PAN-TILT UNIT USER`S MANUAL
Contents
1. PowerSource een eee rese eene PE E AUR ease e na 4 3 2 RS 232 Cable a d Host Settings sioe tete RENA Sada pie teet 5 3 3 Initial Installation and Connections oooooooWoWoWo WWW mann 6 3 4 Basic Pan Tilt Unit CommandS ooocoWooomoo Wanna 6 35 Mounting Your Camera or Other Payload sess ooh 7 COMMAND REFERENCE D M 8 4 1 Binary Command Format eiecit ettet eo fee C I UR aus 8 4 2 General ASCH Command Format eter be tene ette roe doen eno eene ehe e ree ene ort dotada ie aene 8 4 3 Positional Control Commands amp Queries esses enne nre en nnn enne 8 4 3 1 Position absolute ode ese dis 8 4 3 2 Offset Position relative offset 9 4 3 3 Resolution per Positions oon ene eet aet SN e eet 9 4 34 Limit Position QUEE S AAS 10 4 5 5 Position Limit Enforcement aee eee anna 10 4 3 6 Immediate Position Execution Mode oocoooWoWoWoWoWo WWW Wanna 11 4 3 7 Slaved Position Execution Mode o ooooWo WWW mma 11 4 3 8 Await Position Command Completion ooooooooooooo o Woman 12 4 3 9 Halt Command Keenan gn an tet ertet Puer iria 12 4 3 10 Monitor Autoscan Command nana 13 44 Speed Control Commands amp Queries sessi ennt entrent eene trees 13 4 4 1 Speed Control amp Relevant Terms ooooco WoWoWoooooWooooWoW o W enne enne 13 4 4 2 Speed absolute ih anus an magang ana Sinta Ee2. EIO Option Expansion Serial Ports and Control In many cases other serial devices are attached or proximal to the pan tilt In these 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 ho
3. 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 wm RxD pin 3 RxD pin 3 8 TxD pin2 Null modem may GND pin 7 GND pin 5 be required DTR pin 20 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 B RxD pin 3 GND pin 5 GND pin 5 DTR pin 4 pin 4 DSR pin 6 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 mg pin 6 Figure 3 RS 232 Pan Tilt Controller Connection to Common Hosts page 5 INSTALLATION amp INITIAL SETUP PTU D46 User s Manual v2 12 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
4. Section 4 3 3 Achieving larger axis bounds See Section 4 3 5 4 3 5 Position Limit Enforcement Description Syntax Example 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 5 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 Query the current position limit mode L lt delim gt Enable position limits LE lt delim gt Disable position limits LD lt delim gt L Limit bounds are ENABLED soft limits enabled PX Maximum Pan position is 3090 PP3200 Maximum allowable Pan position is 30
5. 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 acquainted 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 DIN5 power plug into the pan tilt controller PTU C see Section 3 1 for a discussion of power source options Upon
6. model PT PS INT30V or an alternate power source may be used see Sections 3 1 and 7 2 An RS 232 cable is provided to connect your terminal or host computer to the Pan Tilt Controller and the host RS 232 setting must be set 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 Section 4 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 5 describes how to configure your pan tilt for high speed operation page 3 INSTALLATION amp INITIAL SETUP PTU D46 User s Manual v2 12 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 AC Source DC source 9 30VDC unregulated capable of 17W continuous To use an AC source simply plug the optional 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 mm coaxial connector cable
7. 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 128 page 30 PTU D46 User s Manual v2 12 NETWORKING 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 O Ul U Unit ID is 1 Ul DS Related Topics Unit Select Deselect See Section 7 3 2 7 3 2 Unit Select Deselect Description Syntax 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 egual to the PTU controller s assign unit ID or
8. set at 19 200 baud 19200 30 T Related Topics To wire the host port serial RS232 communications See Section 3 2 To wire the host port serial RS485 communications See Section 7 2 To set the pan tilt controller unit ID See Section 7 3 1 page 22 PTU D46 User s Manual v2 12 SPECIAL CONFIGURATIONS 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 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 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 simultaneous 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 t
9. 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 9 39 VDC Figure 2 DC plug uses a 2 1mm 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 product warranties page 4 PTU D46 User s Manual v2 12 INSTALLATION amp INITIAL SETUP 3 2 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
