D47 User Manual
Contents
1. cccssccccesssceeeseececeseneceensseeeees 31 Zack lt Unit NeIwork UD eg gend ege EE ged 31 7 3 2 Unit Select D sel ct EE 32 SPECIFICAN ETC 33 8 1 D47 Mechanical DimensiOnsii csisiscsccace clsdcaiasesediens chet wtiaaasesiecasnecdinns 33 8 2 D41 Base Connector Wiring EE 34 8 3 D47 Payload Flying Leads Mapping ssssessseeseesesssseeesseessresseesserssssesssees 35 REGULATORY INFORMATIONS EE 36 LIMITED WARRAN DY EE 37 PTU D47 User e Manual v2 14 0 INTRODUCTION 1 INTRODUCTION The PTU D47 Computer Controlled Pan Tilt Unit from Directed Perception provides low cost fast and accurate positioning of cameras and other payloads Some general features Simple to command from any RS 232 terminal or computer Small form factor Integrated controller Load capacity over 12 lbs 5 48kg Pan speeds over 300 second Tilt speeds over 60 second Pan resolution of 3 086 arc minute 0514 Tilt resolution of 7714 arc minute 0129 Precise control of position speed amp acceleration On the fly position and speed changes Self calibration upon reset Power consumption can be controlled from host ASCII command mode for simplicity binary commands available for efficient program control Constant current DMOS motor drives for increased performance and control Pass through wiring for payload cable management DC power input from an unregulated source The PTU D47 series is electrically and software compatible with other2. pin 4 DSR pin Dia pin 6 Apple Macintosh PTU C 8 Pin Mini DIN female DB 9 TxD pin 3 lt __________ TxD pin 2 RxD pin 5 gt RxD pin 3 GND pin 4 GND pin 5 DTR pin 1 pin 4 DSR pin 2 i H 6 Null modem may be required Figure 3 RS 232 Pan Tilt Controller Connection to Common Hosts page 8 PTU D47 User e Manual v2 14 0 INSTALLATION amp INITIAL SETUP 3 5 Initial Power up and Test If you have the power source and Host computer connected described in Sections 3 3 and 3 4 you are ready to power up and test its operation Test and verify all cable connections and connector wiring before power up We suggest that you do not mount your payload e g camera until this initial installation is completed and tested 1 Using HyperTerminal or a similar terminal program configure the RS 232 485 serial port of the Host Computer to 9600 baud 1 start bit 8 data bits 1 stop bit and no parity Hardware handshaking and XON XOFF are not used 2 You are now ready to power up the pan tilt unit and test its operation Apply power Upon power up introduction text should appear on your screen and the pan tilt unit should go through a reset cycle pan and tilt axes will cycle through their full range of motion This reset is completed when an asterisk appears If the unit did not reset properly recheck your power source and cabling If the unit went through its reset procedure but
3. Figure 4 Axis Speed Instantaneous Speeds Trapezoidal Acceleration and On The Fly Speed and Position Changes 4 4 2 Speed absolute Description Specify or query desired axis speed Desired speed is specified in positions second and it can be changed on the fly The speed specifies that rate at which the pan tilt move to achieve position movement commands page 17 COMMAND REFERENCE PTU D47 User s Manual v2 14 0 Syntax Example Desired speed commands outside the speed bounds return an error and are not executed Query desired pan speed PS lt delim gt Set desired pan speed PS lt positions sec gt lt delim gt Query desired tilt speed TS lt delim gt Set desired tilt speed TS lt positions sec gt lt delim gt The following commands instruct the pan axis to move to the far left then slowly move right and then on the fly it speeds up I PS2500 PP2600 A PS600 PP 2600 PS2500 Related Topics e Position commands See Section 4 3 1 4 3 2 e Position resolution units See Section 4 3 3 e Speed bounds See Section 4 4 6 4 4 3 Delta Speed relative offset Description Syntax Specify desired axis speed as an offset from the current speed or Query the current axis speed Desired delta offset speed is specified in positions second and it can be changed on the fly A desired delta speed command that results in a speed outside the legal speed bounds returns an error and it is no
4. Pan t position is 0 position is 1500 TP Curren Related Topics Til t position is 900 e Alternative immediate position execution mode See Section 4 3 6 page 14 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE 4 3 8 Await Position Command Completion Description Awaits the completion of the last issued pan and tilt axis position commands Used to coordinate axis motions Syntax A lt delim gt Example The following commands instruct the pan axis to move to a position then move to another position I PP Current Pan position is 0 PP2000 A PP Current Pan position is 2000 PPO A PP Current Pan position is 0 In contrast the following commands would begin to move to the first position and before that position is reached the next position would be moved towards this is often called an on the fly position change I PP Current Pan position is 0 PP2000 PPO Related Topics e This command can be used for both the Immediate Position Execution Mode see Section 4 3 6 and Slaved Position Execution Mode see Section 4 3 7 4 3 9 Halt Command Description Immediately decelerates and halts pan tilt movement Syntax Halt all pan tilt movement H lt delim gt Halt pan axis movement HP lt delim gt Halt tilt axis movement HT lt delim gt Example PP2500 A PP 2500 Then while the pan tilt is moving the host decides to stop immediately H
5. Fast Blow fuse in series with your DC power source For example when connecting to a vehicle battery or lighter plug you must fuse the incoming DC source Failure to properly fuse your input power source could cause overloading of internal protection devices pose a safety hazard or void product warranties page 7 INSTALLATION amp INITIAL SETUP 3 4 RS 232 Cable and Host Settings An RS 232 terminal or host computer connects to the female DB 9 connector on the Pan Tilt Unit Controller PTU C The host terminal or computer should be set to 9600 baud 1 start bit 8 PTU D47 User s Manual v2 14 0 data bits 1 stop bit and no parity Hardware handshaking and XON XOFF are not used The RS 232 connections to the Pan Tilt Controller female DB 9 are TxD pin 2 RxD pin 3 and GND pin 5 You will need to obtain a cable that connects the host RS 232 port to the controller DB 9 connector Figure 3 shows cable configurations for some common computer hosts Since TxD and RxD assignments to pins 2 and 3 can vary on host computers try using a null modem if your initial connection does not work IBM PC XT PTU C Asynch Card DB 25S female DB 9 TxD pin 2 pm RxD pin 3 RxD pin 3 TxD pin 2 GND pin 7 GND pin 5 DTR pin 20 p pin 4 DSR Gal 6 a oi 6 IBM AT PTU C Asynch Card DB 9S female DB 9 RxD pin 2 lt ____ TxD pin 2 TxD pin 3 RxD pin 3 GND pin 5 GND pin 5 DTR pin
6. ORANGE 28G RS485_TX BLUE 286 RS232_IN fs Heel 2282 o VIOLET 286 RS232_0UT A Si G RS232_SGND gt D47_INTERFACE ORANGE COAX ees MS3126F14 19P RER gt VIDEO 1 ea Cr YELLOW COAX ven ep LT T VIOLET 2 G _oeneraL passtHRU 3 n BLUE 20G GENERAL PASSTHRU 4 2 WHITE 18G GENERAL pAassTHRU 2 EL RED 16G PAYLOAD 5 UDC T BLACK 16G PAYLOAD GND d gt GREEN 186 SHIELD a COLOR CODING FOR TecNec PN TN CCQAM DIRECTED PERCEPTION INC 1485 Rollins Road Burlingame CA 94010 65 342 9399 F 65 2342 9199 TITLE D47 wiring diagram Document Number REU 1 1A Date 2 27 2007 10 41 52a Sheet 1 1 xxx CONFIDENTIAL XX Buy Dk page 34 PTU 47 User e Manual v2 14 0 Appendix 8 SPECIFICATIONS 8 3 D47 Payload Flying Leads Mapping Payload Cable D47 Base Function Flying Leads Connector green F Shield page 35 REGULATORY INFORMATION Electromagnetic Interference EMI is any signal or emission radiated in free space or conducted along power or sig nal leads that enganders the function of a radio navigation or other safety service or 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
