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PATRIOT Manual

1. APPENDIX C Built In Test BIT ccccc ccc cccsccccssssccessseccesseecessseceessseccssseecesssecessssecesseeceeseesesssceesseecessseeeessaeeeees INI RU TIATEIZATION RESULTS ccc cc cucconccedcacscd bucenadendecacedcanates deatarscntavadssncacececncenatecdencoesenteratesncetarecccaxseasdeaceesee NTIME RESUEES ERETTE ERE AALE ALEA E EIRE E AEE RAAE EE LAEE ELEAN AA APPENDIX D Limited Warranty and Limitation of Liability eese nennen APPENDIX E Specifications sese APPENDIX F Customer Service Rev B iv November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t TABLE OF FIGURES Figure 1 1 PATRIOT System 1 Figure 1 2 Source Connection 2 Figure 1 3 Sensor Connection 2 Figure 1 4 Sensor Source Test Setup 3 Figure 1 5 Power Connector 3 Figure 1 6 USB Cable Connection 4 Figure 1 7 RS 232 Cable Connection 5 Figure 1 8 PiMgr Screen Display 7 Figure 1 9 RS 232 Configuration Set
2. Rate Baud Rate 24 2400 48 4 800 96 9 600 192 19200 384 38 400 576 57 600 1152 115200 parity Table 2 29 ASCII Parity Values Parity Meaning 0 None 1 Odd 12 Even Remarks See RS 232 I O on page 78 for reference on the use of RS 232 for communicating with PATRIOT By default the baud rate and parity RS 232 parameters are determined by the state of the RS 232 CONFIG switches located on the back panel of PATRIOT upon PATRIOT startup or initialization See Hardware Switches on page 78 for switch values In addition The number of data bits is always eight 8 The number of stop bits is always one 1 Hardware Handshake is always disabled 53 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t Changes to the RS 232 port settings using O will be ignored during the next power up or system initialize Y Initialize System page 72 in deference to the hardware switch settings even if the new port settings are saved as the startup configuration W Set Default Operational Configuration on page 71 Output Record Table 2 30 O ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A to 3 A Error Indicator 4 B AS
3. Table 2 17 Output Data Types Table 2 18 O ASCII Response Table 2 19 O Binary Response Table 2 20 U ASCII Response Table 2 21 U Binary Response Table 2 22 K ASCII Response Table 2 23 X Binary Response Table 2 24 Y ASCII Response Table 2 25 Y Binary Response Table 2 26 AE ASCII Response Table 2 27 AE Binary Response Table 2 28 ASCH Baud Rate Values 53 Table 2 29 ASCII Parity Values 53 Table 2 30 AO ASCII Response 54 Table 2 31 O Binary Response 54 Table 2 32 Binary RS 232 Codes 54 Table 2 33 AU station ASCII Response
4. 57 Table 2 34 U0 ASCII Response Table 2 35 AU Binary Response Table 2 36 X ASCII Response Table 2 37 X Binary Response Table 2 38 P ASCII Response Table 2 39 P Binary Response Table 2 40 AT ASCII Response Table 2 41 T Binary Response Table 2 42 AV ASCII Response Table 2 43 AV Binary Response Table 2 44 AV station ASCII Response 70 Table 2 45 4V station Binary Response 70 Table 2 46 AZ ASCII Response Header Table 2 47 AZ ASCII Response Table 2 48 Z Binary Response Table 3 1 LED conditions Table 3 2 RS 232 Pin Outs Table 3 3 Switch Settings Table 4 1 BIT Results DWORDs Table 4 2 Source BIT Results Table 4 3 Global Sensor BIT Results Table 4 4 Sensor Channel BIT Results Table 4 5 Runtime BIT Error Codes Rev B vi November 2004 POLHEMUS PATRIOT USER MANUAL First
5. sss 13 LSD least significant digit 13 Magnetic Source sess 79 Ino 43 most significant bit MSB ssss 13 MOON DOX uin ie etes n aaan 14 mounting frame seeeseeeeeeeneen 32 MSB most significant bit ssss 13 multiple systems sseeeeee E 1 non continuous output mode 63 Notation el teen er dde 18 AS CIM anri A A IV ees 20 Bin afy idR dope beet es 20 n llqnodetn urhem dte 4 OFFESE lS s RR ee a 39 November 2004 F CILHEML SS First in the third dimension t operational commands sess 61 operational configuration 66 71 73 operational configuration ID 59 orientation angles esee 14 niii EET 63 82 B 1 Output atiende rete 83 Output Considerations sees 83 output data list sess 4l output format essere 30 output Stisni senenin e etre e 15 output Tate ciao cseteris 82 P amp O position and orientation 15 pou HERR 53 PATRIOT iiaciieteitieeiteie mee 15 PATRIOT System Commands 18 physical characteristics sess E 1 jours E 15 Polhemus contact information F 1 position filter parameters
6. Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A PF 3 A Error Indicator 4 B ASCII Blank character 5 A 0 6 7 AA Carriage Return Line Feed Table 2 8 F Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00000001 Examples The command to enable binary output mode for the system is Fl lt gt 31 November 2004 POLHEMUS PATRIOT USER MANUAL G Source Mounting Frame Description This command allows the user to modify the mounting frame coordinates of the source It is basically a non physical rotation of the source and becomes the new orientation reference for each sensor s measurements Source mounting frame is not a sensor specific setting Syntax GI A E R Part Description A Azimuth mounting frame angle E Elevation mounting frame angle R Roll mounting frame angle Remarks The default mounting frame is 0 0 0 Issuing a G lt gt will read the current source mounting frame Output Record Table 2 9 G ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 0 1 A Second Digit of Station Number n a 0 2 A G 3 A Error Indicator 4 B ASCII Blank character 5 13 Sxxx xxxB Azimuth Mounting Frame Angle 14 22 Sxxx xxxB Elevation Mounting Frame Angle 23 31 Sxxx xxxB Roll M
7. sess 45 power module eere erre epe tte E 1 power requirements 00 0 eee eeeeesteceeeeeeeeeeeeeee E 1 Powerline Up ze eei c d erecto EIER a taps 82 print output continuous eere 62 12 49 Ne 39 QUaternlOl sie e to eoe oet vro IRE UE de 15 PANDO mtm E 1 read operational configuration 73 read clear BIT errors sssess 67 record output essere 63 reset alignment frame esee 55 eoo M 65 resolution eer E 1 cp c 16 Response Format essen 20 return merchandise authorization RMA F 1 RMA return merchandise authorization F 1 iJ n 16 JEU E 32 RS 232 vss iecore RE 3 4 9 22 53 78 RS 232 Port Configuration s 53 runtime results sess C 2 Safety NOUCES i icsessasessestis evar iseine teneteeesbates ii save operational configuration 66 SDK sip P 16 SENSO en eisa tese true exe rese et Ree Pae xe heg 16 80 E 1 sensor number of ssssssssee E 1 sensor channel BIT results C 2 Tau Tel gore qr TI serial connector tenter ben 78 Rev B PATRIOT USER MANUAL set default operational configuration 71 set echo 0016 Ce 52 SEE UIBES oru rer iiie rire eee tenete cipio 43 SEU system electronics unit
8. Part Description slotnum 0 Default Factory configuration 1 3 User defined configurations Remarks When using the W command the Y Initialize System command page 72 or system power cycle must be used to make PATRIOT use the operational configuration Output Record None Examples If the PATRIOT system s configuration had been altered by sending various other commands and saving the result to the configuration non volatile memory and the user wanted to return the system to its original factory default settings then the following commands should be sent WO Y After initialization the system non volatile configuration memory will be set with all of the factory default parameters This exercise is especially useful when the system has been modified to the point where the user is not sure how to get back to factory defaults However care should be taken because all non saved custom settings will be lost as a result of the reset 71 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension AY Initialize System Rev B Description This command reinitializes the entire system to an advanced power up state The user should allow sufficient time for the system to run through its self test and initialization as signified by completion of LED flashing explained in step 8 of Getting Started before attempting to send the system additional commands Syntax AY l
9. a re POLHEMUS First in the third dimension C E Ro m M USER MANUAL URMO03PH170 Rev B NOVEMBER 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension This page intentionally left blank F CILHEML SS PATRIOT USER MANUAL First in the third dimension t Copyright O 2004 by Alken Inc dba Polhemus 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 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 manual Polhemus assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACE is a registered trademark of Polhemus PATRIOT and LIBERTY are trademarks of Polhemus 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 designated 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 instr
