters is OFF Although these parameters are a function of the user s particular environment the following settings may be used as a jumping off 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 8 65 transition to a narrower bandwidth RECORD ID OPM3609 November POSITION FILTER PARAM KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK ENTIETER ss INITIATING COMMAND byte s 1 2 3 4 10 11 17 18 24 25 31 32 33 Identification Record type 2 Blank Sub record type Filter sensitivi Floating filter Floating filter Transition rate Carriage return 002C 1993 ETERS x x Format Al Al Mise Mt Al ty bSx xxx low value bSx xxx high val
8. origin of the new referenc frame Xx Xy Xz the coordinates of the point defining the positive direction of the X axis of the new 45 Relatives Range Default OPM3609 002C November 1993 reference fram Yx Yy Yz the coordinates of a third point that is in the positive Y direction from the X_axis If all of the optional parameters are omitted the command returns the current coordinate values to the host R No Range Restriction Enforced The transmitter reference frame is the default alignment reference fram 0 0 0 200 0 0 0 200 0 in centimeters KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KEKK 46 OPM3609 002C OPM3609 002C November 1993 November 1993 ALIGNMENT REFERENCE FRAME RESET ALIGNMENT REFERENCE FRAME kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkkxkxkxkxkxkxkxkkxkxkxkxkxkxkxkxkxkkxkxkxkxkxxk kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkkxkxkxkxkxkxkxkxkxkkxkxkkxkxxk SUB RECORD IDENTIFIER A Syntax Rstation lt gt INITIATING COMMAND A Class standard Purpose This command resets the alignment byte s Identification Format reference frame for the specified station to the station reference frame It 1 Record type 2 Al provides an easy way to re align the 2 Station Number Al reference frame to the factory default 3 Sub record type A Al values The co
9. s Identification 1 Record type 2 2 Station number 3 Sub record type S 4 6 System flags LSBit 0 Output Format 0 ASCII 1 Binary 1 Units 0 Inches 1 Centim 2 Compensation 0 0ff 1 0N 3 Transmit Mode 0 Non Continuous 1 Continuous 4 Configuration 1 Tracker 5 Always 1 reserved for future use 6 9 Reserved 10 23 Reserved for future use MSBit 7 9 BIT error 10 15 Blank Reserved for future use 16 21 Software Version ID 22 53 System Identification See X 54 55 Carriage return line feed KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK 128 OPM3609 002C November 1993 INSTRUMENT CONFIGURATION STATUS S Command For configura number in tio the fourth those customers who are uninitiated in decoding bit information the instrument s n status is contained as a hexadecimal fifth and sixth columns of the S command output The following table lists the hexadecimal number and corresponding instrument configuration Instrument Configuration Continuous HEX Mode Compensation Units Output 3FF On On cm Binary 3FE On On Cm ASCII 3FD On On In Binary 3FC On On In ASCII 3FB On Off cm Binary 3FA On Off Cm ASCII 3F9 On Off In Binary 3F8 On Off In ASCII 3F7 Off On cm Binary 3F6 Off On Cm ASCII 3F5 Off On In Binary 3F4 Off On In ASCII 3F3 Off Off cm Binary 3F2 Off Off Cm ASCII 3F1 Off Off In Binary 3F0 Off Off In ASCII
10. the difference in position from the last output This item should only be selected if the specified station s Increment is 0 0 See the I command 4 az el roll Euler orientation angles 5 x direction cosines of the receiver s X Y Z axes S Note 1 6 y direction cosines of the receiver s x y Z axes S Note 1 Fl z direction cosines of the receiver s x y Z axes S Note 1 8 x receiver data factory use only 9 y receiver data factory use only 10 z receiver data factory use only del orientation quaternion 93 12 self calibration data factory use only 13 adjusted x receiver data factory use only 14 adjusted y receiver data factory use only 15 adjusted z receiver data factory use only 16 stylus switch status 17 not used for Tracker 18 16 BIT binary x y z cartesian coordinates of position see 16BIT notation 19 16 BIT binary az el roll Euler orientation angles see 16BIT notation 20 16 BIT binary orientation quaternion see 16BIT notation 21 49 not used reserved for future use Extended precision 50 66 50 51 52 53 54 55 ASCII space character same as 0 ASCII carriage return line feed pair same as 1 x y z cartesian coordinates of position relative movement x y z cartesian coordinates of position i e the difference in position from the last output This item should only be selected if the specified station s Increment is 0 0 See th
11. 11 Erroroneous command as it was input 2 asan ST BRRORS EC 272 727 Error code from follow ing list 1 Required field missing 2 Required numeric is non numeric 3 Value is outside required range 4 Specified frequency not hardware configured 5 Internal buffer limits exceeded 99 Undefined input cannot identify command 2 3 PS position Character position in the input record note numbering starts 0 1 2 3 EL field 138 OPM3609 002C November 1993 Field number causing th rror not numbering of the field is 0 1 2 and starts at 0 following the command identifier 2 3 ST station Number of the affected system station less 1 i e this value ranges from 0 3 stations are numbered in commands as 1 4 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 139 OPM3609 002C November 1993 6 11 Default Operation with a Stylus or 3BALL As noted in Section 5 the Stylus and 3BALL may only be operated in Port 1 as this port is the only one that will read a switch status Operation of the switch on either the Stylus or 3BALL will cause the following actions as a function of the various FASTRAK commands and modes No other actions are possible In NON continuous output mode pressing the switch defines to the FASTRAK instrument a P command and all operations are as documented for issuing an RS 232 or I
12. 1993 If all the optional parameters are omitted the system will return the vector components for the hemisphere of operation for the specified station as an output record of type H The default value is 1 0 0 none KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKEKKEKK 86 OPM3609 002C November 1993 KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK K KKK RECORD IDENTIFIER H INITIATING COMMAND H byte s Identification 1 Record type 2 2 Station number 3 Sub record type H 4 10 Vector x component 11 17 Vector y component 18 24 Vector z component 25 26 Carriage return line feed HEMISPHERE OF OPERATION INCREMENT Description Range Format Commands Al Al Default Al Sxx xxx SXX XXX Sxx xxx KKAXKKKKXKKKXKXKKXKKKKXKKXKKKKXKKXKKAKKKXKKAKKKXKKAKkk 87 OPM3609 002C November 1993 Increment refers to the minimum receiver movement necessary before a data record is transmitted No limit enforced 0 0 i e no movement necessary 88 OPM3609 002C November 1993 DEFINE INCREMENT KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK Syntax Class Purpose Relatives Istation distance lt gt configuration This command allows increment missing the host to define the If the optional parameter is the current increment value is ret
13. 55 56 and 57 may be obtained to construct the line of sight line of hear and line of plumb vectors as follows Three 3 values are obtained from each item above Item 5 or 55 5a 5b 5c 55a 55b 55c Item 6 or 56 6a 6b 6c or 56a 56b 56c Item 7 or 57 7a 7b 7c 57a 57b 57c Then the a column above is the line of sight vector the b column above is the line of hear vector and the c column above is the line of plumb vector 103 OPM3609 002C November 1993 SYSTEM DATA RECORD 16 BIT BINARY FORMAT KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKEKKKEKK RECORD IDENTIFIER none INITIATING COMMANDS P or in continuous mode byte s Identification Format dS tenes Record type 0 A1 Do EA Station Number A1 I E Error code A1 PRL Vg hl ig X Y Z position 3 16BIT cartesian coordinates OR o ar Woden Si az el roll Euler 3 16BIT orientation angles E LENE ni Orientation Quaternion 4 16BIT Values DT Va ts Es Any format from an ASCII or IEEE format may also be included in this record See these formats on previous pages Care should be taken not to delete the usefulness of the sync bit discussed below KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK 7 7 om The system data record contents are specified by the user using the 0 command and may vary from configuration to configuration Therefore the specific
14. Burlington MA 01803 617 273 1818 John Fluke Mfg Co Inc P O Box 9090 Everett VA 98206 206 347 6100 Intelligent Interfaces Inc P O Box 1486 Stone Mountain GA 30086 1486 404 381 9891 TOtech Inc quipped with IEEE 488 t using the 488 is are in need of to make your host presented This EEE 488 interface No endorsement is implied s the exclusion have OPM3609 002C November 1993 25971 Cannon Road Cleveland OH 44146 216 439 4091 National Instruments Corporate Office 6504 Bridge Point Parkway Austin TX 78730 5039 512 794 0100 Ziatech Corp 3433 Roberto Court San Luis Obispo CA 93401 805 541 0488 DY4 Systems Inc 7 Concord Street Suite 2 Nashua NH 03060 2328 603 595 2400 DY4 Systems Inc 1475 S Bascom Avenue Suite 202 Campbell CA 95008 408 377 9822 Bit 3 8120 Penn Avenue South Minneapolis MN 55431 1393 612 881 6955 T E 4 Using the IE OPM3609 002C November 1993 88 The 488 shou with the 488 address FASTRAK system i send the data ld be selected by the dip switch along The general protocol for sending data to the s to address the device to listen and It need not be terminated with an EOI because as with the RS 232 commands are terminated with a carriage the command return or nothing at all depending on When the FASTRAK outputs data the SRO line is set active The control
15. Discrepancy Reserved for Future Use Reserved for Future Use Reserved for Future Use Reserved for Future Use Reserved for Future Use Soft Error Codes Unit Normal Position Vector Reset P R Norm Miscellaneous Error Codes BITnbr Code 116 E 17 u 18 v 11 9 w 120 x 121 y 122 Z Compensation Structure Errors Array Size Not In Specification Limits Compensation Point Not Within Mapped Bounds No CRT Sync Signal Available Envelope 132 Write Error on Configuration T EPROM Receiver Out of Motion Box Euler Angles Outside All Unused Reserved Lowed Angular OPM3609 002C OPM3609 002C November 1993 November 1993 BIT INFORMATION STYLUS KEK KKK KKK KKK KK KEK KKK KKK KKK KK KKK KKK KKK KKK KKKKKKEKK Description Stylus refers to the tip definition and RECORD IDENTIFIER T button operation functions of the INITIATING COMMAND T Stylus Commands N e byte s Identification Format 1 Record type 2 Al 2 Blank Al 3 Sub record type T Al 4 6 BIT number T3 1 22 z BIT information A Factory meaningful only 22 27 Carriage return line feed KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK 133 134 OPM3609 002C November 1993 DEFINE TIP OFFSETS KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK 7 7 Syntax Class Purpose D
16. If is confusing to you here is a nearly universal approach to connecting the FASTRAK to your host comp uter via the RS 2 For operation w 32 I O Port ithout Hardware Handshake ensure that your RS 232 cable connects the FASTRAK TRANSMIT DATA PIN TxD to the HOST S RECEIVE DATA PIN and that the FASTRAK RECEIVE DATA PIN RxD is connected to the 27 HOST S TRANSMIT DATA PIN Also e cable connects the FASTRAK GROUND HOST S GROUND PIN Note that the be designated as Signal Ground comparable phrase Also ensure Switch switches are set exactly a the Getting Started Section of For operation with Hardware connections must be made plus the connections and change in switch ensure that your RS 232 cable con CLEAR TO SEND PIN to the HOST S OPM3609 002C November 1993 nsure that the RS 232 PIN GND to the host s ground pin may or some other that the 1 0 Select s shown in Item 8 of this manual Handshake the above following additional settings First nects the FASTRAK CTS DTR DATA TERMINAL READY PIN and the FASTRAK RTS REQUEST TO SEND PIN is connected to the HOST S DSR DATA SET READY PIN Next place switch 4 of the I O UP position Please note however Call the DTR and DSR functions by RS 422 The optional RS 422 large separation distances betw Select Switch in the that your host may other similar names port is used where n the FASTRAK and the
17. KKK KEK KEK KKK KEK KKK KKK KKK KKKKKKEKK Syntax U Class standard configuration Purpose Sets the distance unit to inches Subsequent input and output lengths are interpreted as inches System default is inches Relatives u KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KK KKK KKK KKK KKEKK 118 OPM3609 002C OPM3609 002C November 1993 November 1993 METRIC CONVERSION UNITS OUTPUT START STOP XON XOFF KEK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK 7 7 Description Output start stop is a pseudo Syntax u implementation of the RS 232 XON XOFF protocol The commands start and stop Class standard configuration the transmission of data from the RS 232 device Purpose Sets the distance units to centimeters Subsequent inputs and outputs are Default XON Enabled interpreted as centimeters The system default is inches Commands 28 SQ Relatives U KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KEKK 119 120 OPM3609 002C November 1993 SUSPEND DATA TRANSMISSION KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK K KKK Syntax S Class standard Purpose Suspends data transmission to the host device until a subsequent Q is received If a previous S command has been issued without an intervening Q this command will have no effect Relatives Q KKAXKKKKXKKKXKXKKXKKKKKKXKKKAKXKKXKKKAKKKXKKAKKKXKKAKkk 121 OPM3609 002C November 1993
18. Z frame also represents the zero orientation reference state of the receiver frame T The 3SPACE Euler angles azimuth elevation and roll are designated and 6 in Figure 11 These angles represent an azimuth primary sequence of frame rotations that define the current orientation of the receiver with respect to its zero orientation state The defining rotation sequence is an azimuth rotation followed by an elevation rotation followed by a roll rotation The azimuth angle is defined in Figure 11 as a rotation of the X and Y reference axes about the Z reference axis Note that the transition axes labelled X and Y represent the orientation of the X and Y axes after the azimuth rotation The elevation angle is defined as a rotation of the Z reference axis and the X transition axis about the 154 Y transition axis labelled Z reference axis after also that the current frame represents t Note that t represents the orien the elevation rotation x axis of he orientation axis after the elevation rotatio Lastly the Y and Z sensor frame current sensor fram transition axes after Y and zi Note also azimuth that in the roll angle is defi trans Note OPM3609 002C November 1993 he transition axis tation of the Z Note the current sensor of the X transition n ned as a rotation of ition axes
19. application specific distortion mapping procedure 151 OPM3609 002C November 1993 Direction Cosines The cosines of the angles between the receiver s x y z axes and the X Y Z axes of the measurement reference alignment frame T EPROM m lectronically Erasable Programmable Read Only Memory Memory that can be altered by the 3SPACE but is not lost when the power is OFF User default data is stored here as well as the system identification data Elevation See Orientation Angles Factory Defaults The values assigned to certain system variables by the factory Stored in PROM they are used to reinitialize the variables if EEPROM is lost Format The interchange coding used to present data The 3SPACE outputs either ASCII or BINARY data but accepts only ASCII inputs from the host Hemisphere 152 OPM3609 002C November 1993 Because of the inversion symmetry of the magnetic fields generated by the transmitter there are two possible mathematical solutions for the X Y Z position coordinates for each set of receiver data processed and the 3SPACE is unable to determine which solution is the correct one without additional information Therefore only half of the total spatial sphere surrounding the transmitter can be utilized at any one time for unambiguous position measurement The selected hemisphere is refer