7. Directed Perception models including PTU D46 PTU D300 Applications of the PTU D47 include Robotics amp computer vision Webcam Thermal and IR cameras Teleconferencing Advanced monitoring systems Tracking Photography videography and special effects Mid and Long range Surveillance systems Automated detection and tracking Border Security amp Law Enforcement Highway amp Transportation Monitoring Military special operations Satellite communications systems Microwave antenna systems passive active Robotics amp computer vision In addition the PTU D47 has flexible connectivity options This User s Manual provides information needed to set up and operate the PTU D47 unit The next section provides a quick overview to allow you to get started as quickly as possible More detailed technical information is provided in the remaining sections page 1 INTRODUCTION PTU D47 User s Manual v2 14 0 1 1 IMPORTANT SAFEGUARDS AND WARNINGS IMPORTANT SAFEGUARDS AND WARNINGS 1 oy ae wee 10 11 12 13 14 15 16 17 Please read these instructions Please keep these instructions accessible Please heed all warnings Please follow all instructions Install in accordance with the Directed Perception s instructions Do not install near any heat sources such as radiators heat registers stoves or other apparatus including amplifiers that produce heat Only use attachments access
8. PTU controller by its unit ID and commanding and querying its attached pan tilt unit ae alae 7 2 PTU Network Connections Figure 5 illustrates how PTU controllers can be networked and connected to a host computer via its RS 232 port Each PTU controller has a built in RS 232 to RS 485 converter and the host computer can be connected to the RS 485 controller network by simply connecting to the RS 232 connector on a PTU controller box The PTU controllers are then connected together via an RS 485 multi drop network full duplex RS 485 Multi Drop Network 120Q 1 terminator full duplex 120Q 1 terminator HOST COMPUTER net termin network PTU NCONN net termin network PTU NCONN network net termin PTU NCONN Figure 5 Making PTU Network Connections The basic start configuration for networking PTU controllers may be made using the PTU Network Starter Kit model PTU D47 NET SK This starter kit includes two Y connectors used to connect to each of two PTU controllers a data connection cable and two network terminators Additional PTU controllers may be networked using the PTU Network Addition Unit Kit model PTU D47 NET AU and this includes an additional Y connector and data connector cable Figure 6 shows the wiring from the PTU RS 485 controller network receptacle RJ 12 6P6C Several issues are important to note when you make your own data cables First use a page 30 PTU D47 Use
9. PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 LE PP3200 Maximum allowable Pan position is 3090 Related Topics e Position resolution units See Section 4 3 3 e Achieving larger axis bounds See Section 4 3 5 4 3 5 Position Limit Enforcement Description Determines whether position commands beyond the detected pan and tilt axis limits are allowable The default is position limits are enabled i e enforced Enabling position limits ensures that all positions within the limits can be achieved when the load does not extend below the bottom of the load mounting plate see Section 3 7 When limits are enabled commands outside of the limits return an error message and are not executed In enabled limit mode limits are only be reached when the unit has lost synchrony and this error condition requires a unit reset see Section 4 5 1 When a limit is reached either P or T is printed to indicated which axis limit was hit pan or tilt When larger operational ranges are required the limits may be disabled Positional commands outside the limits are not rejected when limits are disabled Positions outside the limits introduce the possibility that the tilt axis and load can interfere with the pan axis so it is important that accessibility of positions outside the limits be determined Syntax Query the current position limit mode L lt delim gt Enable position limits
10. axis to position 500 then sends it 1500 positions to the left PP 500 A PO Current Pan position is 500 PO1500 A PP Current Pan position is 1000 Related Topics e Position resolution units See Section 4 3 3 Position limits See Section 4 3 4 e Position execution modes See Sections 4 3 6 4 3 7 and 4 3 8 e Position limit enforcement modes See Section 4 3 5 4 3 3 Resolution per Position Description Syntax Example Query returns the axis resolution per position moved in seconds arc Query pan resolution PR lt delim gt Query tilt resolution TR lt delim gt Resolution can be determined by PR 185 1428 seconds arc per Pan position 1 sec arc 1 60 min arc 60 sec arc 0002778 So 185 1428 seconds arc equals 185 1428 sec arc 002778 0 0514285 Thus to pan 21 3 left requires a relative move of 21 3 0 0514285 zs 414 positions yielding the following command PO414 page 12 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE Related Topics e Factory options are available to achieve higher resolution or accuracy 4 3 4 Limit Position Queries Description Queries return the axis position bounds determined upon unit reset Syntax Query minimum pan position PN lt delim gt Query maximum pan position PX lt delim gt Query minimum tilt position _TN lt delim gt Query maximum tilt position TX lt delim gt Example R PN Minimum Pan position is 3090
11. have not been connected to the line circuitry The product and or manual may bear the following marks This symbol indicates that dangerous voltage constituting a risk of electric shock is present within this unit This symbol indicates that there are important operating and maintenance instructions in the literature accompanying this unit page 2 PTU D47 User e Manual v2 14 0 INTRODUCTION WARNING HAZARDOUS MOVING PARTS KEEP FINGERS AND OTHER BODY PARTS AWAY CAUTION RISK OF ELECTRIC SHOCK DO NOT OPEN Models PTU D47 Standard base configuration Includes integral controller standard side top bracket PTU D47 Includes payload pass through wiring option NOT 360 continous pan Pl page 3 QUICK START PTU D47 User s Manual v2 14 0 2 QUICK START 2 1 Overview Figure 1 shows a system overview for typical applications The PTU D47 includes an integral controller and accepts control commands from any host computer over it s built in network interface RS 232 RS 485 Signals such as video power and control from the payload s are optionally routed internal to the unit and provided to a single base connector The PTU D47 can be controlled from any host computer using the built in ASCII protocol described in this manual or binary protocol supported by the optional C API Drivers are also available in 3rd party software packages such as LabView and some digital video software sys
12. no text or garbled text appears on your screen then e Check that the host RS 232 RS 485 host port settings are correct see Section 3 4 e Check that the RS 232 RS 485 cable is correct for your host see Section 3 4 3 You are now connected to the pan tilt Enter the character for a complete listing of commands The next section describes some basic commands to help you get going and a full command description may be found in Section 4 We suggest that you exercise the unit and become familiar with its operation and commands before mounting your payload e g camera as described in Section 3 7 Special attention should be paid to acceleration and speed commands and they should be set at levels appropriate to your payload weight and size 3 6 Basic Pan Tilt Unit Commands Below are some pan tilt commands that will familiarize you with the pan tilt unit and its operation pp2500 tp 900 ps2500 ppo This sets the pan axis to position 2500 the tilt axis to position 900 the pan speed to 2500 positions a second and sets the pan position back home When operating the pan tilt unit the available command menu is printed when you enter the character A detailed description of pan tilt commands and queries may be found in Section 4 3 7 Mounting Your Camera or Other Payload Your camera or other load attaches to the side and or top mounting plate on the Pan Tilt Unit The side mount bracket can be removed and replaced w