10. TT E 1 So 20 shipping address eeesess F 1 single data record output suse 63 SOURCE oea p NE tete eei eis 16 SOUTO igiene tt deiade reila 79 source BIT results sesessess C 1 source frequency tte fete TI source mounting frame sese 32 gs E TI Specifications esseseseeeeerenrene E 1 standard alignment procedure 26 StALICACCULACY Ad E 1 StatlOTE dece eret eb ct Ode te vade 16 56 Station State 5 op ER eredi 56 Sty US ceo ve tie ybe tte e e bv eoe s 16 37 80 stylus button function esee 37 Stylus tipici erred pea 39 Stylus tp offsets sissa e cepa 39 summary of command set uses 22 summary of error codes s es 23 ui E 16 SIC m 18 system electronics unit SEU TI system operation 82 system output data record B 1 table of figures sse v technical support seen F 1 DIEI et 39 UC M M 20 n boresipht sessar rete reote ten 51 nui m 16 update rate 16 E 1 MS 20 USB octets iue ERE 1 3 6 13 useful PAN GE eni mee etre 16 user command set summary eee 22 user defaults 1 orte 17 Een ODi
11. To clean the instrument If the instrument requires cleaning 1 2 Remove power from the instrument Clean the external surfaces of the instrument with a soft cloth dampened with a mixture of mild detergent and water Make sure that the instrument is completely dry before reconnecting it to a power source Rev B ii November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t E TABLE OF CONTENTS I WARNINGS EE A A E A A A A N EET II TO CLEAN THE INSTRUMENT TABLE OF FIGURES LIST OF TABLES r i LI SET UP THE PATRIOT iicccc icc viceciccoccecavescdaciccsccacteasscacac esccsenewsacenscesseneseassceaceeuvcdedeveocasacceccseneescesuscees 1 12 INSTALL THE HOST SOFTWARE cccccscscocscssscccccvevcceceveveceveveveceveveveveveneveceveveveceseveveseseseveceseveveveveves 6 I2 USB ODrierInstallation eee ee Morea t octo mbe Done eae er es U SO Vae ee bo bdo pap ede eU TO Eoo he PES clus 6 1 33 USE THE POLHEMUS PIMGR G D a a a E aa A E nnns us Ra AE a sa EE a sa EE OES Sii EESE 6 1 4 EXPERIMENT WITH PATRIOT DATA eeeee eene enememnnnnnmnnnnnnnnnnnn ener nnns nsns esses nsns n esas sones 9 5 CEERMS ACRONYMS 5 ieieece etes eteieeeeeeteie ees ies ee eee ree leve ERE Ee E IET RENE E ERES E RUE ESETENER DET URN 10 2 PATRIOT SYSTEM COMMANDS eee ee ee eene nane eese eese snssssssseeeessesesesssceeees LO Dede OV
12. 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 Warranties shall not apply to any Systems that have been repaired or altered other than by Polhemus except when so authorized in advance and in writing by Polhemus a used in an unauthorized or improper manner or without following normal operating procedures or b improperly maintained and where such activities in Polhemus 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 external causes or Rev B D 1 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t c used for any purpose without obtaining any applicable regulatory approvals POLHEMUS 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 POLHEMUS MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE OR FOR INJURY TO PERSON WITHOUT LIMITING TH
13. Noise X Error Noise Y Error Noise Z Error Source PROM Read Error Reserved Reserved e SINICA BR ON oO Rev B C 1 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Global Sensor GS BIT Results The sub bitmap representing global sensor BIT results is defined in Table 4 3 below Table 4 3 Global Sensor BIT Results Bit Definition O Sensor Errors 1 Sensor 1 PROM Read Error 2 Sensor 2 PROM Read Error 3 Reserved 4 Reserved 5 Reserved 6 Reserved Sensor Channel BIT Results If Bit 0 of the global sensor BIT result map is SET then sensor channel BIT results should be parsed to determine BIT errors for individual sensor channels If a failed sensor channel is not in use the initialization BIT errors can be cleared using the AT Read Clear BIT Errors command on page 67 Table 4 4 below defines sensor channel BIT results Table 4 4 Sensor Channel BIT Results Bit Definition 0 Gain 0 1 Gain 1 2 Gain 2 3 Noise 0 4 Noise 1 5 Noise 2 6 30 Reserved Runtime Results There are only 3 runtime BIT errors defined These are Source Failure X Source Failure Y Source Failure Z Runtime errors are indicated in the error field of the output P amp O frame header An error code of a g or A G will indicate a combination
