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Pan-Tilt Unit User Manual

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4. 0 NLd ca JENUEIN 49SN Seles 3 00 0 N1d C Networking This section describes the basic installation and setup steps required to network your pan tilt units C 1 Ethernet To connect multiple PTU D300 units to a single host computer via Ethernet 1 Plan the physical placement of each PTU D300 and the host computer 2 Connect each PTU D300 to your network using the Ethernet connection on each unit 3 Onthe host computer run the PTU Finder utility to locate the PTU D300 unit IP addresses 4 Launch a Web browser and point it to the IP address of the unit you want to connect to You may open multiple browser windows tabs to connect to multiple units at once Please see Section 3 4 for more information about connecting to a PTU D300 using the Web interface C 2 Serial You may connect up to 127 PTU D300 units to a single host computer port The host computer can then address each connected PTU D300 as if it were the only unit on the network This makes it easy to migrate code developed for a single PTU D300 to a network of PTU D300 units controlled by one host computer To connect multiple PTU D300 units to a single host computer via serial 1 Assign a unique network ID number to each PTU D300 2 Connect the PTU D300 units and host computer to the serial network 3 Testthe configuration by addressing each PTU D300 by its unit ID and issuing commands and queries PTU D300 E Series User Manual C 2 1 Serial Netw
5. 3 Attach a standard RS 232 cable between a host PC and the DB9F connector on the PTU D300 labeled RS 232 4 Open a terminal program such as HyperTerminal or TeraTerm Note HyperTerminal is available with Microsoft Windows XP and previous versions You may download TeraTerm from http ttssh2 sourceforge jp PTU D300 E Series User Manual 5 Create anew connection with the following communications parameters 14 ort Settings 9600 baud i its per second ESUN 8databits i Data bits le H 1 stop bit Parity None al no parity Mee vele d nohandshaking e 6 Provide DC power to the PTU D300 The factory cable part number PTU CAB E 25BO allows easy plug in power from the factory AC DC power supply model PTU AC APS 30V Cancel sy Alternatively you may provide your own DC power source if appropriate as described in Section 4 3 CAUTION USE AN APPROPRIATELY RATED POWER STRIP WITH SURGE PROTECTION TO ALLOW SAFE POWER REMOVAL WHEN YOU ARE READY TO POWER DOWN 7 Power on the PTU D300 by turning on the switch on the power strip If power is working the unit will begin a self calibration and text will appear on your terminal identifying the unit s configuration 8 Test pan tilt operation by typing commands into your terminal program The following command sequence will familiarize you with basic PTU D300 operation pp2500 tp 900 PS1900 ppd This sequence sets the pa
6. then enter TP lt min gt A TP lt max gt to cycle the PTU D300 through its entire tilt range where lt min gt is the number returned by the TN query and lt max gt is the number returned by the TX query If needed enter H to stop the PTU D300 immediately WARNING STOP THE PTU D300 IMMEDIATELY BY EITHER CLICKING HALT WEB INTERFACE OR ISSUING AN H COMMAND SERIAL INTERFACE IF THE PAYLOAD IS ABOUT TO COLLIDE WITH THE PTU D300 AND OR ANOTHER OBSTACLE A COLLISION COULD CAUSE A STRUCTURAL FAILURE THAT MAY RESULT IN INJURY OR DEATH ISM Verify that the payload will clear all obstacles when the PTU is in both normal and stabilized modes PS If the load is too heavy or moving too quickly the PTU D300 will lose synchronization which will be audible as a grinding sound from the PTU D300 motors Stop the test immediately if this occurs and refer to Sections 5 3 2 and 5 3 3 This does not damage the PTU D300 but does indicate that the payload is not mounted and or the PTU D300 is not configured correctly to move the payload Installation and Setup Note Please refer to Section 5 3 2 for more information on configuring the PTU D300 E for heavier payloads CAUTION DO NOT PROCEED BEYOND THIS STEP UNLESS AND UNTIL THE PTU D300 PASSES THE TILT AXIS MOTION TEST 4 Move the PTU D300 pan axis through its entire range to test its ability to carry the load If you are using the Web interface open the PTU Control page and click
7. 1 High Speed Operation The following factors should be considered when planning high speed operation e Load weight weight distribution and dynamics Move the payload as close to the axis centers of rotation as possible Doing this will reduce the torque required to move the payload and allow a higher top speed Balancing the load such as by using a counterweight or splitting the payload into two pieces can also help significantly e Desired upper speed limit e Rate of acceleration e The base start up speed e Power supply voltage Higher voltages within the permissible range significantly improve axis speed and acceleration performance e In motion power modes If the duty cycle is less than 20 you may use high move power to increase the top speed e Multi axis dynamics Simultaneously moving the tilt and pan axes affects the forces exerted on the PTU D300 e Always begin high speed tests on each axis in isolation Only perform simultaneous pan tilt movements once each individual axis is optimized e The base speed is the PTU D300 minimum speed In practice the unit will instantly accelerate to this speed Setting a base speed can help speed up movement by eliminating a segment of acceleration time e Aggressive acceleration settings with heavy payloads can cause increased wear on the PTU D300 5 3 2 Heavy Payload Operation If the PTU D300 fails the initial load handling tests you may be able to program it f
8. RS 232 Electrical Connection i 20 4 6 3 RS 485 Electrical Connection iii 20 4 7 Initial Power Up and Test ii 21 A ES A rali elia lena 21 4 7 2 Tertminal Interface cla iii Annali ici 21 4 8 Payvload Mounting aarla li a ds 22 4 8 1 Side Bracket Attachment 23 4 8 2 Payload Attachment ii 23 4 9 Payload Wiring Connector Optional 25 PTU D300 E Series User Manual 5 Configuring amp Programming 27 5 1 Range OF Motion alain ina Alena Lioni a ira 27 S Isu Default Limits u tana A ee ahs han asia tart aes 28 5 2 Resolution and Step Modes iii 29 5 3 User Programmable Settings 29 5 3 1 High Speed Operation under la a iii 30 5 3 2 Heavy Payload Operation 30 5 3 3 Battery Powered Operation 31 Web Interface a sa u u A i 33 6 1 PTU Configuration Page ii 33 6 2 Network Page isttora A a ani 36 6 3 PTU Control Page dritta 37 E
9. Support e Visit the Support section at www FLIR com MCS e Email Technical Support at MCS support FLIR com e Call 650 692 3900 and select Technical Support Email is the preferred method of obtaining support to help ensure proper dispatching and tracking to address your questions promptly When emailing Technical Support please provide the following information e PTU model and configuration e Payload information including photos Troubleshooting e Parameter settings e Detailed issue symptom description PTU D300 E Series User Manual This page intentionally left blank E Regulatory Information Electromagnetic Interference EMI is any signal or emission either radiated in free space or conducted along power or signal leads that endangers the function of a radio navigation or other safety service or that seriously degrades obstructs or repeatedly interrupts a licensed radio communications service Class A Class A equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a commercial environment 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
10. The Network page appears when you click the Network link in the top menu This page allows you to Network PTUConig PTUConto configure the following options for your PTU D300 e Host Name Name ofthe PTU Network Configuration D300 unit If you have multiple wwwcwa ea PTU D300 units on the pas Passo Obtain IP Address automatically network you may enter a Specity an IP Address u IP Address 017320 unique name for the currently Subnet Mask SEED selected PTU D300 unit to _sat reset save make reconnection faster eee TO e MAC Displays the unique Media Access Control MAC address for the PTU D300 unit You may change this address if necessary e Automatic IP Address Checking the Obtain IP address Automatically radio button allows the PTU D300 to either accept IP information from a DHCP server such as a router or select its own IP information if connected directly to a host computer e Manual IP Address Checking the Manual IP Address radio button lets you specify the following information IP Address IP address for the PTU D300 unit Subnet Mask Subnet mask of the network the PTU D300 is connected to After changing network information click the appropriate action button at the bottom of the page e Set Clicking Set implements your changes but does not save them to the PTU D300 e Reset Clicking Reset reverts the PTU D300 to factory default settings e Save Clicking Save implements your