13. weight plus the additional force which will be generated by the motion of the payload A good rule of thumb is 4x the weight of the payload plus the weight of the pan tilt So for example for a 10 Ib payload the platform should be capable of stabily holding at least 40 Ibs 3 2 Wiring and Connectors The wiring overview is shown in Figure 2 Pinouts for the various connectors are described in Appendices 2 and 3 Top mount bracket for centered lighter loads Sr moon a Z Pan Tilt Control RS232 485 or ES a lo Power PTU 8 30VDC x e E lt 1 Payload Signals 8 Lines CH Flex cable port for 8 flying leads to payload Figure 2 Wiring Overview 3 3 Power Sources The PTU D47 requires 9 30VDC unregulated Connect Pan Tilt Unit power connections to power source as shown in Figure 2 In order to achieve the highest pan tilt unit performance use the highest motor voltage within the allowable range To achieve the quietest pan tilt operation use a lower motor voltage e g 12VDC CAUTION When wiring your own power source failure to comply with wiring and power source requirements described in this manual can result in decreased unit performance or damage not covered under the limited warranty page 6 PTU D47 User e Manual v2 14 0 INSTALLATION amp INITIAL SETUP If you are providing your own DC power source the power source must never supply more than 3A of current and if so you must add a 3A
14. Computer Controlled PAN TILT UNIT Model PTU D47 USER s MANUAL Version 2 14 0 DirectedPerception www DPerception com Pan Tilt Unit Model PTU D47 User s Manual Version 2 14 0 March 5 2007 1991 2007 2009 by Directed Perception Inc 890C Cowan Road Burlingame California 94010 650 692 3900 FAX 650 692 3900 www DPerception com All rights reserved Protected under U S Patents 5463432 and 5802412 No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of Directed Perception 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 Directed Perception Directed Perception cannot be held liable for any mistakes in this manual and reserves the right to make changes Table of Contents Pan Tilt User s Manual Version 2 14 0 INTRODUCTION gereest enee deed Sense wants 1 1 1 IMPORTANT SAFEGUARDS AND WARNINOS 2 QUICK STAR WEE EE TA 4 2 1 KEE 4 2 23 Installation TEE ge Ae 4 2 3 Required Components E 4 SE E TE 5 INSTALLATION amp INITIAL SETUP ninien n E A R AR 6 3 1 ed Rer 6 3 2 Witing and Connectors eeina esos sos seaneuee seca aesant teases bac 6 3 3 Pow r SOURCES crnci dead Ae a E a EE REE A EA Eed EE 6 3 4 RS 232 Cable and Host E E 8 3 5 Initial P
15. Full Half Quarter Eighth and Auto step resolution Example The following command puts the tilt axis into eighth step resolution and recalibrates the tilt axis which returns success WTE Known Issues e Autostep mode is only supported in firmware versions v2 13 0 and higher This firmware supports querying the step mode with the W lt axis gt lt delimiter gt command e Microstepping decreases the pull out torque of the motor page 27 SPECIAL CONFIGURATIONS PTU D47 User s Manual v2 14 0 5 SPECIAL CONFIGURATIONS 5 1 High Speed Operation This section discusses how to improve high speed pan tilt unit performance for your load The primary factors that affect high speed operation are e Load weight weight distribution and dynamics e Desired upper speed limit see Section 4 4 6 e Rate of acceleration see Section 4 4 4 e The base start up speed see Section 4 4 5 e The voltage of the source power supply Use of the highest available voltage in the range 9 30VDC significantly improves axis speed and acceleration performance e The in motion power mode see Section 4 6 2 and stationery power mode see Section 4 6 1 e Multiaxis dynamics Simultaneously moving the tilt and pan axes affects the forces exerted on the pan axis High speed operation tests should always begin on each axis in isolation When the best performance for each axis in isolation is understood high speed operation of simulta
16. LE lt delim gt Disable position limits LD lt delim gt page 13 COMMAND REFERENCE Example L Limit bounds PX Maximum Pan PP3200 Maximum LD PP3200 A PP Current Pan Related Topics PTU D47 User s Manual v2 14 0 are ENABLED soft limits enabled position is 3090 allowable Pan position is 3090 position is 3200 Position commands See Sections 4 3 1 and 4 3 2 4 3 6 Immediate Position Execution Mode Description Instructs pan tilt unit to immediately execute positional commands This is the default mode Syntax I lt delim gt Example For the below commands the pan axis will immediately execute the pan position command I PP1000 Related Topics e Alternative slaved position execution mode See Section 4 3 7 4 3 7 Slaved Position Execution Mode Description Instructs pan tilt unit to execute positional commands only when an Await Position Command Completion command is executed see Section 4 3 8 or when put into Immediate Execution Mode see Section 4 3 6 This mode is useful when coordinated pan and tilt axis movements are desired Syntax S lt delim gt Example The following commands change the position execution mode instruct the axes which position to achieve and an await command causes the position commands to be executed simultaneously DR S PP1500 TP 900 PP Current Pan position is 0 TP Curren A PP Current Til
17. REFERENCE PTU D47 User s Manual v2 14 0 Syntax Enable verbose ASCII feedback FV lt delim gt Enable terse ASCII feedback FT lt delim gt Query ASCII feedback mode F lt delim gt Example FV PP Current pan position is 0 FT PP 0 F ASC terse mode 4 5 5 Controller Firmware Version Query Description Query specifies the version and copyrights for the pan tilt controller firmware Syntax V lt delim gt Example V Pan Tilt Controller v2 12 1d1 C14 E C 2003 Directed Perception Inc All Rights Reserved 4 5 6 Outside Supply Voltage and Controller Temperature Query Description The D47 hardware includes sensors for the internal case temperature and the input voltage supplied to the controller power receptacle This query measures and prints the controller temperature and input supply voltage Syntax O lt delim gt Example O Input 30 VDC H 86 degF 4 6 Power Control Commands amp Queries A key advantage of the constant current motor control drivers used in the Pan Tilt Controller is that it allows the current consumed by the pan tilt unit to be controlled via simple unit commands These capabilities are useful for battery powered operation see Section 7 reducing unit heat generation and extending the rated life of the motor driver circuitry page 24 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE 4 6 1 Stationary Power Mode Description Set and query the current level
