D46 User Manual
Contents
1. cases you can directly connect these other devices to your host computer serial ports Doing this requires more serial ports on your host computer and additional serial cabling is required To reduce the host computer port and cabling requirements an option for the PTU Controller is provided which adds two additional serial ports to the PTU controller A mouse or trackball can be connected to one of the expanded serial ports to allow direct user control of pan tilt position without requiring an external host computer A PTU controller with additional serial ports may be identified by the two DB9 male connectors on the controller housing and the firmware version number will include a D see Section 4 5 5 for querying PTU firmware These additional RS232C DTE ports are designated Channel A CHA and Channel B CHB The serial port expansion channels are controlled from the main PTU controller serial port CHA CHB RS232C ports may be configured from the PTU controller serial port to set expanded port baud rate data bits parity and handshaking Each channel operates independently and the PTU controller fully buffers bi directional data flow to allow for communications rate mismatch Point to point communications between the PTU controller serial port and an expansion channel e g CHB is initiated by the host computer Point to point communications is broken upon command from the host computer Communications from a serial device attached2. fy Directed Perception Burlingame CA PAN Turt CONTROLLER model PTU D46 RS485 HOSTRS232 POWER um 9 30VDC o 4 02 5A max 3 23 lt Appendix A SPECIFICATIONS Sp Directed Perception Burlingame CA PAN TILT CONTROLLER model PTU D46E SA 49 1 75 pr 61 61 1 00 Directed Perception Inc 1485 Rollins Road Burlingame CA 650 342 9399 FAX 650 342 9199 PTU D46 DIMENSIONS part data PTU D46r4 7 30 2003 PTU D46 User s Manual v 2 14 1 Appendix A SPECIFICATIONS page 19 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 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 re
3. get started as quickly as possible More detailed technical information is provided in the remaining sections page I QUICK START PTU D46 User s Manual v2 15 2 QUICK START 2 1 Overview As shown in Figure 1 the pan tilt unit is connected to the pan tilt controller Power for the controller can be supplied from an optional AC DC power supply or a battery power source The pan tilt controller accepts commands via RS 232 or RS 485 from a host computer and it drives the position of the pan tilt unit A pan tilt controller can be connected to other controllers via a multidrop RS 485 network so that a single host computer serial port can control multiple pan tilt units Pan Tilt Unit model PTU Pan Tilt Controller model PTU D46 i RS 232 RS 485 controller network other PTU or host 8 30VDC power source e g model PT PS INT30V Figure 1 Pan Tilt System Overview 2 2 Installation Components Components supplied with this manual are e Pan Tilt Unit e Pan Tilt Controller e Pan Tilt Cable e optional AC DC Power Supply model PT PS INT30V optional C Programmer s Interface model PTU CPI Only move the pan tilt axes using the knobs mounted on the pan tilt unit motors while the unit is powered off Manual rotation of pan tilt axes called backdriving can degrade unit performance and accuracy CAUTION Removing power by pulling the plug can damage the PTU D46 page 2 PT
4. host can query the pan tilt position while the pan tilt is actively being controlled by the mouse trackball Any Microsoft format compatible mouse or trackball can be used These devices default the communications to be 1200 baud 7 bits per character no parity and hardware handshaking which powers the device The default is for mouse trackball control is enabled for CHA If the mouse trackball is enabled for both CHA CHB expansion ports only the CHA port will be used to effect pan tilt control A Default Save see Section 4 5 2 will restore this state at power up Whenever expansion port communications are modified using the commands in Section 5 1 2 mouse trackball control is disabled the command in this section must be used to reenable mouse trackball control Syntax QA M lt delim gt B M lt delim gt where A and B indicate RS232C expansion port CHA and CHB CA M is the system default Example PH Pan in LOW hold power mode QA M DS Configures the pan tilt controller to look for a mouse trackball on the CHA expansion port After power up v Pan Tilt Controller v2 12 1d1 C14 EM C 2003 FLIR MCS Inc All Rights Reserved where EM indicates the presence of the EIO option and the detection of a Mouse trackball Related Topics e To change expansion serial port communications See Section 5 1 2 5 1 4 Expansion Analog Joystick Control Port and Pin Out The PTUC EIO provides an analog joystick control port
