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Fastrak Manual USB 2002

1. Receive Data 2 4 Signal Ground 5 5 Receive Data Transmit Data 3 6 7 7 8 D 3 PoLHENMUS OPMOOPI002 Prat ie ibeheuggueuenmt idis THIS November 2002 RS 232 Cable Diagram e SGI VTX Onyx Personal Iris To PC To FASTRAK Circular Connector D Type Conn DIN 8 9 Pin Female Pin Identification Pin 2 Transmit Data Receive Data 2 3 Receive Data Transmit Data 3 4 5 6 T Ground 5 8 7 9 8 D 4 Prat in the iu guanmenmsmn 3 51572 VB Mer C E 11 26 3BALL Photograph eese 26 opace Euler ATgle Siento pre hoia eu Ro tue onde 127 4 d aS E aeeai 28 A A U E S AC URA Gh AN 5 ACCURACY AND RESOLUTION WHITE PAPER 1 ACTIVE STATION STATE eee 68 PU 122 alignment command esses 46 Alignment Frame 122 ALIGNMENT REFERENCE FRAME 46 Aneuldt Coverage sccaszarssncnscnsedecssetsxaccsssesisncusseexassexd 12 ANGULAR OPERATIONAL ENVELOPE 83 ANGULAR RESOLUT
2. 20 410 OPTIONAL RS A VO em 21 4 11 VIDEO SYNC INPUT cccccceccsceccsceccesescescescscsscscescsecsesccsesacsecscscesesacsceacsacseesesecsesscsceacaecaeacsecaesecaecaesccacseacesesacaceeeas 21 4 12 POWER INPUT RECEPTACLE ocoteiterpeistrevit ise rete etu Mica tenth eats te cun aue eceenis tum tesa estne Sulocunantantsieeecasncsa neato 22 ANE ESSEN NER RRRRR EE EAE 22 A14 TRANSMITTER IR E E EAEE EEEE 22 4 15 riz A ASI ARR 24 Z5 SDYEUS esteem be MU IA Mm E 23 LEES et cet 26 POLHEMUS OPMOOPI002 Firat in the iha adimensimn November 2002 dO VIDEO SYNC DETECTOR NR 26 4 19 LONG RANGER TRANSMITTER cccccccccccccccccssssssssssssscccsscsesccsssesssssssssssssccsssessesessssssssssscccsssesssssessssecssssssasescsesecs 27 OA TR N MTI E r E E A E MU ESSE D ED DI LE EDE DES 28 421 SHORT RANGER TRANSMITTER siete beri eaa n aeS a ae eaan ECan ROEA oo N pelea EAE OERE 28 TAMT We CP ooed a E E AA EEE dvvcessouscaacceceesecaiee 28 SOSY STEN OPERATI aena A T A E EA E 29 SI VO CONSIDERATIONS og enc esce es cas ee ea EA E aa nner teu EISE UNE UC E LEE 29 RS 232 CABLE CONNECTIONS ee ae neono ee oe PEDE DD D C ee E oaaae 29 BE CONNECTION ERR ROEE EE iaai 30 5 2 POWERING UP FASTRA Emm 30 5 3 CONFIGURATION CHANGES oiccvcocscccsecessssvsoececsossssseonsosssesseseccnsssevsveencvbssev
3. 33 OPMOOPIO02 November 2002 Installing USB Device Drivers 32 Interlace dv Us P 13 Interface USB eerte etae repu tu ener hr nass 13 Bnterial S Il usns esteso once os ite Pes om bodiE ade 30 Internal Sync Mode 108 L Pr H 125 Brio e 12 LATENCY WHITE PAPER eene 1 Latest FASTRAK vs Previous Versions 9 LIMITATION OF LIABILITY 117 LIMITED WARRANTY err 117 Line of Sight LOS 125 Locate Driver Files uis itti ie aote YU Roe Pre ko ai Eduns 34 Long Ranger Transmitter eeeesesessss 2 LOS ineo SiE NT eeren pe Feb Reine boss 62 Bho 125 E D A E N EA EE A 125 M Magn tic Lam Ra 86 sesosses2sccts sescascenecessaccensenscndaneccsaneatecs 2 LOCO e S 12 94 METRIC CONVERSION UNTTS 94 Mir RECEIVE sensasine a n R 28 Motion BoX cceccececceseceecseceeeeseceeeeseeseeeaeeneeees 125 mounting THANE socessescssccsnecstenesncensevasanncstesasneniatesansees 85 Mounting Transmitter and Receiver 3 lih P 125 Multiple Systems Synchronization 40 N New Hardware Wizard e
4. 55 DISABLE FIXED METAL COMPENSATION 57 distance TH scean OE URSI Enni A deine hene 93 Driver Files Search Results 34 E r9 PUR 105 111 124 EFFECTIVE LATENT PERIOD 2 electro magnetic isse eoeoe dens eenick east emo d insu ho pci Ea SUE 11 Elevato ene ee ne a 124 elevation mounting frame esses 85 ENABLE ASCII OUTPUT FORMAT 59 ENABLE BINARY OUTPUT FORMAT 60 ENABLE FIXED METAL COMPENSATION 56 Prat in the iu guanmenmsmn Eb SI ooi E 12 93 ENGLISH CONVERSION UNITS 93 Enhanced Alignment Procedure 47 envelope MIS uude dette cerea tase nat eniuisen tomate bis 95 EU ET RS 12 Euler Ange S sssini 127 EXCEL S A 8 Cee ere er eee eee ere MUI IUE 39 bxtemal Sy ne VOe 15 19 External Sync Mode ss 108 F 98 FACTOR Ceuta up M 98 FACTORY CELAUIUS caeci ats teo lenior siensia a 105 Factory Defaults esesssss 124 FASTRAK Commands Index 10 FASTRAK Data Record esses 6 FASTRAK GULDIOCOU soe catessdscisoccsscsseecsevaanesniob vaccnass 36 FASTRAK HARDWARE eene FHIGH m rar 98 FILTER RESPONSE LAG essere 3 JPG
5. eee 3 OLET S U E 20 Go W206 re ee tent 13 155 232 MOG sassi 3 RS 422 Cable Connections eene 30 159 2172 DOD anicutuogcuinititottuiads tisse dei nd iuE uh 13 S SAVE OPERATIONAL CONFIGURATION 111 2I 128 Separation distance sss 40 SE OUTPUT POR Doreen carene tinaa 80 SET SYNCHRONIZATION MODLDE 108 SEU Front VIew ene opinas te t RE Ra eU Qu ER eaR A sPS 15 OPMOOPIO02 November 2002 SED Rear VIEW et ostveteistetnd v ats Pt ETE EUREN 16 SGI 02 Onyx 2 OF OCUQe o drops eo eet rope v ons 1 SGI Indigo2 Indigo Onyx Iris 3 SGI VTX Onyx Personal Iris 4 Short Ranger Transmitter eessssss 28 SIGNAL TO NOISE S N RATIO 4 SINGLE DATA RECORD OUTPUT 82 SPECIFICATION seisnes tati Pasced usps eto cis 12 Standard Alignment Procedure 47 Standard Items sese 1 STANDARD OPTIONAL ITEMS 1 Staic ACCUTACY aisicesete a pectacateseenetcuicecsu canemoeecseeeieee 12 BU ANAL OMEN MEN 68 SII T 128 dA e A 11 BOE YS c 25 128 Stylus Dimensions essere 25 Stylus Photograph etico r tortor tained 25 sq dinge opp M 71 VI er A 128 SPA e
6. GROUND Digital 2 GROUND Analog 3 5 VDC 4 15 VDC 5 15 VDC Note Digital ground pin is not electrically shorted to analog ground Pin 2 on the PCB They are electrically connected in the power supply 4 13 Cooling Fan A small cooling fan is located on the rear panel of the SEU as shown in Figure 4 1B The fan is powered from the 5 VDC supply and will only operate when the system is powered up 4 14 Transmitter The Transmitter is the device which produces the electro magnetic field and is the reference for the position and orientation measurements of the receivers It is usually mounted in a fixed position to a non metallic surface or stand which is located in close proximity to the receivers The Transmitter is dimensionally shown in Figure 4 13A including the position of the electrical center There are 4 1 4 20 NC tapped holes provided on the bottom surface for mounting Nylon hardware supplied should be used when locating the Transmitter in a fixed position Note Please be sure to route the transmitter cable separate from the receiver cables in order to avoid possible noise problems 22 OPMOOPIO02 November 2002 POLHEMUS Firat in the ihia airmensian DIMENSIONS 2 15 x 2 15 x 2 21 PT O T IN pes 15 PIN CONNECTOR 4 20 A MIG HOLES Z DIRECTION IS OUT OF PAPER TOWARDS VIEWER Figure 4 14A Transmitter Dimensions In Inches Figure 4 14B Transmitter 23
7. 4 5 I O Select Switch The I O Select Switch is an 8 position switch located on the rear panel of the SEU as shown in Figure 4 1 B Rear View and is only read on power up or system re initialization Ctrl Y command The purpose of these switches 1s to select the RS 232 serial port parameters including baud rate character width and parity The modes with switch positions and their corresponding functions are as follows Note UP position is a logic 1 and DOWN is a logic 0 Switch Position Function 1 Baud rate select 9 Baud rate select 3 Baud rate select 4 Hardware Handshake select 5 Character width 0 7 bits 17 FPOLAEMUS OPMOOPIO02 Firat in ihe hir nimaran S N OV emb er 2002 8 bits 6 Parity select 7 Parity select 8 I O Select UP for RS 232 The Baud rate select logic for switches 1 2 and 3 is as follows Again 1 Up and 0 Down Baud Rate 1200 2400 4800 9600 19200 38400 57600 115200 factory setting IE om a Pre OOCrr O DIN eRe RS OOO olv The system reads the baud rate switches only on power up or system re initialization Therefore if you change the switches to obtain a different baud rate you must restart the system either by recycling the power or by using the Ctrl Y command The o command may be used to override the switch settings during operation and select faster baud rates The FASTRAK is capable of running at additional speeds of 230 400 and 460 800 bits per second
8. B4 PoLHEMUS OPMOOPI002 Fia in the tit guum anm November 2002 Sensor vector sum Range r Source Figure B3 Translational Resolution ACCURACY The accuracy of electromagnetic six degree of freedom measurement instruments is a function of the error involved in making measurements and is therefore expressed in statistical error terminology It should be noted here that the use of statistical error terminology 1s the reason the accuracy of such instruments is generally specified in degrees RMS for attitude orientation and in inches or centimeters RMS for position As with resolution accuracy will be considered here from the point of view of the instruments as black boxes When treating the instruments as black boxes all classic error terms such as linearity repeatability hysteresis and drift are included One factor to be considered with any of the electromagnetic instruments is range or field of regard All instruments have a practical operating range for which accuracy 1s specified Operation beyond that range will degrade accuracy as a function of the degradation of the system s S N ratio Additionally all electromagnetic six degree of freedom systems are affected somewhat by the metallic environment in which they operate As this 1s clearly an uncontrolla ble function of the environment from the manufacturer s viewpoint accuracy is generally specified and or should be determined in a metallically clean environme
9. TRANSMITTER MOUNTING FRAME RECORD IDENTIFIER r INITIATING COMMAND r byte s Identification Format Record type 2 A 2 Station Number Al 3 Sub record type r Al 4 11 Azimuth mounting frame SXXX XXX angle 12 19 Elevation mounting frame SXXX XXX angle 20 27 Roll mounting frame angle SXXX XXX 28 29 Carriage return line feed 85 FPOLAEMUS OPMOOPIO02 Firat in ihe ihre dimanaian s November 2002 SYSTEM STATUS RECORD S Syntax S Description Status refers to the capability to determine information about the system that is not available from other commands This command allows the operator to verify communication determine system configuration check for BIT errors determine the firmware version number and read system identification information Purpose This command allows the operator to request a status record from the FASTRAK system Relatives T Default N A Example Sending the S command to the system will yield an output similar to the following 21S3FO O 103 00OutputCompensat CPG2030 003 10 The fact that the status record was received verifies communication 2 is the record type 1 is the station number 3F0 is the hex code for system configuration see following pages for explanation e Q is the BIT error code it would be a number other than O if there was a system error to report e 103 00 is the firmware version number e The remainder is system identification info
10. 2 Read the factory tip offsets from the PROM in the connector by sending the command N1 A typical factory tip offset might be 2 523 0 004 0 03 3 To add one inch to the factory calibration type N1 3 523 0 004 0 03 lt gt 4 To venfy that the tip offset was entered correctly type N1 to read it back 70 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 OUTPUT DATA LIST O Syntax Ostation pl p2 pn Description The output list refers to the subset of data items to be included in a data record Any combination of up to 32 data items that total less than or equal to 254 bytes 1s permissible Purpose This command allows the user to define the list of variables to be output to the host computer for the specified station Any combination of up to 32 data items that total less than or equal 254 bytes is permissible The allowable values of the parameters are 0 ASCII space character ASCII carriage return line feed pair 2 x y z Cartesian coordinates of position 3 relative movement x y z Cartesian coordinates of position 1 e the difference in position from the last output This item should only be selected if the specified station s Increment is 0 0 See the I command 4 azimuth elevation roll Euler orientation angles 5 x direction cosines of the receiver s x y z axes See Note 1 6 y direction cosines of the receiver s x y z axes See Note 1 7 z direction cosines of the recei
11. 76 L Z Slope of Coil Receiver Z Linearity 71 83 Not Used Reserved for future use 84 T Receiver PROM Error 85 U Transmitter PROM Error 86 V Receiver PROM Circuit Error 87 W Transmitter PROM Circuit Error 88 X Driver Characterization Validity 89 Y Receiver Characterization Validity 90 Z Receiver Coil Validity 89 POLHEMUS Prat in the dh gums BIT number 97 98 99 100 101 102 103 104 BIT number 105 106 107 108 BIT number 109 110 111 112 113 114 BIT number 115 BIT number 116 117 118 119 120 121 122 Code mo onde amp C a O p lt a Ee N Q c O 7 OTD OF 8 OPMOOPIO02 November 2002 Self Calibration Error Codes X Driver Limits Self Calibration Y Driver Limits Self Calibration Z Driver Limits Self Calibration x Gain Limits Self Calibration y Gain Limits Self Calibration z Gain Limits Self Calibration Coil Limits Self Calibration Not Used in FASTRAK Signal Matrix Error Codes Not Used in FASTRAK A Signal Saturation A Low Signal A Maximum Signal Element Zero EEPROM Error Codes EEPROM Validity Checksum Error or Data Validity Discrepancy Reserved for Future Use Reserved for Future Use Reserved for Future Use Reserved for Future Use Reserved for Future Use Soft Error Codes Unit Normal Position Vector Reset P R Norm Miscellaneous Error Codes Compensation Structure Errors Array Size Not In Specification Limits Compensation Point
12. FPOLAEMUS OPMOOPI002 Epai in ihe hend pumenmsimnn November 2002 calculated to be 0 44 ms The correct interpretation of this figure is that the receiver coordinates output at t 5 5 ms correspond to where the receiver was at t 1 2 0 44 ms 2 2 ms this would increase apparent latency to T 7 2 0 43 ms 4 2 ms The next example demonstrates what can happen when the filter constant is set too low producing extremely heavy filtering Suppose Q is set to 0 05 and all other conditions are the same as in the above example In this case the filter lag calculates to 158 ms and the interpretation is that the coordinates output at t25 5 ms corresponds to where the receiver was at t 2 7 2 158 ms this yields an apparent latent period of T t 2 158 162 ms Obviously low filter settings must be avoided if any reasonable dynamic response is desired RECAPPING This technical note has discussed the latency in the application of a PI 3SPACE FASTRAK product As pointed out sync to output and effective latencies are measures of tracker throughput and cannot be changed while apparent latency and filter response are controlled to a degree by the interface and application environment To derive best performance the FASTRAK product should be synchronized and data records should be reduced to the minimum required Also use the fastest baud rates available consider the use of binary formats and use the continuous print mode C 4 PoLHEMUS OPMO
13. The FASTRAK receivers can operate in relatively close proximity to a CRT video monitor without picking up interference This can be achieved by setting the system to Video Sync Mode and connecting the video sync detector between the FASTRAK and the CRT monitor Purpose This command allows the host to set the system synchronization mode The specific parameters are smode Description 0 Internal Sync Mode Signifies that the system is synced internally 8 3 milliseconds cycle time 1 External Sync Mode Signifies that the system is externally synced to another FASTRAK system or an external sync source Note This setting can not be saved to EEPROM with the Ctrl K command 2 Video Sync Mode Signifies that the system is synced via a video frequency pickup coil Relatives none 105 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 Default 0 Internal Sync Mode Example If the user had a requirement to operate two FASTRAK systems in relatively close proximity the following steps should be taken 1 Designate one FASTRAK system as the master and the other as the slave Note Make sure that the two FASTRAKs have different colored dots on them so you will know that they are operating at different frequencies 2 Connect one end of the sync cable to the sync out receptacle of the master FASTRAK 3 Connect the other end of the sync cable to the sync in receptacle of the slave FASTRAK 4 Send the comma
14. WF tee 98 prwiiri P 124 Frequency Select Module 20 Frequency Select Modules FSM 13 G GLOSSAR M 122 H hardware handshaking esses 17 Hardware Handshaking sussse 20 Hardware Install 4er tnit Rete taste rient 35 BVH OMe zi tes dse dace caracencwensctasba v atu Moe dE 62 Hemisphere mem 124 HEMISPHERE OF OPERATION 62 hemisphere ttacking eterne tenetis 62 HEMISPHERE TRACKING 63 Hemisphere V CClOP es ssisessesiacecnasssscaeasessersecncteneeneaneane 64 ll e e E E 80 jf ee 125 I VOE DEE c 15 TO Considerations reete oratione menses 20 I O latency eren 125 I O Select Dip Switch Settings 5 VO Select Swit Wig wicsisisasesdenedesnssaraniissacasceseeysecuesee 15 17 IBM PC Compatible Computer 1 2 IEEE FLOATING POINT FORMAT 71 E S a ues ee 93 ATOR CTE D EI AEA EN E E 66 DCECDIEBL een nee eee er eee ee ee ene eer 125 Increment Deri tiOM sic cecgessncsecesasscsrecssconveissdiewersssee 67 mirne emei RERO 119 Initial Power Up Procedure 30 Install Hardware Device Drivers
15. degree of freedom data in different optional formats including Cartesian coordinates of position and Euler angles and or direction cosines as orientation parameters The azimuth elevation and roll yaw pitch and roll angles are the more intuitive of the orientation parameters of the receiver and are measured with respect to the alignment or fixed transmitter reference frame Euler angles are defined as the sequence of angles azimuth elevation and roll that define the orientation of the receiver with respect to the X Y Z alignment reference frame Azimuth is a rotation of the receiver s x axis projection in the X Y reference plane about the Z reference axis Elevation is a rotation of the receiver s x axis about the Y reference axis Roll is a rotation of the receiver s y or Z axis about its X axis In order to measure the orientation Static Accuracy in the same manner that the positional accuracy was obtained the aforementioned precise gimbal test fixture 1s required to allow input of precise and simultaneously different attitudes As with the positional measurements azimuth elevation and roll measurements of the receiver are taken in a statistically valid number of known attitudes in fixed and known locations throughout the same specified motion box as used for the positional measurements The azimuth elevation and roll error terms are recorded and the RMS values calculated for each term The resulting error values one for azimuth
16. 1 x receiver data reserved for factory use y receiver data reserved for factory use z receiver data reserved for factory use orientation quaternion self calibration data reserved for factory use adjusted x receiver data reserved for factory use adjusted y receiver data reserved for factory use adjusted z receiver data reserved for factory use stylus switch status not used reserved for factory use not used reserved for factory use not used reserved for factory use Os 2 4 1 lt gt 1 e the three Cartesian coordinates the three Euler orientation angles carriage return and line feed for stations 1 through 4 The user may decide to use X Y Z direction cosines instead of the default output format In order to do so the following command should be sent O1 5 6 7 1 lt gt The output data for station will now be displayed as X Y Z direction cosines 72 POLHEMUS OPMOOPIO02 First in the iid adimemnsian November 2002 OUTPUT ITEM LIST RECORD IDENTIFIER O INITIATING COMMAND O byte s Identification Format Ls Record type 2 Al d oe Station number Al 5 Sub record type O Al 4 5 Data item 01 identification I2 6 Data item 02 identification I2 8 9 Data item 03 identification I2 2 n 2 2 n 3 Data item n identification I2 2 n 4 2 n 5 Carriage return line feed 73 POLHEMUS OPMOOPIO02 Firat ie the dnd gimenmsian N OV emb er 2002 SYSTEM DAT
17. 4 21 Short Ranger Transmitter The Short Ranger Transmitter is an optional device which produces a smaller electro magnetic field for precision work in a restricted space It is dimensionally the same as the receiver and is shown in Figure 4 14A There are two advantages of using the Short Ranger Transmitter in lieu of the standard transmitter A small volume 1 less susceptibility to field distortions with metals nearby and 2 no concern about transmitter aperture when closely approaching the device 4 22 Mini Receiver The Mini Receiver is an optional device 10 12 mm in size whose position and orientation is measured relative to the transmitter like all receivers Because of its small size its maximum range from the transmitter is reduced to 3596 4040 that of a standard receiver 28 FPOLAEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 5 0 SYSTEM OPERATION 5 1 I O Considerations Currently there are two possible interface configuration options available on the FASTRAK system the standard RS 232 serial configuration or the optional RS 422 parallel configuration Each configuration supports either Binary or ASCII formats RS 232 The RS 232 is the most commonly used port both in binary and ASCII formats because of its commonality and the fact that it supports high baud rates The RS 232 port should be used where host to FASTRAK physical separation distances are no greater than 50 feet and baud rates can be kept low
18. 5 ms It goes beyond the scope of this note to explain the sampling process in more detail so let it suffice that nine magnetic field samples are taken per cycle time The samples are then solved for receiver coordinates a period that requires another 2 ms The solution is then placed in an output buffer and 1s made ready for transmission over the interface in use The total sync to output latent period is the sum of field sampling and coordinate solution periods or 5 5 ms and is independent of update rate EFFECTIVE LATENT PERIOD Sync to output latency is important for reasons of interface timing however it does not If exernal synchronization and continuous print are not implemented the environment is being run asynchronously and the latent period cannot be defined precisely C I FPOLAEMUS OPMOOPI002 Prat in ibe6huoguuumsmumnt ian November 2002 quantify the effective latent period between receiver motion and output coordinate values This period is important to helmet display or virtual reality applications since dynamic errors between the actual and computed coordinates can be very noticeable to the eye To discuss effective latent period let the beginning of the magnetic field sampling be at t 0 let the end of sampling be at t T and let the time that the solution appears in the output buffer be t T The computed solution for a receiver moving at constant velocity will correspond to where the receiver was at t t 2 the midp
19. 95 Although they are already stored in the system EEPROM medium filtering can be selected by sending the following command to the system V 2 2 8 95 lt gt All active stations will now have medium filtering applied to the attitude measurements 97 POLHEMUS OPMOOPIO02 First in the iid adimemnsian November 2002 ATTITUDE FILTER PARAMETERS RECORD IDENTIFIER V INITIATING COMMAND V byte s Identification Format Ls Record type 2 Al 2 du Blank Al 5 ee Sub record type v Al 4 10 Filter sensitivity bSx xxx 11 17 Floating filter low value bSx xxx 18 24 Floating filter high value bSx xxx 25 3 Transition rate maximum bSx xxx 32 33 a Carriage return line feed 98 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 POSITION FILTER PARAMETERS X Syntax Purpose x F FLOW FHIGH FACTOR lt gt or x n Macro filter command This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the position outputs of the tracking system The user can adjust these parameters to fine tune the overall dynamic response of the system F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that 1s to be used in updating the floating filter parameter variable Allowable range of values O F 1 FL