18. Related Topics e This command can be used for both the Immediate Position Execution Mode see Section 4 3 6 and Slaved Position Execution Mode see Section 4 3 7 page 15 COMMAND REFERENCE PTU D47 User s Manual v2 14 0 4 3 10 Monitor Autoscan Command Description Command defines and initiates repetitive monitoring scanning of the pan tilt Autoscanning is immediately terminated upon receipt of a character from the host computer and the pan tilt is sent to its home position Syntax Initiate monitor autoscan in pan axis only M lt pan pos 1 gt lt pan pos 2 gt lt delim gt Initiate monitor autoscan in both pan and tilt axes M lt pan pos 1 gt lt pan pos 2 gt lt tilt pos 1 gt lt tilt pos 2 gt lt delim gt Initiate last defined monitor autoscan command the default at power up is pan axis only autoscan between the pan limit positions M lt delim gt Enable monitor autoscan at power up ME lt delim gt Disable monitor autoscan at power up MD lt delim gt Query monitor status at power up MQ lt delim gt Example When executed at power up M the pan tilt begins scanning between the minimum and maximum pan limit positions lt delim gt terminates the scanning and homes the pan tilt Other monitoring command forms M 2500 100 M 2500 100 800 600 M0 0 300 300 Related Topics e Limit Position Queries see Section 4 3 4 4 3 11 Position Presets Description Position preset functional
19. Syntax Query pan move power mode PM lt delim gt High pan move power mode PMH lt delim gt Regular move hold power mode PMR lt delim gt Low pan move power mode PML lt delim gt Query tilt move power mode TM lt delim gt High tilt move power mode TMH lt delim gt Regular tilt move power mode TMR lt delim gt Low tilt move power mode TML lt delim gt page 25 COMMAND REFERENCE PTU D47 User s Manual v2 14 0 Example PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Related Topics e It is not recommended that an axis be in transit more than half the time when in High Move Power Mode i e a 50 duty cycle 4 7 Host Serial Port and Control As was described in Section 3 default host computer communications with the pan tilt controller is 9600 baud Host computer communications can be via RS 232 or as described in Section 7 it can be via the built in RS 485 Host serial port baud rates can be modified from the default Also a character delay may be specified for applications that cannot consume pan tilt output rapidly enough 4 7 1 Configuring Host Serial Port Baud and Communications Description Syntax Command specifies the baud rate for the host serial port RS232 RS485 communications with the pan tilt controller Only baud rate can be modified The pan tilt controller RS232 485 communications always use 1 start and stop bit 8 data bits and no handshaking The command also allows a transm
20. User e Manual v2 14 0 COMMAND REFERENCE 4 COMMAND REFERENCE This section describes the pan tilt unit command set Each command has a section that provides a brief functional description a format syntax description examples and related topics When controlling the pan tilt unit from a terminal a complete menu of pan tilt commands can be obtained by entering the character 4 1 Binary Command Format A C Programmer s Interface model PTU CPI is available for higher bandwidth binary communications between a host computer and the PTU controller 4 2 General ASCH Command Format When describing the format syntax of pan tilt commands the following conventions are adopted e Commands issued to the pan tilt unit teg typed in by you are shown in bold e Input characters may be in upper or lower case we show them in upper case for presentational consistency e A delimiter lt delim gt can be either a space or a carriage return lt CR gt e A successfully executed command returns lt CR gt Successful query execution returns x lt QueryResult gt lt CR gt Command execution failure returns l lt ErrorMessage gt lt CR gt A pan axis limit hit asynchronously returns P and a tilt axis limit hit asynchronously returns T oe 99 4 3 Positional Control Commands A Queries 4 3 1 Position absolute Description Specify or query the absolute pan or tilt axis position D
21. 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 Operation of this equipment in a resi dential area is likely to cause harmful interference in which case the user will be required to correct the interference at his her own expense All Directed Perception products have been tested to comply with FCC Class A requirements Class B Class B equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a res idential 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 interfer ence 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 e Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an
22. applied to axis motors when not in transit Syntax Query pan hold power mode PH lt delim gt Regular pan hold power mode PHR lt delim gt Low pan hold power mode PHL lt delim gt Off pan hold power mode PHO lt delim gt Query tilt hold power mode TH lt delim gt Regular tilt hold power mode THR lt delim gt Low tilt hold power mode THL lt delim gt Off tilt hold power mode THO lt delim gt Example PH Pan in REGULAR hold power mode PHL PH Pan in LOW hold power mode Related Topics e Because holding torque for steppers is significantly greater than generated dynamic torque it is highly recommended that Low Hold Power Mode be used when appropriate for your load Regular hold power is intended to be used for brief periods when very high holding torque may be required this requirement is rare Regular hold power mode should be avoided or used sparingly as its use for long periods of time can lead to significant motor and controller heating depending on ambient temperature e When using Off Hold Power Mode fully test that your load does not backdrive the unit when stationary Backdriving will cause the controller to lose track of pan tilt position and this requires that the unit be reset see Section 4 5 1 Backdriving is more likely on the tilt axis which has higher torque applied to it by the load 4 6 2 In Motion Power Mode Description Set and query the current level applied to axis motors when in motion in transit
23. ate power source may be used see section 3 3 on page 6 and section 5 on page 28 Connect an RS 232 or RS 485 cable between Pan Tilt Control input and a host computer We recommend HyperTerminal built in to Windows or equivalent for your initial testing Communications parameters such as baud rate etc must be set properly in your host terminal program e g HyperTerminal see Section 3 4 Power can be turned on and Pan tilt operation can then be tested by typing commands into your terminal program See Section 3 6 Section 3 6 describes some basic pan tilt commands to get you going Section 4 provides a full description of all pan tilt unit commands and queries You can now wire and mount your payload e g camera on the pan tilt unit see Section 3 7 Section 5 describes how to configure your pan tilt for high speed operation page 5 INSTALLATION amp INITIAL SETUP PTU D47 User s Manual v2 14 0 3 INSTALLATION amp INITIAL SETUP This section describes the basic installation and setup steps required to get your pan tilt operational as quickly as possible Unpack Pan tilt unit 3 1 Physical Mounting The PTU D47 is a powerful device and must be mounted securely to avoid damage to equipment and injury to people The Appendix shows the mounting hole pattern for the PTU D47 All of the provided mounting bolts should be used to secure the unit to a stable platform capable of holding the weight of the unit plus the payload
24. de the pan tilt will finish at position 3000 Put in the pure velocity control mode the pan tilt will finish on the opposite pan side Note that the default restore also executed upon unit power up restores the unit to independent control mode cI PP 3000 PS1000 A CV PP 3000 PS1000 DR PP 3000 PS1000 Related Topics e Position commands See Section 4 3 1 4 3 2 e Speed commands See Section 4 4 2 4 4 3 4 5 Unit Commands 4 5 1 Reset Pan Tilt Unit Description Syntax This command controls how and when the pan tilt unit is calibrated By default the pan tilt unit is configured to reset both the pan and tilt axes automatically upon power up and by issuing the reset command The reset mode commands are used to control the reset performed at pan tilt power up and to allow reset of an individual pan tilt axis The reset calibration allows the pan tilt unit to determine axis coordinates hence a pan tilt axis should be reset prior to issuing any axis position commands A pan tilt axis that has not been calibrated has a minimum and maximum axis position of 0 see Section 4 3 4 hence position commands in limit enabled mode see Section 4 3 5 will return an illegal position command feedback Performs Reset calibration R lt delim gt Reset modes saved in internal EEPROM for power up reset control Disable reset upon power up RD lt delim gt Reset tilt axis only RT lt delim gt Reset pan axis