11. USE A FUSE WHEN CONNECTING THE PTU D300 TO A BATTERY PTU D300 E Series User Manual This page intentionally left blank 6 Web Interface This chapter describes how to configure and program your PTU D300 using the Web interface E Note You may also have a simultaneous serial connection to a terminal as described in Section 3 4 Follow the instructions in Section 3 4 to connect the PTU D300 to the host computer and power it on obtain the IP address and launch the Web interface in a browser window If your PTU D300 includes the optional ISM module please refer to the ISM documentation ISM The ISM Web interface includes additional command and configuration options to support the stabilization function Please refer to the ISM User Manual for instructions on using the ISM Web interface se Note Commands issued via the Web interface correspond to commands issued via the El serial interface Please refer to the Pan Tilt E Series Command Reference Manual for a complete list of serial commanas 6 1 PTU Configuration Page The PTU Config page appears when you click the PTU Config link in the top menu To use this page 1 Make your desired changes 2 Click the appropriate Apply button to apply certain changes see below 3 Click the appropriate action button at the bottom of the page This page allows you to view and configure the following options for your PTU D300 e General The General section of the PTU Config
12. a payload depends on a number of factors such as payload weight distance from the payload CG to the center of rotation acceleration and speed settings power levels environmental factors etc The PTU D300 allows full control over acceleration speed and power levels Mount your payload and configure these parameters appropriately to ensure reliable operation PTU D300 E Series User Manual To attach and test your payload 1 Mount your payload Side mounting is preferable for Side mounted heavy loads payload CG is closer because this keeps Top mounted to the tilt axis center the payload CG payload CG is above of rotation and the tilt axis center of requires less torque rotation and requires more torque closer to the tilt axis thereby minimizing torque J requirements Il 4 N i 2 Verify that the payload is securely attached to the payload bracket 3 Move the PTU D300 tilt axis through its entire range to test its ability to carry the load CAUTION THE CG OF TOP MOUNTED PAYLOADS IS FURTHER FROM THE TILT AXIS AND MAY REQUIRE MORE TORQUE THAN A SIMILAR SIDE MOUNTED PAYLOAD If you are using the Web interface open the PTU Control page and click the arrows to move the PTU D300 through its full range of tilt motion as described in Section 6 3 If needed click Halt to stop the PTU D300 immediately If you are using the terminal interface enter TN TX to query the tilt minimum and maximum limits
13. page displays the following information Firmware The PTU D300 installed firmware revision Model The PTU D300 model number Pan Resolution Horizontal motion resolution in degrees This number varies depending on your selected step mode see below Each unit of resolution equals one position Tilt Resolution Vertical motion resolution in degrees This number varies depending on your selected step mode see below Each unit of resolution equals one position e Motion Configuration The Motion Configuration section of the PTU Config page allows you to specify the following motion options for both pan and tilt in positions One position equals one unit of resolution PTU D300 E Series User Manual Speed Pan and tilt speed f in positions per second ea mu ene Acceleration Pan and tilt acceleration and deceleration in positions PTU Configuration Configure the PTU per second per second FLIR Motion Control Generel Systems Support Firmware 3 1 0 The PTU D300 will Wt oom Jan Resolution 0 egipos accelerate at this rate to Ti Resoldion 0 003214 Deghos Motion Configuration the selected speed cee Pen 60000 Ta H H 1 Base Speed Pan maintain this speed as long i ea E as necessary and then ama de slow back down at the i i sa me rate Power Mode Pan Move Power Low Reg C High Tit Move Power C Low Reg C High Base Speed Speed the na s ee asa PTU D300 instantly mat Hold Power
14. power while moving the payload in the pan and or tilt axis This power setting should be used for intermittent lt 20 duty cycles CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN OVERHEAT THE PTU D300 A CAUTION THE HIGH POWER SETTING IS INTENDED ONLY FOR INTERMITTENT DUTY MOTORS Step Mode The Step Mode section of the PTU Config page allows you to specify the following resolution options for each axis Full Low resolution Half Medium resolution Quarter High resolution Eighth Maximum resolution This setting provides the greatest aiming accuracy Auto Internally switches between step modes for optimal movements but all commands and accuracy are in 1 8 step mode Changing the step mode requires a calibration reset Please see Section 5 2 for more information about steps and fractional steps Limits The Limits section of the PTU Config page allows you to specify the pan and tilt range of motion for your PTU D300 Please see Section 5 1 for an explanation of limit types and a visual depiction of the PTU D300 range of motion Factory Checking the Factory radio button sets the PTU D300 range of motion to its factory default The range of motion appears below User Checking the User radio button allows you to program your own range of motion The Minimum and Maximum fields become editable allowing you to enter your desired range for both pan and tilt Click the Apply button after setting your desired range of mo
15. routed to a long grounding rod that is embedded in the ground If needed it is also acceptable to route the shield pin to the power ground through a surge protection device CAUTION THE PTU D300 WILL NOT BE PROPERLY SHIELDED UNTIL THE SHIELD PIN IS PROPERLY CONNECTED 4 6 Interface and Host Settings The PTU D300 includes both an Ethernet connection and either RS 232 or RS 485 communications You may connect to your PTU D300 using either or both of these methods the Web interface is only available when using an Ethernet connection and the terminal interface is only available when using a serial connection 4 6 1 Ethernet Connection The PTU D300 Ethernet connection uses a standard Cat 5 RJ 45 network cable e You may connect the PTU D300 directly to a host computer or indirectly through a router hub etc e The PTU D300 will either accept IP addresses from a DHCP server or select its own IP address if connected directly to the host computer PTU D300 E Series User Manual e You do not need a crossover cable e f needed you may use a coupling to extend the Ethernet connection on the breakout cable Note The Ethernet and serial interfaces may be connected simultaneously however El you should only use one interface at a time for command and control of the PTU D300 Connect power on and test the PTU D300 using the Ethernet connection and Web interface as described in Section 3 4 4 6 2 RS 232 Electrical Connecti
16. C ot Flow C Reg Step Mode accelerates to Pan Step Mode C Ful Hat Quarter C Eighth auto it Step Mode cul Hat er Eighth Auto Upper Speed Maximum Limit Mode Factory user Disable PTU D300 speed that can Maximum cr gt 9333 nta Minimum Pan 27999 Tit 27999 be commanded Continuous Mode Lower Speed Minimum Pan Enabled Disabled Actions degna that can Reset Factory Save Default Refresh Reset Axes e commanded Reprogramming Dialogue Click Apply to make your desired speed acceleration changes on the PTU D300 e Power Mode The Power Mode section of the PTU Config page allows you to specify the following power options for each axis Move Power Amount of power the PTU D300 uses when moving the payload Hold Power Amount of power the PTU D300 uses in order to hold the payload in a fixed position The following power settings are available for pan and or tilt power Off Setting the hold power to Off means that the PTU D300 motor s are completely off when the payload is not moving in the selected axis or axes Low Setting the hold and or move power to Low means that the PTU D300 motors draw lower power while moving and or holding Reg Setting the hold and or move power to Reg means that the PTU D300 motors draw normal power while moving and or holding Web Interface High Setting the move power to High means that the PTU D300 motors draw maximum
17. D300 e If you are using RS 232 Make sure that the PTU D300 is equipped with RS 232 communications at the port you are using Units with PLO1 wiring have RS 232 at the base while units with PLO2 wiring have RS 232 at the payload port Try using a null modem adapter If you are using a laptop make sure that it is plugged in RS 232 will not work if the PTU D300 and host computer grounds are too far apart Verify that the RS 232 port is working using a loop back adapter If you do not have a loop back adapter connect pins 2 and 3 of the DB 9 RS 232 connector Any characters typed into the serial terminal should be echoed back when the loop back adapter is attached e If you are using the RS 232 to RS 485 adapter provided by FLIR Motion Control Systems Set the switches to T RXON and DCE Make sure the adapter is powered Try using a null modem adapter If you are using a laptop make sure that it is plugged in RS 232 will not work if the PTU D300 and host computer grounds are too far apart Verify that the RS 232 port is working using a loop back adapter If you do not have a loop back adapter connect pins 2 and 3 of the DB 9 RS 232 connector Any characters typed into the serial terminal should be echoed back when the loop back adapter is attached D 4 Technical Support FLIR Motion Control Systems Inc provides a range of technical support options to ensure that your project is a success To access Technical