5. to an expansion serial channel is buffered at least 200 characters When hardware handshaking is not used this buffer can overflow so care should be taken to ensure that attached devices do not exceed the buffer size before its data on the serial channel is read by the host computer 5 1 1 Select Serial Communications Target Description Command establishes point to point communications between the host computer connected to the PTU controller serial port and the expanded serial port CHA CHB or pan tilt controller When an expansion port channel is selected the host computer is no longer communicating with the PTU controller but instead with the external device connected to the expanded serial port To resume communicating with the PTU controller the host computer need only issue a command selecting the PTU controller as its desired communications target The baud rate of an expansion port does not affect the communications with the serial port connecting the host computer to the pan tilt controller which defaults to 9600 baud Syntax Establish communications with CHA A lt delim gt Establish communications with CHB B lt delim gt Resume communications with the PTU controller lt delim gt The modified commands below ensure that lt raw bytes gt bytes will be passed directly from the host computer to the expanded serial port without any attempt to change the communications target This allows strings like es to be embedde
6. using a DB15 female receptacle FLIR MCS offers an analog joystick for use with this EIO port model PT EIO JOY DB A digital mouse trackball using the EIO serial ports described above is superior to analog voltage controls though an analog voltage control option is provided for those applications in which voltage control is required The wiring diagram for the analog voltage control port is shown in Figure 4 X controls the pan axis and Y controls the tilt axis X 0VDC is maximum pan left and X 5VDC is maximum pan right Similarly Y 0 is maximum tilt down and Y 5VDC is maximum tilt up For both axes about 2 3 VDC is a deadband in which no axis movement occurs page 11 PTU OPTIONS PTU D46 User s Manual v2 15 this accomodates for slight inaccuracies in the joystick its home position and internal A D conversion If you wire your own analog joystick port input use the 5VDC supplied by the controller Do not supply your own 5VDC A voltage outside the range of 0 5VDC to the joystick will damage the internal A D converter and void the warranty Ensure your voltage controls stay within the required voltage range A standard IBM PC compatible joystick may be rewired to function with the EIO analog joystick port Analog PC joysticks are actually wired as variable resistors rather than potentiometers Historically this is because A D converters were expensive when the PC joystick was designed so they kludged a shift register to do the
7. 4 DSR pin 2 I pin 6 Null modem may be required Figure 3 RS 232 Pan Tilt Controller Connection to Common Hosts page 5 INSTALLATION amp INITIAL SETUP PTU D46 User s Manual v2 15 3 3 Initial Installation and Connections If you have the power source and RS 232 cables described in Sections 3 1 and 3 2 you are ready to connect the pan tilt unit components together and test its operation We suggest that you do not mount your payload e g camera until the initial installation is completed and tested 1 Mount the Pan Tilt Unit using standard 1 4 20 screws The unit has two front and two bottom threaded holes A camera tripod may be used for bottom mounting 2 Connect the Pan Tilt Unit to the Pan Tilt Controller using the supplied cable Note that the smaller cable connector attaches to the pan tilt unit and the larger cable connector attaches to the controller box Securely screw the cable connectors to the pan tilt unit and controller CAUTION Failure to securely screw the supplied cable connectors to the pan tilt unit and controller can cause damage to the controller when power is applied 3 Connect the host terminal or computer to the Pan Tilt Controller PTU C using the RS 232 cable you supply as described in Section 3 2 Configure the host RS 232 port as described in Section 3 2 For initial set up it is suggested that you use a terminal or terminal emulator on a host computer to become acquai