20. for dynamics of receiver movements i e filter and gain control The following commands provide a means to adjust parameters required for these compensations D d r V X Y 54 OPM3609 002C November 1993 ENABLE FIXED METAL COMPENSATION KEK KKK KEK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK Syntax D Class configuration Purpose Fixed metal compensation for all stations is enabled with this command The compensation data must be present for this command to take effect Compensation data resides in the characterization EPROMs if present Default is disabled Relatives d KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 9 3 OPM3609 002C November 1993 DISABLE FIXED METAL COMPENSATION KEK KKK KKK KKK KKK KKK KK KKK KEK KK KKK KKK KKK KKK KKKKEKKEKK Syntax d Class configuration Purpose This command disables fixed metal compensation Default value is compensation disabled Relatives D KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KEKK 56 TRANSMITTI OPM3609 002C November 1993 ER MOUNTING FRAME KEK KKK KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KEKK Syntax Class Purpose Relatives E rstation A configuration R lt gt This command provides a means of modifying the mounting fra relative to a pa command modifies transmitter moun when it is used with
21. host are anticipated The RS 422 does not use Hardware Handshaking and failure to place switch 4 of the I O Select Switch in the DOWN the port inoperable As with the RS 232 port the signals from the FASTRAK must be Host s Receive signals and the FA position will render RS 422 Transmit connected to the STRAK s Receive signals must be connected to the Host s Transmit signals observed Signal polarity convent 6 2 Setup After assembling the instrum connecting the 1 0 cable to the h 28 ions must be strictly ent hardware and ost computer the OPM3609 002C OPM3609 002C November 1993 November 1993 TERMINAL EXE program may be used to communicate with resolution Definitive treatment of these parameters and operate the FASTRAK instrument Please note is contained in two application notes found in Once you have established the transmitter receiver Appendices B and C of this document They are configuration and set the Selector Switch the entitled ACCURACY AND RESOLUTION IN ELECTROMAGNETIC configuration is set until you change it If at any SIX DEGREE OF FREEDOM MEASUREMENT SYSTEMS and time you decide to change the configuration or add Technical No
22. instrument requires a separation distance of 13 7 feet to ensure non interference if the instruments are not synchronized Instrument separation distance is defined as the distance between the transmitter of one instrument and the receiver of another when both instruments are operating Multiple systems discussions assume that operation will be with frequency multiplexing and inter instrument synchronization for up to four instruments Synchronizing multiple instruments regardless of the mode chosen involves interconnection of the SYNC IN SYNC OUT ports of up to four instruments to be operated in close proximity and issuing the appropriate y commands The interconnection is accomplished using a daisy chain configuration where one instrument is arbitrarily designated as the Master and the remaining designated as Slaves The SYNC OUT port of the Master is connected to the SYNC IN port of the first Slave and this Slave s SYNC OUT port is connected to the SYNC IN port of the next Slave and so on for a maximum total of four instruments 1 master and 3 slaves When synchronized the instrument separation distance limitations for the receivers of any one instrument with respect to the transmitters of any of the other instruments are as follows When four instruments are synchronized this separation distance 33 OPM3609 002C November 1993
23. likely to caus quipment generates and can radiate radio frequency energy and if radio na interference in ich case the user will be required to correc terference at his own expense t the OPM3609 002C November 1993 SOFTWARE COMMAND STRUCTURE COMPARISON FASTRAK vs TRACKER For our customers who presently own one or more racker products and either have or are considering up grading to a FASTRAK instrument we are pleased to present a software command structure on between the Tracker and the new FASTRAK not a detailed bit by bit comparison you e to refer to the command data presented he FASTRAK manual to obtain that level of What we do show however are r and title old and new in es called Same Modified of our T comparis This is will hav within t detail by lette categori New commands In the Modified category all the commands four major Deleted and where some of the themselves may not have been changed modifications were made to their output structure 1 0 Same Cmnd Ltr Fastrak Title Tracker Title A Alignment Referenc Define Alignment Frame from Host R Reset Alignment Reset Alignment Reference Fram B Boresight Define Boresight b Unboresight Reset Boresight SK Save Operational Save System Configuration State F Enable ASCII Output Set ASCII Data Format Format AY Re initialize System System Reset P Si
24. switch is pressed a it is not pressed 136 defined tion on of this fect on mmand The ed for other ts n of the 0 defines ion as pushing of as no change cept that if d by use of output with tus then witch is put record s reported d when the nd a 0 when An entry of OPM3609 002C November 1993 fbutton 1 defines a pseudo point or track the switch mode of outp stylus switc effect as se to the system Point mode In continuo pressing us O the Serves as a continuo first ti pressed the next continuo us O me t tur pre us O mode inter action with In non continuous ut pressing the h has the same nding a P command utput mode stylus switch toggle for utput i e the he switch is ns off output and ssing turns on utput Track mode Default System default is fbutton 1 point and track mode stylus interaction Relatives None KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 137 OPM3609 002C November 1993 6 10 Command Error Command errors are defined as follows COMMAND ERROR KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK c 7r RECORD IDENTIFIER x INITIATING COMMAND all invalid commands byte s Identification Format 1 Record Type 2 Al 2 Blank A1 3 Sub record type E A1 4 10 zea SERROR
25. the Default is non continuous format of the STATUS RECORD Relatives c P Default NON CONTINUOUS KK KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK AAA ARA Commands Cp Py 6 143 114 OPM3609 002C November 1993 SINGLE RECORD TRANSMISSION KAXKKKXKKKXKXKKXKKKKXKKXKKKAKXKKXKKAKKKXKKAKKKXKKAKkk Syntax P Class standard Purpose When continuous print has been disabled request that a single data record be transmitted to the host computer If more than one station is active one record for each of the active stations will be transmitted Relatives C c KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KEKK 115 OPM3609 002C November 1993 DISABLE CONTINUOUS PRINTING KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK 7 7k Syntax Cc Class configuration Purpose Disable continuous output to the host computer Default value is active Relatives C P KKAXKKKXKKKXKXKKXKKKKXKKXKKKAKKKXKKAKKKXKKAKKKAXKKAKkAk 116 OPM3609 002C November 1993 INPUT OUTPUT UNITS Description Default Commands Input Output Units is a reference to the distance unit assumed by the system when interpreting input and generating output data The current distance unit may be retrieved by the host from the status record Refer to the S command in this section Inches absolute Up u 117 OPM3609 002C November 1993 SET UNITS INCHES KEK KKK KKK KKK KKK KKK
26. 126 ETGUES Bis OEA US kk P Salar y Di y ete SE ASAy A 23 RESUME DATA TRANSMISSION 127 Figure 7 SB Pelli A A Bre ety ld 24 STATION SAI ee ew S eee VB Figure 8 System Alignment 45 ACTIVE STATION STATE e raaa sade 2 eka 9 Figure 9 System Envel0Pl ooooooooo ooo 81 STATUS a a taa SD Figure 10 System Hemisphere 89 SYSTEM STATUS RECORD k oa bs ned LIZ Figure 11 The 3SPACE Euler Angles 162 INSTRUMENT CONFIGURATION STATUS 134 BUILT IN TEST INFORMATION 135 STYLUS 2y hi y a bdo ara y art ot AO DEE INE TIP ORF SETS yak a Alan la AL DEFINE STYLUS BUTTON FUNCTION 142 6 0 Command EFEOR wos ied as as a LAS 6 11 Default Operation with a SEUYL1US Gf SBAL re spu rta deya O 7 0 LIMITED WARRANTY AND LIMITATION OF LIABILITY 148 8 0 INDEMNITY AGAINST PATENT INFRINGEMENT 151 910 CUSTOMER SERVICE SA ka pus casas wees d ua LOS END EX Ea ake nay A a ea oy ye e RANEY Stabe te apto a GLOSSAR y2n di td Akay Sree ats ba OO iv v
27. 129 OPM3609 002C November 1993 BUILT IN TEST INFORMATION KAXKKKXKKKXKXKKXKKXKXKKXKKKAKKKXKKAKKKXKKAKKKAXKKAKkk Syntax Class Purpose Relatives TBITnbr 0 lt gt standard This command allows the user to obtain additional information about a particular BIT and clear a bit error This additional information is meaningful only to factory personnel The T command is useful to attempt to clear a problem however if an error re occurs and after you have verified your setup configuration consultation with the factory is recommended The system returns the current BIT information for the specified BIT as an output record of type T The parameters are BITnbr The BIT number for which added information is requested s below 0 This parameter if used is specified as a 0 zero If present the BITnbr specified is reset cleared S kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxxk kxx xx BIT rnbrs associated output codes and their meanings are defined as follows BIT nbr Code Transmitter amp Receiver Error Codes 130 65 66 67 68 69 70 71 72 7 3 74 CC H HE Mi lll Q 0 y 75 76 E 11 83 84 85 86 87 88 89 90 N IK IK 2z lt G H BITnbr Code Driver Driver Driver OPM3609 002C November 1993 Linearity Linearity sinearity Gain Li Gain Li Gain Li
28. 9 pin male D connector located on the rear of the SEU as 16 OPM3609 002C November 1993 shown in Figure 2 The pinouts for this connector are as follows Pin Function 1 not used 2 RxD 3 TxD 4 not used 5 GND 6 not used 7 RTS 8 ETS Selected via Switch 4 of 1 0 Select Switch FASTRAK optionally uses RTS and CTS which is enabled via the 1 0 Select Switch Please refer to Appendix D to find the specific interconnection scheme for your host and the corresponding action that must be taken to obtain a reliable serial interface NOTE If you do not find your particular host s RS 232 I O interconnection scheme in Appendix D call Polhemus and FAX a copy of your host s pinout scheme from its user s manual Polhemus will respond with the appropriate action you must take to allow your FASTRAK and host to communicate Our FAX number can be found in Section 9 5 10 Optional RS 422 I O The optional RS 422 connector is identical to the RS 232 connector in form fit function and location on the rear of the SEU RS 422 is a differential transmit and receive I O with a maximum speed of 10 Megabits second with operation possible at a distance 17 OPM3609 002C November 1993 of 1200 meters with a speed of 100Kbits second The RS 422 does not use Handshake functions for transmission and reception The pinouts for this connector are as follow Pin Function 1 RxB non inve
29. 93 DO td a pt a 16 5 8 Frequency Select Module 16 5595 RS 292 D O vend a Q Sa 17 Do LO Optional RS 422 TDi ada 18 5Sa EL VideoSync Tnputws aie 2 a da 18 5 12 Power Input Receptacle 1 9 LL COOLING 42 5 Sana aie a as 19 O A E W a yda layena GM duets a e 19 Du SD RECCIVERUS ai seza a a diren eae a ae 21 OO Sty TUS ie u n ae e ay E e re a du Elena ene e V2 24 21 DE IBA A A A ack 21 5418 Video SYNC Detector gin k kan ae 25 54 L9 DISKET KON s ake y 5 SA ec ee ROE See SS 25 0 0 INSTRUMENT OPERATION a ie ark 27 6a IXO Considerations seva Saya ea ward Bae 27 OZ u US CRUD ai erode Xan el eee Be othe as lel alet e e av ye 29 080 POWSTSU id a el k ye rak 29 6 4 Output Considerations metia ie 30 6 5 Synchronization and Multiple SYSTEMS e a NN ria 31 6 6 System Commands and Outputs 35 6 7 Command Format Notation and CONVENE LONS sii area k2 16B isa ne ake 36 6 8 Output Record Format Notation and Conventions A Mel E SANA Xa KN n Web ay Ae E aa 39 6 9 Command Output Listing 42 ALEGNMEN I v 3an mn amp Ss WS tice ee She eS ene Ri ae a ana 42 ALIGNMENT REFERENCE FRAME 47 Ti OPM3609 002C November 1993 OPM3609 002C
30. C is 9600 baud An RS 422 port is available as an optional serial port in lieu of the RS 232 at the same baud rates Operating Environment Large metallic objects such as desks or cabinets located near the transmitter or receivers may adversely affect the performance of the instrument OPM3609 002C November 1993 Operating Temperature 10 C to 40 C at a relative humidity of 10 to 95 non condensing Physical Characteristics SEU Width 11 38 28 91 cm length 11 06 28 90 cm height 3 63 9 22 cm weight 5 0 lb 2 26 Kg Transmitter Width 2 1 5 3 cm length 2 1 5 3 cm height 2 3 5 8 cm weight 0 6 lb 0 27 Kg excluding attached cable The Trans mitter may be purchased with either 10 or 20 cables or with a 1 cable with break away connector Receiver Width 1 1 2 83 cm length 0 90 2 29 cm height 0 60 1 52 cm weight 0 6 oz 17 0 gm excluding attached cable Receivers may be purchased with either 10 or 20 cables or with a one foot cable with break away connector Stylus Length 7 75 19 7 cm including tip maximum barrel diameter 0 75 1 9 cm handle diameter 0 375 0 95 cm tip length 1 00 2 54 cm tip diameter 0 156 0 4 cm weight 2 5 oz 28 3 gm excluding attached cable The stylus may be purchased with either 10 or 20 cables 3BALL A standard receiver mounted in an official 3 billiard OPM3609 002C November 1993 ball fitted with
31. COMPARISON vi Lu 0 SAMO 115y y cues edhe is Boe y ce la ee Se vi ZO MO CTE TS Cis a a ae Cathe n ee E Stee E a is vil 323 0 DEVECed srs le Linde n ela iste oe CER E ek d ee viii MO NOW a ita ta a tt viii GETTING STARTED a A a ix 120 INTRODUCTION crete A da ada A u Bes 1 230 HARDWARE iS Aa 1 Standard tems cri a ia 1 Opt tonal TEEM ae Dak eee Pa ee lav ye dewa 2 BO OMERVIEN aleta drawe NE E Rees SARA te aus Vee stale AAN 2 Aes OCS BE TELO AT BON id E E isa 4 POSILTOM COVETAGS Wind eas Lades 22y 4 Angular COVEELAGQC G SE na a 2o2 S2 a y A 4 Stat kO ACCUraCy Ll the ea ta ele 4 R SO T E LONA y di n Nene Well k y r ae 4 THACON GC Video s thes ecg sh eta A RD BE 4 OURDUD ic 2 a A Be ROARS a Pw ab ee Bo ea 4 Carrier FrequenGy hss i se dt is 5 POE SET AO S s ei k lore vee nen A is 5 Operating Environment cc cece 6 Operating TemperatUll ooooooooooooooo o 6 Physical CharacteristicsS 6 SBA Lisboa A wae Gala aig 7 Power RequirementS ooooooooooooooo 7 530 COMPONENT DESCRIPTION sinisas daea eisa te ei 8 Dd SUI A AS Gele Sy SP yee 24 8 5 2 Receiver Inputs Selector Switch 8 9 3 Transmitter Output ota a whe ai 11 54 Power Indi EatO Lera rre sa ye l 11 55 L O Select Swit G N ay A a 11 546 External Syne I O s ay yaya es Weed k 2L3 14 DeL LEBE 2218