18. ON CAN DISCONNECTING THE CABLE Quick Start 3 Establish Ethernet or serial wiring to the PTU D300 as appropriate for your needs Please see Section 3 4 for Ethernet Web instructions Please see Section 3 5 for serial ASCII instructions 4 Power on and test the PTU D300 3 4 Ethernet Connection The PTU D300 contains a Web based interface that allows you to test and program various functions This interface is accessible via the Ethernet connection on the breakout cable El Note You may use simultaneous Ethernet and serial connections To connect power on and test the PTU D300 using the Ethernet connection and Web interface 1 Connect the RJ 45 Ethernet jack on the breakout cable to the host computer either directly or through a router hub 2 Connect a power source to the PTU D300 making sure to incorporate a readily accessible power disconnect such as a power strip to allow safe power removal from the system A CAUTION REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTU D300 3 Ensure that the PTU D300 is clear to move in both axes pan and tilt without hitting any obstructions before applying power WARNING HITTING AN OBSTACLE WHILE THE PTU D300 IS IN MOTION COULD CAUSE A MOUNTING OR OTHER STRUCTURAL FAILURE THAT COULD RESULT IN INJURY OR DEATH 4 Power on the PTU D300 By default the PTU D300 will begin a calibration sequence that will cause it to move from its current position to the center 0 p
19. PAYLOAD PAYLOAD HOST RS485_TX HOST RS485_TX HOST RS485_TX HOST RS485_TX ETHERNET_TX ETHERNET_TX PT2 PT2 e e o s s N lt x Z lt Cjajo au 2 Z Tw i i migo s gt PT3 PT3 RESERVED PT5 RESERVED PT6 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED j RESERVED RESERVED Electrical Specifications A 2 19 Pin Payload Connector This table displays the PTU D300 19 pin payload connector pin assignments for both the PLO1 and PLO2 wiring options MIL C 26402 PIN PLO1 PLO2 CHA_RX HOST_RS232_TX CHA_TX HOST_RS232_RX CHB_RX TTL_OP2 CHB_TX TTL_OP3 CHB_DTR TTL_OP4 SHIELD SHIELD VIDEO1_GROUND VIDEO1_GROUND VIDEO1_SIGNAL VIDEO1_SIGNAL TTL_OP2 PT4 CHA_TTL_RX PT5 CHA_TTL_TX PT6 RS232_GND HOST_RS232_GND PT3 PT3 PT2 PT2 PAYLOAD PAYLOAD PAYLOAD PAYLOAD VIDEO2_SIGNAL VIDEO2_SIGNAL VIDEO2_GROUND VIDEO2_GROUND lt ClH UV a 7 z lt irjizxzjiC T Aa nmOoONw PT1 PT1 ZONVOAdNI MOT VI TWNOIS ZO3qIA ZONVOAdINI MOT VL ANNONS Z030IA ZONVOAdNI MOT VI TVNDIS LOAGIA ZONVOAdNI MOT VI ANNOYS LOAGIA WL 1d WL Lld WL Zld XY L3NY3H13 Se X8 13NH3H13 N N oe fal js X1 LNY3H 13 N XI LANYIHII N Y ve OVO1AVd im ve avoTAVd XY S8PS Y 1SOH ressa ison lt
20. SFLIR Motion Control Systems High Performance Pan Tilt Unit MODEL PTU D300 E Series including EX and RF models VERSION 4 20 REVISION DATE January 2011 User Manual PTU D300 E Series User Manual DOCUMENT CONTROL 09 2010 A Hernandez 4 00 Initial E Series doc release 09 2010 A Hernandez 4 10 Initial E Series doc release 09 2010 A Hernandez 4 10 Added cable diagram minor fixes 01 2011 A Hernandez 4 20 Added ISM information E Note This manual describes the E Series PTU D300 only If you have any other series of PTU D300 please refer to the appropriate documentation for that series COPYRIGHT NOTICE Pan Tilt Unit Model PTU D300 E Series User s Manual 1991 2011 by FLIR Motion Control Systems Inc 890C Cowan Road Burlingame California 94010 650 692 3900 FAX 650 692 3930 www FLIR com MCS All rights reserved Protected under numerous U S patents including 5463432 and 5802412 with other patents pending No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means including but not limited to electronic mechanical photocopying recording or otherwise without the prior written permission of FLIR Motion Control Systems Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of FLIR Motion Control Systems Inc FLIR M
21. TED IN DURATION TO THE DURATION OF THIS WARRANTY Some states do not allow the exclusion or limitation of incidental or consequential damages or allow limitations on how long an implied warranty lasts so the above limitations or exclusion may not apply to you This warranty gives you specific legal rights and you may also have other rights which vary from state to state PTU D300 E Series User Manual PTU D300 E Series User Manual v 4 20 01 2011 SFLIR Motion Control Systems 890C Cowan Road Burlingame CA 94010 p 650 692 3900 f 650 692 3930 www FLIR com MCS
22. U D300 to the specified position at the specified speed A Electrical Specifications This Appendix describes the PLO1 and PLO2 wiring options for the PTU D300 Please refer to the appropriate section for your unit and to Section 4 2 1 for a mechanical overview CAUTION DO NOT EXCEED MAXIMUM RATED PASS THROUGH AMPERAGES FUSE PAYLOADS AT RATED TRIP VALUES THE PTU D300 WARRANTY DOES NOT COVER DAMAGE CAUSED BY OVERCURRENT SITUATIONS CAUTION ALWAYS TERMINATE THE SHIELD LINE TO AN APPROPRIATE SYSTEM SHIELD OR GROUND CONNECTION In general e TX lines carry data from the PTU D300 e RX lines carry data to the PTU D300 pes ISM ISM equipped PTUs are equipped with the PLO2 wiring option PTU D300 E Series User Manual A 1 32 Pin Base Connector This table displays the PTU D300 32 pin base connector pin assignments for both the PLO1 and PLO2 wiring options MIL C 26482 PIN PLO1 PLO2 RESERVED RESERVED HOST RS232_RX RESERVED HOST RS232_TX RESERVED D300 D300 D300 D300 SHIELD SHIELD HOST RS485_RX HOST RS485_RX HOST RS485_RX HOST RS485_RX ETHERNET_TX ETHERNET_TX ETHERNET_RX ETHERNET_RX ETHERNET_RX ETHERNET_RX PT1 PT1 VIDEO1_GROUND VIDEO1_GROUND VIDEO1_SIGNAL VIDEO1_SIGNAL VIDEO2_GROUND VIDEO2_GROUND VIDEO2_SIGNAL VIDEO2_SIGNAL RESERVED PT4 RESERVED RESERVED HOST RS232_GND RESERVED PAYLOAD PAYLOAD
23. User Manual This page intentionally left blank 3 Quick Start The PTU D300 provides direct Ethernet and serial control for all motions You may also use a joystick or proprietary controller This chapter helps you power up your PTU D300 and test direct communications from a host computer 3 1 System Overview The PTU D300 includes an integrated controller that can be accessed using a Web Ethernet interface The controller will also accept control commands from any host computer over a serial RS 232 or RS 485 connection The basic connections are e DC power e Pan tilt control via either Ethernet or RS232 485 serial connection The PTU D300 also allows payload pass through wiring that internally routes payload signals payload power video etc from a single stationary connector in the PTU D300 base to a single payload connector that moves with your payload ZAS Payload Pass Through Basic PTU D300 Connections f Z Video 1 2C A Pan Tilt Control RS485 RS232 7C ES Video 2 2C A D300 Power 2C Lia General Pass A Ethernet 4C ALA Through Lines 6C dl Payload Power 2C Host Optional Controls CHA RS232 CHB RS232 Figure 1 Pan Tilt System Overview You may control the PTU D300 from any host computer using either the built in Web interface or the ASCII protocol described in the included Pan Tilt Command Reference Manual The PTU D300 also supports a binary protocol via a C Programmers Inter
24. ate RS 232 communication option for communicating with the PTU D300 in addition to the RS 485 lines and includes a total of 10 payload pass through lines that provide 2 video channels 4C 1 power circuit 3C 3 general I O lines 3C The PTU D300 also provides two auxiliary serial ports to the payload connector that can be controlled using special commands for use controlling cameras or other peripherals without an additional serial port Please refer to Appendix A 3 for more information about the PLO1 wiring option e PLO2 The standard wiring option provides the maximum available pass through lines from the PTU D300 to the payload including 2 video channels 4C 1 set of power lines 3C 6 general I O lines 6C The PTU D300 also provides RS 232 control to the payload which allows the PTU D300 to be controlled by a module on the payload side Please refer to Appendix A 4 for more information about the PLO2 wiring option With either option the standard slip ring and connectors offer 32 termination pins at the base and 19 pins at the payload The PTU D300 requires a minimum of seven connections at the base for power RS 485 communications and shielding 4 3 Power Sources The PTU D300 requires an unregulated 12 30VDC power source capable of 48 continuous peak watts e For maximum PTU D300 performance use the highest motor voltage within the allowable range e For the quietest and smoothest PTU D300 operati
25. aui peojAed 29534 Suoje saul o piA Sojeue Aue oe d saul peojAed Aue jo aduepadwuu 1se ay BAeY O pamoi Ayjedijioads aJe saul OAPIA z01d weiseig SULILM ZOTd V SUO1 e91 193dS e911399 3 XVO2 1VN9IS ZO30IA Q713IHS XVOO ONNOU9 ZOFIA XVO9 1VN9IS LO3gIA Q71aIHS XVOD ANNOYS LO3qIA Vou Vou OMVIZ xa 13NY93H13_ POOOSOOSOOC_ OMVIZ XY LANYSHLA OMVYZ X1 13NY3H13 OMVIZ X1 LINY3HL3 dn q8 98d8 Spy OMV8Z Xy 687 S OMV8Z XU S8YS anye AS PT dn q Ord9 LEY OMVZZ N33Y49 Q T3lHS SMV9l Gay dqVOTAVd OMV9L MIVIA AVOTAVd OMY9L MOTTIA ITA0 E 6 Nid 9MY9L FONVUO AN9 Nid J jew 4 SNIA MY8Z LNO 2 2 S MY8Z NI Zez Su OMV8Z GNOS ZEZ SY jew 4 690 OMVZZ SLIHM 91d OMVZZ AldiNd Sld OMVZZ FONVHO vld OMVZZ 038 1d OMVZZ 3018 Zld MY MOV 1d Lld uol inBiJuoo InoA ul pasn aq zou 9 9e 5 jnoyesJ1g Uld ZE Aew ajay umoys sjeubis y JO BWOS 9 ON s10J93UUO9 pue 8uHIA OGSZ F GVI N1d 21983 imoyeag uld zE euondo ay s ejdsip WesseIp sIYL 9 8 noyeaig Uld ZE S V JENUEIN 49SN Seles 3 00 0 N Ld B Mechanical Drawings The PTU D300 can use side and or top payload mounting brackets This Appendix describes the payload mounting patterns for the different brackets and displays the PTU D300 unit dimensions
