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PATRIOT M Manual

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1. lt 115 200 57600 38400 19200 9600 4800 2400 reserved 65 PATRIOT M USER MANUAL Parity Switches c gt lt a eo c None Odd Even reserved OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL INNOVATION IN moTion 3 2 Magnetic Source The Source is the device which produces the electro magnetic field and is normally the reference for the position and orientation measurements of the sensors It is usually mounted in a fixed position to a non metallic surface or stand which is located in close proximity to the sensors The standard source is the 2 cube and the specifications in this manual are based on the 2 source shown in Figure 3 1 Other source sizes are available Review the Polhemus web site at www Polhemus com or contact Polhemus Customer Service on page F 1 for more information HEIGHT TX2 2 3 56 0mm TX4 4 04 102 6mm 4 SOURCE 2 SOURCE 1 40 35 560mm 4 104 0mm 2 30 58 0mm CABLE EXIT Figure 3 1 Source Diagram OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 3 3 Sensor s The sensor is the smaller device whose position and orientation is measured relative to the Source The sensor is dimensionally shown in Figure 3 2 including the position of the electrical center The sensor package provides two mounting holes for 4 nylon screws supplied i
2. E 1 direction cosines eccceeeeseceseceeeeseeeeeeeeeeeeeeeeeeeens 13 non continuous output mode 49 E EE 4 TE 2 echo ode eite imei oi 36 ASC IHE 3 EEPROM seriearen ien 57 Biman yc nea 4 elevation Aio eine 13 null modem 5 Enteb 18 OTIS REN 23 error code summary sese T operational commands seen 47 REV B OCTOBER 2013 POLHEMUS INNOVATION IN MOTION operational 52 57 59 operational configuration 1 43 orientation angles sese 15 rr m 49 70 B 1 COUtDULb s eoe 71 Output Considerations essen 71 output data list sess 25 output nicer oO 14 16 70 P amp O position and 16 37 PATRIQT ecce e 16 PATRIOT System Commands 1 physical characteristics esses E 1 PltCh site cies n ET ERR eds 16 Polhemus contact information F 1 position filter parameters
3. 19 Table 2 42 AT ASCII 54 Table 2 13 L ASCH 22 Table 2 43 T Binary 54 Table 2 14 L Binary 22 Table 2 44 ASCII 55 Table 2 15 N ASCH 24 Table 2 45 Binary Response 56 Table 2 16 Binary 24 Table 2 46 V station ASCII Response 56 Table 2 17 Output Data 25 Table 2 47 V station Binary Response 56 Table 2 18 ASCII 26 Table 2 48 Z ASCII Response Header 59 Table 2 19 Binary 26 Table 2 49 Z ASCII 60 Table 2 20 U ASCH 27 Table 2 50 Z Binary 61 Table 2 21 U Binary 27 Table 3 1 LED conditions sees 63 Table 2 22 X ASCII 30 Table 3 2 RS 232 Pin Outs
4. 14 4 least significant digit 150 14 command reference 8 LED i dicatot dare tre de Ends 63 command set summary ce eeeeeeeeceeeeeeneeeeceaeeeeeaeens 6 Lia bility s D 1 Command syntax sse 2 LIBERTY de M 14 component AeScriptiON eeeeeeeceeeeeeeeeeeeeteeeeeees 63 limited warranty limitation of liability D 1 Configuratio sisri eter netter 70 Line of Sight LOS sse 14 configuration changes sse 70 List of Tables iiit etaed vil configuration commands ssssssseeeee 8 LOS line of sight sss 14 18 contacting Polhemus sse F 1 LSB least significant bit 14 continuous print output 48 LSD least significant digit ssssse 14 COUNTETS eniin Er eE OE ENEKE EEEE EEEE 51 Magnetic Source essere 66 CUT eher been n Re 18 E 27 customer service sssssseeeeeerenenneenns F 1 most significant bit MSB 14 data experiments sss 10 motion box eere 15 data format essere E 1 mounting 16 data record oiii deerit cederent ds B 1 MSB most significant 14 default operational 57 multiple systems
5. sese 64 Table 2 23 X Binary 31 Table 3 3 Switch 65 Table 2 24 Y ASCII 33 Table 4 1 BIT Results 5 C 1 Table 2 25 Y Binary 34 Table 4 2 Source BIT C 1 Table 2 26 ASCII 36 Table 4 3 Global Sensor BIT Results C 2 Table 2 27 AE Binary 36 Table 4 4 Sensor Channel Results C2 Table 2 28 ASCII Baud Rate Values 37 Table 4 5 Runtime BIT Error Codes C 3 Table 2 29 ASCII Parity Values 37 Table 2 30 ASCII 38 REV B viii OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL INNOVATION moTion 1 Getting Started Congratulations on buying the latest most cost effective 3D tracking system yet This section of the user manual has been provided to help get your project under way as quickly as possible The PATRIOT M is based on the standard PATRIOT design but with the addition of compliance with the requirements of ANSI AAMI ES60601 1 2005 R 2012 This makes PATRIOT M potentially suitable for use in
6. Binary Yes No lt gt Metric Yes No lt gt lt Frame Rate 60Hz lt gt Fixed at 60 Hz for PATRIOT M lt Verbosity Level 1 lt gt Echo Mode OnlOff lt gt lt gt RS 232 Baud Rate baudrate lt gt See Table 2 28 on page 37 RS 232 Parity parity lt gt lt gt See Table 2 29 on page 37 Position Filter Sensitivity 5 lt gt Position Filter Low Value Sx xxx lt gt Position Filter High Value Sx xxx lt gt Position Transition Rate Maximum Value Sx xxx lt gt Attitude Filter Sensitivity 5 lt gt Attitude Filter Low Value Sx xxx lt gt Attitude Filter High Value Sx xxx lt gt Attitude Transition Rate Maximum Value Sx xxx lt gt lt gt Mounting Frame Angle 3 Sxxx xxx B lt gt Az El Roll lt Compensation lt gt lt gt Buffering OfflOn lt gt lt gt The following text data will be repeated once for each station on PATRIOT M Format Description Station x lt gt Output List xB lt gt Station number List of Output Data Items See Table 2 17 on page 25 Hemisphere 3 Sxx xxxB Az El Roll Boresight Reference Angles 3 xxx xxB Az El Roll Stylus Function MarkerlPoint Track Mode lt gt Alignment Coordinates lt gt Origin Coordinates 3 5 lt gt Ox Oy Oz Pos X Axis 3 Sxxx xx
7. TD 3 TxD Ex RxD 4 Not used Not used 5 GND LO GND 6 Not used Not used 7 Not used Not used 8 Not used Not used 9 Not used Not used 3 1 7 Hardware Switches NOTE UP switch position is a logic 1 and DOWN is logic 0 The hardware switches located on the rear panel of the SEU to the left of the RS 232 serial port connector as depicted in Figure 1 7 on page 5 PATRIOT M reads baud rate and parity RS 232 connection settings from these switches only on power up If you change the switches to obtain a different setting you must restart PATRIOT M either by using the Y Initialize System command page 58 or by cycling the power Alternatively the O RS 232 Port Configuration command page 37 may be used to configure the RS 232 connection during operation However after using this command and saving the new settings to the startup configuration W Set Default Operational Configuration page 57 the saved settings will be ignored during the next power up or system initialize Y Initialize System in deference to the hardware switch settings The hardware switches are numbered to 5 from left to right Switch setting definitions are provided in Table 3 3 REV B 64 OCTOBER 2013 POLHEMUS Table 3 3 Switch Settings INNOVATION IN moTION Baud Rate Switches 2 3 Vv A v Al a gt
8. Lstation fbutton Part Description station 1 or 2 which specifies the relevant source sensor pair fbutton Defines the function of the Stylus Button The choices are 0 Marker Mode 1 Point Track Mode Remarks System default is Marker Mode An entry of fbutton 0 defines the output interaction as marker mode The pushing of the stylus switch has no effect on system output other than setting an event marker in the output record when the button is pressed In this case a 1 is reported in the output record when the switch is pressed and a 0 when it is not pressed NOTE Output of this marker must be enabled through the Output Data List command see page 25 An entry of fbutton 1 defines a pseudo point track mode interaction with the switch In non continuous mode of output pressing the stylus switch has the same effect as sending a P Single Data Record Output command see page 49 to the system point mode In point mode every time the button is pressed a data record is sent to the host NOTE The host must be aware of this mode If the stylus button is pressed the host must be polling for the data frame or monitoring RS232 output in order to capture the output data In continuous output mode pressing the stylus switch serves as a toggle for continuous output track mode The first time the button is pressed continuous output mode is turned off The next time the button is p
9. HEX X Y Z Occurred a A Y Y b V y e LS Y Y y e y D Y Y EF y y y fi PF y y Y g T y REV B C 3 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL APPENDIX D Limited Warranty and Limitation of Liability Polhemus warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Polhemus s delivery to the Buyer or two years and 30 days from the date ownership of Product passed to the Buyer whichever occurs first with the exception of FastSCAN which has a warranty period of only one year Polhemus shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at Polhemus s option This warranty shall be considered void if the Product is operated other than in accordance with the instructions in Polhemus s User Manual or is damaged by accident or mishandling Parts or material which are disposable or expendable or subject to normal wear beyond usefulness within the warranty period such as lamps fuses batteries etc are not covered by this warranty In the event any Product or portion thereof is defective Buyer shall promptly and within the warranty period notify Polhemus in writing of the nature of the defect and return the defective parts to Polhemus at the direction of Polhemus
10. PATRIOT M USER MANUAL 4 5 OUTPUT CONSIDERATIONS sssssssssssssssssssssssssscsssesesesssssesssesesesesesesesesesesssssaacacscacacacacasssacacasacatseaeseacaeas 71 4 6 ULIS ei 71 APPENDIX A ALIGNMENT REFERENCE FRAME ccccccecccccccccscccccccccccecccccccscccceccccece A 1 APPENDIX B SYSTEM OUTPUT DATA RECORDG cccceccecccccceccccscccceccecccssceccecsccscecce B 1 ERIDIEJONULIMEEI B 1 BINARY FORMAT uiciccccsccccccsscccccsceccccccccccusccceccsescecuuceeceuuecccseuusseccuceeceusescsesueseecuucesssauecesseauececeaunesees B 2 APPENDIX C BUILT IN TESTABIT oiiscsehss Etu VERE C 1 INITIALIZATION RESULTS BRRRRRRRRRRRRRRRRRRRREMMMMMMMMMMMEMMMMMMMMM C 1 RUNTIME RESULTS Pee TT Toe EE ne oR OT ee ee C 2 APPENDIX D LIMITED WARRANTY AND LIMITATION OF D 1 APPENDIX E SPECIFICATIONYS ee ice 1 APPENDIX F CUSTOMER SERVICE cccceccccccecceccccsccscccceccccsceccccscccceccecccsscescecscssceccs F 1 REV B vi OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL TABLE OF FIGURES Figure 1 1 PATRIOT M System sess 2 Figure 1 2 Source Connection essere nennen ennemi nennen rennes 2 Figure 1 3 Sensor Connection essere ener enne nennen rennes 3 Fi
11. X Operational Configuration ID Description This command allows a 16 character ID to be assigned to the current operational system configuration This command also allows the user to view the IDs of all valid stored configurations within PATRIOT M non volatile configuration memory Syntax Xstring lt gt Part Description string A 15 character ASCII string ID that describes the current configuration Remarks A valid configuration ID is up to 15 characters plus a null terminator If no string argument is supplied with this command PATRIOT M will respond with a list of the currently saved configuration IDs A string of 15 asterisks followed by the null character indicates an undefined configuration p 0 Output Record Table 2 36 X ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 21 16 A B Current Configuration Record ID 21 37 16 A B Configuration Record ID 71 38 53 16 A B Configuration Record ID 2 54 69 16 A B Configuration Record ID 3 72 71 AA Carriage Return Line Feed 43 OCTOBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT M USER MANUAL Table 2 37 X Binary Response Byte Index Format Description 0 7 Binary Header 8 CH 16 Current Config ID 24 CH 16
12. s Customer Service representative Upon determination by Polhemus that the parts or Products are defective and covered by the warranty set forth above Polhemus at its option shall repair or replace the same without cost to Buyer Buyer shall be responsible for any import export duties tariffs and pay all charges for transportation and delivery costs to Polhemus s factory for defective parts where directed to be sent to Polhemus and Polhemus shall pay for transportation costs to Buyer s facility only for warranty replacement parts and Products Removed parts covered by claims under this warranty shall become the property of Polhemus In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that Polhemus may invoice Buyer for all reasonable expenses incurred in inspecting testing repairing and returning the Products and that Buyer will pay such costs on being invoiced therefor Buyer shall bear the risk of loss or damage during transit in all cases Any repaired or replaced part or Product shall be warranted for the remaining period of the original warranty or thirty 30 days whichever is longer Warranties shall not apply to any Products which have been e repaired or altered other than by Polhemus except when so authorized in writing by Polhemus or e used in an unauthorized or improper manner or without following normal operating procedures or e improperly maintained and wher
13. ssssessseeeee 29 power module 4 E 1 power requirements essen E 1 Powering aene tee ed 70 print output 48 PROM RENS 23 quaternion eee ai ede T 16 Cup p E 1 read operational configuration esses 59 read clear BIT errors sse 53 record output sereins ina 49 reset alignment frame sse 39 teset COUMLCES eee ee ewe eS 51 tesolutiOR reu e E 1 TESPODSE T 17 Response Format sssrini 3 return merchandise authorization F 1 RMA return merchandise authorization F 1 j e 17 TOON TRE aris 16 RS 232 esa e eir iiu uss 4 5 10 6 37 64 RS 232 Port Configuration eee 37 TUNING results nia ERE SERIE C 2 Safety cioe epe RE RE ER iii save operational 52 SDE e 17 SE SOT EE 17 67 E 1 sensor number of E 1 sensor channel BIT results se C 2 Sensor DOS 63 serial connector sees 64 set default operational configuration 57 PATRIOT M USER MANUAL
14. Clean the external surfaces of the instrument with a soft cloth dampened with a mixture of mild detergent and water Make sure that the instrument is completely dry before reconnecting it to a power source iii Sterilization and Disinfection This instrument contains no user serviceable parts Do not attempt to service unit Return to Polhemus for repair iv Risks and Side Effects The PATRIOT M is not known to cause any side effects through physical contact or proximity The enclosure should remain closed to avoid the potential dangers involved with exposed circuitry pras The PATRIOT M is a CLASS I Type B applied part It is protected by an earthed connection along with basic insulation and is not used in direct J cardiac application The PATRIOT M is not classified as a defibrillation proof part and therefore should not be integrated into defibrillation proof ME SYSTEMS without proper evaluation iii OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Per ISO 10993 1 The PATRIOT M is a limited exposure surface contacting device The applied parts of the PATRIOT M which are designed to contact the patient have been made from PEEK PEEK is a material commonly used in medical and commercial applications As a result compliance with ISO 10993 1 has been assumed but not verified by testing The end user will still have to meet all the requirements of the regulatory agencies Compliance with ES60601 1 2005 is