32. Commands Default p i O Programmable Read Onl hat can be altered by the system but OPM3609 002C November 1993 y Erasable s not lost when the ff System variable T EPROM All of these a ssigned user default default values are as variables a at the factory are called the factory defaults and these are th The values assigned y Memory is memory power is turned s are stored in the variables are values The user signed to the t power up and system reset to these variables values initially assigned as the user defaults O u a r Can be re assigned with appropriate se of the W command In order to ssign new user default values the user must first set the d the new values then SAVE MACHINE STATE sired variables to xecute the command It is not necessary t MACHINE STATE for eac For example if the u e a stablish new default lignment and increme respective commands a followed by a single T EPROM BURN K Y W X F EPROM is initially p factory default data 69 K o execute the SAVE h variable set ser wishes to values for nt all of the re executed first execution of the rogrammed with the OPM3609 002C November 1993 SAVE OPERATIONAL CONFIGURATION KKK KKK KKK KKK KKK KKK KKK KEK KEK KK KKK K
33. ECORD IE T E FLOATING POINT FORMAT KAXKKKXKKKKXKKXKKKXXKKXKKKXKKXKKKXKKXKkXXX ENTIEIER vais none hci ed P or in continuous mode Identification Format Record type 0 Al Station Number Al System error code Al See Note 2 on pre vious page ASCII space character Al Carriage retu feed X Y Z position 3 SingleFP cartesian coordinates az el roll Euler 3 SingleFP orientation angles X direction cosines 3 SingleFP of the receiver s X Y Z axes See Note Y direction cosines 3 SingleFP of the receiver s X Y Z axes See Note rn line Z direction cosines 3 SingleFP of the receiver s X Y Z axes See Note X receiver data 3 SingleFP Y receiver data 3 SingleFP Z receiver data 3 SingleFP Orientation Quaternion 4 SingleFP Q0 Q3 X receiver co 1 rrected 3 SingleFP 02 OPM3609 002C November 1993 values BANA Y receiver corrected 3 SingleFP values NP n deeya Z receiver corrected 3 SingleFP values es aya ax di Self Calibration Data 9 SingleFP KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK 7 7 an The system data record contents are specified by the user using the O 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 1 Items 5 6 and 7 or
34. EEE 488 P command Issuing a P command via RS 232 or IEEE 488 still performs as documented When a C command is entered via RS 232 or IEEE 488 to enable continuous mode the instrument immediately responds with output as defined in the manual however when the Stylus 3BALL switch is pressed output is interrupted but this cycle is completed i e all currently configured stations complete output for this cycle The Stylus 3BALL switch then serves as a toggle for instrument output from then on until an RS 232 or IEEE 488 c command is issued Each toggle will initiate or terminate a continuous stream of output that begins with station one 1 and terminates by a subsequent switch pressing with output for the last station in the cycle list T Note that all output begins with the FIRST station in the sequence 1 2 3 4 that is configured ON and ends with the LAST station in the sequence list that is configured ON Configured ON requires both a proper selection switch at power on and NOT a current use of the 1 command to change the receiver s state to OFF 140 OPM3609 002C November 1993 Increment functions as defined in this document That is if any receiver does NOT move since its last cycle by an amount equal to or greater than its defined increment output is skipped for the receiver when the
35. ILL THE INSTRUMENT HONOR THE NEXT SYNC PULSE IF YOU ARE CONTEMPLATING CHANGING SYNCHRONIZATION MODES DURING YOUR COURSE OF OPERATION WITH THE FASTRAK WE RECOMMEND THAT YOU DO NOT BURN THE y1 MODE INTO THE EEPROM WHEN YOU WANT TO DISCONTINUE USING THE EXTERNAL SYNC MODE YOU MUST SEND THE INSTRUMENT EITHER A y2 OR y0 COMMAND FOLLOWED BY ONE ADDITIONAL EXTERNAL SYNC PULSE FAILURE TO DO THIS WILL CAUSE THE INSTRUMENT NOT TO RESPOND AND YOU WILL NOT BE ABLE TO EITHER SEND COMMANDS OR RECEIVE DATA Video Sync The Video Sync mode y2 command is employed as described in Section 5 14 entitled Video Sync Detector The FASTRAK measurement cycle starts as a function of signal quality and measurements will continue or stop as a function of the signal quality Multiple Systems For optimum performance when employing multiple systems each system should have a different carrier frequency up to four available to take advantage of 32 OPM3609 002C November 1993 frequency multiplexing The advantages include the fastest possible update rates from each machine for ach receiver employed and the ability to operate all instruments in close proximity Multiple instrument operation with the same carrier frequency for each instrument is not recommended as separation distances in excess of 23 feet are required between instruments to ensure non interference Similarly multiple system operation with different carrier frequencies for each
36. INITION 96 COUT S Li HARE Pa Kel Lar a ra dl S08 eee cs 97 OUTPUT DAT AS TRS te aos a is de 98 OUTPUT ETEM BLS Tita alaye 02 SYSTEM DATA RECORD ASCII FORMAT 103 SYSTEM DATA RECORD IEEE FLOATING POINT FORMAT 107 SYSTEM DATA RECORD 16 BIT BINARY FORMAT kar n Se Suna a l etre Boies EOI OUTPUT FORMAL cr ta ea SDL ENABLE ASCII OUTPUT FORMAT 113 ENABLE BINARY OUTPUT FORMAT 114 OUTPUT PORT USE TEINGS 4 5 2 225y a saree wee ELS SET OUTPUT PORT oe Wa a ose LO OPM3609 002C OPM3609 002C November 1993 November 1993 OUTPUT TRANSMIT MODE 118 LIST OF FIGURES CONTINUOUS PRINT OUTPUT 119 SINGLE RECORD TRANSMISSION 120 PEQUES Le FASTRAK Tars SE dare Nel aE wala wah 9 DISABLE CONTINUOUS PRINTING 121 Figure 2 FASTRAK SEU ce kd de eee wei e 10 INPUT OUTPUT UNITS 3 s3 4 5 aa ak i44 122 Figure 3 FASTRAK Controls Connections SET UNITES INCHES 2s 6 Mii Za Eront amp Rear cape ced e da e T k sivan 15 METRIC CONVERSION UNITS 124 PEQUES A Transmitters a IAS A e k 20 OUTPUT START STOP XON XOFF 125 Figure 5 RECEIVE usuen ee al 27 dias e ee 22 SUSPEND DATA TRANSMISSION
37. KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK 7 Syntax Class Purpose Relatives Bstation lt gt configuration as the new zero reference line of sight This results in azimuth elevation and roll outputs equal to the boresight reference values at the current orientation The system default boresight matrix is the identity The command parameter is defined as the number of the station to be boresighted station b G KEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKEKKKKKKKKKKKK 50 This command causes the system to redefine the specified station line of sight values OPM3609 002C November 1993 BORESIGHT REFERENCE ANGLES KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KEKK Syntax Class Purpose Relatives Gstation aref eref rref lt gt configuration This command establishes the bore sight reference angles for a parti cular station When the system is subsequently boresighted with the B command the line of sight vector will assume these values If all the optional parameters are omitted the system returns the boresight reference angles for the specified station as an output record of type G The command parameters are defined as station the number of the station whose reference angles are to b aref the azimuth reference angl eref the elevation refer
38. KK KKK KKK KKKKKKEKK Syntax K Class standard Purpose This command will cause the current state of the system configuration parameters to be saved in the EEPROM This state is henceforth the power up state until another lt ctrl K gt is issued There may be a short pause of several seconds while the system executes this command Relatives Y W X KAXKKKXKKKKXKKXKKKKKKXKKXKKKXKKAKKKXKKAKKKXKKAKkk 70 OPM3609 002C November 1993 REINITIALIZE SYSTEM KEK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK c 7 7k Syntax Class Purpose Relatives FY standard Reinitializes th ntire system to the power up state The user should allow sufficient time for the system to run through its self test and initialization K W X kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxk xkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxxk kxx xx 71 OPM3609 002C November 1993 RESET SYSTEM TO DEFAULTS KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK 77 Syntax W Class configuration Purpose This command resets all of the system F EPROM variables to their factory default values When invoked the K command must be used to permanently set the EEPROM and he instrument reset using the Y command Relatives K Y X KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK Note This command should only
39. November 1993 RESET ALIGNMENT REFERENCE FRAME 50 BORE SIGAN et dee neya do a W YE Awa y 54 BORO TIGHT seis ste DD E Hd 52 BORESIGHT REFERENCE ANGLES 53 UNBORHSLGHT 02 A ar 52 UR Age AU pay BA AL e 55 COMPENSATION SiS Bis Bene cs Vor Suey 56 ENABLE FIXED METAL COMPENSATION o 1 DISABLE FIXED METAL COMPENSATION 58 TRANSMITTER MOUNTING FRAME 59 ATTITUDE FILTER PARAMETERS 61 POSITION FILTER PARAMETERS 66 SET SYNCHRONIZATION MODE 71 EEPROM St A AS AA Be 73 SAVE OPERATIONAL CONFIGURATION 75 RETNITTALIAD SYSTEM pa 5 an dins ay Saya ken 76 RESET SYSTEM TO DEFAULTS 77 CONFIGURATION CONTROL DATA 78 ENVELOPE s eyare k kan top aie oie desea 80 ANGULAR OPERATIONAL ENVELOPE 82 POSITION OPERATIONAL ENVELOPE 85 REMTES PARRES 2 airy ade de eyed Be KAN h A lk a yay 88 HEMISPHERE OF OPERATION 90 ENCREMENT a AE De AS as 93 DEFINE INCREMENT o oooooooooooo 94 SYSTEM OUTPUT DEF
40. OPM3609 002C November 1993 FASTRAK USER S MANUAL Revision F 3SPACE OPM3609 002C November 1993 NOTICE Copyright 1992 1993 by Polhemus Incorporated Colchester All rights reserved be reprod Vermont U S A No part of this publication may uced 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 Incorporated No patent liability is assumed with respect to the use of the infor precautio book for errors or omissions Pol mation contained herein While every n has been taken in the preparation of this hemus Incorporated assumes no responsibility Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACI EO and FASTRAK are registered trademarks of Polhemus Incorporated Th wi to de in co uses no in co re wh in OPM3609 00 November 19 WARNING 2C 93 is equipment has been tested and found to comply th the limits for a Class A digital device part 15 of the FCC Rules These limits are signed to provide reasonable protection agai terference when th quip ment is operated i pursuant nst na mmercial environment This t installed and used in accordance with the struction manual may cause interference to mmunications Operation of this equipment i sidential area is
41. PM3609 002C November 1993 ER PARAMETERS KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKEKKEKK Syntax Class Purpose x F FLOW FHIGH FACTOR lt gt configuration This command establis boundary and transit parameters for the ad operates on the posit tracking system By command the user can hes th ion co aptive ion ou means adjus S ntro fil tput of t parameters to fine tu dynamic response of a includes the tracker component The four parameters are designated F and FACTOR in the command syn ne th ny sys user a OV cem as a serial djus nsi tivity 1 ter that s of the his t these rall that table FLOW FHIGH tax above The filter is a single pole low pass type with an adaptive pole location hse a contin uously self ad parameter F and the s plus translational ra within the adaptive r feature varies the po aptiv floating filter parameter variable The pole location is constraine the boundary values FLOW and FHIGH but is betw d within n thes ensed ange limits as a function of the sensi tivity ambient noise te input conditions For input rate conditions that fall the adaptive le location between the FLOW and FHIGH limits so as minimize the output resolution for static inputs while minimizing the output lag for dyn
42. RAKs simultaneously and in close proximity to one another The FASTRAK has two possible interfaces to your host computer RS 232 and IEEE 488 Any single receiver may be operated at the fastest update rate 120 Hz any two receivers at one half this rate any three at one third this rate or all four at one fourth the fastest rate Mixed rates are not permitted meaning that all active receivers operate at the same update rate one cannot be operated faster than another Active receivers ar selected by a combination of software configuration commands and receiver selector switch settings Additionally the FASTRAK may be used with a stylus or a 3BALL device in lieu of a standard package receiver Tip offsets are automatically calculated for the stylus and no special commands are required for this mode of operation Switch functionality is provided with both the stylus or 3BALL device The stylus and 3BALL may only be used in Receiver Port 1 Operation of these devices is covered in Section oa el Bes OPM3609 002C November 1993 4 0 SPECIFICATION Position Coverage The instrument will provide the specified accuracy when the receivers are located within 30 76 cm of the transmitter Operation with separations up to 120 305 cm is possible with reduced accuracy Angular Coverage The receivers are all attitude Static Accuracy 0 03 0 08 cm RMS for the X Y or Z receiver posi
43. RD us t is ASCII KAKXKKKXKKKXXKKAKXX X OPM3609 002C November 1993 ENABLE ASCII OUTPUT FORMAT KEK KKK KKK KKK KK KEK KKK KKK 5 23 7 7 7 Syntax F Class configuration Purpose When this command is active all data transmitted through the system serial or parall Defaul Relatives f KAKXKXKKXKKKXKXKKAAKXX X lel port will be in ASCII format lt is active KAXKKKXKKKKXKKXKKKXXKKAKKKXKKXXXk 108 OPM3609 002C OPM3609 002C November 1993 November 1993 ENABLE BINARY OUTPUT FORMAT OUTPUT PORT SETTINGS KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK E Description The system RS 232 BAUD rate parity and Syntax f number of bits per character may be established to specified values Class standard configuration Default Based on I O switch settings Purpose Sets the output data format to binary Subsequent data record items are output in Commands O accordance with the format specified by ANSI IEEE Std 754 1985 Specification for Binary Floating Point Arithmetic Default is ASCII formatted records Relatives E KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 109 110 OPM3609 002C November 1993 SET OUTPUT PORT KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KKEKK Syntax Class orate parity bits HHS lt gt standard Sets the output BAUD rate for RS 232 port Purpos
44. Slope Slope Slope Slope Receiver Y Slope o Receiver Z Slope o Receiver XIN KK NIK K NK XK O O O O nearity nearity nearity Driver X Linearity Line Driver Y Linearity Line Driver Z Linearity Line Fh FH hh Fh Coil Linearity Coil Linearity Coil rh xX Not Used Receiver Transmitt Receiver Transmitt Driver Ch Receiver Receiver Self Calibration Y Z Linearity P ROM Error er PROM Error PROM Circuit Er er PROM Circuit aracterization Reserved for future use ror Error Validity Characterizatio n Validity Coil Validity Error Codes 97 98 99 100 101 102 103 104 DQO mw 0 0 Oo wo BITnbr Code Driver i mits Self Cal ibration Driver i mits Self Cal ibration Driver i mits Self Cal ibration Gain i mits Self Cal ibration Gain i mits Self Cal ibration NK XxX Nos Gain i mits Self Cal ibration Coil Limits Self Calibration Not Used in FASTRAK Signal Matrix Error Codes Tod 105 i 106 j 107 k 108 1 BITnbr Code OPM3609 002C November 1993 Not Used in FASTRAK A Signal Saturation A Low Signal A Maximum Signal Element Zero EEPROM Error Codes 109 m mB QNI O HQ O0 0 5 BITnbr Code EPROM Validity Checksum Error or Data Validity