26. changes and saves them to the PTU D300 Web Interface 6 3 PTU Control Page The PTU Control page appears when you click the PTU Control f link in the top menu Network PTUConfig PTUContro This page allows you to control your PTU D300 as follows PTU CONTROL PTU Control e Home Clicking Home returns Controlthe PTU the PTU D300 to its home pan oman si Tit Up Pa and tilt positions speed Position Status e Directional controls The ft a cares 0 000 directional controls allow you s lt c u pu Posies 0 08 to move the PTU D300 left and 2 ee m right pan and up and down y ZN tilt ine E mpa Halt Clicking Halt asss 0 ak EA immediately stops the a PTU D300 in its current position Small Arrow Clicking a small arrow moves the PTU D300 by either the smaller position step size or at the lower speed see below Big Arrow Clicking a big arrow moves the PTU D300 by either the larger position step size or at the higher speed see below e Speed Position selection Check the appropriate radio button to control the PTU D300 by Position the unit will move by the selected amount when an arrow is clicked or Speed the unit will accelerate up to the selected speed when an arrow is clicked and will continue moving at that speed until the arrow is released e Set Arrow Step Size The Set Arrow Step Size fields allow you to specify either how many positions the PTU D300 will move each time an arr
27. d pan tilt tracking mounts and continues to lead the field in innovation applied design and service Our patented pant tilt units are in use in a wide range of industries including security and surveillance industrial automation robotics communications military aerospace law enforcement education R amp D webcams and teleconferencing distance learning applications Some of the payloads that can be precisely controlled include sensors like video cameras thermal imagers laser rangefinders microwave antennas and many more FLIR MCS maintains engineering capabilities in mechanical design electronics and embedded and network software development Find out more at www FLIR com mcs ABOUT FLIR SYSTEMS INC FLIR Systems Inc is the world s largest commercial infrared company with the more high quality thermal night vision systems in the field than all other manufacturers combined Our rugged stabilized imagers are on thousands of civil and military surface and airborne platforms in the USA and around the world With thousands of our thermal cameras on the job in military scientific law enforcement and security applications FLIR brings an unmatched level of experience and dedication to the creation of cutting edge thermal night vision systems We design and manufacture all of the critical technologies inside our products including detectors electronics special lenses and pan tilt motion control systems All of our products are pr
28. disabling pan limits to allow continuous 360 pan movement e User User limits are programmable limits that are smaller than hard limits and can be as large as factory limits PTU D300 E Series User Manual The PTU D300 uses high precision optical limit sensors that allow faster reset sequences and user programmable ranges It can also be equipped with optional mechanical stops that will limit pan tilt motion to preset limits It is possible to set these stops to allow overlapping limits as shown in the image on the previous page E Note If needed for your application order optional mechanical stops with your PTU D300 because they are installed during manufacturing 5 1 1 Default Limits In the following image e The positive pan axis direction is clockwise when looking down at the top of the PTU D300 e The positive tilt axis direction is clockwise when looking sideways at the PTU D300 with the motors and connectors facing to the right AN A TILT AXI Figure 4 Pan Tilt Default Factory Limits Note The default pan axis user limits are 168 The default tilt axis limits are 30 and 90 Configuration and Programming 5 2 Resolution and Step Modes The PTU D300 uses stepper motors that drive the unit through a gear reduction
29. e directions The PTU D300 E series model number appears as follows 8 000 s Bracket Mount Base S Standard S Standard D Dual side hubs B Bottom exit connector D300E Model S Standard U D300 EX ISM ISM equipped PTUs have additional model number options Please refer to the PTU D300 ISM Configuration Guide for additional information P 1 6 PTU D300 Package Contents Your PTU D300 E Series package includes the following items PTU D300 E Series unit Payload mating connector kit with various payload pass through configurations e Payload mounting brackets Optional e Pan Tilt break out cable PTU CAB E 25BO Optional e AC DC power supply PTU AC APS 30V Optional e RS 232 to RS 485 converter PTU CONV RS485C Optional e PTU D300 E Series User s Manual this document e Pan Tilt E Series Command Reference Manual Introduction e CD containing the PTU Finder utility and other documentation 1 7 Related Documentation The following additional documentation is available for your PTU D300 E Series unit e PTU D300 E Series Configuration Guide options and accessories ordering guide e PTU D300 E Series Product Datasheet product specifications e Pan Tilt E Series Command Reference Manual command instructions 1 8 Additional Resources FLIR Motion Control Systems Inc also maintains a technical support Web site with additional resources for custome
30. e entire range of pan tilt motion When planning the installation make sure to take the payload into account to ensure that the PTU D300 and payload remain unobstructed at all times e All mounting methods and materials must be capable of supporting at least four times the combined weight of the PTU D300 mounted payloads and cabling e Corrosion resistant hardware such as stainless steel screws must be used for all outdoor installations e Do not install the PTU D300 in any location that exceeds the PTU D300 s environmental specifications e Always incorporate a readily accessible power disconnect into the installation wiring See Sections 3 4 and 3 5 e Removing power by disconnecting the power cable or cable harness is not recommended and can result in damage to the system e All service procedures must be performed by qualified service personnel in accordance with all applicable instructions e If the PTU D300 is damaged immediately remove power and contact FLIR Motion Control Systems Inc e Only use replacement parts recommended by FLIR Motion Control Systems Inc e Use caution when lifting the PTU D300 and or payload e Keep all persons and objects well away from the PTU D300 s panning and tilting radius with payload installed e Do not touch or otherwise handle the PTU D300 while in motion or if there is a possibility of motion Always remove power before servicing the PTU D300 and or payload PTU D300 E Series
31. ete information and instructions The PTU D300 uses both commands and queries A command tells the PTU D300 to do something such as pan to a specific angle A query asks the PTU D300 to return the requested value such as reporting the current pan angle The basic ASCII command syntax is lt command gt lt parameter gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt parameter gt is a numerical value such as the desired pan position and e lt delimiter gt isa character used to denote the end of a command Valid delimiter characters can be either SPACE or ENTER The basic ASCII query syntax is lt command gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt delimiter gt is a character used to denote the end of a query Valid delimiter characters can be either SPACE or ENTER For example e Command PP lt position gt lt delim gt sets the desired absolute pan position e Query PP lt delim gt returns the current absolute pan position Commands and queries return results that display on the terminal screen as follows e A successfully executed command displays on the terminal screen e A successfully executed query displays lt QueryResult gt where lt QueryResult gt is the result of the query you just executed e A failed command displays lt ErrorMessage gt where lt ErrorMessage gt describes the e
32. face PTU CPI for high speed hard real time controls such as tracking Drivers are also available using third party software packages such as LabVIEW and digital video control systems Pa ISM ISM equipped PTUs use the same connections described in this chapter PTU D300 E Series User Manual 3 2 Installation Components A complete PTU D300 system configuration requires the following components e PTU D300 unit 1 e Payload mating connector kit for pass through models only 2 e PTU D300 User s Manual this document not shown e Pan Tilt Command Reference Manual not shown e Payload mounting brackets D300AC BKT LSTD Optional 3 e Breakout cable PTU CAB E 25BO Optional 4 e RS 232 to RS 485 converter PTU CONV RS485C Optional 5 e AC DC power supply PTU AC APS 30V Optional 6 3 3 Basic Setup To perform a basic PTU D300 setup and installation 1 Mountthe PTU D300 securely to a lab bench tripod or other stable platform Verify that there is enough clearance around the unit See Section 4 1 for detailed mounting instructions 2 Attach either the optional breakout cable or customer supplied cable to the 32 pin connector at the base of the PTU D300 by inserting the connector as keyed and then twisting to secure the connection DAMAGE THE UNIT ALWAYS POWER DOWN THE PTU D300 BEFORE f CAUTION DISCONNECTING THE CABLE WHILE THE PTU D300 IS POWERED