15. Place the sensor at the proposed origin location 3 Press P and write down the X Y Z measurements these will be Ox Oy Oz 4 Move the sensor along the proposed X axis from the origin defined in step 2 and place it about 24 inches in front of this origin REV B 10 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 5 Press P and write down the X Y Z measurements these will be Xx Xy XZ 6 Move the sensor along the proposed Y axis from the origin defined in step 2 and place it about 24 inches from the source 7 Press P and write down the X Y Z measurements These will be Yx Yy Yz 8 Using all of the data that has been written down in steps 1 7 send the command A1 0x Oy Oz Xx Xy Xz Yx Yy YZ lt gt REV B 11 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL B Boresight Description This command causes the sensor to be electronically aligned in orientation and optionally position with the user system coordinates and establishes the boresight reference angles for the station Azimuth elevation and roll outputs will equal the boresight reference values at the current orientation If the Reset Origin switch is set X Y and Z outputs will equal 0 0 0 at the boresight location PATRIOT M then produces outputs relative to this these reference s Any sensor orientation can be designated as the zero orientation point If all the optional parameters are omi
16. effectively aligns the sensor frame to a predefined boresight reference orientation The boresight routine accomplishes the boresight orientation of the sensor regardless of the sensor s physical orientation at the instant of boresight initiation For applications that require the orientation tracking of the body or body member to which the sensor is attached a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresight reference orientation Bits per second Not to be confused with the signaling or baud rate which is always equal to or higher than the bit rate See baud rate 12 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Direction Cosines Drive Bay Elevation Factory Defaults Firmware Format Hemisphere The cosines of the angles between the sensor s x y z axes and the X Y Z axes of the measurement reference alignment frame A slot on a personal computer that accepts peripherals such as a hard drive CD DVD or PATRIOT M Coordinate of orientation tracking in the vertical plane where an increase in the angle is upward from the horizontal A term often substituted for elevation especially as it concerns flight is pitch The values assigned to certain system variables by the factory Stored in non volatile memory they are used to reinitialize the variables if configuration information is lost Term used to d
17. 7 14 USB Buffering Mode sse 45 useful range sse eene 17 user command set summary sese 6 user defaults eese 18 WATNE e iii WAAN A ERREEN D 1 WED address einst 66 buio e M 55 Wildcard tiet etes 3 KYZ Ot X Y Zu sete eee 18 XYZAER 18 18 2013
18. COMPONENT DESCRIPTION ears r rae open ee nena operano ra Fa Se po eH YR VERE 63 3 1 SYSTEM ELECTRONICS UNIT SEU eee tete tete tenete tete tn tnn 63 JAA 63 3 1 2 Source QT gem 63 3 1 3 DCM SOM POLS ess uc Eo ENEMIES MINIM 63 3 1 4 LED IndicatoE onc RR NUS UR Esca Vedi teeta poU uei eno 63 3 1 5 RS 232 T O EE 64 3 1 6 Seral ConneclOk E A 64 3 1 7 Hardware Switches e beetle 64 3 2 MAGNETIC SOURCE 66 AYO 1 Es ic RIP MILII M MU UNI AMI 67 B PPP 68 3 5s BUDDY BUTTON ERE 69 4 SYSTEM OPERATION cevcuctscuvecceSeesocceeswoccdesdessvevessseckepsvseteveswcerceecenses 70 4 1 I O CONSIDERATIONS scseccccccccccccssssscceccccccscussecececccessuusccescecsceuuucceceeccceuuuusucceecesecuuuaasceeseceseusaaenss 70 4 2 POWERING UP PATRIOT M oi vvcecsnssin cauceavacdeieestacevacapatestogiacasteaphtavesincsuacapiteedediacdaneawabdsleatacasadavascedens 70 4 3 CONFIGURATION CHANGES ccccccccccccccccecccccecececccccccecececccecececececececececececececececececececececececececececesecacs 70 AA OUTPUT UPDATE Noo ves elis force ipse vete LIP d Lie er rsen ses 70 REV B 2013 POLHEMUS INNOVATION IN moTION
19. Default Config ID 40 CH 16 Config Slot 1 10 56 CH 16 Config Slot 2 10 72 CH 16 Config Slot 3 10 88 CH 16 Startup Config ID Examples To determine what configurations are available in the PATRIOT M system issue the following command X The returned record could display the following Current 0 1 2 3 Startup Configuration 1 Default Configuration 1 Configuration 2 DLEILLLLLLLLLLLII Configuration 1 In this case two unique configurations are stored in PATRIOT M configuration memory The third configuration is not defined To set an ID for the third configuration do the following XConfigurationzz3 K3 lt gt To make this configuration the startup configuration W3 lt gt 44 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL B USB Buffering Mode Description This command enables or disables USB output buffering before USB transmission to the host When USB buffering is disabled the PATRIOT M system operates in a real time mode in which only the most current frame of motion data is transmitted When enabled buffering mode allows host delays in requests for data without frame loss but with possible latency introduced Syntax B mode lt gt Part Description mode Defines the status of USB Buffering mode The choices are 0 Disabled 1 Enabled default Remarks By default USB buffering mode is enabled As with other configuration commands if no mode a
20. filters 4 6 Useful Range An X Y or Z position value exceeding PATRIOT M s useful range of 60 inches 152 cm will be output as zero REV B 7 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL APPENDIX A Alignment Reference Frame Z Legend X Y Z Alignment Reference Frame x y z Rotated Stylus or Sensor Coordinate Frame Y Azimuth 0 Elevation Roll Figure 4 1 Alignment Reference Frame REV B 1 2013 POLHEMUS INNOVATION IN moTION PATRIOT M USER MANUAL APPENDIX B System Output Data Records ASCII FORMAT INITIATING COMMANDS P or C continuous mode Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 Initiating Command 3 A Error Indicator 4 B ASCII Blank character 5 x Variable See Possible Formats below x 1 x 2 AA Carriage Return Line Feed Original Precision x y z position Cartesian Coordinates 3 Sxxx xxx az el roll Euler orientation angles 3 Sxxx xxx direction cosines of the sensor s x y z axis 3 Sx xxxxx Orientation Quaternion Q0 Q3 4 Sx xxxxx Stylus Switch x where x Oorl Extended precision position Cartesian coordinates 3 Sx xxxxxESxxb az elroll Euler orientation angles 3 Sx xxxxxESxxb system data record contents are specified by the user using the command and may vary from configuration to con
21. if the new port settings are saved as the startup configuration W Set Default Operational Configuration on page 57 Output Record Table 2 30 0 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 10 A Baud Rate See Table 2 28 above 11 B Blank 12 A Parity See Table 2 29 above 13 14 A Carriage Return Line Feed Table 2 31 O Binary Response Byte Index Format Description 0 7 Binary Header 8 I Baud Rate See Table 2 32 below 12 I Parity See Table 2 32 below Examples Suppose there is a requirement to change the baud rate in software to 19 200 baud after startup It can be accomplished with the following command without turning off and restarting the system 0192 1 8 0 lt gt The system serial communication parameters will now be 19200 baud no parity 8 data bits and 1 stop bit The host communication software may have to be reset to the new baud rate 19 200 in order for communication with PATRIOT M to continue Table 2 32 Binary RS 232 Codes Code Baud Rate Code Parity 1 2400 0 None 2 4800 1 Odd 3 9600 2 Even 4 19200 5 38400 6 57600 7 115200 38 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Reset Alignment Frame Descripti
22. lt gt The system will now output data in inches and interpret input data in inches If the operator wanted the system to output its measurements in centimeters the following command should be sent 01 lt gt The system will now output data in centimeters REV B 28 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL X Position Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the position outputs of the PATRIOT M system The user can adjust the parameters of this command to fine tune the overall dynamic response of PATRIOT M The filter is a single pole low pass type with an adaptive pole location i e a floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 e increased filtering the transition rate of the pole location is constrained to a maxim
23. parameters omitted from the command The term station refers to a source sensor pair For example eight sensors paired with the one available source are assigned station numbers one through eight 1 8 Unless otherwise noted commands do not take any punctuation immediately following the command letter However if an optional first parameter is to be omitted a comma is necessary between the command letter and the next parameter 2 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL e A numeric floating point value will be accepted by the machine if any of the following formats are used For example 3 0 may be specified as 3 3 3 0 or 3 0E 00 Station Wildcard When using a command that requires a station number as the parameter the user may wish to apply the command to both stations of the PATRIOT M system In such situations a character may be used in place of the station number to apply the settings to both stations in the PATRIOT M system e g H 0 0 1 would change the hemisphere for every station to the positive Z hemisphere e g H1 0 0 1 lt gt would change the hemisphere for only station 1 to the positive Z hemisphere Default Parameters Commands that take multiple parameters can be used to change a subset of the parameters and leave the remaining parameter values unchanged For example e The command Gaz el roll changes the source mounting frame to az el roll e The command 0 80 0 lt gt c
24. source cable as there may be some cross coupling between the sensor cables and the source cable 3 1 4 LED Indicator An LED power on indicator is located on the front of the SEU Upon power up the indicator will blink red for 5 to 10 seconds while the system performs its initialization and self test routines When these routines are completed the indicator changes from blinking read to steady green indicating that the system is ready for operation If the LED continues to flash red after 10 seconds the self test has failed Table 3 1 below summarizes the LED condition Table 3 1 LED conditions e Steady green System operational passed startup testing e Flashing red Failed self test and set up REV B 63 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL A malfunctioning sensor or source can cause a poor quality signal that will trigger a solid red LED This condition should be accompanied by a Built In Test BIT error See APPENDIX C for a description of BIT errors If no sensors are plugged into the SEU and the initialization test passes the LED will be a solid green 3 1 5 RS 232 I O 3 1 6 Serial Connector The RS 232 I O serial connector is a standard 9 pin plug D type connector located on the rear panel of the SEU as shown in Figure 1 7 on page 5 The pinout identification for this connector is as follows Table 3 2 RS 232 Pin Outs Pin PATRIOT Host 1 Not used Not used 2 RxD
25. state 0 Off 1 On n a if station 0 bitmap 8 bit bitmap reflecting state of each sensor represented as a hexadecimal number Remarks If a station is supplied without a state then the current states of all stations are returned See output record below The default condition depends on the number of sensors that are currently connected to PATRIOT M The default condition of a station that has a sensor connected to it is a 1 or station The default condition of a station that does not have a sensor connected to it is a 0 or station off If zero 0 is supplied as the station number this command will take a hexadecimal bitmap to identify ALL the enabled stations E g 00 03 lt gt enables all sensors 40 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL NOTE Do not place 0x in front of the input hex bitmap If no bitmap is supplied the current active sensor bitmap will be returned in the default response body This bitmap will indicate the detected sensors in the upper 16 bits and the active sensors in the lower 16 bits A sensor must be detected AND enabled to be active Output Record Table 2 33 U station ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A Ww 3 A Error Indicator 4 B ASCII Blank character 5 x Station 1 state 1 Active 0 Inactive 6 X Station 2 state 1 Act
26. value of the setting in the response frame body e When arguments are supplied the command modifies the setting and PATRIOT M sends no response to the command If E Set Echo Mode is enabled see page 36 PATRIOT M echoes back the command as verification that the command was received and executed e Station specific commands have an option to apply the setting to all stations Refer to Station Wildcard on page 3 REV B 8 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL A Alignment Reference Frame Description The alignment command does two things It defines a reference frame to which all position and orientation output data is referred In addition it creates a new origin point where the X Y Z measurements would equal 0 0 0 if the sensor were placed there An example of where this command would be useful is a sloped test surface that the user wanted referenced to the surface This would obtain congruence between the PATRIOT M source and the source frame axes of the sloped surface Syntax Astation Ox Oy Oz Xx Xy Xz LYx LYy LYz 1 The Alignment Reference Frame Syntax has these parts Part Description station 1 or 2 which specifies the relevant source sensor pair Ox Oy Oz the Cartesian coordinates of the origin of the new reference frame Xx Xy XZ the coordinates of the point defining the positive direction of the X axis of the new reference frame Yx Yy Yz the coordinates of a
27. yaw is often substituted for azimuth especially in the context of flight The signaling rate on a serial line For example to convey an 8 bit byte normally requires at least two additional bit times a start bit and a stop bit so that synchronization is possible without a separate clocking line For example such an arrangement implies for a 9600 baud rate conveyance of data at a 9600 8 10 7680 bit rate Benign Environment tracking environment free of the need for special calibration or Binary BIT Boresight bps compensation brought on by the unique features of a particular installation and its environment e g high light levels for optical tracking high sound levels for sonic tracking high metallic distortion for magnetic tracking If not otherwise noted all measurements and statements pertaining to PATRIOT M performance shall be regarded as occurring in such a benign environment Mathematical system based on two digits 0 and 1 Built In Test features monitoring the status and health of the PATRIOT M system as well as flagging certain preset conditions monitored by the PATRIOT M system software Not to be confused with bit a contraction of binary digit Any procedure that rotates the sensor frame so as to precisely align the sensor to the designated reference frame In a PATRIOT M system context the term usually refers to the system software routine that on command performs a coordinate rotation which
28. 0 0x00000000 0x00000000 0x00000000 0x00000000 0 lt gt Clear BIT errors REV B 54 OCTOBER 2013 POLHEMUS INNOVATION MOTION AV WhoAmI PATRIOT M USER MANUAL Description This command returns the basic identification and firmware version of PATRIOT M system Syntax V station lt gt Remarks None Output Record Table 2 44 V ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 0 1 A Second Digit of Station Number n a 0 2 A y 3 A Error Indicator 4 B ASCII Blank character 5 6 A Carriage Return Line Feed 7 22 A Polhemus PATRIOT M 23 24 A Carriage Return Line Feed 25 26 A Carriage Return Line Feed 27 45 A Boot Loader Version 46 52 A Boot Version 53 54 A Carriage Return Line Feed 55 79 A PATRIOT M Firmware Version 80 86 A System Controller Version 87 88 A Carriage Return Line Feed 89 110 A Processor Version 111 117 A I O Processor Version 118 119 A Carriage Return Line Feed 55 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Table 2 45 V Binary Response Byte Index Format Description 0 7 Binary Header 8 UC Sensor count 9 UC Tracker Type 1 PATRIOT M 10 UC Reserved 11 CH Same as ASCII output bytes 5 end Table 2 46 V station ASCII Response Byte Ind