20. Additionally system noise generated as a function of the black box electronics is given by Ny System noise Ny is the sum of quantization shot and thermal noise and is referred to the input of the black box These noise quantities are algebraically added to the voltage equation for the input to the black box and expressed as l V S KM N N r B3 FPOLAEMUS OPMOOPI002 Prat ie the du gumesncmmm November 2002 SIGNAL TO NOISE S N RATIO At the output of the black box the signal S portion of the S N ratio 1s the value of any given position and orientation of the receiver It could be considered as the input equation stated above minus the noise components times the transfer function of the black box The noise portion N is the noise components of the input equation times the black box transfer function and is observed as the deviation in the output parameters about the given position and orientation Therefore determining the S N ratio from a black box perspective involves the use of a precise mechanical positioning instrument with a precision gimbal Using surveyed precisely known attitude coordinates azimuth elevation and roll a statistically valid number of measurement samples are taken at each attitude For each attitude the mean vector sum of these samples yields the signal S component and the vector sum of the one sigma values of the deviation yields the noise N component The S N ratio may be expressed as a u
21. E E E EE E E EE E E ee E EKK K K K K K K KK K K K RECORD IDENTIFIER i INITIATING COMMAND all invalid commands byte s Identification Format E Record Type 2 Al ee Blank Al ae Sub record type E Al 4 10 FERROR 11 Erroneous command as it was input 22 41 ERROR EC zd Error code from following list 1 Required field missing 2 Required numeric 1s non numeric 3 Value is outside required range 4 Specified frequency not hardware configured 5 Internal buffer limits exceeded 99 Undefined input cannot identify command 3 EPS position TISTE e Character position in the input record note numbering starts 0 1 2 22 3 FL field cece aps Field number causing the error note numbering of the field is 0 1 2 and starts at 0 following the command identifier 3 ST station oes Number of the affected system station less 1 1 e this value ranges from 0 3 stations are numbered in commands as 1 4 TIS IS OS OS E OK OK OS IS 28 28 OI OAS IS IS IS IS E IS 2S OS OS OS IS OK OR E K E OS OS OAS IS IS IS K IS KK OK OK OK OK OK KK 112 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 6 5 Default Operation with a Stylus or 3BALL Operation of the switch on either the Stylus or 3BALL will cause the following actions as a function of the various FASTRAK commands and modes No other actions are possible In NON continuous output mode pressing t
22. Finish Cancel At this point the device driver installation is complete and the host computer should be ready to communicate with the FASTRAK over the USB port with the user s applic ation software To verify USB communication using the Polhemus GUI double click on the FASTRAK GUI icon FT GUI In the Data Output field the message USB Communications with FASTRAK established should be displayed as shown below 35 OPMOOPIO02 November 2002 Firat i the dira aiensinn 9 FASTRAK P utut Format LJ Startrak Format Click the Request Data button to get data from the FASTRAK over the USB port 36 FJDCDLHEMLI tS OPMOOPIO02 Firat in ihe dived imataka Novemb er 2002 FASTRAK Data Output USB Communications with FastTrak established Header Coordinate Y Coordinate Coordinate Azimuth Elevation Roll 14 83 27 16 Data Display Type f Text Data Type f ASCII Logging Logging Enabled Select Log File Log File Piping Pipe Data Single Record C Continuous C Binary Graphical f Gutput Format C Startrak Format No Log File Selected Receiving data from the FASTRAK using the GUI confirms that the USB device drivers have been successfully installed on the host computer and the FASTRAK should now be able to communicate with the host application over the USB port For subsequent utilization of the US
23. However even though it is possible to save the new baud rate with the Ctrl K command the next time you power up or re initialize the system with the Ctrl Y command the system will ignore the EEPROM baud rate setting and read the dip switch settings to operate at that baud rate Note High baud rates such as 115 2K and above generally require a short well made RS 232 cable in order to achieve error free performance The Hardware Handshake function has been discontinued in the new FASTRAK Switch 4 has no effect The Parity select logic for switches 6 and 7 is as follows Parity 6 7 None 0 0 Odd 1 0 Even 0 l not used if selected system defaults to Even parity 18 POLHEMUS OPMOOPIO02 Far dg ihe ihid gimana E N ove mb er 2002 4 6 External Sync I O The External Sync I O module is located on the rear panel of the SEU as shown in Figure 4 6A The connector contains two modular telephone sockets with the one closest to the I O Select Switch being Sync In The input signal must be a single ended TTL signal If the output is employed in the user s system it should be interfaced with differential TTL circuitry The Sync Out signals are also compatible with RS 422 specifications The signal logic is as follows Input START Logic LOW to HIGH transition 50 usec pulse min Output START Logic LOW to HIGH transition 50 usec pulse min CAUTION Do not attempt to synchronize an older FASTRAK with the new version of FAST
24. Not Within Mapped Bounds No CRT Sync Signal Available Write Error on Configuration EEPROM Receiver Out of Motion Box Euler Angles Outside Allowed Angular Envelope Reserved 90 POLHEMUS OPMOOPIO02 Prat ie ibehuggueusnmngt N OV emb er 2002 BIT INFORMATION RECORD IDENTIFIER T INITIATING COMMAND T byte s Identification Format L Record type 2 Al 2 xs Blank Al 2 Sub record type T Al 4 6 BIT number I3 7 72 BIT information A Factory meaningful only IST aus Carriage return line feed 9 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 ENGLISH CONVERSION UNITS U Syntax U Description Input output units is a reference to the distance unit assumed by the system when interpreting input and generating output data Purpose This command sets the distance unit to English or inches Subsequent input and output lengths will be interpreted as inches Relatives u Default The system default units 1s inches Example Assuming the system units had already been changed to centimeters with the u command the following command could be sent to change back to inches U The system will now output data in inches and interpret input data in inches 92 POLHEMU S OPMOOPIO02 Firat in ihe Mwra ainmensiant November 2002 METRIC CONVERSION UNITS u Syntax u Purpose This command sets the distance unit to metric or centimeters Subsequent input and output lengths will be
25. OPMOOPIO02 Prat in the dU gumensmmm N OV emb er 2002 in place and take a data point The value of the X position data will decrease by approximately six inches The Y and Z values will remain roughly the same as the original data If you left the attitude of the receiver approximately the same as it was when you started then the attitude data will be approximately the same also 14 Again remove the receiver and without moving its position try twisting it in azimuth in the same plane as the 2 x 4 approximately 45 degrees and lock it down with tape Now take another data point by pressing P The first four columns will be approximately as they were in Step 13 but the Azimuth data in column 5 will have changed by approximately 45 degrees 15 Experiment with the system as shown in Step 14 to demonstrate that it measures the position and orientation six degrees of freedom of the receiver with respect to the transmitter 16 If the system fails to produce six degree of freedom data carefully go over the above procedure in a systematic fashion checking connections and switch settings especially When all else fails call us FPOLAEMUS OPMOOPIO02 Firat in ihe hir nimaran S N OV emb er 2002 Contacting Polhemus Customer Service If problems are encountered with the FASTRAK system or if you are having difficulty understanding how the commands work help is just a telephone call away Call Polhemus at 800 357 4777 and select
26. TO ae ses caaccnsntdanesaensevseensersadatsreeneescens 15 TRANSMITTER MOUNTING FRAME 85 Transmitter Port ccseesccsocscansecsensanccenctasesoaenaneoneaaceeess 17 TROUBLE SHOOTING cccccceccsscesesssesssssseees 120 MTD ONS secreet inaa 19 U UNBORESIGHT 00 0 c ccccccscssscssteesccsstsesscsccnsscasscanscess 53 FPOLAHEMUS Firat in the ia aimensmn MS me M S 129 Update Rale n 13 129 USD c 13 USB communication establishing 32 USB communication with FASTRAK established 37 USB communications with FASTRAK established P 38 UBT O H 2 USB Interface eese 13 MS e e E HIst Editio niae poop tbt rera 3 USB 0 eNO i seisoen nair n earna 3 Useful Range eese 129 User Defaults sss 129 User s application software ssssse 36 Using the USB Interface esses 3l y verify communication eeeeeseeeeeeeeeeeenernenns 87 Video SYNC 39 Video Sync DetectOt ucuoutixe eio tt cxtecaseinuneias 26 Video Sync Detector Photograph 27 Video Sync Input eese 15 21 Video Sync Mode esses 108 W Welcome to the Found New Hardware Wizard 32 Windows OO c 32 b
27. a floating filter parameter variable The pole location is constrained within the boundary values FLOW and FHIGH but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus translational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLOW and FHIGH limits so as to minimize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the caller as an output record of type x none The default mode for all filter parameters is medium These settings may be used as a starting point for determining optimum filtering in your particular environment F 0 2 FLOW 0 2 FHIGH 0 8 FACTOR 0 95 Although they are already stored in the system EEPROM medium filtering can be selected by sending the following command to the system x 2 2 8 95 lt gt All active stations will now have medium filtering applied to the position measurements 100 POLHEMU S OPMOOPIO02 First in the iid adimemnmsian November 2002 POS
28. and decreases by the inverse cube of the distance 1 r The quasi static field 1s not detectable at long distances in fact its strength dominates at short distances and the far field is negligible Bl POLHEMUS OPMOOPI002 raft in ihe jira gimena E iiis November 2002 MAGNETIC LINKAGE ae ee ee 3 Axis 3 Axis Field Field Source Sensor Detector Circuits Computer and Processing Software Driver Circuits Position and Orientation Measurements x y 2 yaw pitch roll Figure B1 Position and Orientation Measurement System Block Diagram In the system shown in Figure Bl each loop of the transmitter antenna is in turn excited with a driving signal identical in frequency and phase Each excitation produces a single axis transmitter dipole The transmitter excitation is a pattern of three states Exciting the transmitter results in an output at the receiver of a set of three linearly independent vectors The three output receiver vectors contain sufficient information to determine the position and orientation of the receiver relative to the transmitter Essentially nine measurements are available to solve for the six unknowns of x y z for position and azimuth yaw elevation pitch and roll for orientation DEFINITIONS For resolution and accuracy considerations the electromagnetic instruments are treated as black boxes thereby focusing on the performance of the instruments and negating the pro
29. as defined below Note this also sets the macro filter setting for position See x command n 2 No Filter This macro has the same effect as v 1 lt gt above n 3 Low Filter n 4 Medium Filter n 5 Heavy Filter To select medium filtering type v4 lt gt The filter is a single pole low pass type with an adaptive pole location 1 e a floating filter parameter variable The pole location is constrained within the boundary values FLOW and FHIGH but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLOW and FHIGH limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type v none The default mode for all filter parameters is medium These settings may be used as a starting point for determining optimum filtering in your particular environment F 0 2 FLOW 0 2 FHIGH 0 8 FACTOR 0
30. can only operate in one hemisphere at a time relative to the transmitter it is necessary to tell the FASTRAK system which side of the transmitter they will be on for each station A hemisphere tracking option is available but important criteria must be met in order for it to work properly see pages that follow for more information Identification of command parameters 1s as follows station the number of the station whose operational hemisphere is to be modified pl the x component of a vector pointing in the direction of the operational hemisphere Set to 0 to enable hemisphere tracking p2 the y component of a vector pointing in the direction of the operational hemisphere Set to 0 to enable hemisphere tracking p3 the z component of a vector pointing in the direction of the operational hemisphere Set to 0 to enable hemisphere tracking If all of the optional parameters are set to 0 then hemisphere tracking will be enabled for the specified station 61 FPOLAEMUS OPMOOPIO02 Relatives Default Example 1 Example 2 Fiat in the dh gums N OV emb er 2002 IMPORTANT NOTES ABOUT HEMISPHERE TRACKING Hemisphere tracking is a feature whereby the tracker can continuously modify its operating hemisphere given that it is started in a known valid hemisphere 1 When this command H1 0 0 0 lt gt is sent to the FASTRAK system the receiver of the specified station must be located in the currently set he
31. data Additionally system synchronization ensures that each FASTRAK will operate at the fastest possible update rate while operating at reasonable separation distances from the other FASTRAKs If they are not synchronized then greater separation distances between systems is required Separation distance is defined as the distance between the transmitter of one system and the receiver of another system when both systems are operating Without changing the frequency module or synchronizing systems together the minimum separation distance is 23 feet or 7 meters If only the Frequency Select Modules are changed and the systems are not synchronized together than the minimum separation distance is 16 feet or 5 meters If the Frequency Select Modules and the systems are synchronized then the minimum separation distance is 15 inches or 38 centimeters Clearly the last option offers the greatest set up flexibility and user freedom The separation distance guidelines are restated below for further clarification If systems have identical Frequency Select Modules and they are not synchronized e Separation distance should be 23 feet or 7 meters If systems have different Frequency Select Modules and they are not synchronized e Separation distance should be 16 feet or 5 meters If systems have different Frequency Select Modules and they are synchronized e Separation distance should be 15 inches or 38 centimeters with transmitter to transmitter a
32. different location where the calibration is no longer required The user should then disable the calibration that is no longer applicable This could be accomplished with the command d System measurements would no longer contain the compensation offset 56 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N OV emb er 2002 DEFINE STYLUS BUTTON FUNCTION e Syntax Purpose Default Relatives e station fbutton lt gt This command allows the user to put the FASTRAK stylus into different output modes by controlling the button function The command parameters are defined as station the number of a station fbutton defines the function of the stylus button An entry of fbutton 0 defines the output interaction as mouse mode The pushing of the stylus switch has no change on system output except that if the user has defined by use of the O command an output with item 16 switch status then the status of the switch is reported in the output record In this case a 1 is reported in the output record when the switch is pressed and a O when it is not pressed An entry of fbutton 1 defines a pseudo point or track mode interaction with the switch In non continuous mode of output pressing the stylus switch has the same effect as sending a P command to the system point mode In point mode every time the button is pressed a data record is sent to the host In continuous output mode pressing the stylus switc
33. f lt gt 0 denormalized 1 S infinity Ife 255 and f 0 infinity NaN not a number If e 255 and f lt gt 0 Note that the actual I O byte sequence is system specific For the greatest compatibility Polhemus has adopted for output the following Intel 80X86 byte ordering The lowest physical address for a byte is a0 al has address a0 1 etc The least significant byte of data 1s bO with b3 the most significant byte For IEEE FP output from the Tracker Digitizer the byte output sequence is bO b1 b2 amp b3 a0 al a2 a3 0 bl b2 b3 80X86 b2 b3 bO bl DEC PDP 11 b3 b2 bl bO Z8000 M680XX 60 FPOLAEMUS OPMOOPIO02 Firat ie the dnd gimenmsian N OV emb er 2002 HEMISPHERE OF OPERATION H Syntax Hstation p1 p2 p3 lt gt or Hstation lt gt to read back the current hemisphere selection Description Because of the symmetry of the magnetic fields generated by the transmitter there are two mathematical solutions to each set of receiver data processed Therefore only half of the total spatial sphere surrounding the transmitter is practically used at any one time without experiencing an ambiguity usually sign flips in the X Y Z measurements This half sphere is referred to as the current hemisphere The chosen hemisphere is defined by an LOS line of sight vector from the transmitter through a point at the zenith of the hemisphere and is specified by the LOS direction cosines Purpose Since the receiver s
34. inputting where the data are ready for application use 1 The orientation angle of the tracker receiver 2 In active tracker systems the angle between the source of stimulation and the tracker receiver 3 Not obscured or blocked from view such as a clear line of sight for optical uses Least significant bit Least significant digit Most significant bit The volume in which motion tracking 1s guaranteed to perform as prescribed Although this 3D volume usually is cubicle in nature many of the tracking technologies known as active are dependent on a source of stimulation e g magnetic field light transmitter which actually performs equally well at a constant radius from the source so that the box actually might be better described as spherical or hemispherical The azimuth elevation and roll angles that define the current orientation of the receiver coordinate frame with respect to the designated reference frame The Euler angle coordinates that are output by the 3SPACE as one measure of receiver orientation are graphically defined in Figure A1 In Figure Al the x y z and X Y Z trraxis arrays represent independent three dimensional orthogonal coordinate frames The x y z triad represents the receiver frame in its current orientation state The X Y Z triad represents the reference frame against which the relative orientation of the receiver frame is measured By definition then the X Y Z frame also represents the zero
35. interpreted as centimeters Relatives U Default The system default units is centimeters Example If the operator wanted the system to output its measurements in centimeters the following command should be sent u The system will now output data in centimeters 93 FPOLAEMUS OPMOOPIO02 Firat ie the dnd gimenmsian N OV emb er 2002 POSITION OPERATIONAL ENVELOPE V Syntax Vs xmax vmax zmax xmin ymin zmin or Vs lt gt to read back the current limits Description The position operational envelope is an area defined by X Y Z minimum and maximum limits It provides the user with a means of specifying the location of the limits and notifies the user when the limits have been exceeded Purpose This command establishes the position operational envelope limits If the X Y Z output measurements are outside the limits defined by this command the system will produce a BIT error x The specific parameters are S the number of the station whose position limits is to be returned or established xmax the maximum x coordinate for the position operational envelope ymax the maximum y coordinate for the position operational envelope zmax the maximum z coordinate for the position operational envelope xmin the minimum x coordinate for the position operational envelope ymin the minimum y coordinate for the position operational envelope zmin the minimum z coordinate for the position operational envelope Relative
36. is not important for this test just make sure the cables of both devices are not routed together and they come off opposite ends of the 2X4 Mounting Transmitter and Receiver on 2x4 6 Identify the five pin DIN type power input connector on the back panel of the electronics unit VIDEO SYNC Power Connector POoLHEMUS OPMOOPIO02 Firat in iba iind dimensian November 2002 With the separate Power Supply brick UNPLUGGED from the outlet of the wall plug the brick s DIN connector into the power input connector on the rear panel of the electronics unit and firmly seat DC Power Cable Insertion Identify the power ON OFF rocker switch located on the rear panel of the electronics unit Ensure this switch is in the OFF position logic 0 DOWN before inserting the brick s convenience plug into the 110 220 V AC outlet 7 Identify the I O Select Switch located on the rear panel of the electronics unit Set the switches to the following positions Switch Position UP UP DOWN DOWN UP DOWN DOWN UP CONN NB WN POLHEMUS OPMOOPIO02 Firat in ihe dived imataka T N ovemb er 2002 Default I O Select Dip Switch Settings As set these switches provide for RS 232 serial operation Switch 8 9600 baud Switches 1 2 amp 3 8 bit character width Switch 5 no parity Switches 6 amp 7 and no hardware handshake RTS CTS functionality Switch 4 8 NOTE THE FASTRAK SYSTEM BEHAVES AS A TRANSM
37. orientation reference state of the receiver frame The 3SPACE Euler angles azimuth elevation and roll are designated w 9 and o in Figure Al These angles represent an azimuth primary sequence 122 POLHEMU S OPMOOPIO02 Firat in ihe hir nimaran S N OV emb er 2002 of frame rotations that define the current orientation of the receiver with respect to its zero orientation state The defining rotation sequence is an azimuth rotation followed by an elevation rotation followed by a roll rotation The azimuth angle v is defined in Figure Al as a rotation of the X and Y reference axes about the Z reference axis Note that the transition axes labeled X and Y represent the orientation of the X and Y axes after the azimuth rotation The elevation angle 0 is defined as a rotation of the Z reference axis and the X transition axis about the Y transition axis Note that the transition axis labeled Z represents the orientation of the Z reference axis after the elevation rotation Note also that the current x axis of the current receiver frame represents the orientation of the X transition axis after the elevation rotation Lastly the roll angle is defined as a rotation of the Y and Z transition axes about the x axis of the receiver frame Note that the y and z axes of the current receiver frame represent the orientation of the Y and Z transition axes after the roll rotation Note also that in the example of Figure A1 the azimuth el
38. outside of the limits defined 66 99 by this command the system will output an error y The specific parameters are S the number of the station whose angular limits are to be established azmax the maximum azimuth value for the angular operational envelope elmax the maximum elevation value for the angular operational envelope rlmax the maximum roll value for the angular operational envelope azmin the minimum azimuth value for the angular operational envelope elmin the minimum elevation value for the angular operational envelope rimin the minimum roll value for the angular operational envelope V 180 90 180 180 90 180 If the FASTRAK system outputs were to be used to drive a gimbaled system that had physical orientation limits then it would be a good idea to set the FASTRAK angular operational envelope to those limits Suppose the gimbaled system had azimuth and elevation limits of 45 degrees The following command should be sent Q1 45 45 180 45 45 180 lt gt The FASTRAK data will now contain an error y each time the azimuth or elevation limit is exceeded In addition the application software should be programmed to ignore any data record containing the y error to avoid causing the gimbaled system to slam into a limit 82 POLHEMUS OPMOOPIO02 Arar ke the hr oumenmsinn N OV emb er 2002 ANGULAR OPERATIONAL ENVELOPE RECORD IDENTIFIER Q INITIATING COMMAND Q by