33. ication capability via terminal or computer e Payload capacity of Standard 35lbs top mount or 70lbs side mount EX model 60lbs top mount or 90lbs side mount e Pan resolution of 0 006 standard 0 006 EX model e Tilt resolution of 0 006 standard 0 003 EX model e Precise position speed amp acceleration control e On the fly position and speed changes e Self calibration on reset with reduced motion e Host controllable power consumption e Simple ASCII command mode e High speed binary command interface e Constant current motor drives for increased performance and control e Unregulated 12 30 VDC power input PTU D300 E Series User Manual Flexible connectivity options Sealed for outdoor operation IP67 Slip ring for continuous 360 pan operation Please refer to the PTU D300 E Series Product Datasheet for complete specifications 1 2 E Series Features The PTU D300 E Series includes the following new features Built in Ethernet Web IP interface for easy configuration control and diagnostics Improved power protection circuitry 32 pin base connector for simplified wiring Integrated digital encoder for more robust positioning Programmable ranges of motion Higher command rates with lower latency and jitter Reduced calibration movement Full backward compatibility with previous PTU D300 models that includes Mounting pattern Payload connector pin outs PLO1 PLO2 ASCII and bina
34. lectrical Specifications 39 A 1 32 Pin Base Connector n l iaia aa kiasa ai 40 A 2 19 Pin Payload Connector 41 AS PLOL Wiring Diagramma ala paqaq apasaq aa qaa aqopas ar aeons 42 A 4 PL02 Wiring Diagram 43 A 5 32 Pin Breakout Cable ile lia lola ns 44 Mechanical Drawings 45 B 1 Payload Mounting Patterns ile 46 B 2 PTU D300 DIMENSIONS uns ku Sui Susu ul Duy Gua u aria 48 NetWOrKIN pe aaa dai 49 A A A 49 A lal sce ne EI sk RNG Dali Satsang 49 C 2 1 Serial Networking Connections 50 C 2 2 ASCII Command Syntax 51 C 2 3 Serial EommandiList iatareglhe canale I W S i awa te 52 Troubleshootinp ia E AAA AEA ELAT Eaa 53 D t Mechanical u a anal al Ta e a wi 53 DZA E NN 53 D3 NetWork Ei AS id teta 53 D 4 Technical Suppotrti alain lilla 54 Regulatory Information 57 Class A a lottatori 57 FEGNOLICE alinitia a a nan a tales 57 GENO tl CO No 57 Table of Figures Figure 1 Pan Ti
35. lt System Overview 9 Figure 2 Hole Mounting Pattern 16 Figure 3 Bracketing Options 22 Figure 4 Pan Tilt Rotational Orientation 28 Figure 5 PTU Network Configuration 50 PTU D300 E Series User Manual This page intentionally left blank 1 Introduction The PTU D300 E Series Pan Tilt Unit PTU D300 from FLIR Motion Control Systems provides fast accurate and durable positioning of cameras antennas lasers and other payloads This User Manual contains setup general configuration wiring and mechanical interface information that is intended for use by design engineers and integrators who are configuring installing and programming the PTU D300 Please see 1 7 for a list of other documents related to the PTU D300 Note This manual describes setting up and using the PTU D300 E Series unit Optional E modules are not included in these instructions If your PTU D300 includes any optional modules please refer to the documentation included with those modules for help with their setup and use 1 1 General PTU D300 Features The PTU D300 series offers the following general features e Serial commun
36. mes the combined weight of the PTU D300 and payload For example a mount for a PTU D300 with a 70 lb payload must be able to support at least 400 Ibs WARNING FAILURE TO USE ALL FOUR MOUNTING SCREWS AND OR TO SECURE THE PTU D300 AND ITS PAYLOAD TO A SUFFICIENTLY STRONG MOUNTING CAN CAUSE THE INSTALLATION TO FAIL THIS CAN RESULT IN PERSONAL INJURY OR DEATH AND OR DAMAGE TO THE PTU D300 UNIT AND OR PAYLOAD E ee fr Figure 2 Hole Mounting Pattern Installation and Setup 4 2 Wiring and Connectors The standard PTU D300 has a base connector and may also have an optional payload connector for customer attachment Different PTU D300 wiring options may require different connectors Please verify your wiring configuration and then refer to Appendix A for detailed pin out and connector requirements 4 2 1 Mechanical Overview The PTU D300 contains one or two receptacles e Base Receptacle The base of the PTU D300 houses the 32 pin base receptacle that complies with MIL standard MIL C 26482 e Payload Receptacle Optional If equipped the payload connector is a 19 pin circular receptacle that complies with MIL standard MIL C 26402 The appropriate male connector complies with MS3126F14 19P Each PTU D300 with pass through option includes one male connector You may order additional connectors from FLIR Motion Control Systems Inc The base receptacle is normally mounted on the rear
37. n axis to position 2500 sets the tilt axis to position 900 sets the pan speed to 1900 positions per second and sets the pan position back home 9 Power down the PTU D300 by turning off the switch on the power strip 10 Mount and wire your payload e g camera on the PTU D300 as described in Sections 4 8 and 4 9 Please see Appendix C 2 2 for an overview of the ASCII command syntax and a list of commonly used commands The Pan Tilt E Series Command Reference Manual contains complete command interface instructions ISM The ISM serial interface includes additional commands to support the Manual and the ISM User Manual for instructions on using serial commands with ISM equipped PTUs stabilization function Some standard serial commands may also function differently when the PTU is in stabilized mode Please refer to the E Series Command Reference Quick Start This page intentionally left blank 4 Installation and Setup This section describes proper mechanical and electrical PTU D300 installation 4 1 Mounting the Unit The basic mounting pattern uses four 1 4 20 socket head cap screws in a 3 375 85 725mm square pattern All four mounting screws must be used and mount must be strong enough to support the combined load of the PTU D300 unit payload and additional forces exerted on the system such as wind G forces etc A good rule of thumb is that the mount must be capable of supporting at least four ti
38. nitial installation and testing then exercise the PTU D300 and Ps familiarize yourself with its operations and commands before mounting your payload El such as a camera 4 7 1 Web Interface To test the PTU D300 using the Web interface follow the procedure in Section 3 4 to connect the PTU D300 power on the unit and access the Web interface The Web interface has the following pages e PTU Config Allows you to configure speed acceleration and power options e Network Allows you to configure the PTU D300 unit s IP and MAC addresses e PTU Control Allows you to control the PTU D300 Please see Section 6 for more information about the Web interface Use the PTU Control page see Section 6 3 to test PTU D300 motion and exercise the unit 4 7 2 Terminal Interface To test the PTU D300 using the serial interface 1 Configure the RS 232 or RS 485 port on the host computer as described in Section 3 5 2 Power up the PTU D300 A boot message will appear on your terminal screen and the unit will begin a reset cycle An asterisk appears on your screen when the reset cycle is finished If the PTU D300 did not reset properly please refer to the troubleshooting instructions below 3 Please see Appendix C 2 3 for a list of basic commands and the Pan Tilt E Series Command Reference Manual for a complete list of commands and associated parameters and other usage instructions PTU D300 E Series User Manual 4 8 Payload Mo
39. of the PTU however you may order the PTU with a bottom mount base receptacle for pole or deck mounting with no exposed wiring The pinout and wiring is identical Basic control requires connecting a DC power source and a host PC to the PTU D300 The supplied breakout cable and power supply allow you to have your PTU D300 plugged in and running within minutes Appendix A contains specific pin outs and wiring diagrams for the available PTU D300 wiring configurations if o9 needed you may use this information to make custom cables to suit your specific installation requirements Please refer to Section 3 for basic connection and power on instructions Payload Receptacle The PTU D300 also provides payload pass through signals that connect between pins in the base receptacle to corresponding pins in the payload receptacle Additional pins in the payload receptacle provide other payload controls to the PTU D300 controller board including auxiliary RS 232 ports D Base Receptacle PTU D300 E Series User Manual LIMITED TO MAXIMUM VOLTAGE AND CURRENT WHEN ATTACHING PAYLOAD f CAUTION ALWAYS FOLLOW ALL APPLICABLE SPECIFICATIONS INCLUDING BUT NOT SIGNALS TO THE SYSTEM 4 2 2 Wiring Options The PTU D300 is offered with the following wiring options e PL01 This option provides an altern