45. UT FORMAT OUTPUT TRANSMIT MODE Commands OUTPUT UNITS and OUTPUT START STOP OUTPUT PORT SETTINGS With the various commands available from these command sets a multitude of output possibilities may be tailored to each user s requirements The output command sets follow Note that outputs may also be affected by the previously mentioned I Increment command 91 OPM3609 002C November 1993 The output list refers to the subset of data items to be included in a data record Any combination of up to 32 data items that total less than or equal 125 bytes is permissibl e See the o command for a list of data items O 92 Syntax Class Purpose OPM3609 002C November 1993 OUTPUT DATA LIST KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KEKK Ostation pl p2 pn lt gt configuration computer for the specified station combination of up to 32 data items total less than or equal 254 bytes permissible The allowable values This command allows the user to define the list of variables to be output to the host Any that is of the OPM3609 002C November 1993 parameters are 0 ASCII space character T ASCII carriage return line feed pair 2 x y z cartesian coordinates of position 3 relative movement x y z cartesian coordinates of position i e
46. V INVELOPE Descrip tion OPM3609 002C November 1993 Envelope refers to the X Y Z azimuth Range Commands elevation and roll limits in which the receiver is allowed to operate Movement of the receiver outside these limits results in a software bit error in the output record Refer to Section 10 for the definition of the software it errors All coordinates are given n the receiver reference frame Th nits of the coordinates are interpreted ccording to the units flag as set by he U or u command Refer to Figure ot f ak Fo No range enforced Q V S Figure 9 System 76 OPM3609 002C November 1993 Envelope ANGULAR OPERATIONAL OPM3609 002C November 1993 ENVELOPE KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KK KKK KKK KKK KKK KKEKK Syntax Os amax emax rmax amin emin rmin lt gt Class configuration Purpose The angular operational envelope is establis limits o to avoid into the outside the outp error are omit value of paramete amax emax rmax amin emin hed with this command may be used to impose software angular n the system outputs driving slaved gimbaled systems hard gimbal stops the limits defined by uts are flagged with If all of the optiona The ted the system return the parameters rs are ct r establishe O 3 maximu
47. about the x axis of the that the y a nd z axes of the he orientation of the represent t the example of elevation and roll rota the roll rotation Figure 11 the tions are positive negative and positive respectively Output List A list of the data Alignment Rotated Stylus or Receiver Coordinate Frame Azimuth OPM3609 002C November 1993 Elevation items included in a data record Me Mp Z2 Xe UA D Figure 11 155 Roll Referenc The 3SPAC T 156 Frame Fuler Angles OPM3609 002C November 1993 Quaternion A four parameter quantity representing a vector anda scalar The quaternion q qo i d j q2 k q can be used to represent the receiver s orientation without the need for trigonometric functions The attitude matrix output from the 3SPAC can be equivalently represented by the following matrix using quaternions El drd d d 244 9043 2 q 4 4 9 2 4399 9192 q q q 2 4 43 409 2 4 4 9042 249044392 q d q d X Directional Y Directional Z Directional Cosines Cosines Cosines Receiver The receiver measures the low frequency magnetic field generated by the transmitter The receiver is used to track both the position and orientation of the object to which it is attached relative to the measurement reference fram Roll See Orientation Angles 157 OPM3609 002C Novemb
48. above actions cause an output A switch cycle takes 40 system cycles At 8 33 msec per cycle the switch is responsive at a speed of 333 msec or about 1 3 second In other words if the switch is held down while the system is in NON continuous mode an output cycle is generated as if a P command in entered at the rate of 3 second If the switch is pressed twice within the 333 msec window the second pressing is ignored S the Define Stylus Button function e Command for other options and operational information 141 OPM3609 002C November 1993 7 0 LIMITED WARRANTY AND LIMITATION OF LIABILITY PI warrants that the Systems shall be free from defects in material and workmanship for a period of one year from the date ownership of the System passed from PI to Buyer PI shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at PI s option This warranty shall be considered void if the System is operated other than in accordance with the instructions in PI s User Manual or is damaged by accident or mishandling Parts or material which are clearly expendable or subject to normal wear beyond usefulness within the warranty period such as lamps fuses etc are not covered by this warranty 732 In the event any System or portion thereof is defective Buyer shall within the warranty period notify PI in writing of the nature
49. amic inputs CO Whenever the input conditions cause the filter to make a transition to a narrower bandwidth i e 63 OPM3609 002C November 1993 increased filtering the t of the pole locat maximum al ion is con FACTOR ransition rate strained toa lowable rate by the parameter The functions of the four adjustable parameters and their allowable value ranges are further detailed below If all of the optional parameters are omitted th current value of each parameter is returned to the caller as an output record of type x E FLOW FHIGH a scalar value that estab lishes the sensitivity of the filter to dynamic input con ditions by specifying t he proportion of new input data to recent average data that is to be used in updating the floating fil Allowable Ook lt a ter parameter variable range of values a scalar value that specifies the maximum al lowable fil tering to be applied to the outputs during periods of relative con ditions 1 0 disabl les the fil ly static input Setting this value to lter completely Allowable range of values 0 lt FLOW lt FHIGH a scalar value that specifies the minimum allowab l e filter ing to be applied to the out puts during periods of high conditions 64 Ly dynamic input OPM3609 002C November 1993 Allowable range of values FLOW lt FHIGH
50. an associated receiver If th omitted th me of the transmi ting frame coordi e optional parame tem returns the c sys rticular receiver the values of the tter This nates ters are urrent values of the transmitter mounting frame coordinates rela tive to the associated receiver as an output record of type r The command para meters are station the station to be defined A mounting frame azimuth angle E mounting frame elevation angle R mounting frame roll angle none KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 57 TRANSMITTER MOUNTING FRAME OPM3609 002C November 1993 KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK RECORD IDENTIFIER INITIATING COMMAND byte s Identifi 1 Record t 2 Station 3 Sub reco 4 11 Azimuth angle 12 19 Elevatio angle 20 27 Roll mou 28 29 Carriage cation ype 01 Number rd type return Xx mounting frame n mounting frame nting frame angle Format A1 A1 A1 SXXX XXX SXXX XXX SXXX XXX line feed kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxxk kxx xxk 58 KAXKKKKXKKKXKXKKKAKKKXKKKAKXKKAXKKXAXX Syntax Class Purpose v F FLOW FHIGH OPM3609 002C November 1993 ATTITUDE FILTER PARAMETERS configuration This command establis boundary parameters operates o
51. an integral switch standard 10 cable Power Requirements International Power Sources Supply 85 264 VAC 47 440 Hz single phase The 3BALL has a Input power is at 25 watts 5 0 COMPONENT DESCRIPTION nywh nd t nd o O G K nd I lec lec 0 amp Q Q 0 H4 DD YW 0 0 15 pi SEU The SEU is a stand alone ere that is convenient to he host co utput con receivers EEE 488 ou t Switch t Switch mputer nectors and con a single trans tput ports Transmitter Inp External nd Power Input co hown in Figure 1 and Figure 2 It Con Sync I Receiver Input s OPM3609 002C November 1993 unit that may be located the work area AC power tains the required input trols to support up to mitter and the RS 232 Revr ut I O Cables I 0 O Video Sync Input nnec tions are located on the SEU as Receiver Inputs Selector Switch n female The four possibl TA type desig are located on the SI View ins posit as sh Any one or all EU as show ion receiver Selector Swi own in Figure 2 particular Receiver h must be DOWN and all ot ver switch selection or failure to select at switc recei least to En STATI one receiver will Front View le Receiver Input recep tacles ar and 4 and Front nated 1 2 3 n in Figure 2 four Receivers may be plugged Receiver selection is accomplished by the f
52. be used after consultation with the factory 72 Syntax Class Purpose Relatives OPM3609 002C November 1993 CONFIGURATION CONTROL DATA KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK 7 7r X string lt gt configuration A maximum of 32 ASCII characters may be alt T entered as configuration control data in PROM with this command The lt ctrl K gt command must be used to save the EEPROM data omitted th If the optional parameter is system returns the current value of the configuration control data The specific parameters are string K Y a maximum of 32 to identify the the user This the xY and nA W ASCII characters configuration for is output in both records KAXKKKXKKKXKXKKXKKKXKKXXKKKAKXKKXKKKAKKKXKKAKKKXKKAKkk Note Resetting the EEPROM with the W command alters th contents of this data area to Factory Default CPG2030 003 01 73 OPM3609 002C November 1993 CONFIGURATION IDENTIFICATION KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK RECORD IDENTIFIER X INITIATING COMMAND X byte s Identification Format 1 Record type 2 Al 2 Blank Al 3 Sub record type Xx Al 4 35 Configuration identification A32 36 37 Carriage return line feed KKAXKKKXKKKXKXKKXKKXKXKKXKKAXKKXKKAKKKXKKAKKKXKKAKkk 74 EN
53. dimensionally shown in Figure 5 including the position of the electrical center The Receiver package provides 2 mounting holes for 4 screws supplied in the event that Receiver mounting is required In this case the supplied nylon hardware is required 5 16 Stylus The stylus is dimensionally shown in Figure 6 and may only be used in Receiver port 1 The stylus functions as a receiver with the electrical center offset to the tip of the stylus via software and single or continuous output records may be obtained as a function of the integral switch See Section 6 11 for operation with a stylus 5 17 3BALL The 3BALL is a receiver mounted in a 3 billiard ball which contains an integral switch The 3BALL is shown in Figure 7 and may be used in the same manner as a mouse in that single or continuous output records may be obtained as a function of the switch The 3BALL may only be used in port 1 See Section 6 11 for operation with the 3BALL device 21 Figure 5 22 Receiver OPM3609 002C November 1993 OPM3609 002C OPM3609 002C November 1993 November 1993 Figure 6 Stylus Figure 7 3BALL 23 24 OPM3609 002C November 1993 OPM3609 002C November 1993 5 18 Video Sync Detector communication Zin READ ME file The Video Sync Detector consists of a pickup coil 33 TERMINAL DOC file that describes functionality and a 3 cable terminated with a subminiature 4 Source Code for use by an exp
54. e ON OFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar Denotes the Ctrl key on the keyboard Command such as K require the user to hold the Ctrl key and press the character following ie K NOTES 1 For those commands involving an optional list of parameters if some of the parameter values are omitted the current system retained value of that parameter is used in its place The configuration CLASS indicates that the current state of the command will be stored D ROM if a lt ctrl K gt command save machine is executed A standard CLASS means that PROM in EEE T tion is not stored in the E 5 0 H ja Eh O 5 3 0 The RELATIVES field contains a list of those commands which provide related information to the system 4 Throughout this document the term receiver refers to each possible receiver in the FASTRAK 1 to 4 The transmitter for the FASTRAK is numbered 1 The term station is a transmitter receiver pair The four receivers paired with the one available transmitter are assigned station numbers one hrough four 1 4 ct 36 OPM3609 002C OPM3609 002C November 1993 November 1993 6 All commands and alphabetic parameters are cas x is a decimal digit 0 9 sensitive They must be entered in upper or is the decimal point lower case as defin
55. e I command az el roll Euler orientation angles x direction cosines of the 94 Relatives Default OPM3609 002C November 1993 receiver s X Y Z axes S Not 56 y direction cosines of the receiver s X Y Z axes S Not 57 z direction cosines of the receiver s X Y Z axes S Not 58 x receiver data factory use only 59 y receiver data factory use only 60 z receiver data factory use only 61 orientation quaternion 62 self calibration data 63 adjusted x receiver data factory use only 64 adjusted y receiver data factory use only 65 adjusted z receiver data factory use only 66 stylus switch status 67 not used for Tracker KKXKXKKKKKKKXAXA XA kk 68 98 not used reserved for future use 99 not used for Tracker If all of the optional parameters are omitted the system returns the current list of selected data items as an output record of type o none 01 2 4 1 lt gt i e the thr Cartesian coordinates the thr orientation angles carriage return and line feed for station Le KKAXKKKXKKKXKXKKXKKXKKKXXKKKAKXKKXKKAKKKXKKAKKKAKKAKkAk 95 OPM3609 002C November 1993 NOTE 1 Items 5 6 and 7 or 55 56 and 57 may be obtained to construct the line of sight line of hear and line of plumb vectors as follows Three 3 values are obtained from each item above Item 5 or 55 5a 5b 5c 55a 55b 55c Item 6 or 56 6a 6b 6c or 56a 56b 56c Ite
56. e connector for Comml Therefore because we are using Comml plug the remaining end of the cable into the Comml port of the host PC and engage and lock as before If your host computer has a 25 pin D connecter for the RS 232 port you will need a 9 to 25 pin D connecter adaptor with the proper genders xi OPM3609 002C November 1993 Note that this adapter must not compromise the NULL MODEM sense of your cable 11 Insert the Terminal Program diskette into he A drive obtain the A drive prompt A and ype terminal followed by a carriage return When t t the Terminal program READ ME and TERMINAL program so you will program to exercise t 12 At this poi using the Power Switc the S E U Note the front panel of the electronics unit for approximately 10 set up When these r seconds the thereby indicating th operate 13 You may now exercise the instrume comes up Power On seconds i nt you may h located on the back panel of first refer to the DOC files contained in this be familiar enough with the he instrument turn on the FASTRAK Indicator located on the j It should flash ndicating self test and use the nt Th outines are completed indicator will turn e10 to a steady on state at the instrument is ready to Terminal Program to six degr of freedom output data you receive consists of seven column