25. epair authorization number from Directed Perception prior to the return of merchandise and the buyer assumes responsibility for freight charges After the one year period you 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 DIRECTED PERCEPTION 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 LIMITED 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 page 37
26. esired positions can be changed on the fly without waiting for previous position commands to complete Syntax Query current absolute pan position PP lt delim gt Set desired absolute pan position PP lt position gt lt delim gt Query current absolute tilt position TP lt delim gt Set desired absolute tilt position TP lt position gt lt delim gt Example The following sends the pan axis to the left waits then sends it to the right PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 page 11 COMMAND REFERENCE PTU D47 User s Manual v2 14 0 Related Topics e Position relative offset and desired position queries See Section 4 3 2 e Position resolution units See Section 4 3 3 e Position limits See Section 4 3 4 e Position execution modes See Sections 4 3 6 4 3 7 and 4 3 8 e Position limit enforcement modes See Section 4 3 5 4 3 2 Offset Position relative offset Description Specify desired axis position as an offset from the current position or Query the current axis position Desired offset positions can be changed on the fly without waiting for previous position commands to complete Syntax Query desired pan position PO lt delim gt Set desired offset pan position PO lt position gt lt delim gt Query desired tilt position TO lt delim gt Set desired offset tilt position TO lt position gt lt delim gt Example The following sends the pan
27. hybrid position velocity control methods when pan tilt positions and the rate at which they are achieved are both controlled An alternative pan tilt control method uses a pure velocity control mode in which all pan tilt control is effected by signed changes in command axis speed In this mode the speed command specifies a signed velocity in which the sign determines the direction of axis movement and the ordinal value specifies the speed of movement in this direction In this mode if the commanded speed is negative the axis is automatically commanded to the minimum axis position Conversely if the speed command is positive the axis is automatically commanded to the maximum axis position A speed of zero is applied by halting the axis motion It is important to note that that in pure velocity control mode a speed command for a given axis effectively overrides currently executing position commands As a result the speed control mode at power up is always set to independent control mode the speed control mode is not saved as defaults that are preserved when the unit is powered back up These commands are available in PTU firmware versions 1 09 7 and higher Query the current speed control mode C lt delim gt Set to independent control mode default CI lt delim gt Set to pure velocity control mode Cv lt delim gt page 21 COMMAND REFERENCE PTU D47 User s Manual v2 14 0 Example Put into the default independent control mo
28. ission delay to be placed between bytes output by the pan tilt controller The host serial port command in this Section 4 7 1 is only available when the controller is not networked Ge the unit ID is the default of 0 When the controller is networked i e unit ID is greater than 0 the host serial port communications rate is automatically set to the default and it cannot be modified by this command the default is 9600 baud 8 data bits 1 start and stop bit no parity no handshaking and no byte transmission delay This ensures that networked controllers will always communicate at the same baud rate and that higher data rates will not unduly burden pan tilt controller processors lt baud gt lt byte delay in msec gt lt startup default gt lt delim gt where lt baud gt may be 600 1200 2400 4800 9600 19200 or 38400 bits sec lt byte delay in msec gt is the time in milliseconds the pan tilt controller waits between transmitting output data If no delay is desired use a parameter of 0 otherwise the delay may vary from 10 ms to 1000 ms lt startup default gt If T lt baud gt and lt byte delay in msec gt are applied at power up otherwise the power up default is 9600 baud with no byte transmission delay page 26 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE Example The following command sets the host serial port RS232 RS485 to a baud rate of 38 400 bits second 8 data bits per byte no parity no hand
29. it ID or b equal to 0 A host computer can broadcast instructions to be executed by all PTO controllers using unit_ID 0 Only one PTU controller can provide feedback to the host computer at a time A PTU controller provides feedback to the host computer only when the host computer has selected its unit ID A PTU controller buffers its outgoing data until the host computer polls it the current PTU controller buffer size is about 100 bytes Select a PTU controller for bi directional data _ lt unit_ID gt lt delim gt Broadcast to all networked PTU controllers _0 lt delim gt where 0 lt lt unit_ID gt lt 127 EI pp300 0 pp300 1 Related Topics e Unit Network ID See Section 7 3 1 page 32 PTU 47 User s Manual v2 14 0 Appendix 8 SPECIFICATIONS 8 SPECIFICATIONS 8 1 D47 Mechanical Dimensions 2X 4 40 0 24 DEEP D CG 6X 0 25 DIAM THRU 4X V 20 0 41 0 35 DEEP 0 54 B 0 25 4 56 2X 14 20 0 35 DEEP 6X 8 32 0 33 DEEP A Directed Perception page 33 PTU 47 User e Manual v2 14 0 Appendix 8 SPECIFICATIONS 8 2 D47 Base Connector Wiring YELLOW 18G D47 9 30VDC D380 POWER DINS female cable receptacle Ll a ATEN IC 485S ORANGE 18G D47 GND RED 28G RS485_RX LR a cl R BLACK 28G RS485_RX E amp RJ11 6P4C tab up YELLOW 286 RS485_TX Host Direction TX is data from PTU to customer device
30. ith standard top load plate Though the pan tilt unit is rated to a specific maximum load the distribution of the load clearly affects the actual load capable of being moved by the pan tilt unit The steps to determine whether your load is within the maximum load capacity and dynamics are e Mount your load Attempt to center the load s center of mass close to the hole in the mounting plate and close to the center of rotation of the tilt axis Ensure that the load is securely attached to the mounting bracket page 9 INSTALLATION amp INITIAL SETUP PTU D47 User s Manual v2 14 0 e First move the pan axis through its range to test whether the pan tilt can handle the load eg enter dr pp2700 a pp 2700 a pp0 A load that is too heavy or moved too quickly will cause the unit to lose synchrony and this will be accompanied by an audible rrrr sound from the pan tilt unit motors e If your load passed the pan axis load test you can then test the tilt axis load handling capability Because the tilt axis requires more power to move the load it is more likely to lose synchrony for excessive loads or load weight distributions Move the tilt axis through its range to test whether the pan tilt can handle the load eng enter dr tp 900 a tp600 a tp0 A load that is too heavy or moved too quickly will cause the unit to lose synchrony and this will be accompanied by an audible rr sound from the pan tilt unit motors e If you