39. pickup coil is below a preset threshold the message no video sync available will be displayed If this condition exists move the pickup coil to another part of the Monitor case This procedure should be 26 F DOLHEML t OPMOOPIO02 Fial in the ihid aimaens an Tt November 2002 repeated until the message no video sync available ceases to occur The video synchronization mode may be exited at any time by selecting another type of synchronization mode using the y command Figure 4 18A Video Sync Detector 4 19 Long Ranger Transmitter The Long Ranger Transmitter 1s an optional device which produces a larger electro magnetic field and therefore enables greater range capabilities The 18 acrylic sphere is attached to a pedestal which is typically mounted on the optional tripod assembly or suspended from the ceiling The advantage besides longer range when using the Long Ranger Transmitter in lieu of the standard transmitter is a better signal to noise ratio less noise so that whole body tracking can easily be done 27 POLHEMU S OPMOOPIO02 Firat in ihe ihind dimensinn N OV emb er 2002 4 20 4 Transmitter The 4 Transmitter is an optional device which allows up to 40 more range than the standard 2 Transmitter The 4 Transmitter can be employed in virtually the same environments as the standard transmitter and even uses the same mounting hole pattern allowing increased range without degradation in the data
40. rate parity and number of bits per character may be established to specified values Purpose Sets the output BAUD rate for RS 232 port to a specified rate The parameters are rate is specified as follows 24 2 400 48 4 800 96 9 600 192 19 200 384 38 400 576 57 600 1152 115 200 2304 230 400 4608 460 800 parity N none O Odd E even bits 7 or 8 HHS Set to 1 enables use of hardware handshake RTS CTS Set to 0 disables use of hardware handshake Note 1 The number of stop bits is always one 1 Note 2 For seven 7 bits parity may be NONE ODD or EVEN For eight 8 bits there is never a parity bit 1 e NONE Note 3 8 data bits are required when using either the standard binary format or the 16 BIT format Relatives None Default Based on I O switch settings Example Suppose there is a requirement to change the baud rate in software to 19 200 baud while the rate set by the I O select switches 1s 9600 baud It can be accomplished with the following command without turning off and restarting the 79 OPMOOPI002 Firat in ihe hrd olimensian November 2002 system 0192 N 8 0 lt gt The system serial communication parameters will now be 19200 baud no parity 8 data bits and 1 stop bit Note The communication software will now have to be re set to the new baud rate 19 200 in order for communication with the system to continue 80 POLHEMUS OPMOOPIO02 rat Ur the ih guan
41. that all active receivers operate at the same update rate 1 e one cannot be operated faster than another Active receivers are selected by physical receiver cable connections and software configuration commands Additionally the FASTRAK may be used with a stylus or a 3BALL device instead of a standard package receiver Tip offsets are automatically calculated for the stylus and no special commands are required for this mode of operation Switch functionality is provided with both the stylus and 3BALL device The stylus and 3BALL may be used in any of the Receiver Ports Operation of these devices is covered in Section 6 5 11 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 3 0 SPECIFICATION Position Coverage The system will provide the specified accuracy when standard receivers are located within 30 76 cm of the standard transmitter Operation with separations up to 120 305 cm 1s possible with reduced accuracy Note Alternative devices of larger smaller size are available as options and operate to longer shorter ranges Angular Coverage The receivers are all attitude Static Accuracy 0 03 0 08 cm RMS for the X Y or Z receiver position and 0 15 RMS for receiver orientation Resolution 0 0002 inches inch of range 0 0005 cms cm of range and 025 Latency 4 0 milliseconds from center of receiver measurement period to beginning of transfer from output port Output Software selectabl
42. the transmitter there are two possible mathematical solutions for the X Y Z position coordinates for each set of receiver data processed and the 3SPACE is unable to determine which solution is the correct one without additional information Therefore only half of the total spatial sphere surrounding the transmitter can be utilized at any one time for unambiguous position measurement The selected hemisphere is referred to as the current hemisphere It is defined by an LOS line of sight vector from the transmitter through a point at the zenith of the hemisphere and is specified by the direction cosines of the chosen LOS vector The orientation coordinates do not have a two solution spherical ambiguity and are therefore valid throughout the operating sphere centered at the transmitter Any device capable of supporting an RS 232C interface or the high speed USB interface when available and capable of bi directional data transmission Devices may range from a dumb terminal to a mainframe computer The minimum movement necessary to cause the 3SPACE to transmit a 121 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N OV emb er 2002 I O latency Lag Line of Sight LOS LSB LSD MSB Motion Box Orientation Angles record to the host The interval of time needed by the host computer to transfer tracker data from the tracking system into the host application The total time from motion data sample capture to host
43. 2 for Customer Service and then 1 Technical Support Polhemus is open Monday through Friday 8 00 AM to 5 00 PM Eastern Standard Time For the most part our customer service engineers are usually able to solve problems over the telephone and get you back into the fast lane right away Help is also available on our web page at www polhemus com Simply double click Technical Support then click techsupport polhemus com to send us an email describing the problem or question If a problem requires repair of your system the customer service engineer will issue a Return Merchandise Authorization RMA number so you can return the system to the factory Please retain and use the original shipping container if possible to avoid transportation damages for which you or your shipper would be liable Please do not return any equipment without first obtaining an RMA number If your system is still under warranty Polhemus will repair it free of charge according to the provisions of the warranty as stated in the warranty section of this document The proper return address 1s Polhemus Incorporated 40 Hercules Drive Colchester VT 05446 Attention RMA d Telephone From the U S and Canada 800 357 4777 Telephone From outside the U S and Canada 802 655 3159 Fax ft 802 655 1439 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 Latest FASTRAK vs Previous Versions Congratulations on purchasing our latest FASTRAK syste
44. A RECORD ASCII FORMAT RECORD IDENTIFIER none INITIATING COMMANDS P or in continuous mode Item byte s Identification Format 1 Record type 0 Al 25 Station Number Al 3 System Error Code See note 2 Al Original Precision 0 or 50 ASCII space character Al lor51 Ma Carriage return line feed 2 one X y Z position Cartesian Coordinates 3 Sxxx xx 4 2 az el roll Euler orientation angles 3 Sxxx xx 5 PR X direction cosines of the receiver s x y z axis 3 Sx xxxx See Note 3 6 25 Y direction cosines of the receiver s x y z axis 3 Sx xxxx See Note 3 7 a Z direction cosine of the receiver s x y z axis 3 Sx xxxx See Note 3 11 TT Orientation Quaternion Q0 Q3 A Sx xxxx 16 P Stylus Switch x where x Oor Extended precision 32 rar X y Z position Cartesian coordinates 3 Sx xxxxxESxxb 54 do az el roll Euler orientation angles 3 Sx xxxxxESxxb 55 y 2 X direction cosines of the receiver s x y z axis 3 Sx xxxxxESxxb See Note 3 56 PP is Y direction cosines of the receiver s x y z axis 3 Sx xxxxxESxxb See Note 3 57 TP us Z direction cosines of the receiver s x y z axis 3 Sx xxxxxESxxb See Note 3 61 PAR Orientation Quaternion Q0 Q3 4 Sx xxxxxESxxb 66 NT Stylus Switch x where x Oor 1 74 POLHEMU S OPMOOPIO02 Firat in ihe ihind dimensinn N OV emb er 2002 Factory use only 8 10 12 15 17 49 58 60 62 65 67 69 The system data record contents are specified by the user usin
45. A tracking environment free of the need for special calibration or compensation brought on by the unique features of a particular installation and its environment e g high light levels for optical tracking high sound levels for sonic tracking high metallic distortion for magnetic tracking If not otherwise noted all measurements and statements pertaining to tracker performance shall be regarded as occurring in such a benign environment Built In Test features monitoring the status and health of the tracking system as well as flagging of certain preset conditions monitored by the tracking system software Not to be confused with bit a contraction of binary digit Any procedure that rotates the receiver frame so as to precisely align the receiver to the designated reference frame In a 3SPACE system context the term usually refers to the system software routine that on command performs a coordinate rotation which effectively aligns the receiver frame to a predefined boresight reference orientation Note that the boresight routine accomplishes the boresight orientation of the receiver regardless of the receiver s physical orientation at the instant of boresight initiation So for applications that require the orientation tracking of the body or body member to which the receiver is attached a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresight reference orientation B
46. B I O simply make sure that the USB communication cable is connected to the FASTRAK and the host computer before turning on the FASTRAK power To return to RS 232 communication disconnect the USB cable and cycle the power on the FASTRAK system Make sure the RS 232 cable is connected and that the host communication software settings are set correctly 1 e com port selection baud rate parity etc 37 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 5 6 Synchronization Synchronization defines and controls the precise time that a FASTRAK system measurement cycle will start and thereby controls the tracking output from an application system point of view The FASTRAK system has three distinct synchronization modes that are controlled by the y commands and are defined as Command Synchronization Mode y0 lt gt Internal Sync Default yl lt gt External Sync y2 lt gt Video Sync 5 7 Internal Sync In the Internal Sync mode each measurement cycle of the FASTRAK system starts immediately after the previous cycle ends The system update rate is slightly greater than 120 Hz and cycle to cycle variations on the order of microseconds are possible in this mode Only the yO command is required to initiate the Internal Sync mode and no input is required for the system s SYNC IN port 5 8 External Sync The External Sync mode allows the user to define when the FASTRAK system measurement cycle will start by me
47. F DOLHEML t OPMOOPIO02 First in ihe ird dimensian November 2002 4 15 Receiver s The receiver 1s the smaller device whose position and orientation is measured relative to the Transmitter The Receiver is dimensionally shown in Figure 4 14A including the position of the electrical center The Receiver package provides 2 mounting holes for 4 nylon screws supplied in the event that Receiver mounting is required Note Nylon hardware is only required when the hardware will be in direct contact with the transmitter or receiver A testing surface where the devices will be used a table for example could have small metal hardware like screws nuts and bolts which probably would not affect the accuracy of the system Again please be sure to route the receiver cables separate from the transmitter cable CONNECTOR Figure 4 15A Receiver Dimensions in Inches Figure 4 15B Receiver 24 F DOLHEML t OPMOOPIO02 Firat in the ihre alimentan November 2002 4 16 Stylus The stylus is a pen shaped device with a receiver coil assembly built inside and a push button switch mounted on the handle to effect data output The Position measurements are relative to the tip of the stylus due to a precise factory calibration The Stylus is dimensionally shown in Figure 4 15A and may be used in any of the receiver ports The stylus functions as a receiver with the electrical center offset from the tip of the stylus via software Single or Cont
48. Higher baud rates will require shorter cable lengths for reliable operation There are two modes of operation with the RS 232 with Hardware Handshake HH and without HH Ensure that your RS 232 cable connects the FASTRAK TRANSMIT data pin pin 3 to the HOST S RECEIVE data pin and that the FASTRAK RECEIVE data pin pin 2 is connected to the HOST S TRANSMIT data pin Also ensure that the RS 232 cable connects the FASTRAK GROUND pin 5 to the HOST S GROUND pin Note that the host computer s ground pin may be designated as Signal Ground or some other comparable phrase RS 232 Cable Connections FASTRAK HOST Transmit pin 3 Receive Receive pin 2 Transmit Ground pin 5 Ground RS 422 The optional RS 422 port is used where large separation distances between the FASTRAK and the host are anticipated If high baud rate operation over a long communication cable is required but the host computer does not have an RS 422 inexpensive RS 422 RS 232 conversion modules are available commercially Please contact Polhemus Customer Service should you need suggestions on where to locate these modules As with the RS 232 port the RS 422 Transmit signals from the FASTRAK must be connected to the Host s Receive signals and the FASTRAK s Receive signals must be connected to the Host s Transmit signals Signal polari
49. INARY FORM AT essen nnne nnm enne nennen ernnnn seen d SET OUIPUT LO HE RT 79 SINGLE DATA RECORD OUTPUT Prsvavcccostcecestaascnss nius ERR SE nU s r ESL ea YS Ita iaaiiai Ie tos kiana aos bbs Ka u6d 81 ANGULAR OPERATIONALENVELOPE QQ cccccsscccssssscccessssecccessseeeceesaeeeceesaeeccesseaeecesssaeeecesseeeeceesseeeeees 92 TRANSMITTER MOUNTING PRAMME Eit icizteeede Puteo a Rte oca n Eid GG OH C Ce per Sonet er tanta Conc bu tops bs Scoto tota dos 84 SYSTEM STATUS RECORD icc shee ASEENA s ANE 86 BUILT IN TEST INFORMATION T esesssessereresssseesssreesssseeesssresssrreessereesssseresssreeesssreesssreessssreressereessereesseseeeseeee 89 ENGLISHCONVERSION UNITS U atcsuctissteebttsnsePrbcuiuc eataseur divos Aa T TOEP A E I a N EAER aiaia 92 MET TRICCONVERSION UNITS Tiarseniniin ienn tescene Lett cst od seem onset vested steele ans 93 POSITION OPERA TIONALENVELOPE W255i tretsvsetele Leo KE Las qua D coanietbeivaaasiacsdaicotisateumnmbeimieniieiass 94 ATTITUDE FILTER PARA ME TERS V RR 96 PO ION FILTER PAKAMETERS ease cca ace ccas ccaetsce cine as emn o aS Ed eric ie Uu mosca ut ceci occi tac a EAE 99 BESEDLSYSDIENMEICHOBESULDLDS W Ronee eeers erm ore Orr er ret rrr E r errs Cee eerste ee rere 102 Praf in the tit guiuuiu t CONFIGURATION CONTROL DATA X SET SYNCHRONIZATION MODE y SAVE OPERATIONALCONFIGURATION CTRL K REINITIA
50. ION eere 4 APPENDIX Zs isotsndwsisetier fiume oni sous sN radici pend 1 APPENDIX Biz perce errenrrtrctercererenn renner terre rt 1 APFENDD Cerar E tnt errr 1 APPENDIX D ore 1 A o E 9 12 122 ASCII FORMAT eeeeeeereeennne nnns 75 ATTITUDE FILTER PARAMETERS 98 Attitude Matrix eese 122 AZIM nuan 123 azimuth mounting frame esee 85 B DAN c P 17 Baud ANC eae 123 BY FU e 80 Benign Environment 123 DRAY SR TN 12 v1 eec M P 123 BIT Built In Test seen 76 BU aco ERE 90 ji e 80 Black BOX SY SUC vocceusocesncndceisenactesesasspesavenseavanctxeveusace 3 Boresight 0 cc cc cccccsccseesseeesseesssceseeeeseeeseeeaes 123 BORSESIGETIE breemeermmnreeerere enaa Ue eiie 50 BORESIGHT REFERENCE ANGLES 51 lio P ces ga Saas ees tees Co coe nein 123 BUILT IN TEST INFORMATION 90 C Cable Diagram Index D 5 OPMOOPIO02 November 2002 25 Pm Female asserenar asnes a 2 9 Pin el 0 e eo Doe tee deer UE 1 JR 3 CABLE DIAGRAMS eee eene 1 Carrier Frequency sxns xsssscsavcatoosssetcussbesasceveteacetadonoatess 13 Cartesian coordinates eee 12 73 DEDELTHOIOLS eerie en Dee USES 94 characte
51. ITION FILTER PARAMETERS RECORD IDENTIFIER X INITIATING COMMAND X byte s Identification Format L Record type 2 Al 2 3 Blank Al Fo Sub record type x Al 4 10 Filter sensitivity bSx xxx 11 17 Floating filter low value bSx xxx 18 24 Floating filter high value bSx xxx 25 3 Transition rate maximum bSx xxx 32 33 Carriage return line feed 101 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 RESET SYSTEM TO DEFAULTS W Syntax W Purpose This command resets all of the system EEPROM variables to their factory default values When using this command the Ctrl K command could be used afterwards to save the factory default values to the EEPROM if that is desired Then the Ctrl Y command can be used to reinitialize the system and verify that the factory defaults are now stored in the system EEPROM Relatives Ctrl K Ctrl Y X Default N A Example If the FASTRAK EEPROM had been altered by sending various other commands and saving the result to the EEPROM and the user wanted to return the system to its original factory default settings then the following commands should be sent W Ctrl K Ctrl Y The green light on the front panel of the FASTRAK will now blink several times while the system is initializing After initialization the system EEPROM will be set with all of the factory default parameters This exercise 1s especially useful when the system has been modified to the poin
52. ITTER ON THE RS 232 AND THEREFORE A NULL MODEM CABLE IS REQUIRED Obtain a NULL MODEM RS 232 serial interconnection cable with a 9 pin female D connector on the tracker end of the cable Plug one 9 pin female D connector into the I O connector located on the rear panel of the electronics unit Engage and lock this connection in the same manner as the receiver and transmitter connections as indicated in steps 3 amp 4 RS 232 Cable Connection 9 Most PC hosts have a 9 pin male D type connector for Com 1 If you are using Com 1 FPOLAEMUS OPMOOPIO02 Firat in ihe hir nimaran S N OV emb er 2002 plug the remaining end of the cable into the Com 1 port of the host PC engage and lock as before If your host computer has a 25 pin D connector for the RS 232 port you will need a 9 to 25 pin D connector adapter with the proper genders Note that this adapter must not compromise the NULL MODEM sense of your cable 10 Open a serial connection using the Windows program HyperTerminal The steps are as follows e Click Start point to Programs Accessories and click HyperTerminal e Double click the Hyperterminal exe icon e Enter a session name choose an icon and click OK e n the Connect using field select Com 1 or Com 2 depending on the tracker connection and click OK e n the Bits per second field select 9600 e n the Data bits field select 8 default e n the Parity field select None default e n the
53. LIZESYSTEM CTRL Y SUSPEND DATA TRANSMISSION CTRL S RESUMEDATA TRANSMISSION CTRL Q 6 4 COMMAND ERROR 6 5 DEFAULT OPERATION WITH A STYLUS OR 3BALL 8 0 INDEMNITY AGAINST PATENT INFRINGEMENT eee eee eee eterne 9 0 TROUBLE SHOOTIN Givsssssssssssssssesssossossenseasensanecasensoasoasvasvasensevsssssssesdesesnssnsonsiessesess GUESS diac APPENDIX A STANDARD OPTIONAL ITEMS APPENDIX B ACCURACY AND RESOLUTION WHITE PAPER APPENDIX C LATENCY WHITE PAPER APPENDIX D CABLE DIAGRAMS INDEX 7 0 LIMITED WARRANTY AND LIMITATION OF LIABILITY OPMOOPIO02 November 2002 114 117 PoLlHEMUS OPMOOPI002 Firat in the iid dimansion 2 November 2002 POLHEMUS OPMOOPIO02 Firat in ihe ihid olimenaion t November 2002 1 0 Getting Started Congratulations on buying the finest 3D tracker system yet This section of the user manual has been provided to help get your project under way as quickly as possible There are two ways to get started with your FASTRAK system as with any new system You could wing it which involves a great deal of assumptions based on either previous experience and or visual inspection and hope for the best Alternatively you could sit down and read the whole manual line by line and then start What we provide here is a middle ground to cover the basics to get you going quickly However this approach doe
54. M 19 SXNC TN S YNC OUT rocustsssdcasccicccheswcsessuteencencteseensaet 40 Sy aE Jles TR 19 Synchronization sesseeeseeeeeeseessesssssseseresresress 39 108 Synchronizing multiple systems 4 SYNC TO OUTPUT LATENT PERIOD 1 System AMOTIMENE 5 cc sscssiacdciareasorsenesccdsnesnadedseassaneia 45 System Block Diagram eene 2 System Commands erento stet aeta aiis 43 SYSTEM CONFIGURATION STATUS 89 System Data Record 16 Bit Binary Format 78 System ID Data seen 128 SYSTEM OPERATION rene ereo entro neeinn 29 system re initialization eese 18 SYSTEM STATUS RECORD ee 87 T THEORY OF OPERATION eee 1 jj HU 71 tip offsets eese 71 Tracker Alignment 128 Tracker Calibration 128 Tracker Latency esse 128 Tracker Response sessse 128 Translational Resolution sse 5 TRANSLATIONAL RESOLUTION 4 Irans miter RN RH cs 11 Transmitter eeeeeeeeee eene 22 129 Transmitter Connection eesseeseeeeeeeeeene 2 Transmitter
55. MN HIE HM IR ON RS November 2002 13 220V Power Cord 17850 14 Synchronization cable 1C0218 15 Video Sync Detector 36 010 16 Black Frequency Select Module 8 KHz 3A0363 01 17 Red Frequency Select Module 10 KHz 3A0363 02 18 Yellow Frequency Select Module 12 KHz Std 3A0363 03 19 Blue Frequency Select Module 14 KHz 3A0363 04 Note Because the FASTRAK is a diverse system and is used in many different types of applications special options are often created for specific applications Please contact Polhemus for more information FPOLAEMUS OPMOOPI002 Prat in ibehuogumeusumm t ian November 2002 APPENDIX B ACCURACY AND RESOLUTION WHITE PAPER ACCURACY AND RESOLUTION IN ELECTROMAGNETIC SIX DEGREE OF FREEDOM MEASUREMENT SYSTEMS APB 8500 001A INTRODUCTION The classical definitions of resolution and accuracy as articulated by Cook and Rabinowicz in Physical Measurement and Analysis Addison Wesley Publishing Company 1963 are Resolution the smallest amount of the quantity being measured that the instrument will detect Accuracy the fractional error in making a measurement Clearly confusion over these issues in light of the burgeoning need to measure both the position and orientation of a freely movable object in space with respect to a fixed reference can lead to inconclusive results and lost effort in application measurements From the outset of electromagnetic six degree of freedom measurement technol
56. N IN Binary 3FC ON ON IN ASCII 3FB ON OFF CM Binary 3FA ON OFF CM ASCII 3F9 ON OFF IN Binary 3F8 ON OFF IN ASCII 3F7 OFF ON CM Binary 3F6 OFF ON CM ASCII 3F5 OFF ON IN Binary 3F4 OFF ON IN ASCII 3F3 OFF OFF CM Binary 3F2 OFF OFF CM ASCII 3F1 OFF OFF IN Binary 3F0 OFF OFF IN ASCII 88 FPOLAEMUS OPMOOPIO02 Firat in the dived aimensinnt N OV emb er 2002 BUILT IN TEST INFORMATION T Syntax TBITnumber 0 lt gt Purpose This command allows the user to obtain additional information about a particular BIT and clear a BIT error The additional information is meaningful only to factory personnel The T command is useful to attempt to clear a problem however if an error re occurs and after you have verified your setup configuration consultation with the factory is recommended The parameters are BITnumber The BIT number for which added information is requested see below 0 This parameter if used is specified as a O zero If present the BITnumber specified is reset cleared Relatives S Default N A Example BIT number Code Transmitter amp Receiver Error Codes 65 A X Driver Linearity 66 B Y Driver Linearity 67 C Z Driver Linearity 68 D x Gain Linearity 69 E y Gain Linearity 70 F z Gain Linearity 71 G X Slope of Driver X Linearity Line 72 H Y Slope of Driver Y Linearity Line 73 I Z Slope of Driver Z Linearity Line 74 J X Slope of Coil Receiver X Linearity 75 K Y Slope of Coil Receiver Y Linearity