57. e aggregate payments therefore by the Buyer damage and no liability for any the combination of such r product or part whether PI or ii the or part unless such or iii the use of such product or part in practicing any process or iv the 145 r application as uyer s designs ithout PI s writ f O h i trademarks which B S w s result of complia paragraph exceed sista resul nce armless against any expense nfringement of any United States patents or ts from PI s compliance with OPM3609 002C November 1993 urnishing to Buyer of any information data service Buyer shall hold PI judgment or loss for specifications or instructions PI ten a nce w LEN for the allegedly infr the aggregat exclusive of any refund foregoing states th ntir exclusive remedy of Buyer or alleged patent infri part 146 hall not be liable for any costs or expense incurred uthorization and in no event hall PI s total liability to Buyer the provisions of this sum paid to PI by Buyer inging product or part under option 4 above The liability of PI and the with respect to any actual ngement by such product or under or as a 9 0 CUSTOMER SERVICE 802 OPM3609 002C November 1993 If you encounter any problems with your FASTRAK instrument 655 3159 most part oO your problems over the t the fast lan
58. e right away repair of yo engineer will issue you a Return Mercha Aut the ins req wit you of doc and ask for ur Customer S rvic ngin horizatio original ur instrument n RMA numbe shipping con trument i uire repa hout the warra ument E n the event t ir Please d an RMA number as r instrument is still repair nty as stated he proper ret lephon If the and ge Customer Be TE hat the instru o not return a it will not be under warranty it free of charge according to t in Section 8 of this urn address is Polhemus Incorporated 1 Hercules Drive P O Colchester Box 560 Vermont 05446 Telephone voice 802 655 3159 Telephone FAX 802 655 1439 147 help is just a telephone call away C Customer Service all For the rs can handle La Service ndise is a good idea to tainer for your FASTRAK ment may ny instrume accepted Polhemus he provisio t you back into the problem requires keep nt If will ns OPM3609 002C November 1993 INDEX Cmnd Ltr FASTRAK Title Page A Alignment Reference Fram 46 B Boresight 50 b Unboresight 54 e Continuous Print Output 118 E Disable Continuous Printing 120 D Enable Fixed Metal Compensation 56 d Disable Fixed Metal Compensation 57 e Define Stylus Button Function 141 F Enable ASCII Out
59. ect to the 17 If the of fr degr dom data else fails call us instrume carefull procedure in a step by step fashion connections and switch se of fr nt fail dom of the receiver transmitter ls to produce six ttings xiii Ly go over the above checking especially When all FASTRAK USER S MANUAL 1 0 INTRODUCTION OPM3609 002C November 1993 Welcome to the world of FASTRAK We have streamlined our electromagnetic six degr of freedom have accomplished these attributes the pertinent facts are presented 2 0 HARDWARE tracking instrument to give you the latest and best tracking performance machine anywhere Hopefully we in our manual as well The data presented here allows you to move into the FASTRAK lane with the speed you desire You won t be hindered by excessive and formal verbiage Only The FASTRAK instrumentation consists of the following standard and optional items Standard Items Ed er 1 System Electronics Unit SI w single carrier frequency capacitor board installed 2 Power Supply Free Standing International Power Sources Transmitter with 10 cable Single Receiver with 10 Cable FASTRAK Manual FASTRAK Interface Diskett FID OU ds W 4A0316 01 100034 3A0369 02 4A0314 01 OPM3609 002C OPM3609 002C November 1993 Optional Items 1 RS 422 serial port in lieu of RS 232C port Up to three additi
60. ed for particular command b is a Blank entries H is a Hexadecimal digit 0 F 7 FASTRAKs are shipped configured in one of four 4 possible frequencies The frequencies ar Example A format 3 Sx xxxxb would be output referenced as follows as Ref Number Frequency aL 2 2222 3 3333 1 8013 Hz The notation SingleFP refers to the ANSI IEEE 2 10016 Hz Standard for Binary Floating Point Arithmetic 754 1985 3 12019 Hz Standard format of data This is defined in the standard as 4 14022 Hz 8 Where a numeric floating point value is required MSB LSB on input the format may be specified in any BTE Sk 30 23 22 0 possible format that provides the required accuracy For example 3 0 may be specified as Sign exponent fraction 3 33 by3 by2 byl by0 3 0 or 3 0 E 00 The IEEE floating point format uses sign magnitude notation for the mantissa and an exponent See each command s format for generally accepted offset by 127 In a 32 bit word representing a accuracy range floating point number the first bit is the sign bit The next 8 bits the exponent offset by 127 ie the 6 8 Output Record Format Notation and Conventions actual exponent is e 127 The last 23 bits are the absolute value of the mantissa with the most The notation R Sxx xxxb represents the ASCII significant 1 implied The decimal point i
61. ed precision items although no output difference is made i e space lt 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 Note 2 This code will in general output the last error that the system BIT Built In Test routines found prior to the output of this system data record If any BIT clearing has been commanded see the T command the system will search for an error that is currently set starting at the largest numeric error code value and then output the first error code found 100 OPM3609 002C November 1993 in the search that is set See the T command for specified definitions of each error code Note 3 Items 5 6 and 7 or 55 56 and 57 may be obtained to construct the line of sight line of hear and line of plumb vectors as follows Three 3 values are obtained from each item above Item 5 or 55 5a 5b 5c 55a 55b 55c Item 6 or 56 6a 6b 6c or 56a 56b 56c Item 7 or 57 7a 7b 7c 57a 57b 57c Then the a column above is the line of sight vector the b column above is the line of hear vector and the c column above is the line of plumb vector 101 RECORD ID INITIATING COMMANDS TK TK SYSTEM KKKKKKKKK OPM3609 002C November 1993 DATA R
62. efault Relatives Nstation xoff yoff zoff lt gt Standard This command allows the user to override the factory defaults for the offsets of the receiver from the tip of a stylus If the optional parameters are missing the system returns the current tip offset for the specified station as an output record of type N The parameters are station 1 for stylus xoff x direction tip offset yoff y direction tip offset zoff z direction tip offset This command can only override the factory default during the current operational session Factory defaults are read on power up none KEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 135 D OPM3609 002C November 1993 EFINE STYLUS BUTTON FUNCTION KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK Syntax Class Purpose e station fbutton lt gt Configuration This command allows the host to put a FASTRAK stylus into different output modes as station fbutton The command parameters ar the number of a sta Inclusion or omissi parameter has NO ef handling of this co parameter is retain compatibility with commands and produc defines the functio stylus button An entry of fbutton the output interact mouse mode The the stylus switch h on system output ex the user has define the 0 command an item 16 switch sta the status of the s reported in the out In this case a 1 i in the output recor
63. ence angl rref the roll reference angl The system default boresight reference values are Os Ds 0 B b 51 KKAXKKKKXKKKKXKKXKkXAXXxk OPM3609 002C November 1993 BORESIGHT REFERENCE ANGLES KKK KKK KKK KKK KKK KK KKK KKK KKEKKKK SUB RECORD IDENTIFIER G INITIATING COMMAND G byte s Identification Format 1 Record type 2 Al 2 Station Number Al 3 Sub record type G Al 4 10 Azimuth reference angl SXXX XX 11 17 Elevation reference angl SXXX XX 18 24 Roll reference angl SXXX XX 25 26 Carriage return line feed KKAXKKKXKKKKXKKAKKXXXXxXk KAXKKKXKKKXKXKKKAKKKXKKKAXKKXKkXAXX 52 OPM3609 002C November 1993 UNBORESIGHT COMPENSATION KEKE KKK KKK KKK KK KKK KKK KKK KK KKK KKK KKK KK KK KK KKK KKK Description Syntax bstation lt gt Class standard Purpose The system boresight rotation matrix is reset to the identity matrix for the specified station The command parameter is defined as station the number of the station to be boresighted Commands Relatives B G KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK 7 7r 53 OPM3609 002C November 1993 Compensation refers to the adjustments that are necessary to the system computations to compensate for metal in the magnetic field generated by the transmitter for accurate alignment of the coils inside the tramsmitter and receiver housings and
64. ending on the output buffer availability self test routine During this time instrument for the RS 232 port only For the IEEE 488 port operation is not possible At the completion of this however output is immediate if the output buffer is routine the power indicator will change from a available if not the data record is skipped blink state to steady on which indicates that the Additionally if more than one receiver is in use the instrument is now operational receiver output sequence will not be compromised due to output buffer availability If output data is requested with the P command single record 6 4 Output Considerations regardless of the I O port employed and the time between requests is less than the instrument cycle Operating the instrument consists of issuing time no delays will result from queuing and no data commands over either I O port from the host to control record skipping will occur since only one full data the instrument s performance characteristics and record at a time will reside in the output buffer observing and or utilizing the resulting outputs The most important parameters describing the instrument s performance are latency speed accuracy and 6 5 Synchronization and Multiple Systems 29 30 OPM3609 002C November 1993 Synchronization Synchronization defines and controls the precise time that a FASTRAK instrument measurement cycle will start and thereby controls the tracking output from an ap
65. er 1993 Station The transmitter receiver pair Up to four receivers are permitted yielding a possible four stations Stylus A pencil shaped housing for the receiver with an integral switch and used by the operator to indicate and or select points to be digitized System Identification Data SID Thirty two characters of data hardware serial number etc stored in EEPROM containing information identifying the system Transmitter The transmitter generates the low frequency magnetic field measured by the receiver The transmitter s X Y and Z axes are the default measurement referenc frame Units The unit of assumed distance The 3SPACE allows either inches or centimeters 158 User Defaults The val user variabl OPM3609 002C November 1993 lues assigned to certain system variables by the Stored in EEPROM th le values a system receives thes t power up 159 APPENDIX A IEEE 488 OPM3609 002C November 1993 Not all host computers ar I O capability If you decide tha required for your application and acquiring specific hardware etc compatible the following list is listing is of known suppliers of I boards code cables etc by inclusion on this list nor doe any negative implications Black Box Corp P O Box 12800 Pittsburgh PA 15241 412 746 5530 Sales Capital Equipment Corp 76 Blanchard Road
66. erienced programmer telephone plug The instrument s data ex operating a receiver monitor If this co may be employed usin Video Sync is hibits objectio in close proxi ndition occurs g the Video Syn used when the nable noise when mity to any CRT then Video Sync c Detector see Section 5 9 and the software command y2 see Section 7 5 Set Synchronization Mode The pickup coil of the Video Sync Detector is attached to the CRT Monitor case and the connector inserted into the Video Sync Detector input After issuing the y2 command the instrument checks for sufficient signal level from the video pickup coil If the signal level from the pickup coil is below a preset threshold a no video sync available message is displayed If this condition exists move the pickup coil to another part of the Monitor case This procedure is repeated until the no video sync available message ceases to occur The video synchronization mode may be exited at any time by selecting another type of synchronization mode using the y command 5 19 Diskette here is one diskette that accompanies this instrument called a FASTRAK Interface Diskett FID The Terminal Program allows PC host instrument communication testing and data collection without detailed knowledge of various system commands and contains the following program and files de Terminal Emulator Program for instr
67. f none KAEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 124 AC OPM3609 002C November 1993 TIVE STATION STATE KEK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK 7 77 RECORD IDENTIFIER 1 INITIATING COMMAND 1 byte s Identification LE in Record type 2 25 a da Station number 3 SAG Sub record type 1 As Station 1 1 if active else 0 5 sr Station 2 if active else 0 6 mares Station 3 if active else 0 ES Station 4 if active else 0 8 os Carriage return line feed Format w z a a KKAXKKKXKKKXKXKKXKKKAKKKXKKAKXKKXKKAKKKXKKAKKKXKKAKkAk 125 STATUS Description Commands OPM3609 002C November 1993 Status refers to the capability to determine information about the system that is not available from other commands S o 126 OPM3609 002C November 1993 SYSTEM STATUS RECORD KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KEKK Syntax S Class standard Purpose Requests that a system status record be transmitted to the host computer Relatives T KKAXKKKXKKKKXKKXKKKAXKKXXKKAKXKKXKKAKKKXKKAKKKXKKAKkA 127 OPM3609 002C November 1993 SYSTEM STATUS KEK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KEK KK KKKKEKKKEKK Format Al Al Al H3 ters 13 A6 A6 A32 RECORD IDENTIFIER S INITIATING COMMAND 5 byte
68. guration Control Data Q Angular Operational Envelope O Set Output Port T Built In Test Information viii OPM3609 002C November 1993 GETTING STARTED There are two ways to ge FASTRAK inst could wing assumptions visual inspe could sit do H leads to mas and is bad for your blood pressure Th method if f eventual suc which in eit consuming t started with your rument as with any new instrument You it which involves a great deal of based on either previous experience and or ction and hope for the best Or you wn and read the whole manual line by ne and then start The fo sive amounts of f rmer method inevitably rustration and irritation ollowed exactly latter will either lead to cess or completel her case will be y cure your insomnia unacceptably time The following is offered as an alternative approach H using the ma final arbite NOTE owever this appr oach does not preclude nual as a precis Ts This approach assumes a singl guide reference and receiver use of the RS 232 serial port at 9600 Baud communicating with a PC through Comm1 and use O f the TERMINAL program located on t he accompanying d iskette 1 Do visually and carefully inspect the instrument a transmitter numbering items refer 2 Set nd the accompanyi If you have any q to Section 5 int
69. h PI s expense gav assistance to settl suit or proceeding thereof furnished opinion of PI may b suit or proceeding States patent or i such product or par patent or if the u or part is enjoined expense a procur patent to use leas fter set f entered ag n any such suit or proceeding defended by PI its sole option shall be relieved of the foregoing Buyer noti claim su PI proper e and or d If the p by PI to B yer on the issue of ates patent by any supplied by PI to Buyer l1 pay subject to the orth in this paragraph ainst Buyer on such issue PI at fied PI promptly in it or proceedings and at and full information and efend any such claim roduct or any part uyer becomes or in the come th for infrin n the even t infringe se lease PI may e for Buye product or part or or c modify such such product or par and transportation less a reasonable s obsolescence PI s infringement arisin product or part wit or not furnished to modification of suc modification was ma or sell b repla product o t and refu costs paid um for use hall have g from i h any othe Buyer by h product de by PI subject of any claim gement of any United t of an adjudication that s any United States or sale of such product at its option and its r the right under such as appropriate such ce such product or part r part or d remove nd th