31. ity is provided for backward compatibility with legacy CCTV applications D47 pan tilt controller firmware version v2 12 11r2 and higher support position presets The pan tilt can be commanded to a position using any of the standard motion control commands of the D47 PTU The current pan and tilt position can be stored as a numbered preset The PTU can then be commanded to a previously stored preset using a new go to preset command Currently set motion parameters acceleration base rate etc apply during go to preset commands Preset positions are remembered when the controller is repowered Syntax XS lt index gt lt delim gt where lt index gt 0 32 Set Preset XG lt index gt lt delim gt where lt index gt 0 32 Goto Preset XC lt index gt lt delim gt where lt index gt 0 32 Clear Preset Example The following commands set the Pan Tilt to position 500 400 store as preset 0 move the unit to position 600 800 and then goes back to previously stored preset 0 position page 16 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE PP500 TP400 XS0 PP600 TP800 XG0 4 4 Speed Control Commands amp Queries 4 4 1 Speed Control amp Relevant Terms The Pan Tilt Unit provides for precise control of axis speed and acceleration This subsection briefly describes how speed control is performed and it introduces relevant terms As shown in Figure 4 upper and lower speed limi
32. ld without losing synchrony see Section 3 7 page 28 PTU D47 User e Manual v2 14 0 PTU OPTIONS 6 PTU OPTIONS PTU D47 PTU D47 Pl Standard base configuration Includes integral controller standard side top bracket Includes payload pass through wiring option NOT 360 continous pan The D47 is available in two models The only difference between these models is that the PTU D47 P1 offers pass through wiring between the D47 s base connector and your payload while the standard PTU D47 assumes you will provide your own connectivity to the payload page 29 NETWORKING PTU D47 User s Manual v2 14 0 7 NETWORKING The PTU controller lets you connect up to 127 PTUs to a single host computer port Your host computer can then address each PTU on the network as though the PTU were the only controller attached to the host In this way it is simple to migrate existing code developed for a single PTU to a network of PTUs controlled by a single host computer This section describes the basic installation and setup steps required to network your pan tilt units 7 1 Basic Networking Setup Steps The steps in networking your PTU controllers to your host computer are Sketch out the physical placement of your PTU controllers and host computer Assign a unique network ID number to each PTU controller Connect the PTU controllers and host computer to the PTU network Test the configuration by addressing each
33. neous pan tilt axis movements can be performed An example configuration string for high speed operations is PA9000 PU6000 TA9000 PU6000 DS 5 2 High Payload Operation This section discusses how to improve high payload weight operation of the pan tilt The payload factors listed in the previous section outlined factors that affect payload carry capacity The primary factor affecting payload capacity is the tilt axis as it is a lever which is an efficient force multiplier The primary means to increase payload capacity are e Configure the pan tilt controller for maximum torque An example configuration string to maximize payload capacity is PU2000 PA2000 PB60 TU2000 TA2000 TB60 PMR TMR 1R600 DS If your move duty cycle is less than 50 you can alternatively use the highest move current settings and regular hold power settings of PMH TMH PHR THR e Move the payload center of gravity closer to the tilt axis e Use a higher voltage power source in the range 9 30VDC e Determine if the payload can be modified to lighten it 5 3 Battery Powered Operation The Pan Tilt Unit and Controller have been designed for battery powered operation Battery powered applications need to conserve power when possible The pan tilt unit has commands to control pan tilt motor power consumption while in transit and when stationery see Sections 4 6 1 and 4 6 2 Careful testing can be used to determine the lowest power modes that assure your load can be moved and he
34. nken Geseent 22 4 3 1 Reset P i Put EE geed naiss 22 4 5 2 Default Save Restore E 23 4 5 3 Echo Eigentlech nn aaanke 23 4 5 4 Feedback Verbose Terse Off scic ccsscciiceacesctsenseadteostecksviactsasscdentiaans 23 4 5 5 Controller Firmware Version Query ccscccceseeeesseceesseeceseeeesaes 24 4 5 6 Outside Supply Voltage and Controller Temperature Query 24 4 6 Power Control Commands amp Queries cccscccessseceeeseeceeeeseneeeesssteeees 24 4 6 1 Stationary Power breede 25 4 6 2 In Motion Power Mode sssc cciicccscatsessdeticcasadaccieessd cnsiscadeaessedacsaaae 25 4 7 Host Serial Port and Control viscccccisesscccstsscaccstdvececesasencctaetedeaeeravevecdeastesenets 26 4 7 1 Configuring Host Serial Port Baud and Communtcatons 26 4 8 MLS BA LOTE lE EE T T E A geed 27 4 8 1 Configuring Step leede ee 27 SPECIAL CONFIGURATIONS ssneensseneonooseesseessoossoessseessressensseresssessseesseesse 28 5 1 High Speed Operationen eiia ee ege 28 5 2 High Payload Operation sivccseiessciiassssvacsaavssacdssdesceanvcsanee tessa ieeavacaesenressece e 28 5 3 Battery Powered Operation sssssesssesessseesseesseesseeeseessseessresseesseessseesssees 28 AUBO ANO EE E 29 NE REI 30 7 1 Basic Networking Setup Stepsan ccissisvcssccscssscets sacsaesadgscctaanteasssansdgnaanestcceeee 30 7 2 PTU Network Connections 0 ccccecsessscccecccecsesensececesececesessaaeeeseceesenenens 30 7 3 PTU Network Software Commands
35. only RP lt delim gt Reset both pan and tilt axes upon power up RE lt delim gt page 22 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE Example RT R RP Se R RD R RE R Related Topics e A load beyond the handling capacity of the pan tilt unit may cause the reset to fail so load handling capability should be tested as described in Section 3 7 4 5 2 Default Save Restore Description Allows current axis settings to be saved as defaults that are preserved when the unit is powered back up Also allows the factory defaults to be restored Syntax Save current settings as defaults DS lt delim gt Restore stored defaults DR lt delim gt Restore factory defaults DF lt delim gt Related Topics e Defaults are saved in EEPROM which have a lifetime limit on the number of writes before memory failure Though it is unlikely that these failure limits will be reached excessive saving of current defaults should be avoided when possible 4 5 3 Echo Query Enable Disable Description Sets of queries whether the pan tilt controller echoes incoming commands from the host Syntax Query current echo mode E lt delim gt Enable host command echoing EE lt delim gt Disable host command echoing ED lt delim gt Example PP 22 ED lt pp entered again but not echoed gt 22 4 5 4 Feedback Verbose Terse Off Description Command and query the ASCII feedback returned by PTU commands page 23 COMMAND
36. ories specified by the Directed Perception Use only with the cart stand tripod bracket or table specified by the Directed Perception or sold with the apparatus Refer all servicing to qualified service personnel Servicing is required when the apparatus has been damaged in any way such as power supply cord or plug is damaged liquid has been spilled or objects have fallen into the apparatus the apparatus has been exposed to rain or moisture when improperly sealed does not operate normally or has been dropped Installation should be done only by qualified personnel and conform to all local codes The unit should not be installed in environments that present conditions beyond the environmental specification limits of the apparatus Use only installation methods and materials capable of supporting four times maximum specified load Use stainless steel hardware to fasten the mount to outdoor surfaces A readily accessible disconnect device shall be incorporated in the installation wiring CAUTION These servicing instructions are for use by qualified service personnel only To reduce the risk of electric shock do not perform any servicing other that contained in the operating instructions unless you are qualified to do so Only use replacement parts recommended by Directed Perception After replacement repair of this unit s electrical components conduct a resistance measurement between the line and exposed parts to verify the exposed parts