29. 160 gms Power Requirements 100 240V AC 50 60 Hz Nominal 85 264 VAC 47 63 Hz max rating single phase 10 W REV B E 1 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL APPENDIX F Customer Service If problems are encountered with the PATRIOT M system or if you are having difficulty understanding how the commands work help is just a telephone call away Call Polhemus at the numbers listed below and follow the prompts select 2 for Customer Service and then 1 for Technical Support Polhemus is open Monday through Friday 8 00 AM to 5 00 PM Eastern Standard Time For the most part our customer service representatives are usually able to solve problems over the telephone and get you back into the fast lane right away Help is also available on our web page at www polhemus com Simply double click Technical Support then click techsupport polhemus com to send us an email describing the problem or question If a problem requires repair of your system the customer service representative will issue a Return Merchandise Authorization RMA number and you may then return the system to the factory Do not return any equipment without first obtaining an RMA number Please retain and use the original shipping container if possible to avoid transportation damages for which you or your shipper would be liable If your system is still under warranty Polhemus will repair it free of charge according to t
30. 38 Table 2 2 Binary Response 4 Table 2 32 Binary RS 232 Codes 38 Table 2 3 A ASCII 10 Table 2 33 U station ASCH Response 41 Table 2 4 A Binary 10 Table 2 34 UO ASCII 41 Table 2 5 ASCII 13 Table 2 35 U Binary Response 41 Table 2 6 B Binary 13 Table 2 36 X ASCII 43 Table 2 7 F ASCII 15 Table 2 37 X Binary Response 44 Table 2 8 F Binary 15 Table 2 38 B ASCII 46 Table 2 9 G ASCII 16 Table 2 39 B Binary 46 Table 2 10 G Binary 16 Table 2 40 P ASCH 49 Table 2 11 ASCH 19 Table 2 41 Binary 49 Table 2 12 Binary
31. 6 7 SH Response size number of bytes in the response body 8 n Binary Response body Error codes presented in the Error Indicator field are detailed in PATRIOT M Error Code Summary on page 7 No Error is represented by NULL 0x00 Error Responses When in binary mode error responses are always prepended by the binary frame header followed by the ASCII error string In ASCII mode error responses have no header See PATRIOT M Error Code Summary on page 7 for a complete listing of error responses 5 OCTOBER 2013 POLHEMUS INNOVATION MOTION 2 3 PATRIOT M User Command Set Summary Command lt coo lozrT muoi unnnnu gt gt gGadsdadis ddd Description Alignment Reference Frame Boresight Continuous Print Output Output Format Source Mounting Frame Hemisphere of Operation Stylus Button Function Tip Offsets Output Data List Single Data Record Output FrameCount Timestamp Reset Set Units Position Filter Parameters Attitude Filter Parameters UN Boresight Set Echo Mode Save Operational Configuration RS 232 Port Configuration Reset Alignment Frame Built in Test Information Active Station State WhoAml Software versions Set Operational Configuration Operational Configuration ID Initialize System Read Operational Configuration USB Buffering Mode Decimal 65 66 67 70 71 25 76 78 79 80 81 85 88 89 2 5 11 15 18 20 21 22 23 24 25 26 64 66 PATRIOT M USE
32. 96 64 station 1 FL Alignment X Axis Y 100 64 station 1 FL Alignment X Axis Z 104 64 station 1 FL Alignment Y Axis X 108 64 station 1 FL Alignment Y Axis Y 112 64 station 1 FL Alignment Y Axis Z 116 64 station 1 FL Hemisphere X 120 64 station 1 FL Hemisphere Y 124 64 station 1 FL Hemisphere Z 128 64 station 1 FL Boresight Az 132 64 station 1 FL Boresight El 136 64 station 1 FL Boresight Roll 140 64 station 1 I Stylus Mode 0 Marker 1 PointTrack The following 80 bytes will be repeated once for each station on PATRIOT M 144 64 station count 1 1 20 Byte Index Format Description Output Data List Table 2 17 page 25 REV B 61 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Examples To view the configuration settings for the current configuration issue the following command lt gt To view the configuration settings for the factory default configuration issue the following command Z0c REV B 62 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 3 Component Description 3 1 System Electronics Unit SEU The SEU is a stand alone unit that may be located anywhere that is convenient to the work area AC power and the host computer It contains the required input and output connectors and controls to support up to two sensors a single magnetic source a USB p
33. A 3 A Error Indicator 4 B ASCII Blank character 5 A 0 Disabled 1 Enabled 6 7 AA Carriage Return Line Feed Table 2 39 B Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 Disabled 0x01 Enabled Examples The command to disable USB buffering mode is B0 lt gt 46 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL INNOVATION MOTION 2 5 2 Operational Commands Operational commands are typically executed during normal system operation They do not affect the current configuration of the PATRIOT M system REV B 47 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Continuous Print Output Description This command enables the continuous output mode When the system is in continuous mode the data points from all stations are requested automatically and are streamed to the host continuously If more than one station is enabled then the data from each station will be sent in numerical order station 1 first station 2 second Output mode refers to whether the system automatically transmits data records to the host continuous mode or the host must request data records by polling the system each time non continuous mode Syntax C lt gt Remarks By default continuous mode is disabled If the system is being used in an application where a fast update rate is critical then the continuous print output con
34. A Error Indicator 4 B ASCII Blank character 5 thru n A Response Body ntl 2 lt gt A P amp O response frame may not contain a Carriage Return Line Feed as specified by the user with the O command If the Station Number is not applicable to the command the first two fields will be ASCII zeros 0 Error codes presented in the Error Indicator field are detailed in PATRIOT M Error Code Summary on page 7 No Error is represented by an ASCII blank character Binary Binary response frames are described in this document using the following notation LIS unsigned short 16 bits SEL sets signed short 16 bits unsigned char 8 bits CH iii char 8 bits errem signed integer 32 bits DAL uas unsigned double word 32 bits PL 32 bit single precision floating point in IEEE format consisting of sign bit 8 bit exponent and 23 bit mantissa SXXX XXXX XMMM MMMM MMMM MMMM MMMM MMMM Peces Array of size n of type preceding square brackets e g FL 3 Binary response frames are composed of an 8 byte frame header followed by a variable length frame body as follows Table 2 2 Binary Response Format REV B 4 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Byte Index TYPE Description 0 1 US Frame Tag always PA or 0x5041 for PATRIOT M HST s 2 UC Station Number 3 UC Initiating command Es 4 UC Error Indicator 5 UC Reserved
35. B lt gt Xx Xy Xz Pos Y Axis 3 Sxxx xxB lt gt Yx Yy Yz OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Table 2 50 7 Binary Response Byte Index Format Description 0 7 Binary Header 8 A Config ID 24 I Bits Meaning 0 2 Baud rate Table 2 32 on page 37 3 4 Parity Table 2 32 on page 37 4 31 Reserved 28 I Bits Meaning 0 Continuous Mode 0 Off 1 On 1 Binary Mode 0 1 2 Units Mode 0 Inches 1 CM 3 4 Sync Mode N A for PATRIOT M 5 7 Reserved 8 9 Compensation N A for PATRIOT M 10 25 Station Bitmap 1 Active 26 Echo Mode 0 Off 1 On 27 Buffering Mode 0 Off 1 On 28 31 Reserved 32 FL Attitude Filter Sensitivity 36 FL Attitude Filter FLow 40 FL Attitude Filter FHigh 44 FL Attitude Filter FACTOR 48 FL Position Filter Sensitivity 52 FL Position Filter FLow 56 FL Position Filter FHigh 60 FL Position Filter FACTOR 64 FL Source Mounting Frame Az 68 FL Source Mounting Frame El 72 FL Source Mounting Frame Roll 76 I Frame Rate 2 60 Hz The following 64 bytes will be repeated once for each station on PATRIOT M Byte Index Format Description 80 64 station 1 FL Alignment Origin X 84 64 station 1 FL Alignment Origin Y 88 64 station 1 FL Alignment Origin Z 92 64 station 1 FL Alignment X Axis X
36. LHEMUS PATRIOT M USER MANUAL 3 5 Buddy Button The Buddy Button see Figure 3 6 is an optional component to accompany the stylus Some users may experience motion of the stylus tip while attempting to capture data due to the position of the push button switch on the stylus Users may find it difficult to hold the stylus tip in place while operating the switch The Buddy Button allows the user to operate the switch separately with a free hand The Buddy Button and stylus connect to the SEU via an adaptor containing a 3 5mm phono jack and 15 contact female high density D sub connector Both of these converge to a 15 pin male high density D sub connector that attaches to the sensor inputs on the SEU Figure 3 6 Buddy Button and Buddy Button Adaptor REV B 69 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 4 SYSTEM OPERATION 4 1 VO Considerations There are two possible communication options available on the PATRIOT M system USB or RS 232 Each option supports either Binary or ASCII formats Upon power up or system initialization if the USB cable is not plugged into the SEU the PATRIOT M will automatically send data to the RS 232 interface The USB cable can be plugged in at any time and the PATRIOT M will shift to USB operation If the USB is unplugged the PATRIOT M system s power must be recycled to shift back to RS 232 operation 4 2 Powering Up PATRIOT M To power up the PATRIOT M system first en
37. N1 3 523 0 004 0 03 lt gt To verify that the tip offset was entered correctly type N1 lt gt to read it back REV B 24 OCTOBER 2013 POLHEMUS INNOVATION MOTION Output Data List Description PATRIOT M USER MANUAL This command allows the user to define the list of variables to be output to the host computer for the specified station Any combination of up to 20 items that produces a P amp O response frame of less than or equal to 1000 bytes is permissible NOTE Due to the high output rate of PATRIOT M caution should be used when defining large output records to prevent overwhelming the host communications channel The output list refers to the subset of data items to be included in a data record Syntax O station p1 p2 pn lt gt Part Description station pl pn Table 2 17 Output Data Types 1 or 2 which specifies the relevant source sensor pair Up to 20 parameters that define the list of variables output to the host The possible parameters are listed below Parameter Description ASCII Output Data Binary Output Value Format Data Format 0 ASCII space character Al Al 1 ASCII carriage return linefeed A2 A2 2 X Y Z Cartesian coordinates of position 3 Sxxx xxxB FL 3 X Y Z Cartesian coords extended precision 3 Sx xxxxxxESxxxB FL 4 Az El RI Euler orientation angles 3 Sxxx xxxB FL 5 Az El RI Euler angles extend
38. POLHEMUS INNOVATION IN MOTION PATRIOT PATRIOT M USER MANUAL URM11PH273 Rev B OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Copyright 2013 by Alken Inc dba Polhemus Colchester Vermont U S A All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical photocopying recording or otherwise without the prior written permission of Polhemus No patent liability is assumed with respect to the use of the information contained herein While every precaution has been taken in the preparation of this manual Polhemus assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACE is a registered trademark of Polhemus PATRIOT and LIBERTY are trademarks of Polhemus Windows is a registered trademark of Microsoft Corporation REV B 1 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Environmental Requirements Operation e Temperature T 0 C lt T lt 40 C e Pressure P 600 hPa lt P lt 1200 hPa e The PATRIOT M is rated IPXO and is therefore not protected against the ingress of water Operate and store transport in a dry environment Transportation and Storage e The temperature and pressure conditions for operation hold for transportation and storage as well Make sure that the PATRIOT M
39. R MANUAL Hexadecimal 0x41 0x42 0x43 0x46 0x47 0x48 0x4C 0x4E 0x4F 0x50 0x51 0x55 0x58 0x59 0x02 0x05 0x0B OxOF 0x12 0x14 0x15 0x16 0x17 0x18 0x19 OxlA 0x40 0x41 Notes Page j N d 0 asc 1 bin lx Ix In IB IE le A 0 both 1 FC 2 TS 0 in 1 0 off 1 on Bebb WM ab lk Ibs A 0 off 1 on OCTOBER 2013 POLHEMUS INNOVATION MOTION PATRIOT M USER MANUAL 2 4 PATRIOT M Error Code Summary The following error codes may appear as binary values in binary mode frame headers In ASCII mode only the text meaning appears Error tn Hexadecimal 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0a 0x0b 0x0d 0x0e OxOf 0x10 0 11 0 12 0x13 0x14 0 15 ASCII Text Meaning No Error Invalid Command Invalid Station Invalid Parameter Too Few Parameters Too Many Parameters Parameter Below Limit Parameter Above Limit Communication Failure with Sensor Processor Board Error Initiating Sensor Processor 1 Error Initiating Sensor Processor 2 Error Initiating Sensor Processor 3 Error Initiating Sensor Processor 4 No Sensor Processors Detected Error Initiating Source Processor Memory Allocation Error Excessive Command Characters Entered You must exit UTH mode to send this command Error reading source prom Using Defaults This is a read only command Non fatal text message E
40. STALL THE HOST SOFTWARE usccccccccccccssssscccccccccsuscsssceccceceussseseccccccesuussccceccceeeusuasescceseeuuauncecceseuaeas 7 1 2 1 USB Driver dnstallalion i eec SE E ERE ERU RENE Cru ud 7 1 3 USE THE POLHEMUS PIMGR testen 8 1 4 EXPERIMENT WITH PATRIOT M 10 1 3 NO RYLTO ERATES 11 2 PATRIOT M SYSTEM COMMANDS cccccscscccnscncccsccccscsccccecscnccecececsseccccscscessscececesesees 1 PS OVERVIEW 1 2 2 COMMAND SYNTAX csccccccccccccccsssccsccccccecccsssesceccsccessusseceececessuuuussecsecesesuuusacceeseceseusuusecescecssuuaaucececeseass 2 2 2 1 h inuirem 2 2 2 2 Command Format Notes iiic tet 2 2 2 3 Response Format Notes uiii etit ac eed tope sas dete aces nee 3 2 3 PATRIOT USER COMMAND SET SUMMARY s10ssecccccccccsscssccccecccecssuesesecscceccuuaccseccesecessuuaaecsecessaes 6 2 4 PATRIOT M ERROR CODE SUMMARY 1ccccccccccccsssssccececcccceusussseccecccessssseceescceseususesecccsseeseuaaasececeseaes 7 2 5 COMMAND REFERENCE iissssesssssssesessssssssssssesssesesesesessssseseseseseseseseseseseseseseseseseseseseseseseseseseseseeeseeeseeens 8 2 5 1 Configuration COMMANAS vo uicit o Ea VR e UR RE nts Xe Ve pre Np ui odes eun 8 2 5 2 Operational Commands ie eria tt a en RI EN E Ae beer epi t eate apa 47 3
41. Sensor Channel Results If Bit 0 of the global sensor BIT result map is SET then sensor channel BIT results should be parsed to determine BIT errors for individual sensor channels If a failed sensor channel is not in use the initialization BIT errors can be cleared using the T Read Clear BIT Errors command on page 53 Table 4 4 below defines sensor channel BIT results Table 4 4 Sensor Channel BIT Results Bit Definition 0 Gain 0 1 Gain 1 2 Gain 2 3 Noise 0 4 Noise 1 5 Noise 2 6 30 Reserved Runtime Results There are only 3 runtime BIT errors defined These are Source Failure X Source Failure Y Source Failure Z Runtime errors are indicated in the error field of the output P amp O frame header An error code of a g or A G will indicate a combination of runtime and initialization BIT errors as indicated in Table 4 5 below Note that upper case error codes indicate that uncleared initialization errors also exist Lower case errors indicate that only runtime errors are present NOTE Because they are updated on a frame by frame basis runtime errors cannot be cleared with the Read Clear BIT Errors command on page 53 REV B C 2 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Table 4 5 Runtime BIT Error Codes Error Code Source Source Source Initialization Failure Failure Failure BIT Errors ASCII