14. record Syntax O station p1 p2 pn lt gt Part Description station pl pn 1 or 2 which specifies the relevant source sensor pair Up to 20 parameters that define the list of variables output to the host The possible parameters are listed below Table 2 17 Output Data Types Parameter Description ASCII Output Data Binary Output Value Format Data Format 0 ASCII space character Al Al 1 ASCII carriage return linefeed A2 A2 2 X Y Z Cartesian coordinates of position 3 Sxxx xxxB FL 3 X Y Z Cartesian coords extended precision 3 Sx xxxxxxESxxxB FL 4 Az EL RI Euler orientation angles 3 Sxxx xxxB FL 5 Az El RI Euler angles extended precision 3 Sx xxxxxxESxxxB FL 6 Direction Cosine Matrix 3 3 Sx xxxxxB CRLF FL 3 7 Orientation Quaternion 4 Sx xxxxxB FL 3 8 Timestamp Al A10 DWORD 9 Frame Count Al Al0 DWORD 10 Stylus Flag 0 or 1 Al I Rev B Remarks If the wildcard is specified instead of a station all station output lists will be set to the programmed value If output list parameters p pn are omitted from the argument list the current defined output list is returned Default is 0 2 4 1 P amp O lt cr gt lt lf gt for all stations 41 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Output Record Table 2 18 O ASCII Response Byte Index
15. 0 respectively 29 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t F Output Format Description This command selects the Binary or 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 PATRIOT must be in ASCII format Syntax F fmt Part Description fmt Defines the type of output from PATRIOT The choices are 0 ASCII output 1 Binary output Remarks The default output data format is ASCII The Polhemus SDK uses binary output exclusively As with other configuration commands if no fmt argument is provided the current value of the setting is returned in the default response frame If a software application is written to receive binary data from PATRIOT and there is 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 PATRIOT data on the PC monitor The user may wish to write a software application for PATRIOT where a fast update rate is crucial In order to reduce data throughput size PATRIOT could be set to output in binary instead of ASCII Rev B 30 November 2004 F CILHEML SS Rev B First in the third dimension t Output Record Table 2 7 F ASCII Response ATRIOT USER MANUAL
16. eA EE eep eroe Eee PORE ET ii Wairani M aseeseen E e E ENEK E ERN EEEE D 1 web addiress seisis eee n 79 WAGA e sissies aossen euet eere ies 69 Waldc rd cito tte eet nere 19 XYZOUX Y Z cede eroe 17 XYZABR ene e Feci 17 VAW iE 17 November 2004
17. j q2 k qs can be used to represent the sensor s orientation without the need for trigonometric functions The attitude matrix output from PATRIOT can be equivalently represented by the following matrix using quaternions X Directional Cosines Y Directional Cosines Z Directional Cosines q d q q 2 4192 043 2 4193 4042 2 4340 9192 G 9 9 4 2 42493 9041 2 4193 4042 2 4140 9392 d d d d 15 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t Response Roll SDK Sensor Source Station Stylus Sync Units Update Rate Useful Range Rev B The interval of time between a request to the PATRIOT system to collect a data point and when that data is available for input from the PATRIOT system 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 Software Development Kit software development toolset available for LIBERTY PATRIOT based trackers consisting of programming libraries help files and sample code SDK is sometimes referred to as API although API refers specifically to the programming libraries used to interface with the instrument The sensor measures the low frequency magnetic field generated by the source The sensor is used to track both the position and orientation of the object to which it is at
18. 0 ocho aeree pee d EEUU ID E M AE Set Echo Mode O RS 232 Port Configuration ARS Reset Alignment Frame ss nn eniin e ERE RERXE REO FORERO HEELS E S ESAE AU Active Station State X Operational Configuration ID 2 5 2 Operational Commands m C Continuous Print Output n eintritt lere ee EET debet bol le e rico Ere de Ra d P Smgle Data Record Output e 5 prep trae b po eee H RU RH HO AP S Rb ba Q Reset Counters AK Save Operational Configuration nennen enne nnne 66 AT Read Clear BIT ErtOrs rtr rrr torret rn te ent rennen rore bere 67 AV WhoAmI AW Set Default Operational Configuration ee eseseeseeeeeeeseeeeseeseeeceeeecaeesesseeesesesseeaeegs 71 AY Initalize Systen ueteri e HD e UD E E EE ELE eR sas 72 AZ Read Operational Configuration eife ertt en Rn RE EN Ee eat 73 Rev B ili November 2004 POLHEMUS PATRIOT USER MANUAL 3 3 1 First in the third dimension MET COMPONENT DESCRIPTION i eeseessssessensekeseiven iore tss Ee aevo Ea eer rev Eee ree ratu iue 7 7 SYSTEM ELECTRONICS UNIT SEU cccssccccssseeceeseececseeeeecsneeecessaeeecseaaececseeeecsesaeeecsesaeeesenseeeneeee TT SUN Source Pori M T EE 77 OUNCE FREQUEN CY TI E P gt SENSOP ORE