70. hake fu the Request nables nction To Send OPM3609 002C November 1993 he baud rate switches only if you change the switches to you must restart the the Y command or by command may be uring operation new baud rate with the next time you power up te setting and read the used to the instrument baud rate when evoked by RTS and Clear TS serial interface handshake functions for computers that would bet them The Hardware Hands 0 RTS CTS Disabled CTS Enabled arity select 13 ter operat hake select logic logic for switches 6 and 7 is OPM3609 002C November 1993 Parity 6 ei None 0 0 Odd 1 0 Even 0 H not used 1 1 LES defaults t 5 6 External Sync I O The rear edge of the SI contains closest to the I O with compatible signals lected system o Even parity ne plugs with the plug Select Switch being Sync In All input and output signals must be differential the following logic External Sync I O module is located on the EU as shown in Figure 2 two modular telepho The module TTL ogic LOW to HIGH transition 50 Input START psec Output START Logic pulse min HIGH 50 usec pulse min The Syne In and Sync Out signals use differential receivers and drivers which are compatible with RS 422 specifications The pin assignme and the
71. hree points defines the XY plane of the alignment referenc frame the positive Y direction being from the X axis toward the third point is is det The positive Z ax the right hand rul coordinate systems e convent he procedure for ommand especiall ho have previousl andheld terminal s Fig using the y for tho y owned 3 he Digiti ermined by ion for ure 8 Alignment se customers SPACE zer with its is a little different E c w products such as t h in the FASTRAK ins defining the Origi P command with t normal transmitter trument n X axis referenc First when and Y axis these points may be taken by issuing a he FASTRAK in the frame You must retain these and z values are t assembling the A establishing the n points as he inputs command ew alignm their x y used when If you are not using a terminal program when nt referenc frame then you must retrieve the x y and z coordinate v taken with the P host computer to a command Obviousl terminal program monitor screen her when alues of command ssemble t y if you these poi available to you directly from your Another word of caution mploying a receiver the the points from your he AN are using a nts would be electrical center of the receiver is the point measured or designated for the Origin X a
72. ir numbering is s Syne In Pin unction 4 3 2 ai EF S SYNC IN N GROUND INTERNAL YNC IN POSI nts for each plug are as follows hown in Fig ure 3 IV E EGAT IV USE 14 Figure 3 OPM3609 002C November 1993 FASTRAK Controls Connections Front amp Rear 15 OPM3609 002C November 1993 Syne Out Pin Function 4 INTERNAL USE 3 GROUND 2 SYNC OUT NEGATIVE T SYNC OUT POSITIVE E 488 1 0 OT H T T The IEEE 488 I O receptacle is a standard IEEE 488 24 contact female D type located on the rear edge of the SEU as shown in Figure 2 5 8 Frequency Select Module The Frequency Select Module is used to select the operating carrier frequency of choice It is located on the PCB directly behind the Transmitter input connector The alternate carrier frequencies ar produced by inserting the required capacitor module in the socket provided The Frequency Select Modules are color coded for carrier frequency identification as described in Section 4 0 of this document AS WITH ANY HANDLING OF THE PCB WHEN INSERTING OTHER MODULES TO EFFECT A DIFFERENT CARRIER FREQUENCY STATIC PRECAUTIONS MUST BE OBSERVED DO NOT REMOVE AND REPLACE FREQUENCY SELECT MODULE WITH POWER APPLIED TO THE PCB 9 RS 232 1 0 The RS 232 1 0 connector is a standard
73. iver s x Y Z axes See Note 3 6 x Y direction 3 Sx xxxX cosines of the receiver s x y Z axes See 98 11 16 52 54 55 56 dal 61 Dx Note 3 Z direction cosines of the receiver s x y Z axes See Note 3 Orientation Quaternion Q0 Q3 Stylus Switch Extended precision X Y Z position cartesian coordinates az el roll Euler orienta tion angles X direction cosines of the receiver s x Y Z axes See Note 3 Y direction cosines of the receiver s x y Z axes See Note 3 Z direction cosines of the receiver s x y Z axes See Note 3 Orientation Quaternion Q0 Q3 99 OPM3609 002C November 1993 3 Sx xxxx jk 4 SX XXXX bx where X 0 or 1 3 Sx xxxxxESxxb 3 Sx xxxxxESxxb 3 Sx xxxxxESxxb 3 Sx xxxxxESxxb 3 Sx xxxxxESxxb 4 SX XXXXXESXXD OPM3609 002C November 1993 66 ZK bx where x 0 or 1 Stylus Switch Factory use only 8 10 12 49 58 60 62 65 67 69 The system data record contents are specified by the user using the 0 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 KAEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Note 1 Original precision is retained for compatibility with previous Polhemus 3SPACE systems Also note that some item values are repeated as extend
74. ler should poll this line for activity and then proceed with a serial poll after detecting activi system should be ty The poll will clear the SRQ The addressed to talk and the data is then transmitted The last byte output from the system is transmitted with EOI active If operating of data is in th attempts to upda the last cycle i occur Therefor data must be tra of 8 3 milliseco in continuous mode only one record e output buffer If the system te the buffer and data measured during s still present the update will not e to have the lowest latency the nsferred in less than the cycle time nds The system communicates at about 100 KB second maximum rate T 0 5 milliseconds slowing of the 8 If transmission he system can sustain this rate for after SRO is activated with no 3 milli seconds system update rate than 50 KB secon lasts longer and is at a rate higher d the system will only be servicing the 488 and the update rate of the system will suffer This allows for about a 50 byte output record before system update rate is affected A 3 If the 488 is operated at a rate slower than 50 OPM3609 002C November 1993 KB second then the system update rate may also decrease depending upon the length of the data output record OPM3609 002C November 1993 TABLE OF CONTENTS SOFTWARE COMMAND STRUCTURE
75. lue Minimum roll value Carriage return line feed Format Al Al Al SXXX XXXD SXXX XXXD SXXX XXXD SXXX XXXD SXXX XXXD SXXX XXXD KAXKKKXKKKXKXKKXKKKAKKKXKKKAKKKXKKAKKKXKKKAKKKXKKAKkk 79 POSITION OPERATIONAL OPM3609 002C November 1993 ENV ELOPE F kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxxkxx xxk Syntax Class Purpose Vs x ymin confi The position operational estab are O comma Wy B parameters are omitted th urrent value of the parameters of the parameters ar nd fixes those limits the c some comma max ymax zmax xmin zmin lt gt guration envelope lished with this command limits defined by this utside the IT error parameters are xmax ymax zmax xmin ymin the position limits ar or established the maxim position the maxim position the maxim position the minim position the minim position operational 80 is If outputs nd the outputs are flagged with a If all of the optional operational operational operational operational system r turns If present The specific ret th number of the station whose to b urned m x coordinate envel for m y coordinate envel for m z coordinate envel for m x coordinate envel
76. m 7 or 57 7a 7b 7c 57a 57b 57c Then the a column above is the line of sight vector the b column above is the line of hear vector and the c column above is the line of plumb vector 96 OPM3609 002C November 1993 OUTPUT ITEM LIST KEK KKK KKK KKK KK KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK 7 7 7r 7k RECORD IDENTIFIER O INITIATING COMMAND O byte s Identification 1 Record type 2 2 Station number 3 Sub record type o 4 5 Data item 01 identification 6 7 Data item 02 identification 8 9 Data item 03 identification 2 n 2 2 n 3 Data item n identification 2 n 4 2 n 5 Carriage return line feed Format Al Al Al T2 12 T2 I2 kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxk xkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxxkxx xx 97 OPM3609 002C November 1993 SYSTEM DATA RECORD ASCII FORMAT KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK 7 RECORD IDENTIFIER none INITIATING COMMANDS P or in continuous mode Item byte s Identification Format 1 Record type Al ror 2 Station Number Al 3 System Error Al Code See note 2 Original Precision 0 or 50 ASCII space Al character Tsor ol 2x Carriage re turn line feed 2 2 X Y Z position 3 Sxxx xx cartesian coordinates 4 2 az el roll 3 SXXX XX Euler orienta tion angles 5 2 X direction 3 SX XXXX cosines of the rece
77. m a angular opera d zim tio lev he number of the sta angular limits are to nale ation This command and may be used If outputs are this command a y BIT l parameters s the current specific tion whose be returned uth value for the nvelope value for the the maximum e angular opera the maximum r angular opera the minimum a angular opera tio oll tio zim tio nale valu nale nale nvelope e for the nvelope uth value for the nvelope minimum elevation value for the 71 OPM3609 002C November 1993 angular operational envelope the minimum roll value for the angular operational envelope rmin If any of the parameters are omitted the current value of that parameter is used The system default values are 180 90 180 180 90 180 Relatives V KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK 78 OPM3609 002C Nove ANGULAR OPERATIONAL mber 1993 ENVELOPE KAXKKKXKKKXKXKKXKKKKKKXXKKKKXKKXKKKAKKKXKKAKKKXKKAKkk RECORD ID INITIATING COMMAND byte s 4 12 13 21 22 30 31 39 40 48 49 57 58 59 ENTIFIER Identification Record type 2 Station number Sub record type Q Maximum azimuth value Maximum elevation value Maximum roll value Minimum azimuth value Minimum elevation va
78. m allowable rate by the parameter OPM3609 002C November 1993 the transition rate FACTOR adjustable parame value ranges are The functions of the four ters and their allowable further detailed below If all of the optional parameters are omitted the current parameter is returned to the user as an output record of E FLOW FHIGH a scalar val the sensitiv dynamic inpu specifying t input data t that is to b floating fil variable Allowable ra Or E lt A a scalar val value of each type Nx 0 ue that estab lishes ity of the filter to t con ditions by he proportion of new o recent average data e used in updating the ter parameter nge of values ue that specifies the maximum allowable filter ing to be applied to t he outputs during periods of relatively static input con ditions 1 0 disables Setting this value to the filter completely Allowable range of values em lt FLOW lt FHIGH a scalar value that specifies the minimum allowable filter ing to be applied to the out puts during periods of highly dynamic input conditions 60 FACTOR Relatives none OPM3609 002C November 1993 Allowable range of values FLOW lt FHIGH lt 1 a scalar value that specifies the maximum allowable transi tion rate from mini mu dynamic i maximum f static in proportio np 1E pu na m filtering for highl
79. mmand All commands are input on the RS 232 serial port or the IEEE 488 parallel port and consist of ASCII characters Additionally format notations and conventions for both commands and outputs are presented first 34 T T 6 OPM3609 002C November 1993 Command Format Notation and Convention Use the following format notation to enter commands t lt gt Items shown inside square brackets are optional To include optional items type only the information inside the brackets Do not type the brackets Items shown inside braces are optional only when requesting a data record These items must be specified when entering other parameters in the command Do not type the braces Represents an ASCII carriage return 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 Os pl 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 35 OPM3609 002C November 1993 command For exampl
80. mmand parameter is defined 4 24 Origin coordinates 3 SXXX XX as 25 45 Positive X axis coordinates 3 Sxxx xx 46 66 Positive Y axis coordinates 3 Sxxx xx station the number of the station 67 68 Carriage return line feed to be reset KAKXKXKXKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKXX Relatives A KAXKKKXKKKXKXKKXKKXKKKXKKKKXKKXKKAKKKXKKAKKKXKKXKkk 47 48 BORESIGHT Description Commands Default T t F O 1 t O giving the boresight command This r o E b a E s O B T when th e O OPM3609 002C November 1993 he boresight function allows one to designate any receiver orientation as he zero orientation point or example the receiver may be mounted n a person s head to measure where it s pointing When the user s head is looking at a given object he may want he system angular outputs to be zero The user can designate this receiver rientation as the zero orientation by esults in azimuth elevation and roll utputs of zero at this orientation As he user s head moves away from the oresight point the orientation angles re still measured in the designated ference frame with the zero points hifted to the point where the boresight ccurred 7 Gp b he zero orientation condition occurs receiver orientation orresponds to the transmitter rientation 49 OPM3609 002C November 1993 BORESIGHT KEK KKK KKK K
81. n the attit KKXKKKKXKKKKXKKXKkXAXXxk FACTOR lt gt hes the sensi tivity and transition control for the adaptive filter that ude outputs of the trac command the user can adjust king system By means of this these parameters to fine tune the o dynamic response incl udes the trac of any syste ker as a ser component The four user adj parameters are designated F and FACTOR in the with command syn verall m that ial ustable FLOW FHIGH tax above The filter is a single pole low pass type an adaptive floating filter The pole location pole locatio parameter v is constrai limits as a funct parameter F and t f adaptive b n i e a ariable ned within the boundary values FLOW and FHIGH but is contin uously sel tween thes ion of the s ensi tivity plus ro For inp within featur tational rate ut rate condi the adaptive ra i I varies the po he sensed ambient noise nput conditions tions that fall nge the adaptive location between the FLOW and FHIGH limits so as to maxi mize the output resolu tion 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 59 increased filtering of the pole location is constrained to a maximu
82. ngle Record Send Record Transmission E Continuous Print Set Continuous Output Xmit Mode e Set Non Disable Continuous vi e 20 V 2 0 Modified Printing Set Unit Inches Units Suspend Data Xmission Resume Data Xmission Attitude Filter Parameters Position Filter Parameters al Envelope Cmnd Ltr Fastrak Title e Define Stylus Button Function f Enable Binary Output Format I Define Increment O Output Data List S System Status 1 Active Station State H Hemisphere of Operation N Define Tip Offsets vil Metric Conversion OPM3609 002C November 1993 continuous Xmit Mode Set Inches Unit Set Centimeter Units Suspend Xmission X OFF Resume Xmission X ON Attitude Filter Parameters Position Filter Parameters Define Envelop Position Operation Tracker Title Run Digitizer Mode Set Binary Data Format Define Increment Define Output List System Status Station Acti vate Deactivate Define Hemi sphere from Host Define Tip Offsets 3 0 Deleted OPM3609 002C November 1993 Cmnd Ltr Fastrak Title Tracker Title a Define Output List k Reset Output List t Extended Mode 4 0 New Cmnd Ltr Fastrak Title G Boresight Reference Angles D Enable Fixed Metal Compensation d Disable Fixed Metal Compensation r Transmitter Mounting Frame y Set Synchronization Mode W Reset System to Defaults X Confi