40. on PTU D300 units with RS 232 communications have the following connections e TxD Pin 2 carries data from the PTU D300 e RxD Pin 3 carries data to the PTU D300 e GND Pin 5 m Note TxD and RxD assignments can vary depending on your host computer If your initial connection does not work try using a null modem Serial communication between the PTU D300 and your host computer should be set as follows e Baud rate 9600 You may adjust the baud rate using software commands Please refer to the Pan Tilt E Series Command Reference Manual for instructions e Start bit 1 e Data bits 8 e Stop bit 1 e Handshaking off e XON XOFF not used 4 6 3 RS 485 Electrical Connection PTU D300 units with RS 485 communications have the following connections e Duplex full e Connections Tx Tx Rx and Rx e Voltage RS 422 or RS 485 levels Serial communication between the PTU D300 and your host computer should be set as follows e Baudrate 9600 You may adjust the baud rate using software commands Please refer to the Pan Tilt E Series Command Reference Manual for instructions e Start bit 1 Installation and Setup e Data bits 8 e Stop bit 1 e Handshaking off e XON XOFF not used 4 7 Initial Power Up and Test This section describes how to power up and test your PTU D300 using either the Web or serial interface Test and verify all cable connections and connector wiring before power up Note Complete the i
41. on you can use a lower motor voltage such as 24VDC The PTU D300 pan tilt maximum speed depends on the input voltage 30 VDC provides the highest maximum speed lower voltages will reduce the maximum achievable speed Installation and Setup CAUTION THE PTU D300 CONTAINS OVER VOLTAGE AND OVERCURRENT PROTECTION HOWEVER SUSTAINED OVERLOAD CAN DAMAGE THE UNIT 4 4 Fusing If you are using a DC power source that is capable of supplying current beyond the PTU D300 rated maximums you must add an appropriate fuse in series with the DC power source For example you must fuse a connection made to a vehicle battery or lighter plug WARNING FAILURE TO PROPERLY FUSE THE PTU D300 POWER SOURCE COULD OVERLOAD INTERNAL PROTECTION DEVICES AND CAUSE DEATH PERSONAL INJURY AND OR DAMAGE TO THE UNIT 4 5 Shielding Shielding protects the PTU D300 from external Electromagnetic Interference EMI and prevents radiation emission from internal and external cabling Proper shielding must be used to meet the regulatory requirements described in Appendix E All PTU D300 wiring configurations provide a shield pin at both the base and the payload as described in Appendix A This shield is also attached to the PTU D300 housing The shield pin is not connected to ground internally The shield potential will vary from ground and must not be confused with a ground pin Ideally either the PTU D300 chassis or the shield pin at the base connector should be
42. on and Setup 4 8 1 Side Bracket Attachment To attach side mounting brackets 1 Verify that the PTU D300 has been powered on and allowed to reset which places the mounting hub in its home position Power off the PTU D300 Orient the bracket so the horizontal mounting arm is on the bottom Attach the bracket using 6 screws torque to 32 inch pounds The thread holes in the hub come with thread locking compound applied to them Reapply thread lock to the hub whenever you remove the bracket using a compound such as Loctite 242 Reset the PTU D300 and ensure that the bracket moves properly throughout the entire range of motion Note If you ordered your PTU D300 with a top bracket the unit will arrive with the El bracket already attached 4 8 2 Payload Attachment The following guidelines apply to all payload attachments Mount all payloads as close to the PTU D300 as possible This minimizes the distance between the payload Center of Gravity CG and the center of rotation of the axes which reduces stress on the PTU D300 unit and mounting It also improves performance by reducing the amount of torque required to move the payload Verify that the payload will clear the PTU D300 housing and all surrounding objects throughout the entire range of motion The PTU D300 is rated for a maximum load of 70 lbs however load distribution affects the actual weight that the PTU D300 can safely move The amount of torque needed to move
43. or higher power operations The speed and acceleration of a mechanical system depend on the inertial properties of the payload The ability of the PTU D300 to successfully move the payload without losing synchronization depends upon the inertial payload factors and their relationship to power supply voltage unit speed acceleration position motor torque etc To increase payload capacity Configure the PTU D300 for increased motor current and torque If your move duty cycle is less than 20 you can set the Move Power to High Web or use the following serial commands PMH TMH PHR THR You may also e Move the payload CG closer to the PTU D300 tilt axis See Section 4 8 2 Configuration and Programming Use a higher voltage power source in the permissible range Determine if the payload can be modified to lighten it Set the base speed to 0 If the PTU D300 is having trouble resetting the tilt axis try using user limits to reduce the tilt axis range of motion Reduce speed and or acceleration Please refer to the Pan Tilt E Series Command Reference Manual for more information 5 3 3 Battery Powered Operation The PTU D300 can be battery powered Battery powered applications must conserve as much power as possible The PTU D300 includes commands that control pan tilt motor power consumption both while moving and when stopped Please refer to the Pan Tilt E Series Command Reference Manual for more information A CAUTION ALWAYS
44. orking Connections Multiple PTU D300 units can be networked and connected to the host computer s RS 232 port All network communications use RS 485 meaning that you must have an RS 232 to RS 485 adapter if the host computer does not directly support full duplex RS 485 I O The host computer functions as the network host meaning that its TX and RX lines define the directions of data traffic flow Each PTU D300 on the network is a client that communicates with the host using a full duplex connection RS485 Multi Drop TX Twisted Pair N ZS ZS LS ZS N 1200 1 1200 1 NY x NY RS485 Multi Drop RX Twisted Pair RS232 lt gt RS485 Converter Figure 5 PTU Network Configuration When making your own data cables FLIR Motion Control Systems Inc recommends using a good quality twisted pair cable with about 1000 impedance which provides good noise immunity for RS 485 connections The following RS 232 to RS 485 converters are recommended e ATEN IC 485S e Moxa A50 Both adapters require a flipped RJ 12 connector such as a standard phone cord Terminate the serial network by placing 120 O 1 resistors between the RS 485 Transmit Transmit Tx Tx and Receive Receive Rx Rx wires at each end of the network as shown in Figure 5 Networking C 2 2 ASCII Command Syntax This section provides a brief overview of the ASCII command syntax Please refer to the Pan Tilt E Series Command Reference Manual for compl
45. ositions in both axes 5 Launch a Web browser The PTU D300 supports modern versions of the Microsoft Internet Explorer Mozilla Firefox and Google Chrome browsers with JavaScript enabled 6 Run the PTU Finder utility from the CD included with your PTU D300 package A list of the individual PTU D300 units currently connected to the network and their corresponding IP addresses will appear in the application window E Note If you have simultaneous Ethernet and serial connections to a PTU D300 unit you may enter NI in the terminal to retrieve the IP address of the PTU D300 unit PTU D300 E Series User Manual 7 In your Web browser navigate to the appropriate IP address Network PTUCONG Pru Cono such as http 192 168 1 101 A Web page appears when you are PTU CONTROL lt a connected to the selected Control he PTU PTU D300 unit The PTU D300 Senan A men Web interface allows you to song Position Status POSITIONS DEGREES configure the network T i Pan Pas Pen Postion 0 000 interface configure various ret op Right wes s rrow Tit Speed 0 000 parameters and control the 1 ca A PTU D300 J n Tilt Down saja 8 Navigate to the PTU Control Set Position w page Speed Pan f24000 1 boo Position Pap Tit Apply Dialogue 9 Click the arrows to pan and tilt the PTU D300 and verify that it is working properly Copyright FLIR Motion Control Systems 2010 Please
46. oting This appendix presents common mechanical power and networking challenges and resolutions and also provides information about contacting FLIR MCS Technical Support D 1 Mechanical After powering on the PTU D300 stops moving with a grinding noise e If you have a payload attached The payload may be too heavy Try moving the payload closer to the center of rotation of the affected axis and or reducing the payload weight The movement settings may be too aggressive Reduce the upper speed limit and or acceleration e If you do not have a payload attached contact FLIR MCS Technical Support D 2 Power The PTU D300 E Series reset movements are different than older PTU D300 models e This is normal behavior D 3 Networking Unable to determine the PTU D300 IP address to access the onboard Web page e If you are running Windows use the PTU Finder tool included on the CD that shipped with your PTU D300 e If you are not running windows then attach a serial device to the PTU D300 host port and then issue the NI command to query the IP address of the PTU D300 PTU D300 Web page controls are sluggish e Adjust the speeds and or step size by clicking the Set Arrow Step Size or Set Arrow Speed headers in the PTU Control Web page as described in Section 6 3 e Try closing other programs on your computer to free up resources PTU D300 E Series User Manual Unable to establish serial communications with the PTU