42. When the user s head is looking at a given object the user may want the system angular outputs to be zero The user can designate this sensor orientation as the zero orientation by sending the boresight command B1 0 0 0 0 lt gt This results in azimuth elevation and roll outputs of zero at this orientation As the user s head moves away from the boresight point the orientation angles are still measured relative to the source with the zero points shifted to the point where the boresight occurred The user may wish to set the boresight reference values to an orientation that corresponds with the application For example if the application required an output of 0 15 0 following a boresight reference angles should be included with the B command B1 0 15 0 0 lt gt The boresight command will now cause the azimuth elevation and roll data output to be 0 15 0 respectively 13 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL F Output Format Description This command selects the Binary or ASCII output data format ASCII format means that the data is generally human readable while binary format is generally computer readable Regardless of output data format selected all input data commands to PATRIOT M must be in ASCII format Syntax F fmt lt gt Part Description fmt Defines the type of output from PATRIOT M The choices are 0 ASCII output 1 Binary output Remarks T
43. Y Z direction cosines plus carriage return line feed 2 lt gt The output for all stations will be position only REV B 26 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL U Set Units Description This command sets the distance unit to either metric centimeters or English inches Subsequent input and output lengths will be interpreted as centimeters or inches respectively Syntax U units lt gt Part Description units Defines the type of input and output Units The choices are 0 English Inches 1 Metric Centimeters Remarks The system default unit format is inches As with all other configuration commands if the units parameter is not stated in this command the current units setting will be returned in the default response body Output Record Table 2 20 U ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 A 0 for inches 1 centimeters 6 7 AA Carriage Return Line Feed Table 2 21 U Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 for inches 0x01 for centimeters 27 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Examples Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches U0
44. and capable of bi directional data transmission Devices may range from a dumb terminal to a mainframe computer The interval of time needed by the host computer to transfer data from the PATRIOT M system into the host application The interval of time between requesting a PATRIOT M system data point and receiving it into the host computer The interval of time between when measurement data were collected and when the P amp O result is formatted ready for transfer to the host computer In some systems namely active PATRIOT M systems there is a time interval between when the data is collected and when the P amp O computation can be done Hence this definition is intended to correspond to the center point of data collection time so that latency is straightforward and understandable as stated Other tracking systems e g inertial may produce raw data continuously or nearly continuously PATRIOT M latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer A generation of flexible and expandable motion tracking instruments after which the PATRIOT M is modeled using the same sources and sensors The LIBERTY 240 8 allows up to 8 sensors while the LIBERTY 240 16 allows up to 16 sensors 1 The orientation angle of the source sensor pair 2 in active tracking systems the angle between the source of stimulation and the sensor 3 not obscured or blocked from view such as a clear line
45. ary sequence of frame rotations that define the current orientation of the sensor 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 v is defined in the figure as a rotation of the X and Y reference axes about the Z reference axis The transition axes labeled X and Y represent the orientation of the X and Y axes after the azimuth rotation The elevation angle 0 is defined as a rotation of the Z reference axis and the X transition axis about the Y transition axis The transition axis labeled Z represents the orientation of the Z reference axis after the elevation rotation The current x axis of the current sensor frame represents the orientation of the X transition axis after the elevation rotation Lastly the roll angle is defined as a rotation of the Y and Z transition axes about the x axis of the sensor frame The y and z axes of the current sensor frame represent the orientation of the Y and Z transition axes after the roll rotation 15 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Output List PATRIOT M P amp O Pitch Quaternion In the example of Figure 1 11 the azimuth elevation and roll rotations are positive negative and positive respectively Legend X Y Z Alignment Reference Frame x y z Rotated Stylus or Sensor Coordinate Frame Y Azimuth 0 El
46. ct button on the PiMgr toolbar E When the connection has been established the connection icon at the lower right will change to 3 To collect a single frame of motion data from the PATRIOT M system click the Single button on the toolbar 6 You can also do this by typing p or P anywhere on PiMgr window This will cause PiMgr to request a single data frame from the PATRIOT M system The contents of the frame will be displayed in the text window at the top of the PiMgr display The airplane image s in the graphics portion of the screen will move to the retrieved position and orientation Bed H maeno Conia For Help press F1 Tracker connected via USB Figure 1 10 PATRIOT M Data Record Display The text portion of the screen will display the retrieved position and orientation Position in inches Euler Orientation in degrees Station Number X Y Z Azimuth Elevation Roll 1 0 389 34 603 0 000 1 000 0 000 88 000 REV B 9 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 7 4 i Experiment with PATRIOT M Data Take some initial samples of data using the P Single Data Record Output command see page 49 Because you have locked the sensor in one position relative to the source Set Up the PATRIOT M step 5 the data output will not change regardless of the number of data samples you take Remove the sensor move it approximately six inches toward the source secure it i
47. d flash red for 5 to 10 seconds indicating self test and set up When these routines are completed the indicator will reflect system status as follows e Steady green System operational passed startup testing e Flashing red Failed self test and set up REV B 4 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 9 The host should respond with a Found New Hardware message Follow the hardware wizard to install the required drivers from the PATRIOT M Host Software CD ROM For step by step instructions refer to USB Driver Installation on page 7 NOTE Once the USB cable is connected to PATRIOT M it cannot return to RS 232 mode without removing the USB connection and restarting power OFF ON 10 You may now use the Polhemus PiMgr GUI to exercise the system If you have not yet installed the Host Software continue to Install the Host Software on page 7 Otherwise continue to Use the Polhemus PiMgr GUI on page 8 and Experiment with PATRIOT M Data on page 10 For RS 232 Communication 11 Locate the RS 232 cable and insert it into the receptacle as shown in Figure 1 7 Most PC hosts have a 9 pin male D type connector for COMI If you are using COMI plug the remaining end of the cable into the COMI port of the host PC engage and lock as before If your host computer has a 25 pin D connector for the RS 232 port you will need a 9 to 25 pin D connector adapter with the proper genders Note
48. ditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 lt FLow FHigh or 1 0 to disable filter REV B 32 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow lt FHigh lt 1 FACTOR ascalar 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 transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 When the form of the command is 0 1 0 0 lt gt the attitude filter is disabled This is the system default configuration Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determ
49. e Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help REV B ii OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Safety Notices i Warnings This instrument contains no user serviceable parts Do not attempt to service unit Return to Polhemus for repair Do not perform any unauthorized modification to the instrument Do not operate the instrument in the presence of flammable gas or fumes Operation of any electrical instrument in such an environment constitutes a definite safety hazard Do not use the instrument in a manner not specified by the manufacturer The Patriot is not classified as Category AP or APG equipment and therefore is not designed to operate in environments containing Flammable Anesthetic Mixtures with Air or with Oxygen or Nitrous Oxide This device does not have approval from the USFDA for patient contact applications During operation the operator must not simultaneously contact exposed metal contacts of the SEU output connectors and the patient Though no harm to the patient is likely to occur this warning is included in accordance with ANSI AAMI ES60601 1 2005 R 2012 ii To clean the instrument If the instrument requires cleaning 1 3 Remove power from the instrument
50. e such activities in Polhemus s sole judgment have adversely affected the Products Neither shall warranties apply in the case of damage through accidents or acts of nature such as flood earthquake lightning tornado typhoon power surge s or failure s environmental extremes or other external causes Warranties shall not apply to any Products if the Products are defective because of normal wear and tear or e used for any purpose without obtaining any applicable regulatory approvals REV B D 1 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL POLHEMUS DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE POLHEMUS MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE WITHOUT LIMITING THE FOREGOING POLHEMUS S MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATSOEVER EXCLUSIVE OF CLAIMS FOR PATENT INFRINGEMENT AND REGARDLESS OF THE FORM OF THE ACTION INCLUDING BUT NOT LIMITED TO CONTRACT NEGLIGENCE OR STRICT LIABILITY SHALL BE LIMITED TO BUYER S ACTUAL DIRECT DAMAGES NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED The Products are not certified for medical or bio
51. ed precision 3 Sx xxxxxxESxxxB FL 6 Direction Cosine Matrix 3 3 Sx xxxxxB CRLF FL 3 7 Orientation Quaternion 4 Sx xxxxxB FL 3 8 Timestamp 1 10 DWORD 9 Frame Count Al A10 DWORD 10 Stylus Flag 0 or 17 Al I Remarks If the wildcard is specified instead of a station all station output lists will be set to the programmed value If output list parameters p pn are omitted from the argument list the current defined output list is returned Default is 0 2 4 1 P amp O lt cr gt lt If gt for all stations 25 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Output Record Table 2 18 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 X Data Item 1 6 B 7 xB Remaining data items separated by blanks Table 2 19 Binary Response Byte Index Format Description 0 7 Binary Header 8 I Data Item 1 12 I Data Item 2 16 I Data Item 3 84 I Data Item 20 NOTE In the binary output format the list of valid data items will be terminated with a 1 OxFFFFFFFF Examples The user may decide to use X Y Z direction cosines instead of the default output format In order to do so the following command should be sent 1 5 6 7 1 lt gt The output data for Station 1 will now be displayed as X
52. elevant source sensor pair Xoff X direction Tip offset Yoff Y direction Tip offset Zoff Z direction Tip offset Remarks Factory default tip offsets are read from the PROM inside the stylus connector on power up As a result the N command can only override the factory defaults during the current operational session REV B 23 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Output Record Table 2 15 N ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A N 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB X offset 12 18 Sx xxxB Y offset 19 25 Sx xxxB Z offset 26 27 AA Carriage Return Line Feed Table 2 16 N Binary Response Byte Index Format Description 0 7 Binary Header 8 FL X offset 12 FL Y offset 16 FL Z offset Examples If the user created a special stylus tip attachment that extended exactly one inch from the end of the stylus an adjustment to the tip offsets would have to be made To do so the following steps should be taken 1 Verify that PATRIOT M is measuring units in inches by sending the U Set Units command see page 27 Read the factory tip offsets from the PROM in the connector by sending the command N1 lt gt A typical factory tip offset might be 2 523 0 004 0 03 2 To add one inch in X to the factory calibration type
53. emus gt PiMgr The initial PiMer screen will look like this United conte Ea For Help press F1 tracker connection Figure 1 8 PiMgr Screen Display 1 With no PATRIOT M system connected notice that the icon appears in the lower right corner Once connected the icon will change to 2 If the PATRIOT M system is already powered up and connected to the computer the PiMgr will discover the connection immediately upon startup If not you will need to manually create the connection once you have powered up PATRIOT M To do this first you must select the type of connection you wish to create 3 If you want to create a USB connection skip to step 4 PiMgr defaults to a USB connection If you want to create an RS 232 connection first configure the serial port settings by opening the Device Configuration dialog Open this dialog off the Device menu Device gt Device Configuration and select the Connection tab Select the RS 232 Connection Type on the left and the appropriate RS 232 Properties on the right Then Click OK REV B 8 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Fraeszr Source Mounting Frame Active Sensors General Connection Filters Connection Type i R5 232 Properties A Com Patt mmm Y Baud Rate 115 200 Parity None X RS 232 C USB Cancel Apply Figure 1 9 RS 232 Configuration Settings 4 To create a connection click the Conne
54. ere an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing Software Development Kit software development toolset available for LIBERTY PATRIOT M based trackers consisting of programming libraries help files and sample code SDK is sometimes referred to as API although API refers specifically to the programming libraries used to interface with the instrument The sensor measures the low frequency magnetic field generated by the source The sensor is used to track both the position and orientation of the object to which it is attached relative to the measurement reference frame The source generates the low frequency magnetic field measured by the sensor The source s X Y and Z axes are the default measurement reference frame The source sensor pair PATRIOT M supports up to two sensors yielding a possible two stations A pencil shaped housing for the sensor with an integral switch and used by the operator to indicate and or select points to be digitized Shorthand for synchronization For example sync signal The unit of assumed distance PATRIOT M allows measurement in either inches or centimeters The rate at which motion tracking data can be made available from the PATRIOT M system The maximum distance at which the resolution and noise performance of the PATRIOT M system can be realized 17 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL User Defaul