83. nics unit With the separate Power Supply brick UNPLUGGED from the wall s convenience outlet plug the brick s DIN connector into the power input connector on the rear panel of the electronics unit and firmly seat Identify the power ON OFF rocker switch located on the rear panel of the electronics unit Ensure this switch is in the OFF position logic 0 and DOWN before inserting the brick s convenience plug into the 110 220 VAC outlet OPM3609 002C November 1993 8 Identify the I O Select Switch located on the rear panel of the electronics unit Set the switches to the following positions Switch Position 1 UP 2 UP 3 DOWN 4 DOWN 5 UP 6 DOWN DOWN 8 UP As set these switches provide for RS 232 serial operation Switch 8 9600 baud Switches 1 2 3 8 bit character width Switch 5 no parity Switches 6 amp 7 and no hardware handshake RTS CTS functionality Switch 4 9 NOTE THE FASTRAK INSTRUMENT THINKS IT IS A TRANSMITTER AND THEREFORE A NULL MODEM CABLE IS REQUIRED Obtain a NULL MODEM RS 232 serial interconnection cable with a 9 pin female D connector on both ends Plug one 9 pin female D connector into the I O connector located on the rear panel of the electronics unit Engage and lock this connection in the same manner as the receiver and transmitter connections as indicated in Steps 3 amp 4 above 10 Most PC hosts have a 9 pin male D typ
84. ocedures or improperly maintained and where such activities in PI s sole judgement have adversely affected the Systems Neither shall warranties apply in the case of damage through accidents or acts of nature such as f t e lood earthquake lightning tornado yphoon power surge or failure nvironmental extremes or other external causes PI DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS TH 143 E HANTABILITY OF TH ESS OF TH ES NO WAR E AND AGAINS ECIFICALLY SET ES FOR SP IVE R LA F EGARDL UT NOT LIMIT SHALL NOT TO UCH LIABI OPM3609 002C November 1993 ECIAL INCID BUT ENTAL OR CONSE UHE EJE TY IS BAS OPM3609 002C November 1993 8 0 INDEMNITY AGAINST PATENT INFRINGEMENT PI shall have the right at its own expense to defend or at its option to settle any claim suit or proceeding brought nfringement of any roduct or any par against Bu United St t thereof Es IPL sha imitations hereina ny final judgment i p under this Agreemen 1 a i obligations unless writing of any suc
85. of the defect remove the defective parts and at the direction of PI ship such parts to PI Upon determination by PI that the parts or Systems are defective and covered by the warranty set forth above PI at its option shall repair or replace the same without cost to Buyer Buyer shall pay all charges for transportation and delivery costs to PI s factory for defective parts where directed to be sent to PI and PI shall pay for transportation costs to Buyer s facility only for warranty replacement parts and Systems Removed parts covered by claims under this warranty shall become the property of Pl 7 3 142 OPM3609 002C November 1993 In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that PI may invoice Buyer for all reasonable expenses incurred in inspect ing testing repairing and returning the Systems 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 System shall be warranted for the remaining period of the original warranty or thirty 30 days whichever is longer Led Warranties shall not apply to any Systems which have been a repaired or altered other than by PI except when so authorized in writing by PI b used in an unauthorized or improper manner or without following normal operating pr
86. onal Receivers 3 Any of thr alternate Frequency Select Modules 3A0363 01 02 or 04 4 Inter Unit Synchronization Cables Standard telephon xtension cable H1643 14 ND Video Sync Detector 36 010 Transmitter with 20 Cable 3A0369 03 Receiver with 20 Cable 4A0314 02 Transmitter with 1 break away cable 3A0369 04 9 Receiver with 1 break away cable 4A0314 03 10 Stylus with 10 or 20 Cable 4A0318 01 or 02 11 3BALL receiver with 10 cable 4A0314 05 N 00 3 Oy U 3 0 OVERVIEW The FASTRAK tracking system uses electro magnetic fields to determine the position and orientation of a remote object The technology is based on generating near field low fre quency magnetic field vectors from a single assembly of three colocated stationary antennas called a transmitter Xmtr and detecting the field vectors with a single assembly of three colocated remote sensing antennas called a receiver Revr The sensed signals are input to a mathematical algorithm that computes the receiver s position and orientation relative to the transmitter The FASTRAK consists of a System Electron ics Unit SEU one to four receivers a single transmitter and a power supply The system is 2 OPM3609 002C November 1993 capable of operating at any of four discrete carrier frequencies Different carrier frequencies allow operation of up to four FAST
87. or 1 for sync bit is in the fourth byte of the data record and not a part of the thr byte record header Secondly this This equates to xx100000 00000000 or full scale sync bit is only valid if the output is limited by negative number of 300 000 cm 118 110 inches or specifying in the 0 command to only those items 180 000 degrees or a 1 000 quaternion value that are guaranteed not to contain a high order bit set to 1 The data is output low order byte first For positive values position X Y Z full scale is 299 963 cm which equates to 118 096 inches For orientation angles full scale is 179 978 degrees and the quaternion values of 0 999 Lo byte A sign Dit 0 or 1 for sync 105 106 OUTPUT FORMAT Description Default Commands Format refers data is coded the data is ge OPM3609 November ASCII format 002C 1993 to the method by which means that nerally human readable while binary is generally computer readable Th the output format system must be data format co All input ASCII Binary output is in accordance with specified by ANSI IE T E Std 75 Specification for Binary Floa Arithmetic T he current data be retrieved from the STATUS Refer to the s command System Stat The default output data forma F f 107 ntrols only to the format the format 4 1985 ting Point format may RECO
88. orresponding functions are Parallel Mod TEEE 488 Note UP pos logic Switch Position ition is a logic 1 and DOWN is a vo Function 11 0 ZI OB Q N Note Switch Position Oe WN FP Oo OPM3609 002C November 1993 Bit 0 LSB IEEE 488 Address Bit 1 IEEE 488 Address Bit 2 IEEE 488 Address Bit 3 IEEE 488 Address Bit 4 MSB IEEE 488 Address not used not used I O Select DOWN for IEEE 488 Serial Mode RS 232 UP position is a logic 1 and DOWN is a logic 0 Function Baud rate select Baud rate select Baud rate select Hardware Handshake select Character width 0 7 bits Mit g DIES Parity select Parity select I O Select UP for RS 232 The Baud rate select logic for switches 1 2 and 3 is as follows 12 Baud Rate dE 2 3 1200 0 0 0 2400 1 0 0 4800 0 1 0 9600 1 da 0 19200 0 0 1 38400 1 0 1 57600 0 1 1 115200 1 1 1 The instrument reads t on power up obtain a different baud rate instrument either by using recycling Therefore the power The o override the switch settings d However even if you save the K command the will ignore the EEPROM baud ra switch set The Switch 4 To Send C those host utilizing for switch 4 is 1 RTS The P as follows Hardware tings to operate at Hands
89. our tch located on the SEU To select a the corresponding number selector result hers UP Improper in a continuous outpu e RS 232 port of 1 type output records ON STATE El TEL B ACTIV OPM3609 002C OPM3609 002C November 1993 November 1993 Figure 1 FASTRAK Instrument Figure 2 FASTRAK SEU 9 10 5 3 Transmit OPM3609 002C November 1993 ter Output pin male D shown in Figu 5 4 Power In The single Transmitter Output receptacle is a 15 type located on the front of the SEU as re 2 dicator A green front of the the indicator while the ins self test rou the indicator the instrumen 5 5 I O Sele ED power on indicator is located on the SEU as shown in Figure 2 Upon power up will blink for approximately 10 seconds trument performs its initialization and tines When these routines are complete changes from blink mode to steady on and t is ready for operation ct Switch The 1 0 located on th Figure 2 Rea Select Switch is an 8 position switch e rear panel of the SEU as shown in purpose of th TEEE 488 p Switch number remaining 7 s depending on positions and T r View and is only read on power up The is switch is to select the I O to be used arallel mode or RS 232 serial mode 8 selects the desired mode and the witches have dual functionalities the mode selected The modes with switch their c
90. plication system point of view The FASTRAK instrument has three distinct synchronization modes that are controlled by the y commands and are defined as MODE COMMAND Internal Sync y 0 External Sync yl Video Sync y2 Internal Sync In the Internal Sync mode y0 command each measurement cycle of the FASTRAK instrument starts immediately after the previous cycle ends The instrument update rate is slightly greater than 120 Hz and cycle to cycle variations on the order of microseconds are possible in this mode Only the y0 command is required to initiate the Internal Sync mode and no input is required for the instrument s SYNC IN port External Sync The External Sync mode yl command allows you to define when the FASTRAK instrument measurement cycle will start This mode may be used to synchronize other peripheral instrumentation to the FASTRAK data collection cycle or to slow the FASTRAK to a known and desired rate To initiate the External 31 OPM3609 002C November 1993 Sync mode an external signal as detailed in Section 5 5 must be input to the SYNC IN port and the yl command issued WARNING ONCE THE FASTRAK INSTRUMENT IS PLACED IN THE EXTERNAL SYNC MODE BY ISSUING THE y1 COMMAND AND THE INSTRUMENT RECEIVES A SYNC PULSE THE FASTRAK WILL IGNORE ANY SYNCHRONIZATION PULSES SENT DURING RESULTING MEASUREMENT CYCLES WHEN THE MEASUREMENT CYCLE IS COMPLETE THEN AND ONLY THEN W
91. put Format 112 f Enable Binary Formatted Output 113 G Boresight Reference Angles 52 H Hemisphere of Operation 89 I Define Increment 93 1 Active Station State 128 O Output Data List 97 O Set Output Port 115 N Define Tip Offsets 140 P Single Record Transmission 115 Q Angular Operational Envelope 81 R Reset Alignment Reference Fram 49 E Transmitter Mounting Frame 58 S System Status 131 T Built In Test Information 134 U Set Unit Inches 122 u Metric Conversion Units 123 V Position Operational Envelope 84 v Attitude Filter Parameters 64 W Reset System to Defaults 76 X Configuration Control Data 77 Xx Position Filter Parameters 65 y Set Synchronization Mode 70 148 OPM3609 002C November 1993 INDEX Cmnd Ltr FASTRAK Title Page SK Save Operational Configuration 74 SO Resume Data Transmission 126 s Suspend Data Transmission 125 SY Re initialize System T9 149 OPM3609 002C November 1993 GLOSSARY Alignment Frame The reference frame in which the position and orientation of the receiver is measured The default alignment frame is the transmitter frame Attit ude Matrix A three by three matrix containing the direction cosines of the receiver s x axis in column one the direc tion cosines of the receiver s y axis in column two and the direction cosines of the receiver s z axis in column three The order of the 3SPACE Euler angle rotation
92. red to as the current hemisphere It is defined by an LOS line of sight vector from the transmitter through a point at the zenith of the hemisphere and is specified by the direction cosines of the chosen LOS vector The orientation coordinates do not have a two solution spherical ambiguity and are therefore valid throughout the operating sphere centered at the transmitter Host Any device capable of supporting an RS 232C interface or the 3SPACE IEEE 488 parallel interface and capable of bi directional data transmission Devices may range from a dumb terminal to a mainframe computer T Increment El The minimum movement necessary to cause the 3SPACE to transmit a record to the host 153 OPM3609 002C November 1993 Orientation Angles The azimuth elevation and roll angles that define the current orientation of the receiver coordinate frame with respect to the designated reference fram The Euler angle coordinates that are output by the 3SPACE as one measure of receiver orientation are graphically defined in Figure 11 In Figure 11 the x y z and X Y Z tri axis arrays represent independent three dimensional orthogonal coordinate frames The x y z triad represents the receiver frame in its current orientation state The X Y Z triad represents the reference frame against which the relative orientation of the receiver frame is measured By definition then the X Y
93. rieved for the specified station Refer to Increment Defini format of the INCREMENT RECORD parameters are station distance none tion for the The the number of the station whose increment is to be changed the mini must is outpu If the omitted mum distance move before t to the optional a da host para current units of consiste system u centimet inches the syst distanc m r valu a receiver ta record computer meter is turns the Th distance nt with t nits ers mus ne t be urrent inches or Default is 0 0 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK 89 OPM3609 002C Nove mber 1993 INCREMENT D EFINITION kkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxkxxk kxx xxk RECORD ID INITIATING COMMAND byte s 1 2 3 4 10 11512 ENTIFIE Identification Record type Stat Sub record type ion number 01 RU Distance required to move Carriage return line feed Format Al Al Al SXXX XX KAXKKKXKKKXKXKKXKKKKXKKXKKKAKXKKXKKAKKKXKKAKKKAKKAKkk 90 OPM3609 002C November 1993 SYSTEM OUTPUT DEFINITION OUTPUT LIST Description System output definition is accomplished Description by many commands The following command sets affect the various output possibilities OUTPUT LIST OUTP
94. rting receive input 2 not used 3 not used 4 TxB non inverting transmit output 5 not used 6 RxA inverting receive input 7 not used 8 not used 9 TxA inverting transmit output 5 11 Video Sync Input The Video Sync Input is a subminiature telephone receptacle that mates with the video pickup coil assembly Video Sync Detector The Video Sync Input is located on the rear of the SEU as shown in Figure 2 5 12 Power Input Receptacle The Power Input is a 5 contact female shielded DIN type receptacle located on the rear of the SEU as shown in Figure 2 Pinouts for this receptacle are as follows Pin Function 1 COMMON 18 OPM3609 002C November 1993 2 GROUND 3 5 VDC 4 15 VDC 5 15 VDC Note Pin 1 is electrically shorted to Pin 2 on the PCB 5 13 Cooling Fan A small cooling fan is located on the rear panel of the SEU as shown in Figure 2 The fan is powered from the 5 VDC supply and will only operate when th instrument is powered up 5 14 Transmitter The Transmitter is dimensionally shown in Figure 4 including the position of the electrical center There are 4 1 4 20 NC tapped holes provided on the bottom surface for mounting Nylon hardware supplied should be used when locating the Transmitter in a fixed position 19 Figure 4 Transmitter 20 OPM3609 002C November 1993 OPM3609 002C November 1993 5 15 Receiver s The Receiver is