8. B lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt where A and B indicate RS232C expansion port CHA and CHB and lt baud gt maybe 300 1200 2400 4800 9600 or 19200 bits per second lt databits gt maybe 7 or 8 databits per byte lt parity gt is case insensitive and may be N none E even or O odd lt handshaking gt is case insensitive and may be N none H hardware handshaking X XON XOFF software handshaking or F both hardware software handshaking The following command sets the expansion serial port channel CHA to a baud rate of 9 600 bits second 8 data bits per byte no parity and no handshaking A 9600 8 N n The following command sets the expansion serial port channel CHB to a baud rate of 19 200 bits second 8 data bits per byte no parity and hardware handshaking B 19200 8 n H page 10 PTU D46 User s Manual v2 15 PTU OPTIONS Related Topics To communicate with an expansion serial port channel See Section 5 1 1 5 1 3 Attaching a Mouse Trackball to an Expanded Serial Port Description A mouse or trackball can be connected to one of the expanded serial ports to allow direct user control of pan tilt position without requiring an external host computer When a host computer and mouse trackball are both attached and enabled the most recent pan tilt movement command is processed The host computer can control when the mouse trackball is enabled and the
9. Computer Controlled PAN TILT UNIT Model PTU D46 User s MANUAL Version 2 15 www flir com MCS Pan Tilt Unit Model PTU D46 User s Manual Version 2 15 November 22 2006 1991 2006 2011 by FLIR Motion Control Systems Inc 890C Cowan Road Burlingame California 94010 650 692 3000 FAX 650 692 3930 URL http www flir com MCS 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 FLIR Motion Contorl Systems Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of FLIR Motion Control Systems Inc FLIR Motion Control Systems Inc cannot be held liable for any mistakes in this manual and reserves the right to make changes Table of Contents Pan Tilt User s Manual Version 2 15 INTRODUCTION A EEEE E Sennen A 1 QUICK STAR 2 2 1 A A A EG 2 2 2 Installation Components at da to 2 230 E 3 INSTALLATION amp INITIAL SETUP ta 4 3 1 A aae taa ee Soden eee aa a aae riaden 4 3 2 RS 232 Cable and Host Settings ni is 5 3 3 Initial Installation and Connections ooooooccnocononoconcnonnnonnncconocono nono nonn nono nocnnno 6 3 4 Basic Pan Tilt Unit Commands resida latin 6 3 5 Mounting Your Camera or
10. Other Payload oooonicnnnncninconococoncnoncnconncconocnoss 7 SPECIAL CONFIGURATION Sd ds 8 4 1 High Speed OPE id 8 AD A A A ee 8 4 3 Battery Powered Operation a is 8 PIUPTIONS aS 9 5 1 EIO Option Expansion Serial Ports and Control seronernvronrrorrvvrnrnrnvnnenne 9 5 1 1 Select Serial Communications Target srnrrnrrrnrrrrnrrrrrnrrrrernrnrrnnennn 9 5 1 2 Configuring Expanded Serial Port Communications 10 5 1 3 Attaching a Mouse Trackball to an Expanded Serial Port 11 5 1 4 Expansion Analog Joystick Control Port and Pin Out 11 5 1 4 1 Expansion Analog Joystick Commands rrrrrrrrrvrrnrrrrnrrrnn 12 NETWORKING Lette ade 14 6 1 Basic Networking SEP ii 14 62 PTU Network Connections nitro litiasis tena cion 14 6 3 PTU Network Software Commands srrrrnrnrvnnrrnnvrnnnrrnrnrerrrennrrnnrerrsrrnneenne 15 6 3 1 Unit Network ID Da 15 6 3 2 Unit A AAA aeatec eeetpdenreatee 16 SPECIFICATION Sisi das 17 A l Pan Tilt Mechanical Dimensions eenoronrvrrnvrrrrrrrnrsnrvrssrerrrsrerserssresnernn 17 A 2 D46 Controller DIMENSIONS u unsenaaesnernadtnsrndiimsnistvnett 18 REGULATORY INFORMATION 0d 20 EIMITED WARRANTY nta A ds Hede 22 PTU D46 User s Manual v2 15 INTRODUCTION 1 INTRODUCTION The Computer Controlled Pan Tilt Unit from FLIR Motion Control Systems Inc FLIR MCS provides low cost fast and accurate positioning of cameras and other payloads Some general fe
11. U D46 User s Manual v2 15 QUICK START 2 3 Basic Setup Steps The following outlines the basic pan tilt set up and installation steps Section 3 details each of these steps 1 Obtain a DC power source The optional Pan Tilt Power Supply model PT PS INT30V or an alternate power source may be used see Sections 3 1 and 5 2 An RS 232 cable is provided to connect your terminal or host computer to the Pan Tilt Controller see Section 3 2 3 The pan tilt unit should then be connected to power the RS 232 host and the controller Pan tilt operation can then be tested See Section 3 3 4 Section 3 4 describes some basic pan tilt commands to get you going The separate Command Reference Manual provides a full description of all pan tilt unit commands and queries 5 You can now mount your payload e g camera on the pan tilt unit see Section 3 5 Section 4 describes how to configure your pan tilt for high speed operation page 3 INSTALLATION amp INITIAL SETUP PTU D46 User s Manual v2 15 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 3 1 Power Source A DC power source connects to the 2 1mm coaxial connector on the Pan Tilt Controller Two DC power source options are available e AC Source e DC source 9 30VDC unregulated capable of 13W continuous To use an AC source simply plug the optiona