47. otion Control Systems Inc cannot be held liable for any mistakes in this manual and reserves the right to make changes Table of Contents 1 SLIMMER OCU CTION a a AS isis 1 1 1 General PTU D300 Features occcccncccococccnnonnnnnnnnnnnonnnonononononononononononononononononeninaninaness 1 1 2 AN NN 2 1 3 Applications atua a a di ida 2 1 4 A pout This Manuali caes 3 1 4 1 Formatting ConventionS ceca 3 1 5 WModelsgu Sau y n ani nia eni 4 1 6 PTU D300 Packase Contents iivss nidi iaia 4 1 7 iRelated Documentationi annida aan dea dr 5 1 8 Additional RESOUTCES ninn rea 5 1 9 Technical SUpport iii 5 MAN IVA PT RIA E 7 2 1 Safety Warnings and CautionS iii 7 QUICK Stait a ace lalla 9 3 1 System QVer Vie Weni aei a a ala psi 9 3 2 Installation Components iii 10 3 3 B3SICSSLt DXu u inicia a 10 3 4 Ethernet CONNECTIONS gs aa cat rd pata ian ire 11 3 5 Serial COn ecti RB uy yanu aya ala ARI Rien 13 Installation and Set D au s u Su ei 16 4 1 Mounting the Unit ii 16 4 2 Wiring aNd Connectors hail 17 24 2 4 Mechanical OvervieW uu O 17 422 WWiri g Opt OS u l ala Putaqa ua a asas usu apanan 18 4 3 POWEF SOUPCOS uu A u aaa AA aa td 18 4 4 US Mia 19 4 5 MN ala nl ira io iL 19 4 6 Interface and Host Settings ii 19 4 6 1 Ethernet Connection allieta 19 4 6 2
48. oudly assembled right here in the USA For additional technical information or to see a demonstration of these revolutionary thermal night vision systems contact a FLIR representative today You can also visit www FLIR com to watch product videos and see how thermal imaging can help you see night and day LIMITED WARRANTY FLIR Motion Control Systems Inc warrants this product against defects in material or workmanship as follows For a period of one year from date of purchase FLIR Motion Control Systems Inc will repair the defective product and provide new or rebuilt replacements at no charge Warranty repairs require the issuance of a repair authorization number from FLIR Motion Control Systems prior to the return of merchandise and the buyer assumes responsibility for freight charges After the one year period the purchaser must pay for all parts labor and freight This warranty does not cover any damage due to accident misuse abuse or negligence You should retain your original bill of sale as evidence of the date of purchase REPAIR OR REPLACEMENT AS PROVIDED UNDER THIS WARRANTY IS THE EXCLUSIVE REMEDY OF THE PURCHASER FLIR MOTION CONTROL SYSTEMS INC SHALL NOT BE LIABLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR BREACH OF ANY EXPRESS OR IMPLIED WARRANTY ON THIS PRODUCT EXCEPT TO THE EXTENT PROHIBITED BY APPLICABLE LAW ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ON THIS PRODUCT IS LIMI
49. ovide other payload controls including auxiliary RS 232 ports and TTL control The payload connects to the receptacle via a male MS3126F14 19P plug Appendix A 2 displays this connector and corresponding pin out CAUTION FOLLOW ALL APPLICABLE SPECIFICATIONS FOR PASS THROUGH SIGNALS SUCH AS MAXIMUM VOLTAGE AND CURRENT LEVELS PTU D300 E Series User Manual This page intentionally left blank 5 Configuring amp Programming This chapter describes how to configure and program your PTU D300 E Note You may also have a simultaneous Ethernet connection to the Web interface as described in Section 3 4 Follow the appropriate instructions to connect the PTU D300 to the host computer power it on and access it via e Web Section 3 4 e Serial Section 3 5 5 1 Range of Motion The PTU D300 range of motion can be limited in the following ways User Range e Hard A hard Factory Range limit physically Hard Range cannot be exceeded For example a PTU Negative No without a slip Positive max ring physically cannot pan Non Overlapping Overlapping across all 360 Non Continuous Range of Motion and units with Range of Motion top mounted payloads may have smaller tilt limits than units with side mounted payloads A physical pin on the PTU impedes movement e Factory Factory limits are smaller than hard limits to prevent physical damage to the PTU D300 and or payload These limits may be exceeded such as
50. ow is clicked if you selected Position or how fast it will move if you selected Speed Big The Big number specifies either the number of positions the PTU D300 will move each time you click a big arrow if you selected Position or the number of positions per second the PTU D300 will move if you selected Speed Small The Small number specifies either the number of positions the PTU D300 will move each time you click a small arrow if you selected Position or the number of positions per second the PTU D300 will move if you selected Speed e Status The Status section of the PTU Control page displays the PTU D300 position and speed in real time Click the appropriate link to see this information in Degrees or Positions Position Pan and tilt location of the PTU D300 in degrees or positions PTU D300 E Series User Manual Speed Pan and tilt speed of the PTU D300 in degrees or positions per second Start Stop Clicking the Start Stop button toggles updating the PTU D300 status on and off e Set Position The Set Position section of the PTU Control page allows you to manually enter position and or speed information Please see Section 5 1 for an explanation of limit types and for a visual depiction of the PTU D300 range of motion Speed Enter your desired pan and or tilt speeds in the Speed fields Position Enter your desired pan and or tilt position in the Position fields Click the Apply button to move the PT
51. particular installation Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his her own expense Caution Changes or modifications of this equipment not expressly approved by manufacturer could result in violation of Part 15 of the Federal Communication Commission s rules The FCC has prepared the following booklet How to Identify and Resolve Radio TV Interference Problems It is available from the US Government Printing Office Washington DC 20402 Stock Number 004 00 00345 4 FCC Notice According to 47CFR Parts 2 and 15 Subpart B Class A This device complies with FCC Part 15 Subpart B Class A of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference 2 This device must accept any interference received including interference that may cause undesired operations CE Notice This is a Class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures PTU D300 E Series User Manual ABOUT FLIR MOTION CONTROL SYSTEMS FLIR Motion Control Systems Inc formerly Directed Perception is a leading manufacturer of innovative devices and software for the intelligent control of sensors and sensor processing In 1992 FLIR MCS created one of the first miniature computer controlle
52. refer to Section 6 for instructions on using the Web interface ISM The ISM Web interface includes additional command and configuration options to support the stabilization function Please refer to the ISM User Manual for instructions on using the ISM Web interface Quick Start 3 5 Serial Connection Ez E Note You may use simultaneous Ethernet and serial connections To connect power on and test the PTU D300 a O using the serial interface 1 Check which wiring option your PTU D300 is configured with era Si pe fi 6 RS 232 to RS 485 If it is PLO1 the PTU D300 provides adapter direct RS 232 support Skip to Step 3 If it is PL02 you may have to connect to the PTU D300 through an RS 485 converter Proceed to Step 2 2 Connectthe PTU D300 as follows Attach the DB25 to DB9 converter on one side of the RS 232 to RS 485 converter Attach one end of the four pin RJ 11 phone cable to the other side of the RS 232 to RS 485 adapter Set the switches on the RS 232 to RS 485 converter to T RxON and DCE Attach the four pin RJ 11 female to female adapter to the other end of the phone cable This is important because the adapter rearranges the pins the PTU D300 will not function if the adapter is not attached correctly Connect the RS485 connector from the breakout cable into the adapter Provide power to the converter through the included power supply
53. rror encountered e A pan axis limit hit asynchronously displays P e Atilt axis limit hit asynchronously displays T This sample command sequence pans the PTU D300 to the left waits and then pans it back to the right S PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 PTU D300 E Series User Manual C 2 3 Serial Command List These tables list the most commonly used serial commands Please refer to the Pan Tilt E Series Command Reference Manual for complete information about the available commands and their usage LIMITS CMD DESCRIPTION CMD DESCRIPTION Minimum pan position Query limit status PX Maximum pan position Enable limits TN Minimum tilt position Disable limits TX Maximum tilt position User limits POSITION CMD DESCRIPTION DESCRIPTION PP Pan position PR Pan resolution TP Tilt position TR Tilt resolution PO Pan offset TO Tilt offset SPEED CMD DESCRIPTION DESCRIPTION CMD DESCRIPTION PS Pan speed PA Pan acceleration PU Pan upper speed TS Tilt speed TA Tilt acceleration PL Pan lower speed PD Pan speed offset PB Pan base speed TU Tilt upper speed TD Tilt speed offset TB Tilt base speed TL Tilt lower speed MISCELLANEOUS DESCRIPTION A Await R Reset DF Restore factory defaults H Halt D Troublesho