10. 3 3 Battery Powered Operation eee sn 23 PTU OPTIONS T 24 6 1 EIO Option Expansion Serial Ports and Control oooo oooooo oo Wo eene nennen 24 6 1 1 Select Serial Communications Target ooooooooooWooWoWo Wook 24 6 1 2 Configuring Expanded Serial Port Communications ooooooWooWooWo Woo 25 6 1 3 Attaching a Mouse Trackball to an Expanded Serial Port oo 26 6 1 4 Expansion Analog Joystick Control Port and Pin Out ooooooWooomoooooW 26 NIMM e 29 TA Basic Networking Setup Steps ac conte hee REDDERE nana e e an pP Dp 29 7 2 PTU Network Connections eicere tette Se eee Seek t hee ce wesw eee Poe mete Rcd 29 7 3 PTU Network Software Commandis eese een n n I n nnne nen en ttrt lean 30 7 3 1 Unit Network AA NN 30 7 3 2 Unit Select Deselect oooooooWoWoooooo Wek 31 EI AA RN 33 REGULATORY INFORMATION issicscscscscscscssascsecoosssdssnsesseasssebevsscdessdeseesdssossevevssesonsesscnbessenseseasscsensscssdeseasessses 34 LIMITED WARRANTY 36 PTU D46 User s Manual v2 12 INTRODUCTION 1 INTRODUCTION The 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 PTU D46 17 perfo
11. 90 LD PP3200 A PP Current Pan position is 3200 page 10 PTU D46 User s Manual v2 12 COMMAND REFERENCE Related Topics 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 k PP1000 Related Topics 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 Current Tilt position is 0 A PP Current Pan position is 1500 TP Current Tilt position is 900 Related Topics Alternative immediate position execution mode See Section 4 3 6 page 11 COMMAND REFERENCE PTU D46 User s Manu
12. Computer Controlled PAN TILT UNIT Model PTU D46 User s MANUAL Version 2 12 Directed Perception Inc 1485 Rollins Road Burlingame California 94010 Pan Tilt Unit Model PTU D46 User s Manual Version 2 12 5 13 2003 1991 2003 by Directed Perception Inc 1485 Rollins Road Burlingame California 94010 650 342 9399 FAX 650 342 9199 URL http 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 PTU D46 User s Manual v2 12 INTRODUCTION P ensoese 1 MUS e dod Meno AO 2 QM OVOTVIGW Kue edite tette tus itv dise im E EE Ode 2 2 2 Installation Components isis nee eme ebd de ette que qe 2 2 3 Basic Setup Steps MD 3 INSTALLATION INITIAL SETUP cssscssssssssssssccsssessessecnsessscsesesscsssssssessssssssesenesssssensesssensscnsseseoeseenes 4 S31
13. D46 User s Manual v2 12 Related Topics Position 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 Acceleration cannot be changed on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping 4 4 5 Base Start Up Speed Description Syntax Example Specify or query axis base start up speed Base speed is specified in positions second Defaults to 1000 positions sec Query desired pan base speed PB delim 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 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 Position resolution units See Section 4 3 3 Acceleration See Sections 4 4 1 and 4 4 4 Speed bounds See Section 4 4 6 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 Syntax Set and query the upper and lower speed bounds for desired speed commands Query upper pan speed limit PU delim Set upper pa
14. E PTU D46 User s Manual v2 12 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 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 4 6 1 Stationary Power Mode Description Set and query the current level 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
15. RES Eee voe kr vene x ER og ean 14 24 4 3 Delta Speed relative offset ade tina daa anang lectos aan 15 4 4 4 Acceleration Ae HERR US aa gg nusa nana 15 445 Base Start Up Speed abad anu ema anang enam laman aa 16 4 4 6 Speed BOUNGS essence esee sman seakan ea 16 4 47 Speed Control Modes ROI OB n ORRDODO ED edo CEDE 17 45 Unit Commlnds tenete titer PEE lan NN 18 4 5 1 Reset PanzTilt Unit 2 onto rrt Ehe BBB Bu E RR 18 4 5 2 SSA OA un uan en aga aan 19 45 3 Echo Query Enable Disable 5 2 ier reete rete ee pepe tiui erect esee 19 4 5 4 Feedback Verbose Terse Off ce esceeccesseceseeceteesseeeeeeeeeeeaeceseecaeeeaeeceeeecaeceeecueecsaeceeeecneeeseaeees 19 4 5 5 Controller Firmware Version Query oooooooWoooooo mann 20 4 6 Power Control Commands amp QuETICS c cccessecesscesessecesesceecseecsaeceseaeeecsaeecsesaeecseeececeeecnsaececesaeseseneeeneas 20 4 6 l Stationary Power Mode 4 ones P ORI RR aa net dictate RE OI D t SE antes 20 4 6 2 In Motion Power Mode oooooooWoWooW momo manakala 21 at jHost Serial Port and Controle rrr eer eerte ere iren eri cays 21 4 7 1 Configuring Host Serial Port Baud and Communications essere 22 SPECIAL CONFIGURATIONS oeecooooooooooooooooooooooooooocooooecatennennn senses anna senses sense tne tn sensn 23 5 High Speed Operation csse esten tee trie eter Anna Real 23 5 23 High Payload Opera ii eene eerte enema ee He ein dtp 23
16. TALLATION 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 rescrewing the mounting plate back on the pan tilt unit The load will not interfere with the unit range of motion when the load does not extend below the base plate top Though the pan tilt unit is rated to a maximum load of 4 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 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 test you can then test the tilt axis load handling capability Because the tilt axis reguires more power to move th
17. al v2 12 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 k PP Current Pan position is 0 PP2000 A k 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 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 delim Halt pan axis movement HP delim Halt tilt axis movement HT delim Example PP2500 A PP 2500 Then while the pan tilt is moving the host decides to stop immediately H Related Topics 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 12 PTU D46 User s Manual v2 12 COMMAND REFERENCE 4 3 10 Monito