37. 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 Directed Perception pan tilt devices using a cable length of 7 or less either with or without the EIO option and using the PI PS INT30V power supply including PT PS FERRITE have been tested to comply with FCC Class B requirements Caution Changes or modifications of this equipment not expressly approved by manufacturer could result in viola tion of Part 15 of the Federal Communications Commissions 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 Class B Computer Peripherals This device complies with Part 15 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 interfer ence that may cause undesired operations page 36 LIMITED WARRANTY Directed Perception Inc warrants this product against defects in material or workmanship as follows For a period of one year from date of purchase Directed Perception Inc will repair the defective product and provide new or rebuilt replacements at no charge Warranty repairs require the issuance of an r
38. ower up and Test ee e 9 3 6 Basic Pan Tilt Unit Commands AA 9 3 7 Mounting Your Camera or Other Payload AA 9 3 8 Payload Wiring Connections 9c sac sony esavaus ncedeacae bss ees ceases eect acdsee eee esniacds 10 COMMAND REE EE l1 4 1 Binary Command Formal lt a sistance a a R a a 11 4 2 General ASCII Command Format sssssessessesesseeesseesseesseessersssresseesseessee 11 4 3 Positional Control Commands amp Queries c ccccccceeeesessceceseeeeeeeenenaees 11 4 3 1 Position absolute 11 4 3 2 Offset Position relative offer 12 4 3 3 Resolution per Position 55200 sscadessesdaataseseadessunccevs ncedeassdagdacvasscaavens 12 4 3 4 Limit Position QUES nnna eair ea ais 13 4 3 5 Position Limit Entorcement 13 4 3 6 Immediate Position Execution Mode 14 4 3 7 Slaved Position Execution Mode 14 4 3 8 Await Position Command Completion eecceceseceseseeeesteeeeees 15 4 3 9 Halt Comma ee EE 15 4 3 10 Monitor Autoscan Commande 16 ASU e E E EE 16 4 4 Speed Control Commands amp Ouertes 17 4 4 1 Speed Control amp Relevant Terms ccc eeecceceecceeeseceeeseeeesneeesaes 17 AAD Speed absolute E 17 4 4 3 Delta Speed relative offset ssssssesssesessssessrssseesseresseeesseesseesse 18 AAA Acceleration EE 19 AAD Base Start Up SECU ME 20 AAG Specd Bounds EE 20 44 7 Speed Control Modes sis neueeegeeteereedee dee 21 Table of Contents Pan Tilt User s Manual Version 2 14 0 4 5 Unit Compass zeteee gede
39. r e Manual v2 14 0 NETWORKING 1 Shield 2 R 3 R 4 T 5 T 6 Shield 6 emm N CO D OO emm O view looking into RJ12 6P6C receptacle Figure 6 RS 485 Wiring good quality cable Though a good quality telephone cord cable can be used use of a twisted pair cable is highly recommended A twisted pair whose impedance is about 100Q is typically used for longer RS 485 runs The twisted pair provides good noise immunity owing to the relative signals used by the RS 485 standard For some applications the host computer may directly provide RS 485 full duplex I O In this case you may use the RS 485 wiring diagram shown in Figure 6 to directly connect your host computer to the PTU controller network For computers with only RS 232 RS 485 connections may be simply made using an external RS 232 to RS 485 converter Directed Perception has tested qualified two coverters ATEN IC 485S and Moxa A50 which both require a flipped RJ 12 connector such as a standard phone cord It is important to note that the network should be terminated using 120Q 1 resistors to protect against signal ringing on the network Termination is achieved by placing the resistors between the RS 485 Transmit Transmit and Receive Receive wires at each end of the multidrop wiring network 7 3 PTU Network Software Commands This section describes the pan tilt command set used to configure set and query the network config
40. r load fails the above pan or tilt axis load handling tests contact Directed Perception for further assistance e If your load passes the above pan and tilt axis load handling tests you are ready to begin controlling you load using the commands describe in Section 4 e The initial pan tilt unit parameters ensure the highest load movement torque that can be generated from the pan tilt unit Significantly faster or lower power control can be obtained via commands to the pan tilt unit The speed and acceleration of a mechanical system depends upon the inertial properties of your load The ability of the pan tilt unit to successfully move your load without losing synchrony depends upon the inertial load factors and their relationship to power supply voltage unit speed acceleration position motor torque etc Section 5 discusses how to configure pan tilt parameters to achieve more optimal pan tilt unit performance for your load 3 8 Payload Wiring Connections The PTU D47 optionally supports routing of payload wiring through the Pan tilt unit to the single base connector These signals are provided as a cable of flying leads from the pedestal that can be attached to the payload terminal block or custom connector Pin outs and signal descriptions are provided in Appendix A 4 e Care must be taken that all payload signals are within the specified capabilities of the pass through signals such as max voltages and current levels page 10 PTU D47
41. r pan speed limit PU lt positions sec gt lt delim gt Query lower pan speed limit PL lt delim gt Set lower pan speed limit PL lt positions sec gt lt delim gt Query upper tilt speed limit TU lt delim gt Set upper tilt speed limit TU lt positions sec gt lt delim gt Query lower tilt speed limit TL lt delim gt Set lower tilt speed limit TL lt positions sec gt lt delim gt page 20 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE Example PU Maximum Pan speed is 2902 positions sec PS3300 Pan speed cannot exceed 2902 positions sec PS2900 PL Minimum Pan speed is 31 positions sec PL20 Motor speed cannot be less than 31 pos sec PL40 Related Topics e Position resolution units See Section 4 3 3 e Changes in the upper speed limit cannot be made on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping 4 4 7 Speed Control Modes Description Syntax By default position control commands are independent from the speed control commands In this independent control mode the commanded speed is an unsigned magnitude that determines the speed at which independently commanded positions are effected and the execution of these speed commands do not affect the commanded desired positions themselves This mode is appropriate for pure position control methods when pan tilt control is effected solely by commanding pan tilt position and