57. NG ENVIRONMENT ccs cecxcccsexsenshvncscootsesacionssbecanvscecansdecbeuusanceasndise toetioccnenbacsbedbeonedaneconadle dead canbescssosshoeoseociatadnedse 14 OPERATING TEMPERA WOOL IRR RR RRRK 14 PHYSICAL CHARACTERISTICS cccccscsccscecceccsseccececseccsceccecescescscessssesceccscescsccscescscescsccscacsceassacscescscenseseacenssceacaesceaescees 14 POWER REQUIREMENTS ccccccececceccecescesescesceccsceccsceccsecsesccacescsessessesesacscsacsecsceacsecseuecsceacsecaeacaecaesccaecaeseescseacescaeaceneas 14 4 0 COMPONENT DESCRIPTION vssissscccsaceccceccsscedescasesacnsaswaseisasessesdassdeodesoesacsdasndsssacdeascdsdocaccdscsussenseaddwedsedeasemcesdsesses 15 A Sd RRRRRRC 15 AD TRANSMITTER PORT RR RE 17 Z3 DECEIVER Ss al ASR 9 en eR ee ne HEU eT I EET 17 4 4 POWER INDICATOR ccccccccocssceccesescesescescccscsccsceccsecsesccsecsesecscscesesscsceacsacseescsscsesscsceacsecaeescsecsesecaecaesecscseacestaeaeeeeas 17 A5 T O SELECT SWITCH ANC ane ee ne nee aA eee E ETENE PAESE ANENA EAIA AEPA SNE SAA SAESAARE SEES ERSTA Dese 17 ZR OM EG SEE NER O62 118 NERO ENE EO NE EEEE AEE 19 4 7 FREQUENCY SELECT MODULE J ccccccccescscesccecceccsceccscsscsccscscsccscsceacsecseescsccseecsceacsecscacaecaesecaccasscesesseacescsceaceneas 19 AS rS S NTT X m 20 ES NTS acces eases NK
58. OFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar 42 FPOLAEMUS OPMOOPIO02 Firat in ihe ihind dimensinn Nov emb er 2002 6 2 Command Format Notes 1 2 3 4 5 6 7 8 All commands and alphabetic parameters are case sensitive They must be entered in upper or lower case as defined in the syntax Any command with a next to it means that it cannot be stored in EEPROM 1 e if a Ctrl K command save machine state 1s executed the information will not be saved after the system power is turned off For those commands involving an optional list of parameters if some of the parameter values are omitted the current system retained value of that parameter is used in its place The RELATIVES field contains a list of those commands which provide related information to the system For example the unboresight command b is a relative to the boresight command B The term station is a transmitter receiver pair The four receivers paired with the one available transmitter are assigned station numbers one through four 1 4 FASTRAKs are shipped configured in one of four 4 possible frequencies The frequencies are referenced as follows Ref Number Frequency 1 8013 Hz 2 10016 Hz 3 12019 Hz Standard 4 14022 Hz A numeric floating point value will be accepted by the FASTRAK if any of the following formats are used For example 3 0 may be specifie
59. OPIO02 Prat ie ibeheuggueuenmt n ian November 2002 APPENDIX D CABLE DIAGRAMS RS 232 Cable Diagram e BM PC Compatible Computer e SGI O2 Onyx 2 or Octane To PC To FASTRAK D Type Connector D Type Conn 9 Pin Female 9 Pin Female Pin Identification Pin l 2 Receive Data Transmit Data 3 3 Transmit Data Receive Data 2 4 8 Signal Ground 5 6 7 7 8 9 PoLHENMUS OPMOOPI002 Prat ie ibeheuggueuenmt NE EE KON November 2002 RS 232 Cable Diagram e BM PC Compatible Computer To PC To FASTRAK D Type Connector D Type Conn 25 Pin Female 9 Pin Female Pin Identification Pin 1 2 Transmit Data Receive Data 2 3 Receive Data Transmit Data 3 4 5 6 7 T Signal Ground 5 8 9 10 11 12 13 l4 15 16 17 18 19 20 8 21 22 23 24 25 D 2 PoLHENMUS OPMOOPI002 Prat ie ibeheuggueuenmt idis THIS November 2002 RS 232 Cable Diagram e SGI Indigo2 Indigo Onyx Iris To PC To FASTRAK Circular Connector D Type Conn DIN 8 9 Pin Female Pin Identification Pin l 8 2 3 Transmit Data
60. OPMOOPIO02 mber 2002 POLHEMUS First in the third dimension 3SPACE FASTRAK USER S MANUAL 2002 Edition Rev C POLHEMU S OPMOOPI002 Prat in the un gumensma November 2002 Copyright 2000 by Polhemus Incorporated Colchester Vermont U S A All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical photocopying recording or otherwise without the prior written permission of Polhemus Incorporated No patent liability is assumed with respect to the use of the information contained herein While every precaution has been taken in the preparation of this book Polhemus Incorporated assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACE and FASTRAK are registered trademarks of Polhemus Incorporated FCC Statement This 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 interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause interference to radio communications Operation of this equipment in a residential area is li
61. OW a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 FLOW FHIGH or 1 0 to disable FHIGH a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLOW FHIGH 1 FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 FACTOR 1 When the form of the command is x 1 the position filter is disabled This 1s the system default configuration 90 FPOLAEMUS OPMOOPIO02 Example Relatives Default Example Fiat in the dh gums N OV emb er 2002 n Macro filter is enabled when n gt 2 as defined below Note this also sets the macro filter setting for attitude See v command n 2 No Filter This macro has the same effect as x 1 lt gt above n 3 Low Filter n 4 Medium Filter n 5 Heavy Filter To select medium filtering type x4 lt gt The filter is a single pole low pass type with an adaptive pole location 1 e
62. RAK The synchronization circuits between the two systems are incompatible The pin assignments for each plug are as follows and their numbering is shown in Figure 4 6A RESERVED 54 RESERVED 7A RESERVED 64 RESERVED JA RESERVED 44 IN RESERVED 34 RESERVED 24 S NCIN 1A RESERVED 8B RESERVED 7B S NC OUT 4B RESERVED 3B CT RESERVED 4B oY HC OUT 3B GND 2B HOTUSED 1B avr NC INTERFACE ME IHG FACE SACOM Figure 4 6A Sync Connector Identification Input amp Output Note If a ground is required use a shielded cable and use the shield as the ground reference 4 7 Frequency Select Module 19 FPOLAEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 The Frequency Select Module is used to select the operating carrier frequency of the FASTRAK system It is located inside the SEU directly behind the Transmitter input connector The alternate carrier frequencies are produced by inserting the required tuning module in the socket provided The Frequency Select Modules are color coded for carrier frequency identification as described in Section 3 0 of this document Important Note As with any handling of an electronics printed circuit board PCB when inserting other frequency select modules to change the carrier frequency static electricity precautions must be observed Do not remove and replace frequency select modules with power applied to the SEU Also do not handle or touch the main PCB without first b
63. RAK baud rate should be set to the highest setting that is compatible with the host computer and the communication software Although the FASTRAK system runs at 120 Hz it may appear that it 1s running slower if the output is constrained by a slow baud rate The FASTRAK is capable of running at speeds of up to 115 200 as selected by the I O Select Switches on the back panel or speeds up to 460 800 as selected by the software command o see section 6 for full description The FASTRAK default output record contains measurements for X Y Z in inches and Azimuth Elevation and Roll in degrees This output format can be easily modified with O command see section 6 Although the FASTRAK offers a variety of output selections it is best to keep the output record length constrained only to the data that is needed Excessive data in the output record can slow down the transmission and not allow the system to output data to the host at 40 POLHEMUS OPMOOPIO02 Fiat ie iho Hd nmana ian E N OV emb er 2002 the maximum update rate The FASTRAK contains an adaptive filter that 1s designed to control noise in the data output The filter can be applied to Position or Orientation or both and can be activated with simple commands that select low medium or heavy filtering It should be noted that the effect that is seen in the data may have or appear to have a slower dynamic response with medium or heavy filtering selecte
64. Stop bits field select 1 default e n the Flow control field select None and click OK 11 At this point you may turn on the FASTRAK using the power switch located on the back panel of the SEU Note the power on indicator located on the front panel of the electronics unit It should flash for approximately 10 seconds indicating self test and set up When these routines are completed after the flashing the indicator will turn to a steady on state thereby indicating that the system 1s ready to operate 12 You may now use the HyperTerminal Program to exercise the system After sending an upper case P command to the system the six degree of freedom output data will be sent to the host The data consists of a header Os where s equals the station number and six columns of data as follows Note these values represent an arbitrary placement of the receiver and transmitter 1 2 3 4 5 6 7 01 16 08 0 38 0 71 3 05 1 12 0 67 FASTRAK Data Record Column Function 01 Header not shown above X position in inches Y position in inches Z position in inches Azimuth attitude in degrees Elevation attitude in degrees Roll attitude in degrees YANN BWN Because you have locked the receiver in one position relative to the transmitter Step 5 the data output will not change regardless of the number of data samples you take 13 Remove the receiver move it approximately six inches toward the transmitter secure it FPOLAEMUS
65. USPEND DATA TRANSMISSION Ctrl S Syntax Purpose Relatives Default Example Ctrl S This command suspends data transmission to the host device until a subsequent Ctrl Q is received If a previous Ctrl 5 command has been issued without an intervening Ctrl Q this command will have no effect Ctrl Q N A If the FASTRAK system had been issued the C command to output data continuously the following command could be used to suspend or temporarily stop the data transmission Ctrl S The data stream will stop scrolling and will not begin again until a Ctrl Q is issued 110 POLHEMUS OPMOOPIO02 EAE TEMERE ETI November 2002 RESUME DATA TRANSMISSION Ctrl Q Syntax Ctrl Q Purpose Resumes data transmission to the host device following suspension of transmission by a Ctrl S command If a previous Ctrl Q command has been issued without an intervening Ctrl S this command will have no effect Relatives Ctrl S Default N A Example If the FASTRAK system had been issued the C command to output data continuously and then the Ctrl 5 command had been used to suspend or temporarily stop the data transmission the following command could be used to start the data again Ctrl Q The continuous data stream will now resume 111 FPOLAEMUS OPMOOPIO02 Firat in the ihird aimensian t November 2002 6 4 Command Error Command errors are defined as follows COMMAND ERROR KEEKEEKE EE EKE EE EE E E E E EE E E E
66. a from being transmitted 110 Re initialize System Invokes start up as if power was cycled 109 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N OV emb er 2002 2 0 TECHNICAL OVERVIEW The FASTRAK tracking system uses electro magnetic fields to determine the position and orientation of a remote object The technology is based on generating near field low frequency magnetic field vectors from a single assembly of three concentric stationary antennas called a transmitter and detecting the field vectors with a single assembly of three concentric remote sensing antennas called a receiver The sensed signals are input to a mathematical algorithm that computes the receiver s position and orientation relative to the transmitter The FASTRAK consists of a System Electronics Unit SEU one to four receivers a single transmitter a power supply and a power cord The system is capable of operating at any of four discrete carrier frequencies Different carrier frequencies allow operation of up to four FASTRAKs simultaneously and in close proximity to one another The FASTRAK interfaces to the host computer via RS 232 serial communication Any single receiver may be operated at the fastest update rate 120 Hz any two receivers at one half this rate any three at one third this rate or all four at one fourth the fastest rate Of course the unit must be set to output at a high enough baud rate to receive these updates Mixed rates are not permitted meaning
67. about 18 to 24 from the transmitter and press P once 6 The system then composes the alignment coordinates and prints the new alignment parameters to the screen 46 POLHEMU S OPMOOPIO02 First in the iid adimemnmsian November 2002 ALIGNMENT REFERENCE FRAME SUB RECORD IDENTIFIER A INITIATING COMMAND A byte s Identification Format Record type 2 A 2 Station Number Al 3 Sub record type A Al 4 24 Origin coordinates 3 Sxxx xx 25 45 Positive X axis coordinates 3 Sxxx xx 46 66 Positive Y axis coordinates 3 Sxxx xx 67 68 Carriage return line feed 47 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 RESET ALIGNMENT REFERENCE FRAME R Syntax Rstation lt gt Purpose This command resets the alignment reference frame for the specified station to the station reference frame It provides an easy way to re align the reference frame to the factory default values The command parameter is defined as Station the number of the station to be reset Relatives A Example Any time the alignment command A1 used it is best to send the reset alignment command R1 lt gt first That way there is no risk of building one alignment on top of another See Standard Alignment Procedure listed under Alignment Reference Frame 48 POLHEMU S OPMOOPIO02 Firat in ihe ihind dimensinn Nov emb er 2002 BORESIGHT B Syntax Bstation lt gt Purpose This command causes the tracking receiver to
68. aced there See figure 6 3A on previous page An example of where this command would be useful is a sloped test surface that the user wanted referenced to the transmitter This would obtain congruence between the FASTRAK and the axes of the sloped surface NOTE This command operates incrementally If the command is entered and the user then changes his her mind the R command must be used to reset the alignment reference frame BEFORE the command is re entered This is ESPECIALLY IMPORTANT to remember if the user makes an error and wants to correct the erroneous input because the new alignment would be additive to the mistake The command parameters are station 1 to 4 which specifies the relevant transmitter receiver pair Ox Oy Oz the Cartesian coordinates of the origin of the new reference frame XX XY XZ the coordinates of the point defining the positive direction of the X axis of the new reference frame Yx Yy YZ the coordinates of a third point that 1s in the positive Y direction from the X axis Relatives R Range No Range Restriction Enforced Default The transmitter reference frame is the default alignment reference frame 0 0 0 200 0 0 0 200 0 in centimeters Example To perform an alignment on station 1 follow the steps listed below 45 FPOLAEMUS OPMOOPIO02 Firaf in the Mo girensmn td N OV emb er 2002 Standard Alignment Procedure 1 Send the command R1 2 Place the receiver at the proposed origin locati
69. ainst Buyer on such issue in any such suit or proceeding defended by PI PI at its sole option shall be relieved of the foregoing obligations unless Buyer notified PI promptly in writing of any such claim suit or proceedings and at PI s expense gave PI proper and full information and assistance to settle and or defend any such claim suit or proceeding If the product or any part thereof furnished by PI to Buyer becomes or in the opinion of PI may become the subject of any claim suit or proceeding for infringement of any United States patent or in the event of an adjudication that such product or part infringes any United States patent or if the use lease or sale of such product or part is enjoined PI may at its option and its expense a procure for Buyer the right under such patent to use lease or sell as appropriate such product or part or b replace such product or part or c modify such product or part or d remove such product or part and refund the aggregate payments and transportation costs paid therefore by the Buyer less a reasonable sum for use damage and obsolescence PI shall have no liability for any infringement arising from 1 the combination of such product or part with any other product or part whether or not furnished to Buyer by PI or i1 the modification of such product or part unless such modification was made by PI or 111 the use of such product or part in practicing any process or iv the furnishing to B
70. angle SXXX XX 25 26 Carriage return line feed 51 POLHEMUS OPMOOPIO02 i do sr Maman November 2002 UNBORESIGHT b Note not saved by Ctrl K command Syntax bstation lt gt Purpose This command removes the current boresight The system boresight rotation matrix is reset to the identity matrix for the specified station The command parameter is defined as station the number of the station to be boresighted Relatives B G Example If the user issued the Boresight command while the receiver was at a particular orientation and then later decided that it would be best not to use a Boresight or there was a need to see what the system reads without the Boresight then the Unboresight command could be used as follows blc P the command to request a single data record could then be used to read the default orientation angles 22 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N OV emb er 2002 CONTINUOUS OUTPUT MODE C Syntax C Description X Output transmit mode refers to whether the system automatically transmits data Purpose Relatives Default Example records to the host continuous mode or the host must request data records by sending a command to the system each time non continuous mode This command enables the continuous print output mode When the system is in continuous mode the data points from all stations are requested automatically and are scrolled one after the other in a continuous
71. ans of a user supplied external sync pulse This mode may be used to synchronize other peripheral instrumentation to the FASTRAK data collection cycle or to slow the FASTRAK to a known and desired rate To initiate the External Sync mode an external signal as detailed in Section 5 5 must be input to the SYNC IN port and the y1 command issued 5 9 Video Sync The Video Sync mode should be used when a receiver will be operating in close proximity to a CRT monitor and the FASTRAK measurements appear noisy The amount of noise detected will ultimately determine the definition of close proximity but it is usually when the receiver is less than 24 inches away from the monitor The reason this can occur is that all CRT monitors produce a magnetic field during the vertical refresh cycle After connecting the video sync detector and sending the y2 command the detector will sense the magnetic field and cause the FASTRAK to begin each measurement cycle after a slight pause for settling time This ensures that the FASTRAK measurement cycle will not occur during the monitor refresh cycle and eliminate noisy data 38 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N OV emb er 2002 5 10 Multiple Systems Synchronization When using more than one FASTRAK in the same area it is important to ensure that each unit have a different Frequency Select Module and to sync the units together so that they will not interfere with each other and produce noisy
72. asional key strokes by the user during the installation process Please note that the FASTRAK USB port was designed to operate in accordance with the USB 1 0 standard When the USB cable is connected from the FASTRAK to the host computer for the first time the following message will appear Found Mew Hardware USB Device pe a mb Installing Shortly after the message the Found New Hardware Wizard will be launched Found New Hardware Wizard E Welcome to the Found Mew Hardware Wizard This wizard helps you install a device driver for a hardware device To continue click Next Cancel 32 PoLHENMUS OPMOOPIO02 Firat in the iird dimensian t November 2002 Found Mew Hardware Wizard Install Hardware Device Drivers A device driver is a software program that enables a hardware device to work with an operating system This wizard will complete the installation for this device oy USB Device device driver is a software program that makes a hardware device work Windows needs driver files For your new device Ta locate driver files and complete the Installation click M est What do vou want the wizard to da Search for a suitable driver for my device recommended C Display a list of the known drivers for this device so that can choose a specific driver lt Back Cancel Make sure the Floppy disk or CD containing the USB device driver is inserted into the drive
73. be electronically aligned in orientation with the user system coordinates This results in azimuth elevation and roll outputs equal to the boresight reference values usually 0 0 0 which is the system default at the current orientation The tracker then produces outputs relative to this reference Any receiver orientation can be designated as the zero orientation point The command parameter is defined as station the number of the station to be boresighted Relatives b G Default The zero orientation condition occurs when the receiver orientation corresponds to the transmitter orie ntation Example The receiver may be mounted on a person s head to measure where it 1s pointing When the user s head is looking at a given object he may want the system angular outputs to be zero The user can designate this receiver orientation as the zero orientation by sending the boresight command Bl This results in azimuth elevation and roll outputs of zero at this orientation As the user s head moves away from the boresight point the orientation angles are still measured relative to the transmitter with the zero points shifted to the point where the boresight occurred 49 FPOLAEMUS OPMOOPIO02 Firat in ihe ihind dimenmsinn Nov emb er 2002 BORESIGHT REFERENCE ANGLES G Syntax Purpose Relatives Default Example Gstation Azref Elref Rlref lt gt or Gstation lt gt to read back the current boresight
74. be noted here First the sync bit is in the fourth byte of the data record and not a part of the three byte record header Secondly this sync bit 1s only valid 1f the output is limited by specifying in the O command to only those items that are guaranteed not to contain a high order bit set to 1 The data 1s output low order byte first For positive values position X Y Z full scale is 299 963 cm which equates to 118 096 inches For orientation angles full scale is 179 978 degrees and the quaternion values of 0 999 Lo byte Hi byte IXIIITITIITITITITI I01011IIIIITITITI l 0 or 1 for sync l sign bit 1 negative This equates to xx011111 11111111 or full scale positive number of 299 963 cm which equates to 118 096 inches For orientation angles full scale is 179 978 degrees For negative values position X Y Z full scale is 300 cm which equates to 118 110 inches For negative orientation angles full scale is 180 degrees For the quaternion values full scale is a Lo Byte___ _____ Hi Byte___ IX10101010101010 OL 1101010101011 Oor 1 for sync sign bit This equates to xx 100000 00000000 or full scale negative number of 300 000 cm 118 110 inches or 180 000 degrees or a 1 000 quaternion value 78 FPOLAEMUS OPMOOPIO02 Firat in ihe hir nimaran S N OV emb er 2002 SET OUTPUT PORT 0 Syntax orate parity bits HHS Description The system output port settings including RS 232 BAUD
75. before pressing Next in the following window Found Mew Hardware Wizard Locate Driver Files Where do you want Windows to search for driver Files Search for driver files for the following hardware device USB Device The wizard searches for suitable divers in its driver database on your computer and in any of the following optional search locations that you specify To start the search click Nest IF you are searching on a floppy disk or CO AOM drive Insert the floppy disk or CO before clicking Nest Optional search locations Iv CD ROM drives Specify a location Microsoft Windows Update lt Back Cancel 33 POLHEMUS OPMOOPIO02 Firat in ihe ihid dimensian 2 November 2002 Driver Files Search Results The wizard has finished searching For diver files for your hardware device The wizard found a driver Far the following device y2 USB Device Windows Found a driver for this device To install the driver Windows found click Next g a NI tusb init Found Mew Hardware Wizard Hardware Install Windows rs installing drivers for your new hardware l gt Fastrak Loader Ins x Back ext gt Cancel 34 FPOLAEMUS irat in the dira aimensian OPMOOPIO02 November 2002 Found New Hardware Wizard B Completing the Found New Hardware Wizard gt Fastrak Loader Windows has finished installing the software for this device To close this wizard click