18. art up SPEED instntameods speed LOWER SPEED LIMIT changes time 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 Desired speed commands outside the speed bounds return an error and are not executed Syntax 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 Example 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 Position commands See Section 4 3 1 4 3 2 Position resolution units See Section 4 3 3 e Speed bounds See Section 4 4 6 page 14 PTU D46 User s Manual v2 12 COMMAND REFERENCE 4 4 3 Delta Speed relative offset Description Syntax Example 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 i
19. b egual 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 unit ID delim Broadcast to all networked PTU controllers _0 lt delim gt where 0 lt lt unit_ID gt 128 Example 1 pp300 0 pp300 1 k Related Topics Unit Network ID See Section 7 3 1 page 31 NETWORKING PTU D46 User s Manual v2 12 page 32 PTU 46 User s Manual v1 15 Appendix A SPECIFICATIONS A SPECIFICATIONS A 1 Mechanical Dimensions ES ER WT n Dureried Perception fuc tarta VAR cde Hama iringan CA AUR aee BERES PAM Bede ee Agen grams ferent ria page 33 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 Cla
20. change expansion serial port communications See Section 6 1 2 6 1 4 Expansion Analog Joystick Control Port and Pin Out The PTUC EIO provides an analog joystick control port using a DB15 female receptacle Directed Perception 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 5 X controls the pan axis and Y controls the tilt axis XZ0VDC is maximum pan left and X 5VDC is maximum pan right Similarly Y 0 is maximum tilt down and Y 5VDC is page 26 PTU D46 User s Manual v2 12 PTU OPTIONS maximum tilt up For both axes about 2 3 VDC is a deadband in which no axis movement occurs 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 w
21. dshaking See section 4 7 for modifying host port communications speed QA lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt AB 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 baud may be 300 1200 2400 4800 9600 or 19200 bits per second databits maybe 7 or 8 databits per byte parity is case insensitive and may be N none E even orO 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 Example 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 25 PTU OPTIONS PTU D46 User s Manual v2 12 Related Topics To communicate with an expansion serial port channel See Section 4 7 2 6 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 ar
22. e 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 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 6 1 2 mouse trackball control is disabled the command in this section must be used to reenable mouse trackball control Syntax QA M delim QB M lt delim gt where A and B indicate RS232C expansion port CHA and CHB QA M is the system default Example PH Pan in LOW hold power mode A 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 Directed Perception Inc All Rights Reserved where EM indicates the presence of the EIO option and the detection of a Mouse trackball Related Topics To
23. e 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 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 page 7 COMMAND REFERENCE PTU D46 User s Manual v2 12 4 COMMAND REFERENCE This section describes the pan til
24. ect 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 Directed Perception 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 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 34 page 35 LIMITED WARRANTY Directed Perception Inc warrants this product against defects in material or workmanship as f
25. elim gt Reset both pan and tilt axes upon power up RE lt delim gt page 18 PTU D46 User s Manual v2 12 COMMAND REFERENCE Example all an Bal Rat Related Topics 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 5 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 delim 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 19 COMMAND REFERENC
26. ired 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 job Figure 5 shows how to rewire a standard analog PC joystick to operate with the EIO option analog joystick port Esentially 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 X OV is max left 5V is max right 2 3V deadband Y OV is max down 5V is max up 2 3V deadband SW normally open close to ground UNNECTS TU Figure 5 Wiring for the PTUC EIO Analog Joystick Control Port 6 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 page 27 PTU OPTIONS Syntax PTU D46 User s Manual v2 12 joystick is centered even when joystick values vary over time or movement This deadband is about 20 of each joystick axis range Outside the deadband the joystick position is linear