42. shaking no delay in controller outbound byte transmission and the power up baud rate is the system default of 9600 baud 38400 0 F The following command sets the host serial port RS232 RS485 to a baud rate of 19 200 bits second 8 data bits per byte no parity no handshaking a 30ms delay between bytes output from the pan tilt controller and the power up baud rate overrides the default and is set at 19 200 baud 19200 30 T Related Topics e To wire the host port serial RS232 communications See Section 3 4 e To wire the host port serial RS485 communications See Section 7 2 e To set the pan tilt controller unit ID See Section 7 3 1 4 8 Step Modes 4 8 1 Configuring Step Mode Description The default motion resolution of the D47 controller is half step mode Firmware versions 2 12 8 and higher added microstepping in quarter and eighth steps Microstepping provides much quieter operation and smoother motion at slow speeds In addition the microstepping increases the effective resolution of the pan tilt unit Firmware versions 2 13 0 and higher added autostep electronic gearing The controller will automatically select the correct step mode based on the pan tilt s current speed and process all units as though the unit were in eighth step mode while allowing the unit to move at the higher speeds of half step Syntax W lt axis gt lt resolution gt where lt axis gt T P lt resolution gt F H Q EJA for
43. sition resolution units See Section 4 3 3 e Symmetric trapezoidal acceleration is used so the rate of deceleration is equivalent to the rate of acceleration e Acceleration cannot be changed on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping page 19 COMMAND REFERENCE PTU D47 User s Manual v2 14 0 4 4 5 Base Start Up Speed Description Specify or query axis base start up speed Base speed is specified in positions second Defaults to 1000 positions sec Syntax Query desired pan base speed PB lt delim gt Set desired pan base speed PB lt positions sec gt lt delim gt Query desired tilt base speed TB lt delim gt Set desired tilt base speed TB lt positions sec gt lt delim gt Example The following commands home the pan axis moves it far left changes the base rate then moves back to home I PPO A PP2600 PB Current Pan base speed is 1000 positions sec PB1000 PPO Related Topics e Position resolution units See Section 4 3 3 e Acceleration See Sections 4 4 1 and 4 4 4 e Speed bounds See Section 4 4 6 e Changes in the base rate cannot be made on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping 4 4 6 Speed Bounds Description Set and query the upper and lower speed bounds for desired speed commands Syntax Query upper pan speed limit PU lt delim gt Set uppe
44. t executed Query current pan speed PD lt delim gt Set desired delta offset pan speed PD lt positions sec gt lt delim gt Query current tilt speed TD lt delim gt Set desired delta offset tiltspeed TD lt positions sec gt lt delim gt page 18 PTU D47 User e Manual v2 14 0 COMMAND REFERENCE Example The following commands instruct the pan axis to move to the far left then slowly move right and then on the fly it decreases speed by 150 positions second then queries the current speed I PS2500 PP2600 A PS600 PP 2600 PD 150 PD Current Pan speed is 520 positions sec Related Topics e Position commands See Section 4 3 1 4 3 2 e Position resolution units See Section 4 3 3 e Speed bounds See Section 4 4 6 4 4 4 Acceleration Description Specify or query axis acceleration and deceleration for speeds above the base speed Acceleration is specified in positions second Syntax Query desired pan acceleration PA lt delim gt Set desired pan acceleration PA lt positions sec2 gt lt delim gt Query desired tilt acceleration TA lt delim gt Set desired tilt acceleration TA lt positions sec2 gt lt delim gt Example The following illustrate different rates of acceleration PA Pan acceleration is 2000 positions sec 2 PB Current Pan base speed is 1000 positions sec PU Maximum Pan speed is 2902 positions sec PPO PS2900 PP2600 PA8000 PPO Related Topics e Po
45. tem Top mount bracket for centered lighter loads SE ee a a Pan Tilt Control RS232 485 HEEN iP Power PTU 8 30VDC Ny e SS d Payload Signals 8 Lines e Flex cable port for 8 flying leads to payload Figure 1 Pan Tilt System Overview 2 2 Installation Components Components supplied with this manual are e Pan Tilt Unit e optional Pan Tilt Cable e optional AC DC Power Supply model D47AC APS 30V e optional C Programmer s Interface model PTU CPI Only move the pan tilt axes using the knobs mounted on the pan tilt unit motors Manual rotation of pan tilt axes called backdriving can degrade unit performance and accuracy 2 3 Required Components Besides payload specific system elements the items required for use of the PTU D47 include e Hardware and tools for physical mounting of Pan Tilt Unit and Payload s e Connectors and tools for terminating Payload wiring connections e Host Computer and software or terminal program for control of Pan Tilt Unit page 4 PTU D47 User e Manual v2 14 0 QUICK START 2 4 Basic Setup Steps The following outlines the basic pan tilt set up and installation steps Section 3 details each of these steps 1 2 3 Unpack Pan tilt unit Physically mount Pan tilt unit securely See section 3 1 for details on mounting Connect a DC power source to Pan Tilt power input but do NOT apply power yet The optional Pan Tilt Power Supply or an altern
46. ts determine the bounds on nonstationary pan tilt velocities The base start up speed specifies the velocity at which the pan tilt axis can be started from a full stop without losing synchrony as described in Section 3 7 and it is more a function of the motors rather than load characteristics Due to base speed requirements and the property that motors lose torque as speed increases acceleration is required to achieve axis speeds above the base rate The pan tilt controller uses trapezoidal acceleration and deceleration for speeds above the base rate and less than the maximum allowed speed Figure 4 shows two acceleration cases In the first an axis accelerates up to a desired constant speed slew rate then decelerates The second case shows the case when the unit does not have sufficient time to accelerate up to the desired slew speed before the need to decelerate to the desired position The pan tilt controller provides for on the fly position and speed changes If the direction is changed on the fly the controller manages all deceleration direction reversal and acceleration to achieve the most recently specified target pan tilt speed and acceleration rates Because speed acceleration and position are precisely controlled you can accurately and simply predict the position attained by the pan tilt unit in time UPPER SPEED LIMIT speeds requiring acceleration BASE start up SPEED instantaneous speed LOWER SPEED LIMIT changes time
47. uration of your PTU controllers 7 3 1 Unit Network ID Description Specify or query the PTU controller network unit ID number By default the PTU unit ID is set to zero which indicates the PTU controller is not networked and the PTU controller is in the default interactive communications mode When assigning a unit ID number to a controller the unit ID number should be unique the controller should be the only PTU controller attached to the host computer or terminal otherwise other controllers may be set to the same unit ID number A unit ID of zero may be used to put a PTU controller back in interactive non networked mode Syntax Query current PTU network unit ID U lt delim gt Set PTU to interactive mode non networked U0 lt delim gt Set PTU network unit ID U lt unit_ID gt lt delim gt where 1 lt lt unit_ID gt lt 127 page 31 NETWORKING PTU D47 User s Manual v2 14 0 Example The following queries a PTU unit ID then sets and stores the unit ID configuration so that upon power up the new unit ID will be used U Unit ID is 0 Ul U Unit ID is 1 U1 DS Related Topics e Unit Select Deselect See Section 7 3 2 7 3 2 Unit Select Deselect Description Syntax Example Command is used to select the PTU to be controlled A PTU controller will execute incoming host computer commands only when the preceding unit_ID selected by the host is a equal to the PTU controller s assign un
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