55. escribe the software programmed into PATRIOT M non volatile memory The interchange coding used to present data PATRIOT M outputs either ASCII or BINARY data but accepts only ASCII inputs from the host Because of the inversion symmetry of the magnetic fields generated by the source there are two possible mathematical solutions for the X Y Z position coordinates for each set of sensor data processed and PATRIOT M is unable to determine which solution is the correct one without additional information This additional information is provided by the H Hemisphere of Operation command on page 18 which defines the hemisphere in which the sensors are operating Therefore only half of the total spatial sphere surrounding the source can be utilized at any one time for unambiguous position measurement The selected hemisphere is referred to as the current hemisphere It is defined by an LOS line of sight vector from the source 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 source 13 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Host 1 O latency Lag Latency LIBERTY Line of Sight LOS LSB LSD MSB Any device capable of supporting an RS 232C interface or the high speed USB interface
56. evation Roll Figure 1 11 Euler Angles A list of the data items included in a data record A two sensor low cost tracking instrument modeled after LIBERTY Acronym for position and orientation the six pieces of data needed to fully describe tracking of an object in 3D space Some tracking devices by virtue of their principle of operation can produce only position or only orientation whereas others can produce both P amp O although the user usually can opt for only those parameters desired Same as elevation A four parameter quantity representing a vector and a scalar The quaternion q qo i qi j q2 k qs can be used to represent the sensor s orientation without the need for trigonometric functions The attitude matrix output from PATRIOT M can be equivalently represented by the following matrix using quaternions X Directional Cosines Y Directional Cosines Z Directional Cosines G d 9 4 2 4192 1093 2 q 4 992 2 4390 9192 42 9 93 9 2 4545 91 2 4 43 9042 2 4 46 93492 ho 4 d d 16 OCTOBER 2013 POLHEMUS INNOVATION MOTION Response Roll SDK Sensor Source Station Stylus Sync Units Update Rate Useful Range PATRIOT M USER MANUAL The interval of time between a request to the PATRIOT M system to collect a data point and when that data is available for input from the PATRIOT M system Coordinate of orientation tracking about the azimuth elevation axis wh
57. ex Format Description 0 A First Digit of Station Number 0 1 Second Digit of Station Number 2 A y 3 A Error Indicator 4 B ASCII Blank character 5 17 A Station ID 18 n A ID n l n 2 A Carriage Return Line Feed n 24 A Station Serial Number nt24 m A Serial Number 1 2 A Carriage Return Line Feed Table 2 47 V station Binary Response Byte Index Format Description 0 7 Binary Header 8 I ID 12 CH 16 Serial Number Examples To determine the firmware version of the System Controller module in PATRIOT M issue the following command V The record returned will contain the version number of the PATRIOT M Firmware I O Processor and Boot Loader REV B 56 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL AW Set Default Operational Configuration Description This command sets the system non volatile operational configuration to one of four values This new default configuration will be used upon subsequent system initializations This command does not change the current configuration of the device until the device is restarted Syntax W slotnum lt gt Part Description slotnum 0 Default Factory configuration 1 3 User defined configurations Remarks When using the W command the Y Initialize System command page 58 or system power cycle must be used to make PATRIOT M use the operational configuratio
58. figuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined NOTE Original precision is retained for compatibility with previous Polhemus 3SPACE systems Also note that some item values are repeated as extended precision items although no output difference is made 1 space cr If Original and extended precision may be freely mixed in an output record but it is recommended that extended precision be used if compatibility is not required as the original precision may be deleted in future systems REV B B 1 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL BINARY FORMAT INITIATING COMMANDS P or C continuous mode 9 Byte Type Description 0 1 US Frame Tag always PA or 0x5041 for PATRIOT M HST 2 UC Station Number 3 UC Initiating command 4 UC Error Indicator 5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body Tta x y z position Cartesian coordinates FL 3 ay TE az el roll Euler orientation angles FL 3 ae direction cosines of the sensor s x y z axes FL 3 The system data record contents are specified by the user using the command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined The notation FL 3 refers to
59. figuration should be enabled Issuing a P command disables continuous print output mode Frames will be received from the PATRIOT M at 60 frames sec Output Record The format of each frame of continuous output data is identical to that of a single frame generated by the P command See Table 2 40 on page 49 and Table 2 41 on page 49 Examples To enable continuous output mode send the command as follows C lt gt Data from PATRIOT M will now flow continuously to the host computer To disable send a P Continuous data will stop and the response to the terminating P will be returned 48 OCTOBER 2013 POLHEMUS INNOVATION MOTION PATRIOT M USER MANUAL P Single Data Record Output Description In non continuous output mode this command polls PATRIOT M for a single data record If more than one station is enabled then data from each active station will be sent in numerical order station 1 first station 2 second that is a complete cycle of active stations will be output Output mode refers to whether the system automatically transmits data records to the host continuous output mode or the host must request data records by polling the system each time non continuous output mode Syntax P NOTE This is the only PATRIOT M command that does NOT require a lt gt Remarks The system default enables single data record output mode Output Record The body of each ind
60. g notation is used in this manual to describe the PATRIOT M command syntax lt Items shown inside square brackets are optional To include optional items type only the information inside the brackets Do not type the brackets Represents an ASCII carriage return or enter M 0x0d Whenever shown this value must be present to terminate the command sequence An ellipsis indicates that you can repeat an item A comma represents a delimiter in a list of optional parameters The comma must be present for those parameters which are omitted except for the case of trailing commas For example Qs p1 p4 lt gt is the proper command format when omitting parameters p2 and p3 Commas following the parameter p4 are not required if parameters p5 and p6 are omitted A vertical bar means either or Choose one of the separated items and type it as part of the command For example ON OFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar A caret in front of a command letter indicates that the control key should be held down while typing the command letter Control commands produce ASCII values between 0x00 and Ox1F For discussion purposes examples assume that only one sensor is used in the Sensor 1 position 2 2 2 Command Format Notes Commands and alphabetic parameters are NOT case sensitive Commands that use optional parameters use current system retained values for
61. gure 1 4 Sensor Source Test Setup sse eene rennes 3 Figure 1 5 Power Connettori eee ee pere HERD RO E PER d 1 Figure 1 6 USB Cable Connection sese nennen nennen 1 Figure 1 7 RS 232 Cable Connection essent 5 Figure 1 8 P1Mgr Screen Display vs eic rite erp te rH Hie beret 8 Figure 1 9 RS 232 Configuration Settings 9 Figure 1 10 PATRIOT M Data Record 1 1 9 Figure 1 11 Euler Angles ii eese eroe pine ern e HR 16 PFig re 3 1 Source Diagr tn iet e ree e Pr HER n e EHE 66 Figure 3 2 Sensor e eus etre pee a elder 67 Figure 3 3 Sensor ione ed ird dian EO RE reor dioere Ee be ne hd edes 67 Figure 3 4 8 Stylus iiic detective quet ee dirti ire eb tke pepe ee elec 68 Figtire 3 5 3 Stylus iiie retten retento re E a al doves eut eerte pasivo decus 68 Figure 3 6 Buddy Button and Buddy Button Adaptor sse 69 Figure 4 1 Alignment Reference Frame enne 1 DUE TO SOFTWARE AND HARDWARE MODIFICATIONS SCREEN OR PRODUCT EXAMPLES APPEARING IN THIS MANUAL MAY VARY SLIGHTLY FROM THE ACTUAL SCREENS OR PRODUCTS THE USER ACCESSES REV B vii OCTOBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT M USER MANUAL LIST OF TABLES Table 2 1 ASCH Response 4 Table 2 31 Binary Response
62. hanges the source mounting frame to 0 180 0 By omitting the el parameter from the command GO 180 lt gt the source mounting frame would then change to 0 180 180 The el setting remains unchanged e Similarly the az parameter can be defaulted by Gel roll and the roll parameter can be defaulted by Gaz el lt gt The trailing comma is not required when the last parameter s are omitted 2 2 3 Response Format Notes Depending on the F Output Format configuration setting see page 14 frames received from PATRIOT M in response to the commands detailed in this document will conform to one of the following format definitions ASCII ASCII response frames are described in this document using the following notation Is an ASCII Character Boise Is a Blank or Space Is the Sign byte or a space for Is a decimal digit 0 9 p MS Carriage Return Line Feed i e M J 0x0d 0x0a Repeat contents of parentheses n times REV B 3 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Example A format 3 Sx xxxxB would be output as 1 1111 2 2222 3 3333 Except where noted ASCII mode response includes a standard 5 character response header The default ASCII response frame format is as follows Table 2 1 ASCII Response Format Byte Index Format Description 0 A First Digit of Station Number s 1 A Second Digit of Station Number Q 2 A Command Letter 3
63. he default output data format is ASCII The Polhemus SDK uses binary output exclusively As with other configuration commands if no fmt argument is provided the current value of the setting is returned in the default response frame If a software application is written to receive binary data from PATRIOT M and there is a requirement to take it off line temporarily to do visual checks the user would enable the ASCII output data format in order to be able to easily read PATRIOT M data on the PC monitor The user may wish to write a software application for PATRIOT M where a fast update rate is crucial In order to reduce data throughput size PATRIOT M could be set to output in binary instead of ASCII REV B 14 OCTOBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT M USER MANUAL Output Record Table 2 7 F ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A F 3 A Error Indicator 4 B ASCII Blank character 5 A 0 6 7 AA Carriage Return Line Feed Table 2 8 F Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00000001 Examples The command to enable binary output mode for the system is 1 lt gt 15 2013 POLHEMUS INNOVATION moTion PATRIOT M USER MANUAL G Source Mounting Frame Description This command allows the user to
64. he provisions of the warranty as stated in Appendix D of this document The proper return address is Polhemus 40 Hercules Drive Colchester VT 05446 Attention RMA From within the U S and Canada 800 357 4777 From outside the U S or Canada 802 655 3159 Fax 802 655 1439 REV B F 1 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL INDEX e Y Otrl key te rtt eiiis 18 experiment with data sss 10 lt gt Enter 18 filter parameter scalar value 29 32 active station 40 titer ie Leder 30 33 address for Polhemus sss F 1 factory defaults sssssssssseeeeeees 13 alignment sse 11 9 10 39 A 1 tnr 30 33 alignment frame reset sse 39 field source sse E 1 alignment procedure sese 10 filter parameters attitude sss 32 alignment reference frame 9 A 1 filter parameters position ssessessss 29 angular coverage ssseseseeeeeeenene e E 1 TIFIWAEE irure ties terree Eni ree 13 cientes totu E 11 1 El seront 4 11 3 B 1 FLOW RR 29 32 attitude f
65. ilter parameters seen 32 REPE 13 attitude matrix ener 11 global sensor GS BIT results C 2 11 hardware switches 64 baud rate ssssseeeeeeenen eene 12 37 hemisphere sese 13 18 benign environment sess 12 hemisphere of operation ssessssees 18 iioii tenere eie ns 12 nr a 14 Binary an e eens 4 4 BET deett vesper iet RII 12 acis eret te em RERO WES 70 global sensor results 22 C 2 VO considerations sissisota s 70 sensor channel results sss C 2 latency iie eere tes 14 soutce results Ji cnet eee rei etes C 1 I O ports 5 ee eren rts E 1 BIT Built In Test seen C 1 ID operational 43 piter bU 53 nte 27 boresight aine tere 12 initialization results sse C 1 Da 12 initialize system e 58 Buffering Mode USB sse 45 D 14 Built In Test BIT eee C 1 latency icio eie er erp ete 14 E 1 centitrietets aiite ii nte epo dvi estas 27 least significant bit 5
66. ings suggested by the installation wizard When the installation is complete if you are planning to use your computer s USB port to connect to the PATRIOT M System leave the CD ROM in the drive It will be needed when the initial USB connection is made If you are not planning to use the USB port you may remove the CD ROM from the drive now 1 2 1 USB Driver Installation When PATRIOT M is connected via USB to a Windows host for the first time the host will display a Found New Hardware message The host will then launch the Found New Hardware Wizard to locate and install the USB drivers for PATRIOT M If the CD ROM is not already in the drive load it now When the Found New Hardware Wizard displays select the Install software automatically option and click Next The wizard will install the PATRIOT M Loader When it has completed click Finish The same process will be launched again automatically to install the Polhemus PATRIOT M USB Driver Repeat the same selections and the process will be complete REV B 7 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 1 3 Use the Polhemus PiMgr GUI If you selected the default settings when you installed the PATRIOT M Host Software on your computer you will find a shortcut to the PiMgr application on your Windows XP Vista Win 7 desktop It looks like this Otherwise navigate to the program through the windows Start menu Start gt All Programs gt Polh
67. ining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 24 Y ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 1 Second Digit of Station Number n a 2 A 3 Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed 33 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Table 2 25 Y Binary Response Byte Index Format Description 0 7 Binary Header 8 Filter Sensitivity Value 12 FL Filter Low Value 16 FL Filter High Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system Y 2 2 8 95 lt gt All active stations will now have filtering applied to the attitude measurements To turn off attitude filters Y0 1 0 0 lt gt REV B 34 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL AB Un Boresight Description This command causes the sensor boresight rotation matrix to be reset to the identity matrix for the specified station If the origin of the station was previously reset using the B Boresight command see page 12 the origin will
68. intended to assist the user in meeting the requirements of their particular medical market iv OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL TABLE OF CONTENTS ENVIRONMENTAL REQUIREMENTS cccsscscccsccccsccccccscncnccecccsesccescncccescecscescccscucsccssececssecces Il OPERATION TRANSPORTATION AND STORAGE REGULATORY STATEMENT 1 reto oen evene eae Er eo so rone saa nS eU na sae Ora eieiei obl Il FCC STATEMENT CLASS B PATRIOT M cscscsccccncsccccscncccsccccssscccscnccccscecscssccscucscsecececscecees Il SAFETY NOTICES Il 1 WARNINGS E M TO CLEAN THE INSTRUMENT cccccccssccccccsccccccusccccccuscccecsccccceucesecuuueesecuecesseuucecsceusesseuuuccsseusceseauuesseuues STERILIZATION AND DISINFECTION IV RISKSAND SIDE A A OI EEE ie Ee 1 GETTING STARTED inna ens eu nu RU senses esse 1 JJ SETUPTHEPATRIOT M osebivavotavevenstubevaeeisvevevatuhevausisveveustavevsuetsveveune 2 1 2 IN