95. s after the output format for the specific data element where implied 1 or in other words the mantissa is actually expressed in 24 bits In the normal case an IEEE R is the repeat count and what follows in value is expressed as parenthesis is repeated R times S is the sign byte either Or space for 1 S 2 e 127 01 f If 0 lt e lt 255 37 38 In special cases I 1S LARA A OE E 1 S infinity NaN not a number OPM3609 002C November 1993 fe 0andf 0 f e 0 and f lt gt O denormalized f e 255 and f 0 I I infinity f e 255 and f lt gt 0 Note that the actual I O byte sequence is system specific For the greatest compatibility Polhemus has adopted for output ordering the following Intel 80X86 byte The lowest physical address for a byte is a0 al has address a0 1 data is b0 with b3 the most significant byte For IEEE FP output from the etc output sequence is b0 bl b2 aQ al a2 a3 p0 bl b2 b3 8 b2 b3 bO bil D b3 b2 bl H0 Z See the IEEE bit represe page for a more explicit brea The least significant byte of Tracker Digitizer the byte amp b3 0X86 EC PDP 11 8000 M680XX ntation on the previous kdown The notation 16BIT is a special binary output format reserved for those users that need less accurate but fast 1 0 See the 16BIT BINARY output record for an explana
96. s of data as follows Column Function 1 01 2 X position in i 3 Y position in i 4 Z position in i 5 Azimut 6 Elevation attit 7 Roll attitude i Because you have lock d th nches nches nches h attitude in degrees ude in degrees n degrees relative to the trans mitter S xiL receiver in one position tep 6 the data output OPM3609 002C November 1993 will not change regardless of the number of data samples you take 14 Loosen th receiver and move it approximately six inches toward the transmitter and take a data point The val lue of the X position data will decrease by approximately six inches remain rough Z values will data The Y and ly the same as the original If you left the attitude of the receiver approximately the same as it was when you started then the attitude data will also be approximately the same 15 Again moving its position try loosen t n rec twisting it in YAW iver and without azimuth approximately 45 degrees and lock it down with tape Now take another data poi will be approximately as Azimuth data in column 5 approximately 45 degrees 16 Play with the i nt The they were will have changed nstrument first four columns in Step 13 but the as shown in Step 14 to demonstrate that it measures the position and orientation six degrees with resp
97. sequence is azimuth elevation and BO lal CA CE CA SE SR SA CR CA SE CRt SA SR SA CE CA CR SA SE SR SA SE CR CA SR SE CE SR CE CR X direction Y direction Z direction cosines cosines cosines where SA Sin azimuth CA Cos azimuth SE Sin elevation CE Cos elevation SR Sin roll CR Cos roll 150 OPM3609 002C November 1993 Azimuth See Orientation Angles Boresight Any procedure that rotates the receiver frame so as to precisely align the receiver to the designated reference fram In a 3SPACE system context the term usually refers to the system software routine that on command performs a coordinate rotation which effectively aligns the receiver frame to a predefined boresight reference orientation Note that the boresight routine accomplishes the boresight orientation of the receiver regardless of the receiver s physical orientation at the instant of boresight initiation So for applications that require the orientation tracking of the body or body member to which the receiver is attached a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresight reference orientation Compensation Data A set of invariable data that allows the 3SPACE to compensate for fixed distortions of the magnetic field due to the surrounding environment The compensation data generally results from an
98. smitter there are two mathematical solutions to each set of receiver data processed Therefore only half of the total spatial sphere surrounding the E O i ransmitter is practically used at any ne time without incurring an ambiguity n X Y Z measurements This half sphere is referred to as the current hemisphere The chosen hemisphere is defined by an LOS line of sight vector from the transmitter through a point at the zenith of the hemisphere and is specified by the LOS direction cosines Refer to Figure 10 Range 1 lt lt 1 Commands H Default The transmitter reference frame X axis defines the default hemisphere Figure 10 System Hemispher 83 84 OPM3609 002C November 1993 HEMISPHERE OF OPERATION KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KEKK Syntax Hstation pl p2 p3 lt gt Class configuration Purpose The operational hemisphere for a particular station is established with this command The parameters are station the number of the station whose operational hemisphere is to be fixed pl the x component of a vector pointing in the direction of the operational hemisphere p2 the y component of a vector pointing in the direction of the operational hemisphere p3 the z component of a vector pointing in the direction of the operational hemisphere 85 Relatives OPM3609 002C November
99. te LATENCY 3SPACE FASTRAK additional or new receivers transmitters it must be accomplished with power OFF as receiver transmitter From an operational point of view relative to the characterization data is only read at power up instrument output latency must be considered with Failure to do this will result in erroneous data respect to baud rate output record length and filtering The combination of baud rate record length and filtering collectively define the data 6 3 Power Up transfer time Depending on the baud rate record length and filtering chosen longer than specified The FASTRAK has a power on switch To power up latency exclusive of data transfer time will occur your instrument first ensure that the power supply is If the data transfer time is longer than the not plugged into the AC Then connect the power cable instrument s cycle time and data queuing is invoked in from the Power Supply to the DIN power connector on the output buffer an output data record may be the rear panel of the instrument Plug the Power skipped For example if the instrument is operated Supply into the AC outlet and turn the Power Switch to in continuous print mode C command and the data the ON position On power up the power indicator transfer time is longer than the cycle time th will blink for approximately 10 seconds to indicate instrument will skip a data record or queue the data the instrument s performance of an initialization and for output dep
100. tion and 0 15 RMS for receiver orientation Resolution 0 0002 inches inch of range 0 0005 cms cm of range and 025 Latency 4 0 milliseconds from center of receiver measurement period to beginning of transfer from output port Output Software selectable including extended precision Cartesian coordinates of position and Euler orientation angles are standard Direction cosines and quaternions are selectable English or metric units are also selectable Update Rate OPM3609 002C November 1993 One receiver 120 updates second receiver Two receivers 60 updates second receiver Three receivers 40 updates second receiver Four receivers 30 updates second receiver Carrier Frequency The FASTRAK may be configured with any one of four discrete carrier frequen cies to allow simultaneous operation of up to four instruments in close proximity Carrier frequencies are selected via color coded Frequency Select Modules FSM These frequen cies ar Reference Frequency Color Code 1 8013 Hz Black 2 10016 Hz Red 3 12019 Hz Standard Yellow 4 14022 Hz Blue The color dot can be found on the FSM on the end closest to the connector T Interfaces IEEE 488 parallel port at 100K Bytes second maximum and RS 232C serial port with software selectable baud rates of 300 1200 2400 4800 9600 19200 38400 58600 and 115200 ASCII or Binary format The factory standard for RS 232
101. tion of this format The field INITIATING COMMAND in the description 39 OPM3609 002C November 1993 of the output record represents the console port input command which will cause the output record to be generated Note that record identifiers and initiating commands are case sensitive as shown on each record description All angles are represented in degrees All X Y and Z units are in centimeters or inches depending on the system configuration see the Output Units commands U and u 6 9 Command Output Listing 1 ALIGNMENT Description The alignment commands allow the user to define an origin from which the X Y Z measurements are referenced and to define a measurement plane For example if there is a sloped surface to measure and it is necessary to have the X Y Z outputs measured with respect to the reference fram defined by this sloped surface then the alignment commands allow you tO do ERTS Alignment data consists of the coordinates in the transmitter reference frame of three non collinear points in space that are used to define the alignment ref first point is the rence frame The origin of the frame A line from alignment referenc the origin through 40 the second point defines the alignment referenc OPM36 Novemb fram 09 002C er 1993 positive X axis of the The plan defined by all t
102. ue bSx xxx maximum bSx xxx line feed KAXKKKXKKKKXKKXKKKKXKKXKKKKKKXKKKAKKKXKKAKKKAKKAKKkA 66 OPM3609 002C November 1993 SET SYNCHRONIZATION MODE KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK c 7 Syntax Class Purpose Relatives y smode lt gt configuration This command allows the host to set the system synchronization mode If the optional parameter is omitted the system returns the current value of the synchronization mode as an output record of type y The specific parameters are smode 0 signifies that the system is synced internally 8 3 milliseconds cycle 1 signifies that the system is externally synced to another Tracker system external source 2 signifies that the system is synced via a video frequency pickup coil none KAXKKKXKKKKKKXKKXKKKXKKKAKXKKXKKAKKKXKKAKKKXKKAKkk 67 OPM3609 002C November 1993 SYNCHRONIZATION MODE KEK KKK KKK KKK KKK KKK KKK KEK KKK KKK KKK KKK KKK KKK KKK Sk RECORD IDENTIFIER y INITIATING COMMAND y byte s Identification Format i otis dehe Record type 2 Al 2 bakes Blank Al DT techs cs Sub record type y Al di 8 Maite Synchronization mode Ei 0 non fr run 1 External 2 CRT D6 Gian Carriage return line feed KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKEKK 68 T E PROM Description F EPROM Electronicall
103. ument 25 26 OPM3609 002C November 1993 6 0 INSTRUMENT OPERATION 6 1 I O Considerations area inst isn happ make inte an optional Bina and disc Perhaps one of t s to deal with is rument to the hos t properly accomp ens This sectio that integration As stated in Sec rface ports IEEE serial RS he most confusing and frustrating interfacing the FASTRAK t computer because if that lished then absolutely nothing n of the manual is an attempt to task as painless as possible tion 5 there are thr possible 488 parallel RS 232C serial and ry or ASCII forma their interconnec ussed her Requ 422 Each port supports either ts Only the two serial ports tions with the host computer are irements for and use of the IEEE 488 parallel port are discussed in Appendix A RS 232C The RS 232 is the most commonly used port both in binary and ASCII formats because of its comm rate FAST than the HH said beca this onality and the f s The RS 232 po RAK physical sepa 50 feet There a act that it supports high baud rt should be used where host to ration distances are no greater In Step 9 of the that it is neces re two modes of operation with RS 232 with Hardware Handshake HH and without Getting Started section we sary to use a null modem cable use the instrument thinks it is a transmitter
104. up the instrumen ng receiver s and Note external switches and port uestions concerning these he manual t close to your host computer and away from large metal objects like file cabinets m tal desks etc 3 Ide ntify the transmi ix tter and insert the OPM3609 002C November 1993 transmitter connector into its appropriate port being careful to firmly engage it Using a small flat bladed screw driver lock the connector by seating the two retaining screws 4 For getting started use only one receiver Identify the receiver and insert the receiver connector into Receiver Port 1 Firmly engage and lock the receiver connector into place in the same manner as the transmitter connector in Step 3 above 5 Identify the Receiver Inputs Selector Switch This switch is located on the front panel of the electronics unit between receiver ports 1 and 3 Locate switch 1 and place it in the DOWN position Ensure that all remaining three switches are in the UP position 6 For testing purposes it is convenient to mount both the transmitter and the receiver on a single block of wood 2X4 or equivalent about 14 inches apart Exact placement of the transmitter and receiver is not particularly important just make sure the cable ends of both devices come off the small ends of the 2X4 7 Identify the five pin DIN type power input connector on the back panel of the electro
105. xis an employing a stylus 41 d Y axis the tip when of the OPM3609 002C November 1993 stylus is the point measured or designated for the Origin X axis Lastly aft Y axis er establishin new desired referenc remember that the r is resident in FASTRAK RAM and you and g your frame you must ference fram lose this referenc the machine OFF Th to retain th should burn the data in issuing a wish to c new Y frame if you t erefore if yo ference frame referenc issuing a procedure Having es frame yo n R command and follow listed above tablished your new refere u may use the Right Hand to determine the Eul for this new frame hand grasp the new with your thumb poin direction of positiv will then point in t positive azimuthal a r angle conve Using your ri positive Z ax ting in the SAMA Your E he direction o ngles Using right hand with the the direction of pos fingers wil positive el L1 point i evation a thumb pointing itive Y you n the directio ngles Using right hand with the the positive X direction your f will 42 thumb pointing data will urn u wish you the EEPROM by K command In the even hange or establish anothe frame you may do so by first t you r new the nce rule ntions ght is ingers f the in
106. y ut conditions to tering for relatively t conditions by tely limiting the decay to the lo wW the input transitio Allowable 0 lt FACTO e n E R filter limit whenever onditions effect a ange of values lt 1 When the form of the command is v 1 lt gt the attitude filter is disabled This is the system default configuration Note The default mode for all filter parameters is OFF Although these parameters are a function of the user s particular environment may be used as a jumping off point for determining optimum filtering in your particular environment E FLOW FHIGH FACTOR the following settings Set to 0 2 Set to 0 2 Set to 0 8 Set to 0 8 61 to a narrower bandwidth ATTITUDE FILTER PARAM OPM3609 002C November 1993 ETERS KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKKEKK RECORD ID byte s 4 10 11 17 18 24 25 31 32 33 ENTIFIER INITIATING COMMAND Identification Record type Blank WOM Sub record type Filter sensitivity Floating fil ter Matt low value Floating fil ter high value Transition rate Carriage return line feed maximum Format Al Al Al bSx bSx bSx bSx XXX XXX XXX XXX KEK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK 62 POSITION FILT O

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