12. atures Simple to command from any RS 232 terminal or computer Small form factor PTU D46 17 performance highlights e Load capacity over 6 lbs 2 72kg e Speeds over 300 second e Resolution of 0 129 degrees 46 29 arc seconds PTU D46 70 performance highlights Load capacity over 9 lbs 4 08kg e Speeds over 60 second e Resolution of 0 0032 degrees 11 57 arc seconds 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 DC power input from an unregulated source The PTU D46 series is electrically and software compatible with the earlier PTU 46 series The PTU D46 provides a smaller controller higher payload capacity greater power control smoother movement flash reprogrammability and cooler operation for hot or more hostile environments Applications of the PTU include Robotics amp computer vision Webcam Security camera control Teleconferencing Advanced monitoring systems Tracking Photography videography and special effects In addition the PTU has flexible connectivity options This User s Manual provides information needed to set up and operate the PTU unit The next section provides a quick overview to allow you to
13. d in communications between the host computer and the expanded serial port device without causing communications between the two to be inadvertently interrupted page 9 PTU OPTIONS PTU D46 User s Manual v2 15 Establish communications with CHA a lt raw bytes gt lt delim gt Establish communications with CHB B lt raw bytes gt lt delim gt where lt raw bytes gt is the number of bytes to follow that will be received from the host computer which will not be scanned for changes in the serial communications target Example PP Current pan position is 0 A This text is sent directly to the serial device on CHA B This text is sent directly to the serial device on CHB A20 This B text is sent to CHA without choosing CHB PP Current pan position is 0 Related Topics To set expanded serial port communications parameters See Section 5 1 1 5 1 2 Configuring Expanded Serial Port Communications Description Syntax Example Command specifies the communications parameters for an expanded serial port RS232C communications These commands only affect the serial data rates for the expansion port connected to the external serial device the PTU controller serial port default communicates at 9600 baud 8 databits no parity and no handshaking See section 4 7 for modifying host port communications speed A lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt
14. escription 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 unit 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 1 pp300 0 pp300 1 Related Topics e Unit Network ID See Section 6 3 1 page 16 PTU D46 User s Manual v 2 14 1 Appendix A SPECIFICATIONS A SPECIFICATIONS A 1 Pan Tilt Mechanical Dimensions 11JUL2005 o A a A 650 342 9399 FAX 650 342 9199 i d 3 PTU46 DIMENSIONS E E En o 2 a o a a 1 800 5 150 475 750 1 721 4PLCS 1 4 20 35dp page 17 PTU D46 User s Manual v2 14 1 A 2D46 Controller Dimensions page 18 VSN YU open 2j gt gt 3 ERA SLAC
15. etain 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 MCS 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 22
16. 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 14 PTU D46 User s Manual v2 15 NETWORKING 1 Shield 2 R 3 R 4 T 5 T 6 Shield ND O D a 0 a 0 mm 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 FLIR MCS 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 resisto
17. including PT PS FERRITE have been tested to comply with FCC Class B require ments 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 20 page 21 LIMITED WARRANTY FLIR MCS Inc warrants this product against defects in material or workmanship as follows For a period of one year from date of purchase FLIR MCS Inc will repair the defective product and provide new or rebuilt replacements at no charge Warranty repairs require the issuance of an repair authorization number from FLIR MCS 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 r