69. iption 0 7 Binary Header 8 12 Vector Y component 16 FL Vector Z component Examples The user may decide to mount the source above the test area in order to be able to move the sensor to the positive and negative sides of X and the positive and negative sides of Y NOTE since the default hemisphere value is forward the user cannot move the sensor to the negative X side of the source because the signs will flip and it will appear as if the X measurement never goes negative If the source is positioned above the test area the positive Z or lower hemisphere should be selected This can be accomplished with the following command H1 0 0 1 19 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Station 1 of PATRIOT M will now be set for the positive Z or lower hemisphere Although the hemisphere vector is not limited to 1s and Os the following table of hemisphere commands may be useful Forward Hemisphere X H1 1 0 0 lt gt Back Hemisphere X H1 1 0 0 lt Right Hemisphere Y H1 0 1 0 lt gt Left Hemisphere Y H1 0 1 0 lt gt Lower Hemisphere Z H1 0 0 1 lt gt Upper Hemisphere Z H1 0 0 1 lt gt REV B 20 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL L Stylus Button Function Description This command allows the user to put the PATRIOT M stylus into different output modes by controlling the button function Syntax
70. is not the same as a boresight operation which concerns only the sensor in passive systems alignment and boresight can be identical The reference frame in which the position and orientation of the sensor is measured The default alignment frame is the source frame Application Programming Interface Programming library used to develop custom host software for driving the instrument Sometimes used interchangeably with SDK American national Standard Code for Information Interchange defines a certain 8 bit code for display and control characters A three by three matrix containing the direction cosines of the sensor s X axis in column one the direction cosines of the sensor s Y axis in column two and the direction cosines of the sensor s Z axis in column three The order of the Euler angle rotation sequence is azimuth elevation and roll where X Direction Cosines Y Direction Cosines Z Direction Cosines CA CE CA SE SR SA CR CA SE CR SA SR SA CE CA CR SA SE SR SA SE CR CA SR SE CE SR CE CR CA Cos azimuth CE Cos elevation CR Cos roll SA Sin azimuth SE Sin elevation SR Sin roll The coordinate of orientation tracking in the horizontal plane where an increase in the angle is clockwise when viewed from above Azimuth is a 11 2013 POLHEMUS PATRIOT M USER MANUAL Baud Rate rotation around the 77 or vertical axis The term
71. is placed in upright position and secured in place by padding on all sides during transportation It is also important that the PATRIOT M be kept dry during transportation and storage To ensure proper operation do not touch any of the terminals while using the PATRIOT M Regulatory Statement Applicable Directive 93 42 EEC Medical Devices Applicable Standards IEC 60601 1 Ed 2 1997 Medical Electrical Equipment Part 1 General Requirements for Safety IEC 60601 1 2 Ed 3 2007 Medical Electrical Equipment Part 1 General Requirements for Safety 2 Collateral Standard Electromagnetic Compatibility Requirements and Test FCC Statement Class B PATRIOT M This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 ofthe FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures
72. ive 0 Inactive 7 8 AA Carriage Return Line Feed Table 2 34 U0 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A tu 3 A Error Indicator 4 B ASCII Blank character 5 8 XXXX Hex bitmap for detected sensors 9 12 XXXX Hex bitmap for active sensors 13 14 AA Carriage Return Line Feed Table 2 35 U Binary Response Byte Index Format Description 0 7 Binary Header 8 I Detected and Active Station bitmap Binary output is the same for both U station and 00 lt gt REV B 41 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Examples A user could connect two sensors to a PATRIOT M and then collect a data point from one sensor at a time after disabling the other one To do so the following commands would be sent 1 Send the command U2 0 lt gt to turn station 2 off 2 Press P to collect a data point from station 1 3 Send the command U2 1 lt gt to turn station 2 on 4 Send the command U1 0 lt gt to turn station 1 off 5 Press P to collect a data point from station 2 6 Repeat steps 1 through 6 as necessary To turn on station 1 while turning off station 2 send 00 1 lt gt where 1 corresponds to 0x01 0001 Bits corresponding to station are set and those corresponding to 2 are cleared 42 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL
73. ividual frame of output data is comprised of output data types configured by the O command Table 2 40 P ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Error Indicator 3 B Blank 4 m See Table 2 17 page 25 Data Output Item 1 configured by O command See Output Data List on page 25 m n See Table 2 17 page 25 Data Output Item 2 See Table 2 17 page 25 Data Output Item n Table 2 41 P Binary Response Byte Index Format Description 0 7 Binary Header 8 n See Table 2 17 page 25 Data Output Item 1 configured by O command See Output Data List on page 25 ntl m See Table 2 17 page 25 Data Output Item 2 See Table 2 17 page 25 Data Output Item n REV B 49 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Examples If the system is being used in an application where data is only needed a certain number of times or on command then the single data record output should be used To poll the system for a single data record send the command as follows P One data record from PATRIOT M will be sent to the host computer 50 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Q Reset Counters Description This command allows the user to zero the frame counting and the frame timestamp feature The frame counting featu
74. medical use Any references to medical or bio medical use are examples of what medical companies have done with the Products after obtaining all necessary or appropriate medical certifications The end user OEM VAR must comply with all pertinent FDA CE and all other regulatory requirements REV B D 2 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL APPENDIX E Specifications Update Rate 60 Hz per sensor simultaneous samples Latency Less than 18 5 milliseconds Number of Sensors lor2 I O Ports USB RS232 to 115 200 Baud both standard Static Accuracy 0 06 in RMS for X Y or Z position 0 40 RMS for sensor orientation Resolution 0 00046 in 0 011 mm at 12 in 30 cm range 0 0038 orientation Range 36 in 90 cm at above specifications useful operation up to 60 in 152 cm Multiple Systems Provision available to operate up to eight separate systems in same environment Angular Coverage All attitude Data Format Operator selectable ASCII or IEEE 754 binary English Metric Units Physical Characteristics SEU 6 75 in 17 1 cem L x 6 25 in 15 9 cm W x 1 75 in 4 5 cm H weight 0 85 Ibs 0 4 kg Field Source 2 3 in 5 8 cm L x 22 in 5 6 cm W x 2 2 in 5 6 cm H weight 8 8 oz 250 gms Sensor 0 9 in 22 9 mm L x 1 1 in 27 9 mm W x 0 6 in 15 2 mm H weight 0 8 oz 23 gms Power Module 3 5 in 8 9 cm L x 2 4 in 6 1 cm W x 1 4 in 3 6 cm H weight 6 oz
75. modify the mounting frame coordinates of the source It is basically a non physical rotation of the source and becomes the new orientation reference for each sensor s measurements Source mounting frame is not a sensor specific setting Syntax G A E R lt Part Description A Azimuth mounting frame angle E Elevation mounting frame angle R Roll mounting frame angle Remarks The default mounting frame is 0 0 0 Issuing a G lt gt will read the current source mounting frame Output Record Table 2 9 G ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 0 1 Second Digit of Station Number n a 0 2 A G 3 A Error Indicator 4 B ASCII Blank character 5 13 Azimuth Mounting Frame Angle 14 22 Sxxx xxxB Elevation Mounting Frame Angle 23 31 Sxxx xxxB Roll Mounting Frame Angle 32 33 AA Carriage Return Line Feed Table 2 10 Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Mounting Frame Angle 12 Elevation Mounting Frame Angle 16 EL Roll Mounting Frame Angle 16 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Examples If there was a requirement to mount the source upside down more mechanically feasible then the following command should be used G0 0 180 The orientation measurements for all stations will now look as if the source had no
76. n Output Record None Examples If the PATRIOT M system s configuration had been altered by sending various other commands and saving the result to the configuration non volatile memory and the user wanted to return the system to its original factory default settings then the following commands should be sent W0 After initialization the system non volatile configuration memory will be set with all of the factory default parameters This exercise is especially useful when the system has been modified to the point where the user is not sure how to get back to factory defaults However care should be taken because all non saved custom settings will be lost as a result of the reset 57 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL AY Initialize System Description This command reinitializes the entire system to an advanced power up state The user should allow sufficient time for the system to run through its self test and initialization as signified by completion of LED flashing explained in step 8 of Getting Started before attempting to send the system additional commands Syntax AY lt gt Remarks None Output Record None Examples If the user wanted to set the system configuration back to its original factory default condition the following commands should be sent W0 lt gt AY lt gt The system will now be in its original factory default condition The Ctrl Y simulate
77. n place and take another single data frame The value of the X position data will decrease by approximately six inches The Y and Z values will remain roughly the same as the original data If you left the attitude of the sensor approximately the same as it was when you started then the attitude data also will be approximately the same Again remove the sensor and without moving its position try twisting it in azimuth in the same plane as the wood support approximately 45 degrees and lock it down with tape Now collect another data frame The first four columns will be approximately as they were in step 1 but the Azimuth data in column 5 will have changed by approximately 45 degrees Continue to experiment with the system as described in step 3 to demonstrate that it measures the position and orientation six degree of freedom of the sensor with respect to the source For a more hands on approach to communicating with PATRIOT M an RS 232 connection is available 10 OCTOBER 2013 POLHEMUS INNOVATION MOTION PATRIOT M USER MANUAL 1 5 Terms Acronyms Alignment Alignment Frame API ASCII Attitude Matrix Azimuth Obtaining congruence between the axes of the PATRIOT M system and the axes of the application The process whereby the PATRIOT M system coordinate reference is brought into coincidence either physically or mathematically with other coordinates of the environment Alignment in an active system
78. n the event that sensor mounting is required NOTE Nylon hardware is only required when the hardware will be in direct contact with the source or sensor A testing surface where the devices will be used a table for example could have small metal hardware like screws nuts and bolts which probably would not affect the accuracy of the PATRIOT M system 15 PIN CONNECTOR ISOMETRIC VIEW FOR REFERENCE ONLY THEORETICAL ELECTRICAL CENTER POSITION SHOWN 31 025 4 j Figure 3 3 Sensor RX1 C REV B 67 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 3 4 Stylus The stylus is a pen shaped device with a sensor coil assembly built inside and a push button switch mounted on the handle to effect data output The position measurements are relative to the tip of the stylus due to a precise factory calibration The 8 stylus is shown in Figure 3 4 7 Lx 0 5 W x 0 75 H 0 75 oz and Figure 3 5 shows the 3 stylus 3 5 Lx 0 5 W x 0 75 H 0 45 oz either stylus may be used in any of the sensor ports The stylus functions as a sensor with the electrical center offset from the tip of the stylus via firmware Single or Continuous output records may be obtained as a function of the integral switch See L Stylus Button Function on page 21 and N Tip Offsets on page 23 for stylus configuration details Figure 3 4 8 Stylus Figure 3 5 3 Stylus REV B 68 OCTOBER 2013 PO
79. o exist will be placed in any P amp O frame output header Once a user clears the errors the P amp O frame output header error will disappear The user can determine at a glance which sensor channel failed initialization by looking at words 2 9 Any word that does not contain all zeros indicates a failure for that sensor channel If further information is needed Appendix C can be used to further decode these BIT results This command will not clear run time BIT errors Example Word 0x00000000 REV B 53 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Output Record NOTE TO has no output record Table 2 42 T ASCII Response Byte Index Format Description 0 A 0 1 0 2 t 3 B Blank 4 B Blank 5 14 AAXxxxxxxx Bitmap of source and global sensor processor errors sensors 1 8 15 16 AA Carriage Return Line Feed 17 27 AAxxxxxxxxB Bitmap of sensor channel 1 errors 28 38 AAxxxxxxxxB Bitmap of sensor channel 2 errors 60 61 AA Carriage Return Line Feed Table 2 43 T Binary Response Byte Index Format Description 0 7 Binary Header 8 DW Bitmap of source and global sensor processor errors 12 DW Bitmap of sensor channel 1 errors 16 DW Bitmap of sensor channel 2 errors Examples AT lt gt Read BIT Errors Yields the results below when no error 00t 0 00000000 0x00000000 0x00000000 0x00000000 0x0000000
80. of sight for optical uses Least significant bit Least significant digit Most significant bit 14 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Motion Box Orientation Angles The volume in which motion tracking is specified to perform as prescribed Although this 3D volume usually is cubicle in nature many of the tracking technologies known as active are dependent on a source of stimulation e g magnetic field light source which actually performs equally well at a constant radius from the source so that the box actually might be better described as spherical or hemispherical The azimuth elevation and roll angles that define the current orientation of the sensor coordinate frame with respect to the designated reference frame The Euler angle coordinates that are output by PATRIOT M as one measure of sensor orientation are graphically defined in Figure 1 11 Here 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 sensor frame in its current orientation state The X Y Z triad represents the reference frame against which the relative orientation of the sensor frame is measured By definition the X Y Z frame also represents the zero orientation reference state of the sensor frame The Euler angles azimuth elevation and roll are designated y 0 and 9 These angles represent an azimuth prim
81. on This command resets the alignment reference frame for the specified station to the source reference frame It provides an easy way to re align the reference frame to the factory default values The command parameter is defined as Syntax Rstation lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair Remarks None Output Record None Examples To reset the alignment reference frame for station 2 to the default source reference frame execute the following R2 39 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL AU Active Station State Description The purpose of this command is to allow the host to turn a station on or off in software A station is defined as a source sensor port pair The two sensors paired with the one source are assigned station numbers one and two 1 2 Although stations are enabled simply by plugging the sensors into the ports on PATRIOT M the stations can then be disabled or enabled again by using a software command When a station exists and is enabled data records for that sensor will be transmitted from that station If the station is disabled no data records from that station will be transmitted Syntax U station state lt gt or UO bitmap Part Description station 1 or 2 which specifies the relevant source sensor pair 0 causes active station bitmap to be retrieved or set