27. is 500 PO1500 A PP Current Pan position is 1000 Related Topics Position resolution units See Section 4 3 3 Position limits See Section 4 3 4 Position execution modes See Sections 4 3 6 4 3 7 and 4 3 8 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 delim Query tilt resolution TR lt delim gt Resolution can be determined by PR 185 1428 seconds arc per Pan position Thus to pan 21 3 left requires a relative move of 21 3 deg 185 1428 sec x 414 positions yielding the following command PO414 Related Topics Factory options are available to achieve higher resolution or accuracy page 9 COMMAND REFERENCE PTU D46 User s Manual v2 12 4 3 4 Limit Position Queries Description Syntax Example Queries return the axis position bounds determined upon unit reset Query minimum pan position PN lt delim gt Query maximum pan position PX lt delim gt Query minimum tilt position TN delim Query maximum tilt position TX delim R PN Minimum Pan position is 3090 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 Position resolution units See
28. ition 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 17 COMMAND REFERENCE PTU D46 User s Manual v2 12 Example Put into the default independent control mode the pan
29. lt delim gt TML lt delim gt PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Related Topics 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 page 21 COMMAND REFERENCE PTU D46 User s Manual v2 12 4 7 1 Configuring Host Serial Port Baud and Communications Description Syntax Example 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 start and stop bit 8 data bits and no handshaking The command also allows a transmission 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 i e 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 communication
30. ly 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 Example JE lt delim gt Enable EIO analog port joystick control JD delim 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 See Section 4 4 6 page 28 PTU D46 User s Manual v2 12 NETWORKING 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
31. n a speed outside the legal speed bounds returns an error and it is not executed Query current pan speed PD lt delim gt Set desired delta offset pan speed PD positions sec delim Query current tilt speed TD lt delim gt Set desired delta offset tilt speed TD 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 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 Position commands See Section 4 3 1 4 3 2 Position resolution units See Section 4 3 3 Speed bounds See Section 4 4 6 4 4 4 Acceleration Description Syntax Example Specify or query axis acceleration and deceleration for speeds above the base speed Acceleration is specified in positions second Query desired pan acceleration PA lt delim gt Set desired pan acceleration PA lt positions sec delim Query desired tilt acceleration TA delim Set desired tilt acceleration TA positions sec delim 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 page 15 COMMAND REFERENCE PTU
32. n 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 page 16 PTU D46 User s Manual v2 12 COMMAND REFERENCE 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 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 Position resolution units See Section 4 3 3 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 hybrid pos
33. o 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 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 Move the payload center of gravity closer to the tilt axis e Use a higher voltage power source in the range 9 30VDC Use the PTU D46 70 which has a higher payload rating than the PTU D46 17 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 held without losing synchrony see Section 3 5 page 23 PTU OPTIONS PTU D46 User s Manual v2 12 6 PTU OPTIONS 6 1
34. ollows 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 repair 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 36
35. page 1 QUICK START PTU D46 User s Manual v2 12 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 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 controller model PTU network RS 485 Pan Tilt Controller model PTU D46 optional i AC DC alterna Power Supply model PT PS INT30V power source 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 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 Manual rotation of pan tilt axes called backdriving can degrade unit performance and accuracy page 2 PTU D46 User s Manual v2 12 QUICK START 2 3 Basic Setup Steps The following outline 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
36. 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 de ot Pg 7 2 PTU Network Connections Figure 6 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 12022 1 terminator full duplex y 1200 1 terminator network network net termin HOST net termin network net termin COMPUTER PTU NCONN PTU NCONN PTU NCONN PTU Controller PTU PTU Controller Controller Figure 6 Making PTU Network Connections The basic start configuration for networking PTU controllers may be made using the PTU Network Starter Kit model PTU DNET 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 DNET AU and thi
37. power mode PHL PH Pan in LOW hold power mode page 20 PTU D46 User s Manual v2 12 Related Topics COMMAND REFERENCE 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 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 guery the current level applied to axis motors when in motion in transit Syntax Ouery pan move power mode High pan move power mode Regular move hold power mode Low pan move power mode Query tilt move power mode High tilt move power mode Regular tilt move power mode Low tilt move power mode Example PM lt delim gt PMH lt delim gt PMR lt delim gt PML lt delim gt TM lt delim gt TMH lt delim gt TMR