76. caesaescsacsseacsacsceacsacaeeacsaeacseacenens 5 FASTRAK DATA RECORD ceeotextmt ten bobine MEME ED DEP EE EL E P rq BE 6 CONTACTING POLHEMUS CUSTOMER SERVICE eee ecce eee eeeeeeee eese esee eese esee esee esee eese esee esee eee eeee eese eeeeeese 8 LATEST FASTRAK VS PREVIOUS VERSIONS ccccccccccccccccsoscccscscsssccssccscossccssccssccssccssccssccsscssscssccssscssscccsees 9 FASTRAK COMMANDS INDEN um tniuieS enis ccivct dMs sse E aYUENSEe DE CVN sa no YN 10S EYREH EX a CEFRR GRE 2I ase vV Cv IU vM ER FLETES ER VE YVES EROR ARIS 10 2 0 TECHNICAL OVERVIEW ssssssssssssssssssssssssssssssssessssssssssssssssssssosssosssssssosesssssosssssssosssosssssssssssosssosesssssssssssssssssosessssssse 11 OSPE PEW ATION ea a 12 POSITION COVERAGE RM 12 ANGUEAR COVERAGE E scoperte M E dO IT Oe epe erc ED 12 STATIC ACCURACY c ccccscsccscscceccccecescescesesceccscesccescescsceacsccscescsscacsccaceacsccscesesescsccacsacssesesecscescsecacsccssescsecaesscaecassceaeeaeacs 12 PRES MED 6 NR RE RRT A 12 l i i re NRI E 12 QUU e 12 EISE WU SH ERR ces greg eee arses goose deere cece E ee mets seme 13 CARRIER FREQUENCY cccscsccsseccscesceccscesceccccesescescsccaceccscescsccscscscescsscacsccaccacscesessescacsceacsacscescsccsesscsceacsecseessaecassceaeeaeace 13 ps2 INSERDASCE dr bois eee MR IEEE I IS OO 13 USB INTERFACE RM 13 OPERATI
77. cess of solution from the definitions A key element for determining resolution and accuracy from a black box point of view is the system s signal to noise S N ratio First consider the black box system shown in Figure B2 The Magnetic Linkage is the magnetic field or B field which is a vector quantity derived from the vector sum of the radial and tangential field components for a magnetic dipole It contains both the magnetic moment vector m and the inverse cube of the range factors given by the quantity K p B2 POLHEMUS OPMOOPI002 Firat in ihe ihr otienaraian v November 2002 MAGNETIC LINKAGE BLACK BOX OUTPUT X Y 2 YAW PITCH ROLL ANY GIVEN POSITION amp ORIENTATION MAGNETIC LINKAGE Magnetic Moment POSITION amp ORIENTATION Sensor Loop triad receiving antenna for position and Orientation Figure B2 Black Box System There are three sensing coils and three magnetic moments with the resultant matrix M expressed by M m m ms Position and orientation are described by the voltages induced in the three receiver loops according to their sensitivity and orientation and given by the matrix quantity S Si S2 5 Coupling between the Magnetic Linkage and Position and Orientation sensitivity produces nine voltages giving rise to the input voltage matrix expressed as l t r Coupled through the Magnetic Linkage is a noise quantity Nj which is composed of incidental link noise plus atmospheric noise
78. cessinscediseiieinciacescsasnsesdacacsseacdecetensedacdansanstasaaabieiavisadiatbvessesasssesseebiaves 54 ENABLE FIXED METALCOMPENSATION D eeseessesssessesreresssrerssrreesseserssssreesssreeesssreesssrressssreeesseresssereesseseeeseeee 55 DISABLE FIXED METALCOMPENSATION sccssssssscesassoavpesscsdeceseasecoacbucosatansebenasdiadonsseasnancendaneseanstvedetansdanedetsnses 56 DEFINE STYLUS BUTTON FUNC HON Qscusitzscosei t a Sr anO E Rab CUtEN YN DEGa UE er RES tr tea edo UI Sua eade et 57 ENABLE ASCH OUTPUT FORMAT 2 secccnnccssecacnssaseonceceasisesanasadesanssiaseisaassssosvavssecesssavsnetaessnsessnacseevenseesecsssesassoeasades 58 ENABLE BINARY OUTPUT FORMAT FT rrssesssasecsatencccranccavadecesiwasciievandectanoanaanecnesveneugetacdenthssaueeanavvesptacsaluateredaaeieets 59 HEMISPHERE OF OPERATION Pi cctesscstiss tiiieitastacsdencsteaccsscancesutetaasleccactactessdstaavnedcassoicesttantestsucontee faabet Reed aene pco 61 Bo Side zd Do Lid ez ole OE rH c m 65 ACIIVESTATION SDATE J ossa imicdblbtes solu teri RD MS M RU Cis EU iui detieit saganessdaado EIS et MD P PEDI TIU 67 DEFINE TIFOPFSEIS Rr 70 A POUT DACA EYES 71 SYSTEM DATA RECORD ASCH FORMAT un ccccccccccssssccccessssceccessseccesssseeccesseeeceesseeeeeeesseeeeeeesaeeeeeesaas 74 SYSTEM DATA RECORD IEEE FLOATING POINT FORMAT uo esee rennen nenne 76 SYSTEM DATA RECORD 16 BIT B
79. connect or disconnect the power cable to the FASTRAK while it is powered on or while the power supply brick is energized Internal component damage could result Initial Power Up Procedure Verify FASTRAK power switch is off Verify power supply brick 1s not energized plugged into the wall outlet Connect power cable from the brick to the power connector on rear panel of FASTRAK Plug power supply brick into AC wall outlet Configure switch settings on I O select switch Plug in transmitter receivers and RS 232 cable Turn on FASTRAK power switch 5 3 Configuration Changes Although receivers can be connected or disconnected while the unit is powered on it 1s not normal operating practice However if it is necessary to do this it is important to either cycle the system power or send the Ctrl Y reset command This allows the device characterization data for the receiver to be read and applied to future measurements Normal system accuracy cannot be achieved unless the receiver characterization data has been read properly Important note Do not connect or disconnect the transmitter while the FASTRAK system 1s 30 FJDCDLHEMLI tS OPMOOPIO02 Firat in ihe ihn dimensian t November 2002 powered on 5 4 Using the USB Interface When the FASTRAK is powered on it is enabled for RS 232 communication As soon as the USB cable is plugged in the FASTRAK will shift to USB operation See figure 5 4 below It takes the FASTRAK approximatel
80. d 4 POLHEMUS OPMOOPIO02 Arf ie the iind oirmenmsiand N OV emb er 2002 6 0 System Commands There are two classes of system commands one class for configuring the state of the system and the other for controlling its operation The commands are presented in functional alphabetical order Where applicable examples of the command in use will be given All commands are input on the RS 232 serial port and consist of ASCII characters Additionally format notations and conventions for commands and outputs are presented first 6 1 Command Format Notation and Convention Use the following format notation to enter commands Items shown inside square brackets are optional To include optional items type only the information inside the brackets Do not type the brackets lt gt Represents an ASCII carriage return or enter Whenever shown this value must be present to terminate the command sequence An ellipsis indicates that you can repeat an item A comma represents a delimiter in a list of optional parameters The comma must be present for those parameters which are omitted except for the case of trailing commas For example Qs pl p4 lt gt is the proper command format when omitting parameters p2 and p3 Commas following the parameter p4 are not required if parameters p5 and p6 are omitted A vertical bar means either or Choose one of the separated items and type it as part of the command For example ONI
81. d as 3 3 3 0 or 3 0 E 00 See each command s format for generally accepted accuracy range The notation R Sxx xxxB represents the ASCII output format for the specific data element where R is the repeat count and what follows in parenthesis is repeated R times S is the sign byte either or space for X is a decimal digit 0 9 is a decimal point B is a blank H is a hexadecimal digit 0 F 43 POLHEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 Example A format 3 Sx xxxxB would be output as 1 1111 2 2222 3 3333 9 For discussion purposes all Examples assume only receiver is used connected to the station 1 receptacle 6 5 Command Output Listing See pages that follow ALIGNMENT REFERENCE TRANSMITTER FRAME REFERENCE FRAME T Xx Xy X1 C77 7 77 ORIGIN Ox Oy oti TRANSMITTER i rd e ae ee ee ey ee Y X Figure 6 3A System Alignment FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 ALIGNMENT REFERENCE FRAME A Syntax Astation Ox Oy Oz Xx Xy Xz Yx Yy Yz Or Astation lt gt to read back the current alignment Purpose The alignment command does two things It defines a reference frame to which all position and orientation output data is referred In addition it creates a new origin point where the X Y Z measurements would equal 0 0 0 if the receiver were pl
82. djacent spacing no closer than 6 inches or 15 2 centimeters Again separation distance is defined as the distance between the transmitter of one system and the receiver of another system Note These separation distances assume FASTRAK systems using standard 2 inch transmitters and standard receivers Synchronizing multiple systems involves sending each system the appropriate y command and the interconnection of the SYNC IN SYNC OUT ports of up to four systems to be operated in the same area The interconnection is accomplished by using a daisy chain configuration where one system is arbitrarily designated as the Master and the remaining systems are designated as Slaves The SYNC OUT port of the Master is connected to the SYNC IN port of the first Slave and this Slave s SYNC OUT port is connected to the next Slave s SYNC IN port and so on for a maximum of four systems 1 master and 3 slaves 30 FPOLAEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 When synchronizing multiple systems the Master system may be synchronized in any mode desired Internal External or Video using the appropriate y command corresponding to the chosen mode However each of the remaining systems Slaves must be configured in the External Sync mode using the y1 command Procedure for Synchronizing Multiple Systems Ensure that each FASTRAK system has a different color Frequency Select Module in
83. e O 6 Station 3 1 if active AI else 0 T ees Station 4 1 if active Al else O 8 9 Carria ge return line feed 69 FPOLAEMUS OPMOOPIO02 Firaf dr ihe ihid gimenmsinn N OV emb er 2002 DEFINE TIP OFFSETS N Syntax Nstation xoff yoff zoff lt gt Or Nstation lt gt to read back the current tip offsets Description Each stylus has been factory calibrated with custom tip offsets This is the offset of the receiver from the tip of the stylus The tip offsets allow the tip to act as the measurement reference instead of the receiver coil inside the handle Purpose This command allows the user to override the factory defaults for the stylus tip offsets Although changing the tip offsets is not recommended the ability to do so is available The command parameters are listed below station 1 4 xoff x direction tip offset yoff y direction tip offset zoff z direction tip offset Relatives None Default Factory default tip offsets are read from the PROM inside the stylus connector on power up As a result the N command can only override the factory defaults during the current operational session Example If the user created a special stylus tip attachment that extended exactly one inch from the end of the stylus an adjustment to the tip offsets would have to be made To do so the following steps should be taken 1 Verify that the FASTRAK system is in inches units by sending the u command
84. e including extended precision Cartesian coordinates of position and Euler orientation angles are standard Direction cosines and quaternions are selectable English or metric units and ASCII or binary outputs also are selectable 12 FPOLAEMUS OPMOOPIO02 Firat in ihe hir nimaran t N OV emb er 2002 Update Rate One receiver 120 updates second Two receivers 60 updates second Three receivers 40 updates second Four receivers 30 updates second Carrier Frequency The FASTRAK may be configured with any one of four discrete carrier frequencies to allow simultaneous operation of up to four systems in close proximity Carrier frequencies are selected via color coded Frequency Select Modules FSM These frequencies are Reference Frequency Color Code 1 8013 Hz Black 2 10016 Hz Red 3 12019 Hz Std Yellow 4 14022 Hz Blue A colored dot can be found on the FSM on the end closest to the connector and on the back panel of the FASTRAK SEU as it comes from the factory FSMs different from the standard can be specified by the user at time of order or can be purchased for a nominal fee at any time Field installation of a FSM should prompt user change out of the SEU color dot in order to facilitate easy identification among multiple FASTRAKs RS 232 Interface RS 232C serial port with software selectable baud rates of 2400 4800 9600 19200 38400 57600 115200 230400 and 460800 ASCII or Binary formats The factory default setting 1
85. e overall dynamic response of the tracker F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values O lt F lt 1 FLOW a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 lt FLOW lt FHIGH or 1 0 to disable filter FHIGH a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLOW lt FHIGH lt 1 FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 96 FPOLAEMUS OPMOOPIO02 Example Relatives Default Example Fiat in the dh gums N OV emb er 2002 When the form of the command is v 1 lt gt the attitude filter is disabled This is the system default configuration n Macro filter is enabled when n gt 2
86. eing grounded at an ESD safe workstation 4 8 RS 232 I O The RS 232 I O serial connector is a standard 9 pin male D type connector located on the rear panel of the SEU as shown in Figure 4 1B The pinout identification for this connector is as follows FASTRAK End User End Not used RxD Receive Data TxD Transmit Data to the FASTRAK TxD Transmit Data RxD Receive Data from the FASTRAK Not used Not used Not used Not used Not used v 00 10 t 0 t2 Q Z J Q Z J Note Many commercially available cables do not include connections for all pins so do not assume that these connections are made Please refer to Appendix D to find the specific interconnection scheme for your host computer in order to obtain a reliable serial interface If you do not find your particular host s RS 232 I O interconnection scheme in Appendix D call Polhemus and FAX a copy of your host computer s pin out identification from its user s manual Polhemus will respond with advice on how to make the serial connection between your FASTRAK and your host computer Our Telephone and FAX numbers and email address can be found in Section 1 4 9 USB I O The USB I O connector is a standard Series B connector located on the rear panel of the 20 FPOLAEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 FASTRAK SEU as shown in Figure 4 1B The connector on the FASTRAK is a square
87. eivers Return Receiver for Repair Return SEU for Repair BIT Error T V Y Z Return Receiver for Repair Return SEU for Repair BIT Error U W X Return Transmitter for Repair Return SEU for Repair BIT Error d g Move Receivers Away From CRT Based Displays Separate Receivers Return Receiver for Repair BIT Error jl Return SEU for Repair BIT Error k Reduce Range Return Transmitter and or Receiver for Repair BIT Error m x y Peform Following Command Sequence W Ctrl K Ctrl Y Resets System Defaults BIT Error n w Return SEU for Repair 117 POLHEMU S OPMOOPIO02 FE RO Uie fy nan ants November 2002 Symptom Possible Solution BIT Error s Reduce Range Return SEU for Repair BIT Error t u Test with Compensation Turned Off Send d Command 118 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 GLOSSARY Alignment Obtaining congruence between the axes of the tracker and the axes of the application For active technologies this 1s often the same as aligning the active element from which all measurements are referenced Alignment in an active system is not the same as a boresight operation which concerns only the receiver Only in passive systems alignment and boresight can be identical Alignment Frame The reference frame in which the position and orientation of the receiver is measured The default alignment frame 1s the transmitter frame ASCII American national Standard Code for Information Interchange defines a ce
88. ese 32 non continuous output mode sse 82 NULL MODEM sr i ecciteacteeesb sossatsendenanacsaresteccenutseegets 5 O Operating Environment eese 14 Operating Temperature eese 14 Optional Items essere 1 Optional RS 422 J O eese 2 orientation angles udtetucopiop rto boses petes e DR EL ape RUS 73 Orientation Angles sssse 125 ORIENTATIONAL STATIC ACCURACY 6 ROO 12 Output Considerations sees 4 OUTPUT DATA LAS TD voscctosscstisnsesscavecvctesoncdatedaaioss 72 Output LOIS 6 sssvescesesinscastesavcnuinatorarsenserievedetoacsiomnanias 127 P WP 0 m 127 isla E A 17 80 Pary d e EC 18 PATENT INFRINGEMEBENT eese 119 26 20 Physical Characteristics eeseeesesessss 14 Prat in the iu guanmenmsmn Position and Orientation Measurement 2 Position COVOLUDO ccc scccssersscecescesessasenssiseasnseaserxasronee 12 POSITION FILTER PARAMETERS 102 POSITION OPERATIONAL ENVELOPE 95 POSITIONAL STATIC ACCURACY 5 Power Cable Insertion eee 4 Power COMME CUOT eccita a 3 Power IndiediOf aenant 17 Power np Ulsanissa EE 15 P
89. evation and roll rotations are positive negative and positive respectively X Y Z Alignment Reference Frame X Y Z Rotated Stylus or Receiver Coordinate Frame Y Azimuth Elevation Y Roll Figure Al 3Space Euler Angles Output List A list of the data items included in a data record P amp O Acronym for position and orientation the six pieces of data needed to fully 123 POLHEMUS OPMOOPIO02 Pitch Quaternion Receiver Roll Sensor Station Stylus Sync rat Ur the ih guanmemsmn N OV emb er 2002 describe tracking of an object in 3D space Some tracking devices by virtue of their principle of operation can produce only position or only orientation whereas others can produce both P amp O although the user usually can opt for only those parameters desired Same as elevation A four parameter quantity representing a vector and a scalar The quaternion q qo 1 q j qp k q can be used to represent the receiver s orientation without the need for trigonometric functions The attitude matrix output from the 3SPACE can be equivalently represented by the following matrix using quaternions X Directional Y Directional Z Directional Cosines Cosines Cosines d d d d 2 4 4d 4 4 2 4 0 4 4 2 q5qo 9 92 q q q q 2 4243 qj 2 4 4 44 209 994 95 qi qi qi q The receiver measures the low frequency magnetic field generated by the transmitter The recei
90. format is a 32 bit floating point output that is in accordance with the format specified by ANSI IEEE Std 754 1985 Specification for Binary Floating Point Arithmetic Relatives F Default The default output data format is ASCII Example The user may wish to write a software application for the FASTRAK where a fast update rate is crucial In order to reduce data packet size the FASTRAK could be set to output in binary instead of ASCH This can be accomplished with the command f The FASTRAK will now output binary data The notation SingleFP refers to the ANSI IEEE Standard for Binary Floating Point Arithmetic 754 1985 format of data This is defined in the standard as MSB LSB Bit 30 23 Bit 22 0 The IEEE floating point format uses sign magnitude notation for the mantissa and an exponent offset by 127 In a 32 bit word representing a floating point number the first bit is the sign bit The next 8 bits the exponent offset by 127 1 e the actual exponent is e 127 The last 23 bits are the absolute value of the mantissa with the most significant 1 implied The decimal point is after the implied 1 or in other words the mantissa is actually expressed in 24 bits In the normal case an IEEE value is expressed as DS 2 e 127 01 f If 0 lt e lt 255 50 POLHEMUS OPMOOPIO02 Arar ee the ihr cumenmsinn N OV emb er 2002 In special cases 1 S 0 0 If e 0 and f 0 L S 2 126 0 f Ife 0 and
91. g the O command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined Note 1 Original precision is retained for compatibility with previous Polhemus 3SPACE systems Also note that some item values are repeated as extended precision items although no output difference is made 1 e space cr If Original and extended precision may be freely mixed in an output record but it is recommended that extended precision be used if compatibility is not required as the original precision may be deleted in future systems Note 2 This code will in general output the last error that the system BIT Built In Test routines found prior to the output of this system data record If any BIT clearing has been commanded see the T command the system will search for an error that is currently set starting at the largest numeric error code value and then output the first error code found in the search that is set See the T command for specified definitions of each error code Note 3 Items 5 6 and 7 or 55 56 and 57 may be obtained to construct the line of sight line of hear and line of plumb vectors as follows Three 3 values are obtained from each item above Item 5 or 55 5a 5b 5c 155a 55b 55c Item 6 or 56 16a 6b 6c 156a 56b 56c Item 7 or 57 217a 7b 7c 157a 57b 57c Then the a column above is the line of sig
92. h serves as a toggle for continuous output track mode The first time the button is pressed continuous output mode is turned off The next time the button is pressed continuous output mode is turned back on again and so on System default is fbutton 1 point and track mode stylus interaction None 57 FPOLAEMUS OPMOOPIO02 First in the ihid dimansion November 2002 ENABLE ASCII OUTPUT FORMAT F Syntax F Purpose This command enables the ASCII output data format ASCII format means that the data is generally human readable while binary format is generally computer readable Regardless of output data format selected all input data commands to the FASTRAK system must be in ASCII format Relatives f Default The default output data format is ASCII Example If a software application is written to receive binary data from the FASTRAK system and there was a requirement to take it off line temporarily to do visual checks the user would enable the ASCII output data format in order to be able to easily read the FASTRAK data on the PC monitor To do so the following command should be sent F The system will now be in ASCII output data format and can be read by the user 58 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 ENABLE BINARY OUTPUT FORMAT f Syntax f Purpose This command enables the binary output data format Binary format is generally computer readable while ASCII format is human readable This
93. he switch defines to the FASTRAK system a P command When a C command is entered via RS 232 or USB to enable continuous mode the system immediately responds with output as defined in the manual however when the Stylus 3BALL switch is pressed output is interrupted but this cycle is completed 1 e all currently configured stations complete output for this cycle The Stylus 3BALL switch then serves as a toggle for system output from then on until an RS 232 or USB c command is issued Each toggle will initiate or terminate a continuous stream of output that begins with station one 1 and terminates by a subsequent switch pressing with output for the last station in the cycle list Note that all output begins with the FIRST station in the sequence 1 2 3 4 that is configured ON and ends with the LAST station in the sequence list that is configured ON Configured ON requires both a proper selection switch at power on or enabling the station via the T command Increment functions are as previously defined in this document That is if any receiver does NOT move since its last cycle by an amount equal to or greater than its defined increment output is skipped for the receiver when the above actions cause an output A switch cycle takes 40 system cycles At 8 33 msec per cycle the switch is responsive at a speed of 333 msec or about 1 3 second In other words if the switch 1s held down while the system is in NON continuous mode a
94. ht vector the b column above is the line of hear vector and the c column above is the line of plumb vector 75 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 SYSTEM DATA RECORD IEEE FLOATING POINT FORMAT RECORD IDENTIFIER none INITIATING COMMANDS P or in continuous mode byte s Identification Format Ls Record type 0 Al 2 eps Station Number Al 9 peace System error code Al See Note 2 on previous page TF ote ASCII space character Al m Carriage return line feed D eke X y Z position Cartesian coordinates 3 SingleFP az el roll Euler orientation angles 3 SingleFP 29 m X direction cosines of the receiver s x y z axes 3 SingleFP See Note 1 OP us Y direction cosines of the receiver s x y z axes 3 SingleFP See Note 1 A Z direction cosines of the receiver s x y z axes 3 SingleFP See Note 1 m The system data record contents are specified by the user using the O command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined 76 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 SYSTEM DATA RECORD 16 BIT BINARY FORMAT RECORD IDENTIFIER none INITIATING COMMANDS P or in continuous mode byte s Identification Format I Record type 0 Al P qe Station Number Al J gon Error code Al codes X y Z position Cartesian coo