18. ion 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 Use the PTU D46 70 which has a higher payload rating than the PTU D46 17 e Determine if the payload can be modified to lighten it 4 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 stationary Careful testing can be used to determine the lowest power modes that assure your load can be moved and held without losing synchrony see Section 3 5 page 8 PTU D46 User s Manual v2 15 PTU OPTIONS 5 PTU OPTIONS 5 1 EIO Option Expansion Serial Ports and Control In many cases other serial devices are attached or proximal to the pan tilt In these
19. ition is linearly related to speed of the pan and tilt axes The fastest joystick speed is set by the lowest Upper Speed Limit for the pan and tilt axes For example for the command PU6000 TU4000 the fastest joystick movement will be 4000 pos sec Note that if you change the Upper Speed Limit you must issue a JE command for the new limit to affect joystick control speeds In this way you can control the joystick commanded speeds by setting desired Upper Speed Limits JE lt delim gt Enable EIO analog port joystick control JD lt delim gt Disable EIO analog port joystick control JE DS Activates EIO analog port joystick control and Default Saves so that joystick control is activated upon power up of the pan tilt Related Topics To change pan tilt axis upper speed bounds refer to the separate Command Reference Manual page 13 NETWORKING PTU D46 User s Manual v2 15 6 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 1t 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 6 1 Basic Networking Setup Steps The steps in networking your PTU controllers to you
20. job Figure 4 shows how to rewire a standard analog PC joystick to operate with the EIO option analog joystick port Essentially the rewire converts the variable resistor into a 100K potentiometer and switch 2 is grounded so that the PTU controller can determine that a joystick is attached JOYSTICK Y POT X POT 100K 100K button1 E D 7 GT Q E y gt oj x 30 X OV is max left SV is max right 2 3V deadband ziz 6 43 o z eps Y 0V is max down 5V is max up 2 3V deadband JO z di SW normally open close to ground N joystick DB15M 1a ON e Al CONNECTS TO PTD EIO JOYSTICK PORT Figure 4 Wiring for the PTUC EIO Analog Joystick Control Port 5 1 4 1 Expansion Analog Joystick Commands Description Two PTU controller commands were added to support the EIO joystick port to activate and deactivate it When the joystick is centered in its X Y range no commands are sent to move the pan tilt Host computer serial PTU commands may be executed when the joystick is centered When the joystick is moving they override the most recent serial PTU commands The joystick center range allows some position slop called a deadband to ensure that the joystick is centered even when joystick values vary over time or movement page 12 PTU D46 User s Manual v2 15 PTU OPTIONS Syntax Example This deadband is about 20 of each joystick axis range Outside the deadband the joystick pos
21. l Pan Tilt Power Supply model PT PS INT30V connector to the controller and plug it into an AC power outlet Alternative power sources that can supply at least 17W continuous can be used by attaching a 2 1 5 5mm coaxial connector cable to a suitable DC power source e g battery power vehicle power or an AC DC converter 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 Operation at 12VDC limits the highest unloaded pan tilt speed to about 2 3 the rated maximum speed i e 200 second for the PTU D46 17 and 40 second for the PTU D46 70 Figure 2 shows the DC power connector wiring 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 O_o 9 30VDC Figure 2 DC plug uses a 2 1 5 5mm connector 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 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 prod
22. nted with the unit and its commands For example in Windows you can use HyperTerminal and in UNIX there is TIP terminal interface program 4 You are now ready to power up the pan tilt unit and test its operation Plug the power plug into the pan tilt controller PTU C see Section 3 1 for a discussion of power source options Upon power up introduction text should appear on your screen and the pan tilt unit should go through a reset cycle 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 no text or garbled text appears on your screen then e Check that the host RS 232 host port settings are correct see Section 3 2 e Check that the RS 232 cable is correct for your host see Section 3 2 5 You are now connected to the pan tilt controller The next section describes some basic commands to help you get going and a full command description may be found in the separate Command Reference Manual 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 5 3 4 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 t