82. on of the operational hemisphere s zenith p3 The initial z component of a vector pointing in the direction of the operational hemisphere s zenith Remarks The arguments p p3 above are the vector components of the operational hemisphere s zenith The default hemisphere values are 1 0 0 which is positive X or forward hemisphere 18 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Hemisphere Tracking is enabled by sending Hstation 0 0 0 lt gt It is not enabled by default When enabled PATRIOT M modifies the operating hemisphere automatically When turning on Hemisphere Tracking the sensor of the specified station must be initially located in the currently set hemisphere NOTE If Hemisphere Tracking is turned ON when the X Operational Configuration ID see page 43 is sent PATRIOT M will save the default hemisphere Issuing an Hstation lt gt returns a record of structure as shown below Output Record Table 2 11 H ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 H 3 A Error Indicator 4 B ASCII Blank character 5 11 SXX XXX Current Vector X component 12 18 SXX XXX Current Vector Y component 19 25 SXX XXX Current Vector Z component 26 27 AA Carriage Return Line Feed Table 2 12 H Binary Response Byte Index Format Descr
83. or codes The initialization BIT results words contain sub bitmaps that represent Source Global Sensor GS and individual Sensor Channel BIT results A SET bit 1 position indicates that a BIT error occurred If no errors were detected each bit in all nine or eighteen words will be CLEARED 0 The words and their content are depicted in Table 4 1 below Shaded areas represent reserved bit fields Table 4 1 BIT Results DWORDs BITMAP Word 31 30 29 28 27 26 125 24 23 22 21 20 19 18 1716 15 14 13 1211 10 9 8 7 6 5 4 32110 0 Source GS 1 Sensor Channel 1 2 Sensor Channel 2 Source BIT Results The sub bitmap representing source BIT results is defined in Table 4 2 below Table 4 2 Source BIT Results Bit Definition 0 Magnitude X Error 1 Magnitude Y Error 2 Magnitude Z Error 3 Noise X Error 4 Noise Y Error 5 Noise Z Error 6 Source PROM Read Error 7 Reserved 8 Reserved REV B C 1 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Global Sensor GS BIT Results The sub bitmap representing global sensor BIT results is defined in Table 4 3 below Table 4 3 Global Sensor BIT Results it Definition Sensor Errors Sensor 1 PROM Read Error Sensor 2 PROM Read Error Reserved Reserved Reserved Reserved
84. ort and an RS 232 port See Getting Started Figure 1 1 on page 2 for a picture of the SEU PATRIOT M sources and sensors are compatible with and identical to LIBERTY sources and sensors 3 1 1 Source Port The single source port is a 15 pin plug D type connector located on the front of the SEU as shown in Figure 1 2 on page 2 The source should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off CAUTION Do not disconnect or connect the source while the PATRIOT M SEU is powered on Be sure the source cable is routed separately from the sensor cables 3 1 2 Source Frequency The PATRIOT M is shipped with a source designed to operate at a standard frequency It is possible to operate multiple PATRIOT M units in close proximity by using sources designed to operate at alternate frequencies The source frequency is automatically detected and no operator action is needed Contact Polhemus Customer Service see page F 1 for more information 3 1 3 Sensor Ports The sensor ports are 15 pin high density receptacle D type connectors located on the front of the SEU as shown in Figure 1 3 on page 3 The SEU can be configured to accept up to two sensors The sensor s can be connected or disconnected from the SEU at any time The sensors are automatically detected and will begin sending data about one second after being connected CAUTION Route the sensor cables separately from the
85. re is always enabled however it is only output when specified through the Output Data List command see page 25 The framecount is a positive integer value indicating the relative frame number since system start or the last reset Rollover occurs after 2 frames The timestamp feature is always enabled however the timestamp is only output if it has been specified in the Output Data List command The timestamp is a positive integer value indicating the number of milliseconds since the last reset operation or system start Rollover occurs after 2 milliseconds Syntax Qcounter lt gt Part Description counter 0 Reset both framecount and timestamp 1 Reset framecount only 2 Reset timestamp only Remarks None Output Record None Examples To zero the framecount execute the following 1 lt gt 51 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Save Operational Configuration Description This command allows the user to save an operational configuration to one of three configuration records stored in PATRIOT M non volatile configuration memory The configuration saved is the configuration currently defined Syntax Kslotnum lt gt Part Description slotnum 1 3 One of three user definable operational configurations that are stored within PATRIOT M Remarks Configuration slot number 0 is reserved for the factory default config
86. ressed continuous output mode is turned back on again and so on 21 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Output Record Table 2 13 L ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A T 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for Marker 1 for Point Track 6 7 AA Carriage Return Line Feed Table 2 14 L Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 for Marker 0x01 for Point Track Examples The command to enable Stylus Track mode on station 2 is L2 1 lt gt 22 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL N Tip Offsets Description This command allows the user to override the factory defaults for the stylus tip offsets Although changing the tip offsets is not recommended the ability to do so is available Each stylus has been factory calibrated with custom tip offsets This is the offset of the sensor from the tip of the stylus The tip offsets allow the tip to act as the measurement reference instead of the sensor coil inside the handle Tip Offset settings are not saved in the PATRIOT M configuration They must be re applied each time PATRIOT M is restarted Syntax Nstation _Xoff Yoff Zoff lt gt Part Description station 1 or 2 which specifies the r
87. revert back to the source origin Syntax Bstation lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair Remarks None Output Record None Examples B1 lt gt Resets Station 1 35 OCTOBER 2013 POLHEMUS INNOVATION MOTION AK Set Echo Mode Description PATRIOT M USER MANUAL This command enables and disables the communications echo mode In echo mode PATRIOT M responds to configuration modifying commands by echoing back the command that was received Recall that without echo mode configuration modifying commands generate no response message from the tracker See Configuration Commands on page 8 This allows feedback to the user when modifying configuration settings In binary mode the echo is prefixed by the standard 8 byte binary header Syntax E echo lt gt Part Description echo Defines the echo mode The choices are 0 No echo mode 1 Echo mode Output Record Table 2 26 E ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 A 1 on 0 off 6 7 AA Carriage Return Line Feed Table 2 27 E Binary Response Byte Index Format Description 0 7 Binary Header 8 I 1 on 0 off Remarks The system default for echo mode is off Example
88. rgument is provided the current value of the setting is returned in the default response frame Buffering Mode applies to USB data I O only RS 232 data buffering is controlled by the host computer With USB buffering enabled a First In First Out FIFO buffer collects motion data in scenarios where the host computer is not able to capture it at the rate that it is generated This does not guarantee that data is not lost but it helps in transient conditions where the host computer does not have continuously available CPU and memory resources to capture every frame over USB PATRIOT M can buffer up to 2 046 bytes of data A consequence of enabling USB buffering mode is that the FIFO operation may result in data latency When the buffer is full P amp O frames delivered to the host computer are not real time As such they may not reflect the P amp O of the stations at that instant in time The P amp O reported may be several frames behind real time depending on the frame rate frame size and buffer size With USB Buffering Mode disabled the FIFO buffer does not fill up with motion data Each time the host computer requests a new frame the frame delivered is guaranteed to be as close to real time as possible thus avoiding data latency 45 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Output Record Table 2 38 B ASCII Response Byte Index Format Description 0 A 0 1 0 2
89. rror loading map N A for PATRIOT M The remaining error codes may appear in ASCII and binary frame headers Error ec b P Hexadecimal 0x20 0x61 0x62 0x63 0x64 0x65 0x66 0x67 0x75 0x41 0x42 0x43 0x44 0x45 0x46 0x47 0x49 ASCII Text Meaning No Error ASCH mode only Source Fail X Source Fail Y Source Fail XY Source Fail Z Source Fail XZ Source Fail YZ Source Fail XYZ Position outside of mapped area N A for PATRIOT M Source Fail X BIT Errors Source Fail Y BIT Errors Source Fail X BIT Errors Source Fail Z BIT Errors Source Fail XZ BIT Errors Source Fail YZ BIT Errors Source Fail XYZ BIT Errors BIT Errors 7 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 2 5 Command Reference 2 5 1 Configuration Commands Configuration Commands are typically issued during system setup They affect the overall operation of the PATRIOT M system Once a configuration has been established PATRIOT M will operate in that configuration until power is removed a reset is issued or the configuration is changed again through a command The current configuration may be saved and used at initialization time by commands discussed in this section Unless otherwise indicated the default behavior of the configuration commands will be as follows e When no arguments except station number where applicable are supplied with the command PATRIOT M will respond with the current
90. s 1 lt gt 0 lt gt 36 2013 POLHEMUS PATRIOT M USER MANUAL AQ RS 232 Port Configuration Description This command sets the RS 232 port configuration The system output port settings include RS 232 BAUD rate and parity only Syntax O rate parity lt gt Part Description rate 100 bits per second Valid arguments include Table 2 28 ASCII Baud Rate Values Rate Baud Rate 24 2 400 48 4 800 96 9 600 192 19 200 384 38 400 576 57 600 7152 115 200 parity Table 2 29 ASCII Parity Values Parity Meaning 0 None 1 Odd 2 Remarks See RS 232 I O on page 64 for reference on the use of RS 232 for communicating with PATRIOT M By default the baud rate and parity RS 232 parameters are determined by the state of the RS 232 CONFIG switches located on the back panel of PATRIOT M upon PATRIOT M startup or initialization See Hardware Switches on page 64 for switch values In addition number of data bits is always eight 8 The number of stop bits is always one 1 Hardware Handshake is always disabled 37 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Changes to the RS 232 port settings using O will be ignored during the next power up or system initialize Initialize System page 58 in deference to the hardware switch settings even
91. s turning the system power off then back on again 58 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 7 Read Operational Configuration Description This command allows the user to view the operational configuration settings for the current factory default and saved custom configurations Syntax Z slotnum lt gt Part Description slotnum 0 factory default configuration 1 3 One of three User definable operational configurations that are stored within PATRIOT M Remarks If no slotnum is supplied the current operational configuration will be returned Output Record The ASCII response to Z will be prepended by only the first 3 characters of the normal 5 byte ASCII header Table 2 48 Z ASCII Response Header Byte Index Format Description 0 A First Digit of Station Number n a 0 1 Second Digit of Station Number n a 0 2 A 7 The body of the response will be a variable length block of text in the format below Data in italics will vary according to the configuration settings being reported Table 2 49 describes the text block line by line The binary response frame is described by Table 2 50 REV B 59 OCTOBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT M USER MANUAL Table 2 49 Z ASCII Response Format Description 00z Configuration name lt gt 3 char ASCII Header Config ID string lt gt
92. set echo mode sess 36 SEL UMS tees ette tU Et nd S 27 SEU system electronics unit 63 E 1 jM 4 shipping address sse F 1 single data record output sss 49 qui E 17 SOUCO E E ee 66 source BIT results sss C 1 source frequency essere 63 source mounting frame sssssseseeeeeenes 16 SQUECE ceret eter eret nU UI ore 63 1 standard alignment 10 StaliCACCULACY sete et e ERE ede E 1 rnm OP 17 40 station state ee eine ieee eee 40 Sy Se E 17 21 68 69 stylus button function sssssseeeee 21 Stylus tip ii cete t HERE EEUU EUER Te 23 stylus tip offsets dete 23 summary of command set sss 6 summary of error codes 7 gem EE 17 SYNAR sessed M 2 system electronics unit SEU 63 System operation ere i 70 system output data B 1 table of figures diee ener R vi technical support aene ren 1 tee eee aie 23 ree ee eee uM IM 4 UN bDOresI Pht eerie terere tein s 35 Dui A Y 17 Update Tate o aene 17 E 1 lU M 4 USB custom IMEEM 2 4
93. some medical applications The end user will still have to meet all the requirements of the regulatory agencies Compliance with ES60601 1 2005 is intended to assist the user in meeting the requirements of their particular medical market REV B 1 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 1 1 Set Up the PATRIOT M NOTE This approach assumes the use of a single sensor availability of a USB or COM Port on a computer with either Windows XP Vista Win 7 and that the Polhemus PiMgr GUI is installed on the computer See Install the Host Software on page 7 for instructions Figure 1 1 PATRIOT M System 1 Unpack the PATRIOT M SEU source sensor s USB and RS 232 cables PATRIOT Host Software CD power supply and cables See Figure 1 1 2 Set up the PATRIOT M system close to your host computer and away from large metal objects like file cabinets metal desks etc and away from the floor and walls 3 Identify the source the two inch gray cube and insert the source connector into the source receptacle being careful to firmly engage it Using your fingers tighten the two retaining screws to secure the connector See Figure 1 2 SEN SOR 1 SENSOR 2 SOURCE WE o Figure 1 2 Source Connection REV B 2 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 4 For getting started use only one sensor Identify the sensor and insert it into either of the sensor receptacles as shown belo