95. iguration parameters to the system EEPROM This state 1s henceforth the power up state until another Ctrl K command is issued Note There may be a short pause of several seconds while the system executes this command Relatives Ctrl Y W X Default N A Example If the system were used in an application where only position measurements on station 1 were required and they had to be in metric units the following commands should be sent 1 O12 1 lt 2 u 3 CtlK The system will now be configured to output metric position measurements only on station one each time it is powered on 108 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 REINITIALIZE SYSTEM Ctrl Y Syntax Ctrl Y Purpose Reinitializes the entire system to the power up state The user should allow sufficient time for the system to run through its self test and initialization wait for the green light to stop flashing before attempting to send the system additional commands Relatives Ctrl K W X Default N A Example If the user wanted to set the system EEPROM back to its original factory default condition the following commands should be sent 1 W 2 Ctrl K 3 Ctrl Y The system will now be in its original factory default condition The Ctrl Y simulates turning the system power off then back on again to allow user to verify the Ctrl K save command worked properly 109 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 S
96. inuous output records may be obtained as a function of the integral switch See Section 6 5 for operation with a stylus Figure 4 16A Stylus Dimensions Figure 4 16B Stylus 25 F DOLHEML t OPMOOPIO02 Firal in ihe ihird dimensian t November 2002 4 17 3BALL The 3BALL is a 3 billiard ball with a receiver coil assembly built inside and an integral push button switch to effect data output The 3BALL is shown in Figure 4 16A It may be used in the same manner as a stylus where single or continuous data output records may be obtained as a function of the switch The data are referenced to the center of the ball Like the stylus the 3BALL may be used in any of the receiver ports See section 6 5 for operation with the 3BALL device Figure 4 17A 3BALL 4 18 Video Sync Detector The Video Sync Detector consists of a suction cup pickup coil with a 3 cable terminated with a subminiature telephone plug The Video Sync is used when the system s data exhibits objectionable noise when operating a receiver in close proximity to any CRT monitor If this condition occurs then Video Sync may be employed using the Video Sync Detector through the software command y2 The pickup coil of the Video Sync Detector is attached to the CRT Monitor case and the connector inserted into the Video Sync Detector input After issuing the y2 command the system checks for sufficient signal level from the video pickup coil If the signal level from the
97. ite e m 22 workmanship us eir etos cd eet iux P RUE Ebor ev UNE o unes EE 117 X XYZ or X ER 129 A AER OMS NU 129 Y Gee eee eee 129 Z OPMOOPIO02 November 2002
98. its per second Not to be confused with the signaling or baud rate which is always equal to or higher than the bit rate See baud rate A set of invariable data that allows the 3SPACE to compensate for fixed distortions of the magnetic field due to the surrounding environment The compensation data generally results from an application specific distortion 120 POLHEMUS OPMOOPIO02 rat Ur the ihe guanmemsmn N OV emb er 2002 Direction Cosines EEPROM Elevation Factory Defaults Format Hemisphere Host Increment mapping procedure The cosines of the angles between the receiver s x y z axes and the X Y Z axes of the measurement reference alignment frame Electronically Erasable Programmable Read Only Memory Memory that can be altered by the 3SPACE but is not lost when the power is OFF User default data 1s stored here as well as the system identification data Coordinate of orientation tracking in the vertical plane where an increase in the angle is upward from the horizontal A term often substituted for elevation especially as it concerns flight is pitch The values assigned to certain system variables by the factory Stored in PROM they are used to reinitialize the variables if EEPROM is lost The interchange coding used to present data The 3SPACE outputs either ASCII or BINARY data but accepts only ASCII inputs from the host Because of the inversion symmetry of the magnetic fields generated by
99. kely to cause interference in which case the user will be required to correct the interference at his own expense EC Declaration of Incorporation This product conforms with the following European Community Directives 89 336 EEC AS AMENDED BY 92 31 EEC 73 23 EEC LOW VOLTAGE AS AMENDED BY 93 68 EEC The following standards were used to verify compliance with the Directives EN50081 2 EN50082 1 EN60950 ENS55022 NOTE This product complies with the Class A requirements of EN55022 POLHEMUS OPMOOPI002 Firat in ithe iind amemsinn November 2002 Table of Contents BE M NS LESCE HER OU D n 1 COMPLETE FASTRAK SYSTEDM c cccccssseccosesceccecescscescescsceececcacecscescsccacsecsceacsecacsecsecsesecacsacaceacuscacsacsecacsecaeescseaceeeaceneas 1 TRANSMITTER CONNECTION RERRRRRRRRRuuuu xmmCRCCCCCCCC m 2 PREC VR CONNTOTION RERO 2 MOUNTING TRANSMITTER AND RECEIVER ON 2X4 cccccescssecceceececcscescescsceccscescsecsesecacsacsccecsceaesacsseacsacaceacsecaceecaceneas 3 PONTE IN Gd L9 E A 3 DC POWER CABLE INSERTION cccccsccececceccececcsccsceccscescscesceccscsecscescsecsceacsceacsecsceacaecsesecacsaesccacscesesacscescsacaceaceeaeecaceaens 4 DEFAULT I O SELECT DIP SWITCH SETTINGS ccccccsseccecesceccesescecescesccssceecsceccsscaesccacecesccecsceacsacscesesccscescsceacsceacenens 5 RS 232 CABLE CONNECTION cccccccssseccesescescscecceccaceccsccscscescescscsacscescsccacacscescsscsceacsecsese
100. le the system is used in an environment containing metal within close proximity of the transmitter and receiver Generating compensation requires the use of special fixtures and proprietary software and is usually performed by a Polhemus technician Purpose This command is used to turn on compensation offsets If a custom calibration has not been performed by a Polhemus technician at the user location then enabling this command will yield no change in the system outputs Relatives D d Default The default condition is compensation disabled Example In most cases the user is able to locate a test set up where compensation is not required If it is required and Polhemus is contracted to perform a calibration then the system will be left with compensation enabled The command to enable compensation on all active stations 1s simply D The compensation offsets will now be applied to all position and orientation measurements 55 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 DISABLE FIXED METAL COMPENSATION d Relatives Default Example This command disables fixed metal compensation If a custom calibration has been performed by a Polhemus technician at the user location then issuing this command will disable the compensation offsets in the system outputs D The default condition is compensation disabled A system could be calibrated by Polhemus at a particular user location and then later moved to a
101. lem is the RS232 communications XON XOFF protocol If the user s computer cannot assimilate the tracker s output fast enough the computer can transmit an XOFF signal to the tracker commanding it to stop transmitting When the user s computer has finally assimilated the data it has accumulated it transmits an XON command and the tracker once again begins transmitting coordinate data During the XOFF period the tracker s output buffer is continually discarding solutions to prevent buffer overflow thus many data sets are never transmitted Toggling of XON XOFF in the user s computer could be happening without the user s knowledge and could again make it appear that tracker sync to output latent period was varying from 5 5 ms to many times this and periodically dropping data The RS232 lines should be monitored if this problem is suspected A third problem is asynchronous interfacing and a particularly annoying example of such an interface is MIL STD 1553 as this bus is not only asynchronous but often very slow e g 25 Hz Asynchronous interfaces guarantee that on the average the apparent latent period will be increased by one half the tracker cycle time For a slow 25 Hz bus rate the sync to output latent period would vary from 5 5 ms to 13 8 ms Another example is a unsynchronized computer issuing single record print commands at random times in the tracker s cycle FILTER RESPONSE LAG C 2 POLHEMUS OPMOOPI002 Prat in dibedutguaesnsmnn ia
102. m For our customers who presently own one or more of our tracker products this recently upgraded version is fully compatible with earlier versions of our FASTRAK system There are some minor differences which we believe are an improvement on the previous design For example our new FASTRAK design allows the user to connect a stylus into any of the four receiver ports compared to the old FASTRAK design which required the stylus to be connected to port one only Other improvements include Faster baud rate capability up to 460 8 Kbps No front panel Station Select Switches to set Soft download of firmware and distortion compensation maps USB interface POLHEMLU Cmnd Ltr xZz 9 cdw movocozcoc omo muesegoncur Ctrl K Ctrl Q Ctrl S Ctrl Y 10 OPMOOPIO02 he ines eat iMd dans November 2002 FASTRAK Commands Index FASTRAK Command Title Brief Description Page Alignment Reference Frame Defines reference frame and origin 45 Boresight Sets AER to zero or the value set by G 49 Unboresight Removes new reference set by B 52 Continuous Output Mode Enables continuous data output 53 Disable Continuous Output Disables continuous data output 54 Enable Fixed Metal Compensation Turns on compensation if applicable 55 Disable Fixed Metal Compensation Turns off compensation if applicable 56 Define Stylus Button Function Modifies stylus button function 57 Enable ASCII Output Format Enables ASCII output format 58 Enable Binary Output Forma
103. memsmn N OV emb er 2002 SINGLE DATA RECORD OUTPUT P Syntax P Description Output transmit mode refers to whether the system automatically transmits data records to the host continuous output mode or the host must request data records by sending a command to the system each time non continuous output mode Purpose In non continuous output mode this command requests a single data record to be transmitted to the host If more than one station is enabled then data from each active station will be displayed in numerical order station 1 first station 2 second etc That is a complete cycle of active stations will be output Relatives C c Default Continuous output mode is disabled Example If the system is being used in an application where data is only needed a certain number of times then the single data record output should be used To request a single data record from the system send the command as follows P One data record from the FASTRAK system will be sent across the serial port to the host computer 81 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 ANGULAR OPERATIONAL ENVELOPE Q Syntax Purpose Relatives Default Example OQs azmax elmax rlmax azmin elmin rlmin Or Qs lt gt to read back the current orientation limits This command allows the user to set maximum and minimum limits for the azimuth elevation and roll outputs If the orientation outputs are
104. misphere 2 If the Ctrl K command is sent to the FASTRAK system while hemisphere tracking is enabled the currently computed hemisphere will be saved not the hemisphere tracking feature to the EEPROM Therefore sending Ctrl K during hemisphere tracking is not advised None The default hemisphere value is 1 0 0 which is positive X or forward hemisphere In addition the hemisphere tracking feature is disabled in the default condition The user may decide to mount the transmitter above the test area in order to be able to move the receiver to the positive and negative sides of X and the positive and negative sides of Y Note since the default hemisphere value is forward the user cannot move the receiver to the negative X side of the transmitter because the signs will flip and it will appear as if the X measurement never goes negative If the transmitter 1s positioned above the test area the positive Z or lower hemisphere should be selected This can be accomplished with the following command H1 0 0 1 lt gt Station one of the FASTRAK will now be set for the positive Z or lower hemisphere Although the hemisphere vector is not limited to 1s and Os the following table of hemisphere commands may be useful Forward Hemisphere X H1 1 0 0 lt gt Back Hemisphere X H1 1 0 0 lt gt Right Hemisphere Y H1 0 1 0 lt gt Left Hemisphere Y H1 0 1 0 lt gt Lower Hemisphere Z H1 0 0 1 lt gt Upper He
105. misphere Z H1 0 0 1 lt gt The user may decide to take advantage of the hemisphere tracking feature Assuming the system is in the default hemisphere forward the following procedure should be used to enable hemisphere tracking on station 1 1 Position the receiver on the positive X side of the transmitter and turn the 62 FPOLAEMUS OPMOOPIO02 Firat in ihe ihind dimensinn Nov emb er 2002 system on The side opposite from where the cable comes out of the transmitter shell 2 While the receiver is located in the forward hemisphere send the hemisphere tracking command to the FASTRAK The command should be H1 0 0 0 lt gt 3 The receiver can now be moved to any side of the transmitter without worrying about hemisphere selection 4 Do not save this configuration to the system EEPROM using the Ctrl K command because it will save whatever the current computed hemisphere selection happens to be for that position of the receiver relative to the transmitter 5 If necessary the user can disable the hemisphere tracking feature by sending a normal hemisphere selection e g H1 1 0 0 lt gt to go back to the forward hemisphere selection ESD _ nae Figure 6 3B Hemisphere Vector Zenith represents the hemisphere vector 63 Firat in the iha adirmensmmn HEMISPHERE OF OPERATION RECORD IDENTIFIER H INITIATING COMMAND H byte s Identification Rec
106. n November 2002 FASTRAK has optional filters that are intended to smooth the receiver s calculated position and orientation in mechanically or magnetically noisy environments The degree of filtering is user selectable from very heavy to none at all or the degree of filtering can be automatically selected in real time by the tracker as it adapts to noise Filtering can introduce lag in response the sync to output latent period remains unchanged recall that latent period is defined as a first indication and not a final settled response but the data that is output may not correspond to where the receiver was recently To help understand the response of the optional filters the filter algorithm is described and analyzed in the following paragraphs FASTRAK coordinate filters are exponential filters as described by the following equation lt X gt AX 1 A lt xXs 1 In this equation x is the unsmoothed receiver coordinate measured at time k it may be a coordinate of position or orientation The variable lt x gt 1s the filter output at discrete time k and lt X gt x 1 18 the smoothed value at time k 1 The filter parameter a controls the degree of filtering and must be within the range 0 lt amp lt 1 Small values of amp produce heavy filtering large values produce light filtering in the limit as 0 the filter output never changes and in the limit as a the output exactly follows the input The filte
107. n output cycle is generated as if a P command in entered at the rate of 3 second If the switch is pressed twice within the 333 msec window the second pressing 1s ignored See the Define Stylus Button function e Command for other options and operational information 113 FPOLAHEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 7 0 LIMITED WARRANTY AND LIMITATION OF LIABILITY 7 1 Polhemus Incorporated warrants that the Systems shall be free from defects in material and workmanship for a period of one year from the date ownership of the System passed from PI to Buyer PI shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at PI s option This warranty shall be considered void if the System is operated other than in accordance with the instructions in PI s User Manual or is damaged by accident or mishandling Parts or material which are clearly expendable or subject to normal wear beyond usefulness within the warranty period such as lamps fuses etc are not covered by this warranty TZ In the event any System or portion thereof is defective Buyer shall within the warranty period notify PI in writing of the nature of the defect remove the defective parts and at the direction of PI ship such parts to PI Upon determination by PI that the parts or Systems are defective and covered by the warranty set forth above PI at its option shall repair or
108. n pulse and a response and 2 between the application of receiver motion and a response The response for both cases occurs when the receiver coordinate solution is made ready for output and as noted above does not include the time required to transmit the coordinates over the interface in use e g RS 232 MIL STD 1553 IEEE 488 etc Polhemus 3SPACE FASTRAK magnetic six degree of freedom measurement systems emanate low frequency magnetic fields from a stationary transmitting antenna and sense them with a movable receiving antenna The received magnetic field samples are subjected to analog and digital processes and are ultimately solved for the receiver s position and orientation coordinates The solutions are formatted in varied ways according to user selections then output over various types of interfaces depending on the product The FASTRAK system s latent period is due to the time required to sample the magnetic fields solve for the receiver coordinates and make the solutions available for output However from the user s point of view the latent period may appear longer than this due to delays in the interface or in the user s computer or due to incorrectly configured FASTRAK filters which can make the response appear to occur later These topics are discussed in the following paragraphs SYNC TO OUTPUT LATENT PERIOD Application of an external synchronization pulse initiates magnetic field sampling a period that lasts about 3
109. nal causes 7 6 PI DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE PI MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN 7 7 IN NO EVENT SHALL PI BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE WITHOUT LIMITING THE FOREGOING PI S MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATSOEVER 114 POLHEMU S OPMOOPIO02 Fiat ie iho Hd nmana ian E N OV emb er 2002 EXCLUSIVE OF CLAIMS FOR PATENT INFRINGEMENT AND REGARDLESS OF THE FORM OF THE ACTION INCLUDING BUT NOT LIMITED TO CONTRACT NEGLIGENCE OR STRICT LIABILITY SHALL BE LIMITED TO BUYER S ACTUAL DIRECT DAMAGES NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED 115 FPOLAEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 8 0 INDEMNITY AGAINST PATENT INFRINGEMENT Polhemus Incorporated PI shall have the right at its own expense to defend or at its option to settle any claim suit or proceeding brought against Buyer on the issue of infringement of any United States patent by any product or any part thereof supplied by PI to Buyer under this Agreement PI shall pay subject to the limitations hereinafter set forth in this paragraph any final judgment entered ag
110. nd y0 to the master FASTRAK 5 Send the command yl lt gt to the slave FASTRAK The two systems will now be synced together Note Although synchronization allows two FASTRAKs to operate in relatively close proximity make sure the receiver of one system does not get closer to the transmitter of the other system than it is to the transmitter of its own system See Section 5 8 for multiple systems synchronization 106 POLHEMUS OPMOOPIO02 Fiat ie iho Hd nmana ian E N OV emb er 2002 SYNCHRONIZATION MODE RECORD IDENTIFIER y INITIATING COMMAND y byte s Identification Format D x Record type 2 Al 2 uo Blank Al gt soe Sub record type y Al Ao Synchronization mode I1 0 none free run External 2 CRT 5 6 Carriage return line feed 107 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 SAVE OPERATIONAL CONFIGURATION Ctrl K Syntax Ctrl K Definition EEPROM Electronically Erasable Programmable Read Only Memory is memory that can be altered by the system but is not lost when the power is turned off System variables are stored in the EEPROM All of these variables are assigned default values The values are assigned to these variables at the factory and are therefor called the factory defaults The default values are applied to the variables at initial power up and system reset Purpose This command allows the user to save the current state of the system conf
111. ngth 7 00 17 78 cm including tip or the shorter version Stylus length 3 5 6 04 cm maximum barrel diameter 0 75 1 9 cm handle diameter 0 375 0 95 cm tip length 0 8 2 03 cm tip diameter 0 156 0 4 cm weight 2 5 oz 28 3 gm excluding attached cable Either stylus may be purchased with either 10 or 20 cables 3BALL A standard receiver mounted in an official 3 billiard ball fitted with an integral switch The 3BALL has a standard 10 cable Power Requirements International Power Sources Supply Input power is 85 264 VAC 47 440 Hz and single phase at 30 watts 14 FPOLHEMUS OPMOOPIO02 Firat in the ihid olimarsion November 2002 4 0 COMPONENT DESCRIPTION 4 1 SEU The SEU is a stand alone unit that may be located anywhere that is convenient to the work area AC power and the host computer It contains the required input and output connectors and controls to support up to four receivers a single transmitter and the RS 232 output port Receiver Input s Transmitter Input I O Cables I O Select Switch External Sync I O Video Sync Input and Power Input connections are located on the SEU as shown in Figure 4 1A and Figure 4 1B Figure 4 1A FASTRAK SEU Front View 15 PoLHEMUS OPMOOPIO02 Firat in the ihid olimarsion November 2002 Figure 4 1B FASTRAK SEU Rear View 16 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 4 2 Transmitter Port The single Transmitter rece
112. nitless number or in db that 1s 20 logio S N RESOLUTION Resolution for electromagnetic six degree of freedom measurement instruments is generally specified as angular resolution and translational resolution ANGULAR RESOLUTION Considering that the receiver is an all attitude 360 degree device the angular resolution 1s calculated by dividing 360 degrees by the S N ratio thus yielding its value in degrees TRANSLATIONAL RESOLUTION The translational or positional resolution is a function of the S N ratio and range Being a positional function there are three orthogonal vectors whose vector sum multiplied by any given range number yields the required translational resolution as shown in Figure B3 One vector is defined along the axis of the range and is therefore a function of the inverse cube of the range The remaining two orthogonal vectors a amp b are a function of the tangent of the angle derived by dividing 180 degrees by the S N ratio Unlike angular resolution which uses 360 degrees divided by the S N ratio 180 degrees is used for these translational resolution component vectors because with an electromagnetic system there are two possible solutions to the six degree of freedom measurement problem This two solution possibility constitutes a potential system ambiguity Obviously for a position measurement only one solution is permitted and valid The units for translational resolution are either English inches or metric cm