23. o 2500 positions a second and sets the pan position back home A detailed description of pan tilt commands and queries may be found in the separate Command Reference Manual page 6 PTU D46 User s Manual v2 15 INSTALLATION amp INITIAL SETUP 3 5 Mounting Your Camera or Other Payload Your camera or other load attaches to the top mounting plate on the Pan Tilt Unit A centered hole and standard 1 4 20 bolt and nut is provided for simple mounting of cameras Custom mounting is easily performed by removing the four hex screws holding the mounting plate machining or drilling it to your requirements and re screwing the mounting plate back on the pan tilt unit Though the pan tilt unit is rated to a maximum load of 6 lbs 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 Ensure that the load is securely attached to the mounting plate e First move the pan axis through its range to test whether the pan tilt can handle the load e g 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 tes
24. oad If these steps do not resolve the problem try the following steps Try reducing PTU speed Reduce PTU acceleration Move the payload closer to the center of rotation pee hee A Call FLIR Motion Control Systems for further assistance if needed page 7 SPECIAL CONFIGURATIONS PTU D46 User s Manual v2 15 4 SPECIAL CONFIGURATIONS 4 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 e Rate of acceleration e The base start up speed 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 The in motion power mode and stationery power mode 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 simultaneous pan tilt axis movements can be performed An example configuration string for high speed operations is PA9000 PU6000 TA9000 PU6000 DS 4 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 sect
25. r 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 PTU controller by its unit ID and commanding and querying its attached pan tilt unit Pe 6 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 net termin network net termin network network net termin COMPUTER PTU NCONN PTU NCONN PTU NCONN PTU Controller 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 D46 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 D46 NET AU and this
26. rs between the RS 485 Transmit Transmit and Receive Receive wires at each end of the multidrop wiring network 6 3 PTU Network Software Commands This section describes the pan tilt command set used to configure set and query the network configuration of your PTU controllers 6 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 15 NETWORKING Example PTU D46 User s Manual v2 15 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 Ul DS Related Topics e Unit Select Deselect See Section 6 3 2 6 3 2 Unit Select Deselect D
27. si 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 FLIR MCS 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 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 FLIR MCS D46 pan tilt devices using a cable length of 7 or less either with or without the EIO option and using the PT PS INT30V power supply
28. t 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 e g 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 rrrr sound from the pan tilt unit motors e If your load fails the above pan or tilt axis load handling tests contact FLIR MCS 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 described in the separate Command Reference Manual 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 4 discusses how to configure pan tilt parameters to achieve more optimal pan tilt unit performance for your l
29. uct warranties CAUTION Removing power by pulling the plug can damage the PTU D46 page 4 PTU D46 User s Manual v2 15 3 2 RS 232 Cable and Host Settings INSTALLATION amp INITIAL SETUP 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 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 p gt RxD pin 3 RxD pin 3 TxD pin 2 GND pin 7 GND pin 5 DTR pin 20 gt pin 4 DSR pin 6 pin 6 IBM AT PTU C Asynch Card DB 9S female DB 9 RxD pin 2 TxD pin 2 TxD pin 3 RxD pin 3 GND pin 5 GND pin 5 DTR pin 4 pin 4 DSR pin 6 4 an pin 6 Apple Macintosh PTU C 8 Pin Mini DIN female DB 9 TxD pin 3 TxD pin 2 RxD pin 5 RxD pin 3 GND pin 4 GND pin 5 DTR pin 1 pin
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