38. 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 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 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 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 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 page 6 PTU D46 User s Manual v2 12 INS
39. r 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 MO 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 Limit Position Queries see Section 4 3 4 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
40. rmance highlights e Load capacity over 6 lbs 2 72kg e Speeds over 300 second e Resolution of 3 086 arc minute 0514 PTU D46 70 performance highlights e Load capacity over 9 lbs 4 08kg e Speeds over 60 second e 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 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 get started as quickly as possible More detailed technical information is provided in the remaining sections
41. s includes an additional Y connector and data connector cable Figure 7 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 29 NETWORKING PTU D46 User s Manual v2 12 1 Shield 2 R 3 R 4 T 5 T 6 Shield N U D X Ul ara O view looking into RJ12 6P6C receptacle Figure 7 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 7 to directly connect your host computer to the PTU controller network 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 configuration
42. s 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 startup default If T baud and byte delay in msec gt are applied at power up otherwise the power up default is 9600 baud with no byte transmission delay 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 handshaking 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
43. ss 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 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 corr
44. st computer Point to point communications is broken upon command from the host computer Communications from a serial device attached 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 6 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 ho
45. st computer to the expanded serial port without any attempt to change the communications target This allows strings like eB to be embedded in communications between the host computer and the expanded serial port device without causing communications between the two to be inadvertently interrupted page 24 PTU D46 User s Manual v2 12 PTU OPTIONS Establish communications with CHA ax 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 Q PP Current pan position is 0 QA This text is sent directly to the serial device on CHA QB This text is sent directly to the serial device on CHB QA20 This B text is sent to CHA without choosing CHB Q PP Current pan position is 0 Related Topics To set expanded serial port communications parameters See Section 6 1 1 6 1 2 Configuring Expanded Serial Port Communications Description Syntax 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 han
46. t 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 ASCII Command Format When describing the format syntax of pan tilt commands the following conventions are adopted Commands issued to the pan tilt unit e g typed in by you are shown in bold 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 CR A successfully executed command returns lt CR gt Successful query execution returns x QueryResult CR 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 ee 99 4 3 Positional Control Commands amp Queries 4 3 1 Position absolute Description Specify or query the absolute pan or tilt axis position Desired positions can be changed on the fly without waiting for previous position commands to complete Syn
47. tax 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 8 PTU D46 User s Manual v2 12 COMMAND REFERENCE Related Topics Position relative offset and desired position queries See Section 4 3 2 Position resolution units See Section 4 3 3 Position limits See Section 4 3 4 Position execution modes See Sections 4 3 6 4 3 7 and 4 3 8 Position limit enforcement modes See Section 4 3 5 4 3 2 Offset Position relative offset Description Syntax Example 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 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 The following sends the pan axis to position 500 then sends it 1500 positions to the left PP 500 A PO Current Pan position
48. 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 Position commands See Section 4 3 1 4 3 2 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 delim 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 only RP lt d
49. 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 5 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 page 13 COMMAND REFERENCE PTU D46 User s Manual v2 12 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 st
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