113. nt The accuracy specified by manufacturers of electromagnetic six degree of freedom instruments is called Static Accuracy as the measurements are made with both the transmitter and receiver in a fixed and surveyed attitude and position condition within a specified motion box or field of regard POSITIONAL STATIC ACCURACY The positional Static Accuracy may be determined by measuring the vector positions X Y Z of a receiver positioned in a statistically valid number of fixed and known locations throughout a specified motion box using a precise mechanical positioning instrument with a precision gimbal The X Y and Z error terms are recorded and the RMS values calculated for each term B5 POLHEMUS OPMOOPI002 Prat in dibedutguaesnsmnn ian November 2002 These resulting error values one of X one for Y and one for Z are the system s positional Static Accuracy at each given point within the specified motion box Obviously an overall positional Static Accuracy for X Y and Z may be obtained by calculating the RMS value for all positional Static Accuracy points taken within the specified field of regard ORIENTATIONAL STATIC ACCURACY Whereas a similar exercise is required to determine the orientational Static Accuracy a clear understanding of the orientation parameters is necessary to understand the meaning of the specification and how it is measured The electromagnetic instruments all measure and output six
114. off on none The default condition depends on the number of receivers that are currently connected to the FASTRAK SEU The default condition of a station that has a receiver connected to it is a 1 or station on The default condition of a station that does not have a receiver connected to it is a 0 or station off A user could connect four receivers to a FASTRAK and then collect a data point from two receivers at a time after disabling the other two To do so the following commands would be sent 1 Send the command 13 0 lt gt to turn station 3 off 2 Send the command 14 0 lt gt to turn station 4 off 3 Press P to collect a data point from stations 1 and 2 4 Send the command 13 1 lt gt to turn station 3 on 5 Send the command 14 1 lt gt to turn station 4 on 67 POLHEMUS OPMOOPIO02 Drea in Wn irre ton Foro dur spo OTN November 2002 6 Send the command 11 0 to turn station 1 off 7 Send the command 12 0 lt gt to turn station 2 off 8 Press P to collect a data point from stations 3 and 4 9 Repeat steps 1 through 8 as necessary 68 POLHEMU S OPMOOPIO02 Firat in ihe ivr aimensin 2 November 2002 ACTIVE STATION STATE RECORD IDENTIFIER INITIATING COMMAND byte s Identification Format D ue Record type 2 Al D wee Station number Al OF tees Sub record type I Al 4A Station 1 1 if active Al else O 5 Station 2 1 if active Al els
115. ogy regardless of the application the subjects of accuracy and resolution have been confusing in light of claims by competing technologies and product manufacturers This Application Note attempts to clarify accuracy and resolution and to illustrate their total applicability to the classical definitions THEORY OF OPERATION The position of a point in space may be fully described by its relationship to any fixed and convenient three axis x y zZ coordinate system Orientation means direction in relationship to that position and may be fully described by three parameters or angles known as azimuth yaw elevation pitch and roll A typical Polhemus system consists of a fixed magnetic dipole transmitting antenna called a transmitter a freely movable magnetic dipole receiving antenna called a receiver and associated electronics as shown in Figure Bl Both the transmitter and receiver antennas consist of three mutually orthogonal loops coils The loop diameters are kept very small compared to the distance separating the transmitter and receiver so that each loop may be regarded as a point or infinitesimal dipole Exciting a loop antenna produces a field consisting of a far field component and a near or induction field component The far field intensity 1s a function of loop size and excitation frequency and decreases with the inverse of the distance 1 r The induction field or quasrstatic field component intensity 1s not frequency dependent
116. oint of the sampling period hence the effective latency is T 1 2 or 3 75 ms OTHER FACTORS Although the time to transmit data 1s not included in the definition of latent period a knowledge of how to compute these delays 1s needed to properly align in time the receipt of tracker solution with the actual event For example the factory default ASCII output record x y z az elrl is composed of 47 bytes 3 status bytes 6 data words each 7 bytes long and a CR LF terminator and at 115 2 kBaud requires a transmission time of 4 ms recall that there is one start bit and one stop bit per 8 bit data byte The tracker s sync to output latent period plus transmit time for this example is 9 5 ms and the effective latent period plus transmit time is 5 8 ms It is very important to note that if the transmit time exceeds the tracker cycle time 8 33 ms which could happen if the baud rate is too slow or if the record length is too long it becomes necessary for the tracker to periodically discard solutions to prevent output buffer overflow This would make it appear as though the tracker was not tracking continuously or was dropping data This interface problem is most noticeable in multiple receiver operation as the tracker 1s designed to maintain constant order of receiver processing If the interface just missed a given receiver in the list of multiple receivers the tracker will output nothing until this receiver is again processed Another common prob
117. on 3 Press P and write down the X Y Z measurements These will be Ox Oy Oz 4 Move the receiver along the proposed X axis from the origin defined in step 2 and place it about 24 inches in front of this origin 5 Press P and write down the X Y Z measurements These will be Xx Xy Xz 6 Move the receiver along the proposed Y axis from the origin defined in step 2 and place it about 24 inches from the transmitter 7 Press P and write down the X Y Z measurements These will be Yx Yy Yz 8 Using all of the data that has been written down in steps 1 7 send the command AT1 O0x Oy Oz Xx Xy Xz Yx Yy YZ lt gt Enhanced Alignment Procedure A new capability of the alignment command is called the Enhanced Alignment The Enhanced Alignment feature allows the user to perform an alignment quickly and easily The procedure is as follows 1 Select the lowest station number receiver selected Usually station 1 2 Issue the command AO lt gt Sending this command prepares the system for collection of alignment data 3 data points and resets previous alignments by sending the commands R1 R2 lt gt R3 and R4 lt gt 3 Place the receiver at the proposed origin location and press P once 4 Move the receiver along the proposed positive X axis from the origin and place it about 18 to 24 from the transmitter and press P once 5 Move the receiver along the proposed positive Y axis from the origin and place it
118. one for elevation and one for roll are the instrument s orientational Static Accuracy As for the positional Static Accuracy the overall orientational Static Accuracy for azimuth elevation and roll may be obtained by calculating the RMS value for all orientational Static Accuracy points taken within the specified field of regard CONCLUSION It can be seen from the above discussions that accuracy and resolution for electromagnetic six degree of freedom instruments conform to the classical definitions of these terms Accuracy is indeed the fractional error obtained in making a measurement and Resolution is the granularity of the measurement or the smallest amount of the quantity being measured that the instrument will detect It can also be seen that numerical values of accuracy and resolution may be obtained from careful and precise measurements of the system s output data with respect to surveyed and known receiver positions and orientations B6 PoLHEMUS OPMOOPIO02 Fia in ibehuogumeusumm t ian November 2002 APPENDIX C LATENCY WHITE PAPER TECHNICAL NOTE Latency 3SPACE FASTRAK H R Jones INTRODUCTION ANSI IEEE Std 100 1977 defines latent period as The time elapsing between the application of a stimulus and the first indication of a response The definition excludes the time required to transmit the response Itis in this context that we define the latent periods 1 between the application of a synchronizatio
119. or are as follow FASTRAK End User End 1 TXB RxB Non inverting receive input 2 Not used 3 Not used 4 RxB TxB Non inverting transmit output 5 Not used 6 TXA RxA Inverting receive input 7 Not used 8 Not used 9 RXA TxA Inverting transmit output 4 11 Video Sync Input The Video Sync Input is a subminiature telephone receptacle that mates with the video pickup coil assembly Video Sync Detector optional The Video Sync Input is located on the rear of the SEU as shown in Figure 4 1B Video sync is available to minimize noise generated by computer monitors detected by the receivers In order to use the video sync capability the Video Sync Detector cable must be connected to the video sync input connector on the FASTRAK The detector can then be positioned on the monitor surface where it will detect a sync pulse After sending the y2 external sync command to the FASTRAK it will be synced to the monitor See section 5 for more information on synchronization 21 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 4 12 Power Input Receptacle The Power Input is a 5 contact female shielded DIN type receptacle located on the rear panel of the SEU as shown in Figure 4 1B Pin outs for this receptacle are as follows Pin Function
120. ord type 2 2 un Station number gee Sub record type H 4 10 Vector x component 11 17 Vector y component 18 24 Vector z component 25 20 Carriage return line feed Format Al Al Al SXX XXX SXX XXX SXX XXX OPMOOPIO02 November 2002 POLHEMU S OPMOOPIO02 Firat in ihe ihind dimensinn N OV emb er 2002 DEFINE INCREMENT I Syntax Istation distance lt gt or Istation lt gt to read back the current increment selection Purpose This command allows the user to control when data records will be sent to the host based on receiver movement The distance selection allows the user to specify exactly how much movement will be required before data 1s produced If the user enters Istation lt gt the system outputs the current distance value selection Note The system should be in continuous output mode in order for this command to work properly Definitions of the command parameters are listed below station the number of the station whose increment is to be changed distance the minimum distance a receiver must move before a data record is output to the host computer The units of measure inches or centimeters for the distance value must be consistent with the current selection of system units Relatives none Default The default value 1s 0 0 inches which disables the increment feature Example If the user wants the system to output data each time the receiver on station one moves 2 inche
121. ovvwonsnessesbevooucdssevssdesoucctenssdeas cedusssdevossees 30 54 USING THE USB si dre ism E a aa E OOE anedeteuadeeatee 31 39 INSTALLING USB DEVICE DRIVER Sonori E E Un etae pe a EEEIEE 31 OF INC Ft ONION MUR E E EA 38 IA INTERNAL IN e A E EE 38 ELM ES TERNAL VON RR A E 38 ENDET S I e E E ne ere ee ee gee ee ee meee eee ee 38 5 10 MULTIPLE SYSTEMS SYNCHRONIZATION ccccccccccccssssssssscccssssssssscscsecessssssssssccsssssssesscessssssseseceesssssseseeeeeeees 39 5 11 OUTPUT CONSIDERATIONS Nm 40 00 Sy STEM COMMANDS c R 42 6 1 COMMAND FORMAT NOTATION AND CONVENTION cccccccccccccsssccccccssssssscssesccsssssccessscssssssssssccsssssssssssseseseees 42 OZ COMMAND FORMAT NOTES iceren a I ee 43 03 COMMAND OUTPUT LISTING arcs asic ce eseni aea Ea ee aira daie tta inse ONE eie tese lumi ERA OS Wucseeseseeeececusebiceee 44 ALIGNMENT REFERENCE FRAME scsscnccsaspcebadasvanubaxsanebaataenanncsagneatccaunandasbassnsneanadsanetanadatereaxbivacmeeseameasoaneaeeiads 45 RESET ALIGNMENT REFERENCE FRAME R sccssssscoccsassscetaracssoccenssncseceeunacvasivesaeeiindensbecsasoactionsasbeensistenndacaseaaaons 48 BORES HI Pee E E E R 49 BORESIGHT REFERENCE ANGLES Guu cccccssccscccessceccccesscscccesssnsccsesseasessescesssssssceseseessceessosscesessessesseceessessesens 50 INTIS CHIU D M C 52 CONTINUOUS OUTPUT MODE Cocconi a a E RESE 53 DISABLE CONTINUOUS PRINTING vssedscsscssen
122. ower Input Receptacle ssssse 22 Power Requirements sseseiisrriscsissircosctiesisrisscirasie 14 POW UPRA 18 Powering Up FASTRA RK eere 30 Procedure for Synchronizing Multiple Systems 41 PRON M 71 Q Quaternion eene 127 CI AUS PODS cene oos sacespes esu nec patina arae p cose ED EoS RES b epp dS eque 12 R PO Y uou ceste ee DIM MASSEN eer 11 Receiver eese nnne 127 Receiver Connection uo diidini ndisse 2 Receiver InpUl S oeceseteuncticesbut ia ba ues cosa ses Ott dRo ER abe 15 Receiver Ports 4 eese 17 ReCO NEN eera EE 24 REINITIALIZE SYSTEM cceeeseeeeeees 112 RESET ALIGNMENT REFERENCE FRAME 49 RESET SYSTEM TO DEFAULTS 105 RESONON eres aaee EO d sepa E amete npe ERE U 12 1 RESOLUTION eoo basiebeteienestsvivebun aet tr ardsecsevutr Irene 4 RESUME DATA TRANSMISSION 114 Koll RR 127 roll mounting frame esee 85 TOO eoe oiea EEr Eoee eR SNL UR So URGERE ETUDES 85 en 13 29 RS 232 Cable Connection eee 5 RS 232 Cable Diagram IBM PC Compatible Computer 7 SGI 02 Onyx 2 or Octane iieri entertain 1 SGI Indigo2 Indigo Onyx Iris 3 SGI VTX Onyx Personal Iris 4 RS 232 communication
123. ptacle port is a 15 pin male D type connector located on the front of the SEU as shown in Figure 4 1A The transmitter should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off Caution Do not disconnect the transmitter while the FASTRAK SEU is powered on Also do not power on the SEU without a transmitter connected When routing cables please be sure the transmitter cable 1s routed separately from the receiver cables 4 3 Receiver Ports 4 The four Receiver receptacle ports are 15 pin female D type connectors located on the front of the SEU as shown in Figure 4 1A The receiver s should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off It is permissible to disconnect and re connect receivers while the SEU is powered on however it is necessary to send the Ctrl Y reset command after doing so This will allow the receiver s precise characterization matrix to be loaded into the FASTRAK memory Again rout the receiver cables separately from the transmitter cable 4 4 Power Indicator A green LED power on indicator is located on the front of the SEU as shown in Figure 4 1A Upon power up the indicator will blink for several seconds while the system performs its initialization and self test routines When these routines are complete the indicator changes from blink mode to steady on mode indicating that the system 1s ready for operation
124. r parameter a can be set to a specific value through system commands or a range of values can be specified which allows the system to choose its own optimum value automatically adapting to environmental noise Equation 2 expresses the steady state filter response for zero acceleration in receiver coordinates and for a constant filter parameter a In the derivation of the equation the coordinate X is assumed to be of the general form x vt where v represents a constant velocity in either position or orientation t is time and At is the tracker s cycle time the inverse of update rate esce I 2 Equation 2 can be reformulated to express the filter time delay for a constant rate of change v in input x TE a 3 y Ol Equation 3 may be interpreted as the error in degrees per v degrees second in orientation input or the error in inches per v inches second of translation Note that 1n either case the units are in seconds As an example suppose that the update rate of the tracker is 120 Hz thus At 1 120 second Suppose also that the receiver is slewing in azimuth at 90 degrees per second and that o is a constant 0 95 a value that can be attained by either fixing both the upper and lower limits of a to 0 95 or by setting just the upper limit to 0 95 and letting the adaptive filter push to this maximum limit which is what would happen for slew rates of this magnitude The filter lag for this example is C 3
125. r width eee 17 Command Error eese 115 Command Format Notation and Convention 43 Command Format Notes eene 44 Command Output Listing esses 45 Compensation Data ssssse 124 Complete FASTRAK System ssss Completing the Found New Hardware Wizard 36 COMPONENT DESCRIPTION 15 OTS CIN IO ainina eiiiai 11 Configuration Changes esses 30 CONFIGURATION CONTROL DATA 106 Configuration Identification 107 CONTINUOUS OUTPUT MODE 54 COO PAL eerta tatep aieo uote A 22 CUSTOMER SERV ICBE ertt nreee 120 D Default Operation with Stylus or 3BALL 116 ETC Cte DUPUS enoscnisctuti Gere ea i 117 defects in material eee 117 DEFINE INCREMENT eee 66 DEFINE STYLUS BUTTON FUNCTION 58 DEFINE TIP OFFSETS cicotsiccsosiuscenteerieavesdevesdeavavgese 71 determine system configuration sss 87 determine the firmware version number 87 Device Driver Installation 36 bn ee 3 DIN T A 4 Direction cosines acie conr odor ree pete tout airo en epe ure VE 12 Direction Cosines eene 124 DISABLE CONTINUOUS PRINTING
126. rdinates 3 16BIT E az el roll Euler orientation angles 3 16BIT CP aes Orientation Quaternion 4 16BIT UO ae Any format from an ASCII or binary format may also be included in this record See these formats on previous pages Care should be taken not to delete the usefulness of the sync bit discussed below Se ee E E E E E E EE E E E E E E EE E E E E E E E K EK KEE E E E K K K KEK K K KK KKK ve The system data record contents are specified by the user using the O command and may vary from configuration to configuration Therefore the specific location of a data item in the output record 1s not determined until the record contents are defined TI FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 The notation 16BIT is a special binary output format reserved for those users that need less accurate but faster I O It contains only 14 bits of accuracy and is output in the following format without respect to the F ASCII or f binary command setting This format 1s limited to X Y Z position item 18 in the O command and AZ EL Roll Euler orientation angles item 19 in the O command and the unit less four 4 values of the Orientation Quaternion item 20 in the O command Data format is 2 s complement Each 8 bit byte of the 16 bit data will have its high order bit set to zero except for the leading data byte which is set to 1 as a sync bit in the data that 1s output in this format Two things must
127. ready for transfer to the host computer In some systems namely active trackers there is a timer interval when the active element is illuminating the environment when the data are collected after which the P amp O computation can be done Hence this definition 1s intended to correspond to the center point of data collection time so that tracker latency is straightforward and understandable as stated Other tracking systems e g inertial may produce raw data continuously or nearly continuously Tracker latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer The interval of time between a request to the tracking system to collect a data point and when that data is available for input from the tracker The transmitter generates the low frequency magnetic field measured by the receiver The transmitter s X Y and Z axes are the default measurement reference frame The unit of assumed distance The 3SPACE allows either inches or centimeters The rate at which motion tracking data can be made available from the tracking system The maximum distance at which the resolution and noise performance of the tracking system can be realized 125 POLHEMU S OPMOOPIO02 Fiat ie iho Hd nmana ian E N OV emb er 2002 User Defaults The values assigned to certain system variables by the user Stored in EEPROM the system receives these variable values at power up XYZ or X Y Z The Car
128. reference angles This command establishes the bore sight reference angles for a particular station When the system is boresighted with the B command the line of sight vector Azimuth Elevation and Roll angles will assume these values If all the optional parameters are omitted the system returns the boresight reference angles for the specified station as an output record of type G The command parameters are defined as station the number of the station whose reference angles are to be fixed Azref the azimuth reference angle Elref the elevation reference angle Rlref the roll reference angle B b The system default boresight reference values are 0 0 0 The user may wish to set the boresight reference values to an orientation that corresponds with the application For example if the application required an output of 0 15 0 following a boresight reference angles should be applied with the G command G1 0 15 0 lt gt The boresight command B1 lt gt will now cause the azimuth elevation and roll data output to be 0 15 O respectively 50 POLHEMU S OPMOOPIO02 First in the iid adimemnmsian November 2002 BORESIGHT REFERENCE ANGLES SUB RECORD IDENTIFIER G INITIATING COMMAND G byte s Identification Format L Record type 2 Al 2 se Station Number Al Fo Sub record type G Al 4 10 Azimuth reference angle SXXX XX 11 17 Elevation reference angle SXXX XX 18 24 Roll reference
129. replace the same without cost to Buyer Buyer shall pay all charges for transportation and delivery costs to PI s factory for defective parts where directed to be sent to PI and PI shall pay for transportation costs to Buyer s facility only for warranty replacement parts and Systems Removed parts covered by claims under this warranty shall become the property of PI 7 3 In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that PI may invoice Buyer for all reasonable expenses incurred in inspecting testing repairing and returning the Systems and that Buyer will pay such costs on being invoiced therefor Buyer shall bear the risk of loss or damage during transit in all cases 7 4 Any repaired or replaced part or System shall be warranted for the remaining period of the original warranty or thirty 30 days whichever is longer 7 5 Warranties shall not apply to any Systems which have been a repaired or altered other than by PI except when so authorized in writing by PI b used in an unauthorized or improper manner or without following normal operating procedures or c improperly maintained and where such activities in PI s sole judgment have adversely affected the Systems Neither shall warranties apply in the case of damage through accidents or acts of nature such as flood earthquake lightning tornado typhoon power surge or failure environmental extremes or other exter
130. rmation that can be programmed by the operator using the X command Note The station listed is chosen by the FASTRAK depending on when the S command is sent during the cycle The user may have to issue this command several times in order to get the status data for a particular station 86 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 SYSTEM STATUS RECORD IDENTIFIER S INITIATING COMMAND S byte s Identification Format Record type 2 A 2 Station number Al 3 Sub record type S Al 4 6 System flags H3 LSBit 0 Output Format O ASCH 1 Binary 1 Units O Inches 1 Centimeters 2 Compensation 02Off 1 On 3 Transmit Mode O Non Continuous 1 Continuous 4 Configuration 1 Tracker 5 Always 1 Reserved for future use 6 9 Reserved 10 23 Reserved for future use MSBit 7 9 BIT error I3 10 15 Blank Reserved for future use A6 16 21 Software Version ID A6 22 53 System Identification See X A32 54 55 Carriage return line feed 67 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 SYSTEM CONFIGURATION STATUS S Command The system s configuration status is contained as a hexadecimal number in the fourth fifth and sixth columns of the S command output For convenience the following table lists the hexadecimal number and corresponding system configuration HEX Code Continuous Mode Compensation Units Output SFR ON ON CM Binary 3FE ON ON CM ASCII 3FD ON O