54. rs in the Support section at www FLIR com MCS Resources include electronic copies of user manuals firmware downloads 3D CAD models technical notes and other information 1 9 Technical Support FLIR Motion Control Systems Inc provides a range of technical support options e Email MCS support FLIR com e Web www FLIR com MCS e Phone 650 692 3900 then select Technical Support The preferred method of contacting Technical Support is via email which helps ensure proper dispatching and tracking to address your questions promptly When contacting Technical Support please provide the following information e PTU model and configuration Payload Please include photos if possible Parameter settings e Description of issue symptoms PTU D300 E Series User Manual This page intentionally left blank 2 Safety This chapter contains important safety instructions You must read understand and comply with all of these safety instructions in order to protect both persons and property The benefits of a safe installation include increased usability reliability and reduced damage to the PTU payload and or other property 2 1 Safety Warnings and Cautions PTU D300 installation and setup should be only be performed by qualified personnel e The installation must comply with all applicable codes such as building codes marine safety codes etc e The installation must be free of obstructions throughout th
55. ry application command interface Optional 19 to 32 pin adapter cable 32 pin breakout cable also available Overlapped capabilities with previous PTU D300 models 1 3 Applications The PTU D300 E Series is well suited for the following applications Mid and short range surveillance systems Automated detection and tracking Multi sensor perimeter monitoring systems Thermal and IR cameras Marine shipboard sensor systems Harbor and port security Border security amp law enforcement Highway amp transportation monitoring Introduction e Military special operations e Satellite communications systems e Microwave antenna systems passive active e Robotics amp computer vision 1 4 About This Manual This section describes the formatting conventions and information contained in this manual 1 4 1 Formatting Conventions This manual uses several formatting conventions to present information of special importance Lists of items points to consider or procedures that do not need to be performed in a specific order appear in bullet format e ltem1 e ltem2 Procedures that must be followed in a specific order appear in numbered steps 1 Perform this step first 2 Perform this step second Specific keyboard keys are depicted in square brackets and are capitalized for example ESC If more than one key should be pressed simultaneously the notation will appear as KEY1 KEY 2 for example ALT F4 In
56. system The internal controller allows stepper motor control in manual and 1 8 or automatic step modes The following table lists the pan and tilt axis resolution in degrees STANDARD STEP 1 8 STEP PAN AXIS TILT AXIS EX PAN AXIS TILT AXIS Note Larger step modes increase torque and maximum speed vs smaller step modes E The PTU D300 includes an automatic stepping mode auto step that optimizes this tradeoff for many applications You may command the PTU D300 in 1 8 steps when in automatic stepping mode 5 3 User Programmable Settings The PTU D300 has a number of user programmable parameters that can significantly affect performance for a given payload and application These parameters should be set to values that are appropriate for your payload and application needs This section provides an overview of how to optimize your PTU D300 for high power and or high speed operation Please refer to the Pan Tilt E Series Command Reference Manual for complete instructions CAUTION USE HIGH SPEED AND OR HIGH POWER SETTINGS WITH CARE PARTICULARLY WHEN MOUNTING A HEAVY AND OR BULKY PAYLOAD WARNING FAILURE TO ADEQUATELY SECURE THE PTU D300 TO A MOUNTING THAT CAN WITHSTAND THE FORCES APPLIED BY BOTH HIGH SPEED HIGH POWER MOVEMENT AND ENVIRONMENTAL FASCTORS SUCH AS VEHICLE MOVEMENT OR WIND CAN CAUSE A STRUCTURAL FAILURE RESULTING IN INJURY OR DEATH PTU D300 E Series User Manual 5 3
57. terface elements such as document titles fields windows tabs buttons commands options and icons appear in bold text Menus and submenus have the notation Menu gt Submenu For example Select File gt Save means that you should first open the File menu and then select the Save option Specific commands appear in standard Courier font Sequences of commands appear in the order in which you should execute them and include horizontal or vertical spaces between commands This manual also contains important safety information and instructions in specially formatted callouts with accompanying graphic symbols WARNING WARNINGS ALERT YOU TO THE POSSIBILITY OF PERSONAL INJURY OR DEATH IF THESE INSTRUCTIONS ARE NOT FOLLOWED CAUTION CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED PTU D300 E Series User Manual El Note Notes provide helpful information with the optional Inertial Stabilization Module ISM and refer you to the appropriate documentation pan ISM ISM callouts alert you to differences between standard PTUs and PTUs equipped 1 5 Models Each PTU D300 E series unit includes a model number that is located on the base of the unit This number lists the options present on that particular unit Different options may require specialized instructions and this manual will refer to this section where necessary to ensure that you are following the appropriat
58. the arrows to move the PTU D300 through its full range of pan motion as described in Section 6 3 If needed click Halt to stop the PTU D300 immediately If you are using the terminal interface enter PN PX to query the pan minimum and maximum limits then enter PP lt min gt A PP lt max gt to cycle the PTU D300 through its entire tilt range where lt min gt is the number returned by the PN query and lt max gt is the number returned by the PX query If needed enter H to stop the PTU D300 immediately WARNING STOP THE PTU D300 IMMEDIATELY BY EITHER CLICKING HALT WEB INTERFACE OR ISSUING AN H COMMAND SERIAL INTERFACE IF THE PAYLOAD IS ABOUT TO COLLIDE WITH THE PTU D300 AND OR ANOTHER OBSTACLE A COLLISION COULD CAUSE A STRUCTURAL FAILURE THAT MAY RESULT IN INJURY OR DEATH If the load is too heavy or moving too quickly the PTU D300 will lose synchronization which will be audible as a grinding sound from the PTU D300 motors Stop the test immediately if this occurs and refer to Sections 5 3 2 and 5 3 3 5 If the PTU D300 passes the above pan and tilt axis load handling tests you are ready to begin controlling your payload using the commands described in the Pan Tilt E Series Command Reference Manual 4 9 Payload Wiring Connector The PTU D300 provides payload pass through signals that connect between pins in the base receptacle to corresponding pins in the payload receptacle Additional pins in the payload receptacle pr
59. tion to program the PTU D300 Continuous Mode Enabling continuous pan mode by checking the Enable radio button overrides the factory or user pan limits allowing the PTU D300 to pan a full 360 Checking the Disable radio button limits the PTU D300 pan range of motion to the factory or user limits you specified above This requires a calibration reset Action Buttons The action buttons at the bottom of the PTU Config page allow you to perform the following actions Reset Factory Clicking the Reset Factory button restores factory default speed acceleration power and limit settings to the PTU D300 This erases any user limits Save Default Clicking the Save Default button saves the changes you made on the PTU Config page as the default settings for the PTU D300 Refresh Clicking the Refresh button updates the PTU Config page with the values stored on the PTU D300 PTU D300 E Series User Manual Reset Axes Clicking the Reset Axes button cycles the PTU D300 through a complete calibration reset cycle e Reprogramming The Reprogramming section of the PTU Config page allows you to upload firmware to the PTUD300 CAUTION REPROGRAMMING NEW FIRMWARE IN THE PTU D300 CAN DAMAGE THE UNIT IF NOT DONE PROPERLY ONLY REPROGRAM YOUR UNIT UNDER THE DIRECT GUIDANCE OF FLIR TECHNICAL SUPPORT e Dialogue The Dialogue section of the PTU Config page displays information that can be useful when debugging the PTU D300 6 2 Network Page
60. unting The PTU D300 payload bracket system can be configured in a number of ways to support a variety of payloads including cameras lasers antennas and other equipment Figure 3 shows all bracket configurations available for the PTU D300 WARNING FAILURE TO FOLLOW ALL PAYLOAD MOUNTING INSTRUCTIONS COULD RESULT IN A STRUCTURAL FAILURE THAT MAY RESULT IN DEATH PERSONAL INJURY AND OR DAMAGE TO THE UNIT The following guidelines apply to all payload mounts e The maximum payload mounting screw size is e Always use washers lock washers etc as appropriate e If the PTU D300 is being mounted in an outdoor location use corrosion resistant hardware such as stainless steel e Apply thread locking compound to all screws such as Loctite 242 which is suitable for applications that are field serviceable since it is easily removable with common hand tools and works with both stainless and plated metals Consider other compounds for high shock vibration applications where field service is not a concern The thread holes in the hub come with thread locking compound applied to them Reapply thread lock to the hub whenever you remove the bracket Tighten the screws to 32 inch pounds The PTU D300 allows the following bracket mounting options NONE ONE SIDE TWO SIDE STANDARD STANDARD A J PA E q d dl i I a il TOP ONLY ONE SIDE TWO SIDE EX EX Figure 3 Bracketing Options Installati

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