94. sure that the power switch on the back panel of PATRIOT M is in the OFF DOWN position and that the power supply is not plugged into the AC Then connect the power cable from the power supply to the power connector on the rear panel of PATRIOT M Plug in the source and the desired number of sensors Plug in the desired I O cable USB or RS 232 Plug the power supply into the AC outlet and turn the Power Switch to the ON UP position On power up the power indicator will blink red for 5 to 10 seconds to indicate the system s performance of an initialization and self test routine During this time system operation is not possible At the completion of this routine the power indicator will change from a flashing red state to a steady green state See LED Indicator on page 63 for a description of the LED status If PATRIOT M is connected via RS 232 it will send a PATRIOT M Ready text message to the RS 232 port when initialization is complete 4 3 Configuration Changes PATRIOT M will start up with a default configuration unless otherwise set to a different start up configuration Up to three user defined configuration settings can be stored in the PATRIOT M system Any one of these configurations can be set as the startup configuration See Save Operational Configuration on page 52 and W Set Default Operational Configuration on page 57 for instructions on how to set and store configurations 4 4 Output Upda
95. t been mounted upside down 17 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Hemisphere of Operation Description This command allows the user to set or change the hemisphere of operation vector Since the sensor s can only operate in one hemisphere at a time relative to the source it is necessary to tell PATRIOT M which side of the source they will be on for each station PATRIOT M also provides hemisphere tracking a feature whereby PATRIOT M can continuously modify its operating hemisphere given that it is started in a known valid hemisphere Because of the symmetry of the magnetic fields generated by the source there are two mathematical solutions to each set of sensor data processed Therefore only half of the total spatial sphere surrounding the source is practically used at any one time without experiencing an ambiguity usually sign flips in the X Y Z measurements This half sphere is referred to as the current hemisphere The chosen hemisphere is defined by an LOS vector from the source through a point at the zenith of the hemisphere and is specified by the LOS direction cosines Syntax Hstation p1 p2 p3 lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair pl The initial x component of a vector pointing in the direction of the operational hemisphere s zenith p2 The initial y component of a vector pointing in the directi
96. te Rate The data output update rate for the PATRIOT M is 60 Hz REV B 70 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL INNOVATION moTion 4 5 Output Considerations Most applications of the PATRIOT M system involve using its data output to manipulate some type of computer graphics in real time In this condition it is extremely important to allow the data to be utilized as quickly as possible and to avoid latency or lag Lag is defined as the interval of time between requesting a PATRIOT M data point and receiving it into the host computer Factors that could increase this lag are e Output Record Length e Data Format Binary is more efficient than ASCII e Filtering data are produced at normal times but will show effects of filter lag e Background software and applications running on the host computer e USB Buffering Mode Enabled see B USB Buffering Mode on page 45 The PATRIOT M also contains an adaptive filter that is designed to control noise in the data output The filter can be applied to Position or Orientation or both It should be noted that the effect that is seen in the data may have or appear to have a slower dynamic response with medium or heavy filtering selected Although data is transferred at normal time the filtering gives it the appearance of lag See X Position Filter Parameters on page 29 and Y Attitude Filter Parameters on page 32 for more information on setting the
97. that this adapter must not compromise the NULL MODEM sense of your cable Figure 1 7 RS 232 Cable Connection 12 You may now exercise the system To use the Polhemus PiMgr GUI return to step 10 With the RS 232 connection you may also use PATRIOT M s ASCII interface through the Windows HyperTerminal program To do this first set PATRIOT M s CONFIG hardware switches to all DOWN as shown in Figure 1 7 RS 232 switch settings are described in detail in RS 232 I O on page 64 Next start the HyperTerminal program and create a serial connection using these switch settings The steps are as follows REV B 5 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 13 14 15 e Navigate to HyperTerminal from the Windows Start menu Start gt Programs gt Accessories Communications gt HyperTerminal In HyperTerminal enter a session name choose an icon and click OK In the Connect using field select the desired COM port COM1 and click OK In the Bits per second field select 115200 In the Data bits field select 8 default In the Parity field select None default In the Stop bits field select 1 default In the Flow control field select None and click OK You should now have a serial connection opened to PATRIOT M Turn PATRIOT M on In 5 to 10 seconds you will see PATRIOT M Ready in the HyperTerminal screen Collect a single data record from PATRIOT M by typing
98. the P Single Data Record Output command see page 49 in the HyperTerminal screen PATRIOT M will respond with a single frame of position and orientation data The data displayed in the HyperTerminal screen consists of a station number and six columns of data as follows these values represent an arbitrary placement of the sensor and source 1 2 3 4 5 6 7 01 16 082 0 387 0 713 3 051 1 126 0 674 Continue experimenting with the position and orientation data See Experiment with PATRIOT M Data on page 10 If the system fails to produce position and orientation data carefully go over the above procedure in a systematic fashion checking connections and switch settings especially If you still need assistance refer to Customer Service on page F 1 6 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 1 2 Install the Host Software NOTE PATRIOT M Host Software is intended to be installed on a computer running Windows XP Vista Win 7 only Insert the PATRIOT M Host Software CD ROM into your computer s CD ROM drive If the PATRIOT M Host Software Installation Panel does not run automatically then navigate to the CD ROM drive using Windows Explorer Run Setup exe The Host Software Installation Panel will appear Click on Install Host Software The installation wizard will walk you through the installation For simplicity it is recommended that you use the default installation sett
99. the ANSI IEEE Standard for Binary Floating Point Arithmetic 754 1985 format of data This is defined in the standard as MSB LSB Bit 31 Bit 30 23 Bit 22 0 Sign Exponent Fraction Byte 3 Byte 2 Byte 1 Byte 0 The IEEE floating point format uses sign magnitude notation for the mantissa and an exponent offset by 127 In a 32 bit word representing a floating point number the first bit is the sign bit The next 8 bits are the exponent offset by 127 i e the actual exponent is e 127 The last 23 bits are the absolute value of the mantissa with the most significant 1 implied The decimal point is after the implied 1 or in other words the mantissa is actually expressed in 24 bits In the normal case an IEEE value is expressed as 1 S 2 e 127 01 0 If0 lt e lt 255 B 2 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL APPENDIX C Built In Test BIT Initialization Results Upon startup and initialization PATRIOT M automatically performs a series of Built In Tests PATRIOT M initialization Built In Test BIT results are read using the Read Clear BIT Errors command on page 53 This command returns initialization BIT results in a series of three bitmapped 32 bit words When any initialization BIT errors have been detected the P amp O output frame header contains an P or A G if runtime errors also exist in the header s error field See Table 4 5 for more about BIT related err
100. the form of the command is X 0 1 0 0 lt gt the position filter is disabled Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 22 X ASCII Response Byte Index Format Description A First Digit of Station Number n a 1 Second Digit of Station Number n a 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed 30 OCTOBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL Table 2 23 X Binary Response Byte Index Format Description 0 7 Binary Header 8 Filter Sensitivity 12 Filter High Value 16 FL Filter Low Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system X 2 2 8 95 lt gt All active stations will now have filtering applied to the position measurements To turn off position filters X0 1 0 0 REV B 31 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Y A
101. third point that is in the positive Y direction from the X axis Remarks The source reference frame is the default alignment reference frame 0 0 0 1 0 0 0 1 0 in inches NOTE Each time this command is applied to a station the effect is cumulative That is each successive applied alignment coordinates are relative to the current frame of reference If this is not the desired behavior reset the alignment reference frame between successive A commands Refer to the Reset Alignment Frame command on page 39 to do this REV B 9 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Output Record Table 2 3 A ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 25 3 Sxxx xx Origin Coordinates 26 27 AA Carriage Return Line Feed 28 48 3 Sxxx xx Positive X Axis Coordinates 49 50 AA Carriage Return Line Feed 51 71 3 Sxxx xx Positive Y Axis Coordinates 72 73 AA Carriage Return Line Feed Table 2 4 A Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Ox 12 FL Oy 16 FL Oz 20 FL Xx 24 FL Xy 28 FL XZ 32 FL Yx 36 FL Yy 40 FL Yz Examples To perform an alignment on station 1 follow the steps listed below Standard Alignment Procedure l Send R1 lt gt 2
102. ts The values assigned to certain system variables by the user Stored in non volatile memory the system receives these variable values at power up XYZ or X Y Z The Cartesian coordinates of position tracking where normally X is in the forward direction Y is in the right hand direction and Z is downward XYZAER The output string of data reporting the position XYZ and orientation AER azimuth elevation and roll of the tracking sensor Yaw Same as azimuth lt gt Used in text to indicate the Enter key 5 Used in text to indicate the Ctrl key REV B 18 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL 2 PATRIOT M System Commands 2 1 Overview This section specifies the PATRIOT M Command Interface It defines the structure and function of PATRIOT M commands and responses The interface is comprised of ASCII commands and binary or ASCII response frames The ASCII commands are designed to work in a dumb terminal mode thus keeping the communications protocol simple and easy to use These commands are the basis of the Polhemus APIs Additional information is provided in this document to give the reader some background in the terminology and general science behind the Polhemus tracking technology All commands are input on the RS 232 serial port or USB port REV B 1 2013 POLHEMUS INNOVATION IN MOTION PATRIOT M USER MANUAL 2 2 Command Syntax 2 2 1 Notation The followin
103. tted the system returns the boresight reference angles for the specified station A station may be unboresighted by issuing a B command See the section describing the Un Boresight Command on page 35 Syntax Bstation Azref Elref Rlref ResetOrigin lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair Azref The azimuth reference angle Elref The elevation reference angle Rlref The roll reference angle ResetOrigin switch to enable disable setting the X Y and Z origin values to 0 0 0 upon boresight 0 disable the origin reset 1 reset origin upon boresight Default is 0 Remarks The system default boresight reference values are 0 0 0 REV B 12 OCTOBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT M USER MANUAL Output Record Table 2 5 B ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 12 Sxxx xxB Azimuth Reference 13 20 Sxxx xxB Elevation Reference 21 28 Sxxx xxB Roll Reference 29 30 AA Carriage Return Line Feed Table 2 6 B Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Reference 12 FL Elevation Reference 16 FL Roll Reference Examples The sensor may be mounted on a person s head to measure where it is pointing
104. ttitude Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the attitude outputs of the PATRIOT M system The user can adjust the parameters of this command to fine tune the overall dynamic response of PATRIOT M The filter is a single pole low pass type with an adaptive pole location i e a floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type Y Syntax Y F LFLow FHigh Factor lt Part Description F a scalar value that establishes the sensitivity of the filter to dynamic input con
105. um allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type X Syntax X F FLow FHigh Factor lt gt Part Description F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 lt FLow FHigh or 1 0 to disable filter REV B 29 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow lt FHigh lt 1 FACTOR 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 transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 When
106. uration A 15 character null terminated ID string should be assigned to the user defined configuration before a K is issued See the X Operational Configuration ID command page 43 Output Record None Examples Assume a user wants to save the current custom operational configuration for use later The user also wants to make this configuration the default power up configuration for the user s PATRIOT M system The following commands should be issued XNewIDstring lt gt Assigns an ID string to current configuration Saves current configuration to first config slot W Sets Config Slot 1 to startup config 52 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL T Read Clear BIT Errors Description This command allows the user or technician to read and clear any start up Built In Test BIT errors that occur during system initialization This command will return 9 integer values that can be decoded as described in APPENDIX C Syntax T clear lt gt Part Description clear 0 clears all start up BIT errors Remarks If no clear command is supplied this command will display the current start up errors This is a diagnostic command that allows the user or technician to determine the cause of any start up test failures and to clear those errors If a start up test fails PATRIOT M will display a message to the host and an error code of I or A G if run time errors als
107. w Firmly engage and lock the sensor connector into place in the same manner as the source connector in step 3 See Figure 1 3 Figure 1 3 Sensor Connection 5 For testing purposes it is convenient to mount both the source and the sensor on a single block of wood 2x4 or equivalent about 16 inches apart Exact placement of the source and sensor is not important for this test just make sure the cables of both devices are not routed tightly together and that they come off opposite ends of the wooden block See Figure 1 4 Figure 1 4 Sensor Source Test Setup 6 Ensure the power switch is in the OFF position logic 0 DOWN With the separate power supply UNPLUGGED from the wall connect the power input cable to the PATRIOT M The power supply can now be plugged into a 110 220 VAC outlet See Figure 1 5 REV B 3 OCTOBER 2013 POLHEMUS PATRIOT M USER MANUAL Figure 1 5 Power Connector USB or RS 232 Communication Only one I O port USB or RS 232 can be active at a time e For USB continue with step 7 e For RS 232 skip to step 11 For USB Communication 7 Identify the USB cable and insert it into the receptacle as shown in Figure 1 6 Connect the other end of the USB cable to the host computer Figure 1 6 USB Cable Connection 8 At this point you may turn on the PATRIOT M system using the power switch located on the back panel of the SEU A system status indicator located on the front panel shoul

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