131. rtain 8 bit code for display and control characters Attitude Matrix A three by three matrix containing the direction cosines of the receiver s x axis in column one the direction cosines of the receiver s y axis in column two and the direction cosines of the receiver s z axis in column three The order of the 3SPACE Euler angle rotation sequence is azimuth elevation and roll X Direction Cosines Y Direction Cosines Z Direction Cosines CA CE CA SE SR SA CR CA SE CR SA SR SA CE CA CR SA SE SR SA SE CR CA SR SE CE SR CE CR where CA Cos azimuth CE Cos elevation CR Cos roll SA Sin azimuth SE Sin elevation SR Sin roll 119 POLHEMU S OPMOOPIO02 Firat in ihe hir nimaran S N OV emb er 2002 Azimuth Baud Rate Benign Environment BIT Boresight bps Compensation Data The coordinate of orientation tracking in the horizontal plane where an increase in the angle is clockwise when viewed from above Azimuth is a rotation around the Z or vertical axis The term yaw is often substituted for azimuth especially in the context of flight The signaling rate on a serial line For example to convey an 8 bit byte normally requires at least two additional bit times a start bit and a stop bit so that synchronization is possible without a separate clocking line For example such an arrangement implies for a 9600 baud rate conveyance of data at a 9600 8 10 7680 bit rate
132. s Q Default 78 74 78 74 78 74 78 74 78 74 78 74 200 200 200 200 200 200 in centimeters Example If the user wanted to reduce the position operation envelope to a 30 cube the following command should be sent V1 30 30 30 30 30 30 lt gt The system will now output an error x any time the 30 inch limit is exceeded in any of the axis for station 1 94 POLHEMUS OPMOOPIO02 Arar ee the ihr cumenmsinn N OV emb er 2002 POSITION OPERATIONAL ENVELOPE RECORD IDENTIFIER V INITIATING COMMAND V byte s Identification Format Ls Record type 2 Al d oe Station number Al 5 ee Sub record type V Al 4 11 Maximum x coordinate value SXXX XXX 12 19 Maximum y coordinate value SXXX XXX 20 27 Maximum z coordinate value SXXX XXX 28 35 Minimum x coordinate value SXXX XXX 36 43 Minimum y coordinate value SXXX XXX 44 5 Minimum z coordinate value SXXX XXX 32293 ans Carriage return line feed 95 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 ATTITUDE FILTER PARAMETERS V Syntax Purpose V F FLOW FHIGH FACTOR or v n Macro filter command or v lt gt to return the current filter values selected This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the attitude outputs of the tracking system The user can adjust the parameters of this command to fine tune th
133. s 9600 baud An RS 422 port is available as an optional serial port in lieu of the RS 232 at the same baud rates USB Interface USB Universal Serial Bus has become the predominant interface standard It removes transmission speed limitations due to maximum baud rate and allows transmission speeds up to 12 Mbps USB utilizes differential signaling for better signal quality and noise rejection and therefore allows the use of longer communication cables between the host computer and the FASTRAK system 13 FPOLAEMUS OPMOOPIO02 Firat in ihe ihind dimensinn Nov emb er 2002 Operating Environment Large metallic objects such as desks or cabinets located near the transmitter or receivers may adversely affect the performance of the system Many walls floors and ceilings also contain significant amounts of metal Operating Temperature 10 C to 40 C at a relative humidity of 10 to 95 non condensing Physical Characteristics SEU Width 11 38 28 91 cm length 11 06 28 90 cm height 3 63 9 22 cm weight 5 0 Ib 2 26 Kg Transmitter Width 2 1 5 3 cm length 2 1 5 3 cm height 2 3 5 8 cm weight 0 6 Ib 0 27 Kg excluding attached cable The Transmitter may be purchased with either 10 or 20 cables Receiver Width 1 1 2 83 cm length 0 90 2 29 cm height 0 60 1 52 cm weight 0 6 oz 17 0 gm excluding attached cable Receivers may be purchased with either 10 or 20 cables Stylus Le
134. s in any axis the following command should be entered I1 2 C The system will now output a data record each time station one receiver moves two inches in any axis 65 POLHEMUS OPMOOPIO02 Fiat ie ibeheggueusnnt N OV emb er 2002 INCREMENT DEFINITION RECORD IDENTIFIER I INITIATING COMMAND I byte s Identification Format Ls Record type 2 Al 2 dus Station number Al 5 eee Sub record type I Al 4 10 Distance required to move SXXX XX 11 12 Carriage return line feed 66 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N ove mb er 2002 ACTIVE STATION STATE l Syntax lstation state lt gt Description Purpose Relatives Default Example or Istation to read back the current station state A station is defined as a transmitter receiver pair The four receivers paired with the one transmitter are assigned station numbers one through four 1 4 Although stations are enabled simply by plugging the receivers into the ports on the FASTRAK SEU the stations can then be disabled or enabled again by using a software command When a station 1s enabled data records for that receiver will be transmitted from that station If the station 1s disabled no data records from that station will be transmitted The purpose of this command is to allow the host to turn a station on or off in software The command parameters are identified as follows Station to 4A state 0
135. s not preclude using the manual as a precise guide reference and final arbiter NOTE This approach assumes a single receiver use of the RS 232 serial port at 9600 Baud communicating with a Windows 95 98 NT PC and use of the Microsoft Windows program HYPERTERMINAL EXE 1 Unpack the FASTRAK SEU transmitter receiver s and power supply Complete FASTRAK System 2 Set up the system close to your host computer and away from large metal objects like file cabinets metal desks etc and away from the floor and walls 3 Identify the transmitter the two inch gray cube and insert the transmitter connector into the transmitter receptacle being careful to firmly engage it Using your fingers or a small flat blade screwdriver lock the connector by tightening the two retaining screws PoLHEMUS OPMOOPIO02 Firat in the ihid olimarsion November 2002 Transmitter Connection 4 For getting started use only one receiver Identify the receiver and insert it into the receiver receptacle labeled one as shown below Firmly engage and lock the receiver connector into place in the same manner as the transmitter connector in Step 3 Receiver Connection POLHEMUS OPMOOPIO02 Fial in the ihid dimension November 2002 5 For testing purposes it is convenient to mount both the transmitter and the receiver on a single block of wood 2X4 or equivalent about 16 inches apart Exact placement of the transmitter and receiver
136. shaped connector with two corners shaved off for correct orientation upon insertion The connector on the host PC is a Series A connector and is rectangular shaped Since the connectors on each end of the USB cable are different it is impossible to connect the cable incorrectly The signals on the FASTRAK USB connector conform to the USB standard The USB communication cable used to connect the FASTRAK to the host computer is a standard cable that is commercially available 4 10 Optional RS 422 I O The optional RS 422 connector is identical to the RS 232 connector in form fit function and location on the rear of the SEU Important Note In order to use this interface the FASTRAK system must be ordered from the factory configured for RS 422 communication A system can be configured for RS 422 or RS 232 communication but not both Once ordered a system can be returned to the factory to have its interface configuration changed for a nominal fee RS 422 is a differential transmit and receive I O standard with a maximum error free speed of 10 Megabits second technical specifications for RS 422 not FASTRAK with operation possible at a distance of 1200 meters with a speed of IO0Kbits second The RS 422 does not use Handshake functions for transmission and reception The RS 422 transfer rate on a FASTRAK is the same as for RS 232 but larger communication cables can be used which is very important at higher baud rates The pinouts for this connect
137. stalled Arbitrarily choose one of the FASTRAKs to be the Master Connect one end of the Sync cable to the SYNC OUT port of the Master Connect the other end of the Sync cable to the SYNC IN port of the first Slave Connect one end of another Sync cable to the SYNC OUT port of the first Slave Connect the other end of the Sync cable to the SYNC IN port of the second Slave and continue hooking up Sync cables in this fashion until all slaves are connected e Send the Master the appropriate y command Internal External or Video Sync usually internal unless the user system can supply a sync input e Send each Slave the y1 command e Maintain the proper separation distance of 15 inches or 38 centimeters and transmitter to transmitter adjacent spacing of 6 inches or 15 2 centimeters e Ensure that all FASTRAK SEUs have the same part number since the original and new designs cannot be intermixed 5 11 Output Considerations Most applications of the FASTRAK system involve using its data output to manipulate some type of computer graphics in real time In this condition it 1s extremely important to allow the data to be utilized as quickly as possible and to avoid latency or lag Lag is defined as the interval of time between requesting a tracker data point and receiving it into the host computer Factors that could increase this lag are Baud Rate Output Record Length Data Format binary is more efficient than ASCII Filtering The FAST
138. stream If more than one station is enabled then the data from each station will be displayed in numerical order station 1 first station 2 second etc c P Continuous output mode is disabled If the system is being used in an application where a fast update rate is critical driving realtime computer graphics like an animated character for example then the continuous output configuration should be enabled To enable continuous output mode send the command as follows C Data from the FASTRAK will now scroll continuously across the serial port to the host computer 53 POLHEMUS OPMOOPIO02 fin the hd gnana E N OV emb er 2002 DISABLE CONTINUOUS PRINTING c Syntax Purpose Relatives Default Example C This command disables the continuous print output mode After sending this command the continuous data stream from the FASTRAK to the host computer will stop C P Continuous output mode is disabled If the system is set to continuous output mode with the C command the user may wish to stop the data stream to adjust other system parameters This can be accomplished by sending the command C The continuous data output mode will be disabled and the data stream will stop 54 POLHEMUS OPMOOPIO02 rat Ur the ih guanmemsmn N OV emb er 2002 ENABLE FIXED METAL COMPENSATION D Syntax D Description Compensation refers to programmed offsets that allow system computations to be accurate whi
139. t Enables binary output format 59 Boresight Reference Angles Allows B to yield specific AER output 50 Hemisphere of Operation Defines operating side of transmitter 6l Define Increment Control output by receiver movement 65 Active Station State Turns a receiver station off or on 67 Define Tip Offsets Modifies stylus tip offsets 70 Output Data List Changes data output list 71 Set Output Port Modifies output port parameters 79 Single Data Record Output Requests a single data output record 81 Angular Operational Envelope Sets angular operational envelope 92 Reset Alignment Reference Frame Clears previous alignment for new entry 48 Transmitter Mounting Frame Modifies transmitter mounting frame 84 System Status Record Requests a system status record 86 Built In Test Information Clears BIT error and obtains more info 89 Set Unit Inches Sets XYZ measurements to inches 92 Metric Conversion Units Sets XYZ measurements to centimeters 93 Position Operational Envelope Sets XYZ operational envelope 94 Attitude Filter Parameters Modifies AER filter parameters 96 Reset System to Defaults Resets EEPROM to default settings 102 Configuration Control Data Modifies config data in status record 103 Position Filter Parameters Modifies the X YZ filter parameters 99 Set Synchronization Mode Modifies sync mode 105 Save Operational Configuration Saves current config to EEPROM 108 Resume Data Transmission Allows data to be transmitted 111 Suspend Data Transmission Restricts dat
140. t where the user is not sure how to get back to factory defaults However care should be taken because all custom settings will be lost as a result of the reset Note This command should only be used after consultation with the factory 102 FPOLAEMUS OPMOOPIO02 Firat in ihe ihind dimensinn Nov emb er 2002 CONFIGURATION CONTROL DATA X Syntax X string Or X lt gt to retrieve the current configuration control data Definition Configuration control data is user specified information that is stored in the status record The status record is retrieved with the S command This gives the user the ability to identify a particular FASTRAK system in the status record Purpose A maximum of 32 ASCII characters may be entered as configuration control data in EEPROM with this command The Ctrl K command must be used to save the new configuration control data in the FASTRAK EEPROM The specific parameters are string a maximum of 32 ASCII characters can be used to identify the configuration control data Relatives Ctrl K Ctrl Y W Default The default configuration control data retrieved with the X command is as follows OutputCompensat CPG2030 003 10 This is a Polhemus configuration code Example A user could enter project specific information with the X command as follows XF18 Simulator05 Saint Louis lt gt Sending the S command to the system would yield the following result 21S3FO 0 103 00F18 Sim
141. te s Identification Format Ls Record type 2 Al 2 2a Station number Al 5 M Sub record type Q Al 4 12 Maximum azimuth value Sxxx xxxb 13 21 Maximum elevation value Sxxx xxxb 22 30 Maximum roll value Sxxx xxxb 31 39 Minimum azimuth value Sxxx xxxb 40 48 Minimum elevation value Sxxx xxxb 49 57 Minimum roll value Sxxx xxxb 58 59 Carriage return line feed 83 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 TRANSMITTER MOUNTING FRAME r Syntax Purpose Relatives Default Example rstation A E R lt gt or rstation lt gt to read back the current transmitter mounting frame This command allows the user to modify the mounting frame coordinates of the transmitter relative to a particular receiver It is basically a non physical rotation of the transmitter and becomes the new orientation reference for the specified receiver s measurements The command parameters are as follows Station the station to be defined A azimuth mounting frame angle E elevation mounting frame angle R roll mounting frame angle none 0 0 0 If there was a requirement to mount the transmitter upside down more mechanically feasible then the following command should be used r1 0 0 180 lt gt The orientation measurements for station 1 will now look as if the transmitter had not been mounted upside down 84 POLHEMU S OPMOOPIO02 First in the iid adimemnmsian November 2002
142. tesian coordinates of position tracking where normally X is in the forward direction Y is in the right hand direction and Z is upward XYZAER The output string of date reporting the position XYZ and orientation AER azimuth elevation and roll of the tracking receiver Yaw Same as azimuth lt gt Used in text to indicate the Enter key 126 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 APPENDIX A STANDARD OPTIONAL ITEMS FASTRAK HARDWARE The FASTRAK system consists of the following standard and optional items Standard Items 1 System Electronics Unit SEU w Std Frequency Select Module 12KHz 4A0451 01 2 Power Supply Brick 1C0034 3 110V Power Cord 17500B BLK 4 Standard Transmitter w 10 cable 3A0369 07 5 Standard Receiver w 10 cable 4A0314 01 6 FASTRAK User Manual Kit OPM6762 001 Optional Items 1 RS 422 SEU in lieu of standard RS 232 SEU 4A0451 02 2 Short Ranger SEU in lieu of standard SEU 4A0451 03 3 Short Ranger Transmitter 4A0350 01 4 Long Ranger Transmitter 4A0345 02 5 Long Ranger Cable 3A0454 02 6 Standard Transmitter w 20 cable 3A0369 08 7 Standard Receiver w 20 cable 4A0314 02 8 Mini Receiver w 20 cable 4A0394 06 9 Stylus w 10 or 20 cable 4A0318 01 02 10 Short Handle Stylus w 10 or 20 cable 4A0318 03 04 11 Round Tip Stylus w 10 or 20 cable 4A0318 06 05 12 3Ball w 10 cable 4A0314 05 POLHEMU S OPMOOPIO02 ETRE
143. ty conventions must be strictly observed See diagram below for connections 29 FPOLAEML OPMOOPI002 Firat in ihe ihind dimensinn N ove mb er 2002 RS 422 Cable Connections FASTRAK HOST RxB receive high pin 1 TxB transmit high TxB transmit high pin 4 RxB receive high RxA receive low pin 6 TxA transmit low TxA transmit low pin 9 RxA receive low 5 2 Powering Up FASTRAK To power up your FASTRAK system first ensure that the power switch on the back panel of the FASTRAK is in the off position and the power supply brick is not plugged into the AC wall outlet Then connect the power cable from the power supply to the DIN power connector on the rear panel of the FASTRAK Connect the power cord to the power supply brick and plug it into the AC wall outlet Configure the dip switch settings on the I O select switch Plug in transmitter receivers and RS 232 cable and turn the power switch to the ON position On power up the power indicator will blink for several seconds to indicate the system s performance of an initialization and self test routine During this time system operation is not possible At the completion of this routine the power indicator will change from a blink state to steady on which indicates that the system 1s now operational Important Note Do not
144. ulatorO5 Saint Louis Note Resetting the EEPROM with the W command alters the contents of this data area to OutputCompensat CPG2030 003 10 103 POLHEMUS OPMOOPIO02 Fiat ie iho Hd nmana ian E N OV emb er 2002 CONFIGURATION IDENTIFICATION RECORD IDENTIFIER X INITIATING COMMAND X byte s Identification Format Ls Record type 2 Al 2 x Blank Al ase Sub record type X Al 4 35 Configuration identification A32 36 37 Carriage return line feed 104 FPOLAEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 SET SYNCHRONIZATION MODE y Syntax y smode lt gt Or y lt gt to read back the current synchronization mode Description Synchronization allows for any one of four conditions 1 The FASTRAK system can operate in its default condition with the data cycle time set to 8 3 milliseconds This can be achieved by setting the system to Internal Sync Mode 2 One to four FASTRAK systems can operate in relatively close proximity without interfering with each other The interference is generally seen as noise where measurements change with out physically moving receiver position or orientation This can be achieved by setting the system to External Sync Mode and linking the systems together with a sync cable 3 The FASTRAK cycle time can be set externally with a sync pulse generator This can be achieved by setting the system to External Sync Mode and connecting to the external pulse 4
145. uyer of any information data service or application assistance Buyer shall hold PI harmless against any expense judgment or loss for infringement of any United States patents or trademarks which results from PI s compliance with Buyer s designs specifications or instructions PI shall not be liable for any costs or expense incurred without PI s written authorization and in no event shall PI s total liability to Buyer under or as a result of compliance with the provisions of this paragraph exceed the aggregate sum paid to PI by Buyer for the allegedly infringing product or part exclusive of any refund under option 4 above The foregoing states the entire liability of PI and the exclusive remedy of Buyer with respect to any actual or alleged patent infringement by such product or part 116 PoLHEMUS OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 9 0 TROUBLE SHOOTING Symptom Possible Solution FASTRAK Won t Communicate Check Dipswitch Settings Check RS 232 Cable Check Communication Program Settings Check PC COM Port Return SEU for Repair Green Light Won t Stop Flashing Download New Firmware Return SEU for Repair Solid Light Without Flashing First Return SEU for Repair BIT Error A C G I BIT Error a c BIT Error D F J L Return Transmitter for Repair Return SEU for Repair Change Tuning Module Move Transmitter Away From Metal Replace Power Supply Brick Return SEU for Repair Turn Off CRT Based Displays Separate Rec
146. ver is used to track both the position and orientation of the object to which it is attached relative to the measurement reference frame Coordinate of orientation tracking about the azimuth elevation axis where an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing Same as Receiver The transmitter receiver pair Up to four receivers are permitted yielding a possible four stations A pencil shaped housing for the receiver with an integral switch and used by the operator to indicate and or select points to be digitized Shorthand for synchronization For example sync signal 124 POLHEMU S OPMOOPIO02 Fiat in the dh gums N OV emb er 2002 System ID Data Tracker Alignment Tracker Calibration Tracker Latency Tracker Response Transmitter Units Update Rate Useful Range Thirty two characters of ASCII data hardware serial number etc stored in EEPROM containing information identifying the system See X command The process whereby the tracking system coordinate reference 1s brought into coincidence either physically or mathematically with other coordinates of the environment The process whereby the tracking system is made to operate accurately in the installed environment to produce tracking data throughout the motion box The interval of time between when tracker measurement data were collected and when the P amp O result 1s formatted
147. ver s x y z axes See Note 1 8 x receiver data factory use only 9 y receiver data factory use only 10 z receiver data factory use only 11 orientation quaternion 12 self calibration data factory use only 13 adjusted x receiver data factory use only 14 adjusted y receiver data factory use only 15 adjusted z receiver data factory use only 16 stylus switch status 17 not used 18 16 BIT binary x y z Cartesian coordinates of position see 16BIT notation 19 16 BIT binary az el roll Euler orientation angles see 16BIT notation 20 16 BIT binary orientation quaternion see 16BIT notation 21 49 not used reserved for future use 7 FPOLAEMUS OPMOOPIO02 Relatives Default Example Firat in ihe ihind dimensinn Nov emb er 2002 Extended precision 50 66 50 51 52 53 54 55 56 57 58 59 60 6l 62 63 64 65 66 67 68 98 99 none ASCII space character same as 0 ASCII carriage return line feed pair same as 1 x y z Cartesian coordinates of position relative movement x y z Cartesian coordinates of position 1 e the difference in position from the last output This item should only be selected if the specified station s Increment is 0 0 See the I command az el roll Euler orientation angles x direction cosines of the receiver s x y z axes See Note 1 y direction cosines of the receiver s x y z axes See Note 1 z direction cosines of the receiver s x y z axes See Note
148. y 3 4 seconds to shift to USB mode Since the FASTRAK can not communicate over the RS 232 port and the USB port simultaneously the user needs to choose which interface will be used and cease communication over the other port Once the FASTRAK is in the USB mode simply disconnecting the USB cable will not put the FASTRAK back in RS 232 mode In order to switch the FASTRAK back to RS 232 mode the user must disconnect the USB cable and then cycle the power on the FASTRAK turn it off then turn it back on again Note that anytime during RS 232 operation the USB cable can be plugged into the FASTRAK and it will switch to USB mode without having to cycle the power However it is best to disable continuous output mode and close any programs communicating with the FASTRAK via RS 232 first in order to avoid error messages or program lock ups while switching to the USB mode LE k ERI aoe P mme me SE Li LL LL L alle Tm a amp NU Boos 0 Figure 5 4 Connection of USB Cable to Switch to USB Mode 5 5 Installing USB Device Drivers Note The following USB Device Driver was designed to run on Windows 2000 and Windows XP 3 PoLlHEMUS OPMOOPIO02 Firat in the iira dimension November 2002 The first time the FASTRAK is connected to a new host computer via USB a device driver must be installed on that computer before USB communication can be established This process is somewhat automatic but requires occ

Fastrak Manual USB 2002

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