19. 1 errors 16 DW Bitmap of sensor channel 2 errors Examples AT lt gt Read BIT Errors Yields the results below when no error 00t Ox00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 ATO lt gt Clear BIT errors Rev B 68 November 2004 F CILHEML SS First in the third dimension t AV WhoAmI Description ATRIOT USER MANUAL This command returns the basic identification and firmware version of PATRIOT system Syntax AV station lt gt Remarks None Output Record Table 2 42 V ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 0 1 A Second Digit of Station Number n a 0 2 A ty 3 A Error Indicator 4 B ASCII Blank character 5 6 A Carriage Return Line Feed 7 22 A Polhemus PATRIOT 23 24 A Carriage Return Line Feed 25 26 A Carriage Return Line Feed 27 45 A Boot Loader Version 46 52 A Boot Version 53 54 A Carriage Return Line Feed 55 79 A PATRIOT Firmware Version 80 86 A System Controller Version 87 88 A Carriage Return Line Feed 89 110 A I O Processor Version 111 117 A I O Processor Version 118 119 A Carriage Return Line Feed Rev B November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Table 2 43 V Binary Response Byte Index
20. 2 3 PATRIOT User Command Set Summary Command gt KK CA VO A rrtaanrtaa wb Rev B Description Alignment Reference Frame Boresight Continuous Print Output Output Format Source Mounting Frame Hemisphere of Operation Stylus Button Function Tip Offsets Output Data List Single Data Record Output FrameCount Timestamp Reset Set Units Position Filter Parameters Attitude Filter Parameters UN Boresight Set Echo Mode Save Operational Configuration RS 232 Port Configuration Reset Alignment Frame Built in Test Information Active Station State WhoAml Software versions Set Operational Configuration Operational Configuration ID Initialize System Read Operational Configuration Decimal Hexadecimal 65 66 67 70 71 72 76 78 79 80 81 85 88 89 2 5 11 I5 18 20 21 22 23 24 25 26 22 0x41 0x42 0x43 0x46 0x47 0x48 0x4C 0x4E 0x4F 0x50 0x51 0x55 0x58 0x59 0x02 0x05 0x0B OxOF 0x12 0x14 0x15 0x16 0x17 0x18 0x19 Ox1A PATRIOT USER MANUAL Notes Page Is O asc 1 bin 0 both 1 FC 2 TS Ozin 12cm O off 12on Ia lp le IS IB Jl S fa de 8 IS E J amp l S l5 ARR BBE IS e w N WO e WO ID IN iA IW IDS N Oo IM o IW B TR Pho 3 i N N e November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension TM 2 4 PATRIOT Error Code Summary The following error codes may appear as binary values in binary mode frame headers In ASCII mode only the
21. 34 AA Carriage Return Line Feed 49 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Table 2 25 Y Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Filter Sensitivity Value 12 FL Filter Low Value 16 FL Filter High Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system Y 2 2 8 95 lt gt All active stations will now have filtering applied to the attitude measurements To turn off attitude filters Y0 1 0 0 lt gt Rev B 50 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension B Un Boresight Rev B Description This command causes the sensor boresight rotation matrix to be reset to the identity matrix for the specified station If the origin of the station was previously reset using the B Boresight command see page 28 the origin will revert back to the source origin Syntax Bstation lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair Remarks None Output Record None Examples B1 Resets Station 1 51 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t AK Set Echo Mode Rev B Description This command enables and disables the communications echo mode In echo mode Patriot responds to configurati
22. 5 25 3 Sxxx xx Origin Coordinates 26 27 AA Carriage Return Line Feed 28 48 3 Sxxx xx Positive X Axis Coordinates 49 50 AA Carriage Return Line Feed 51 71 3 Sxxx xx Positive Y Axis Coordinates 72 13 AA Carriage Return Line Feed Table 2 4 A Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Ox 12 FL Oy 16 FL Oz 20 FL Xx Examples To perform an alignment on station 1 follow the steps listed below Standard Alignment Procedure 1 Send Rl 2 Place the sensor at the proposed origin location 3 Press P and write down the X Y Z measurements these will be Ox Oy Oz 4 Move the sensor along the proposed X axis from the origin defined in step 2 and place it about 24 inches in front of this origin 26 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t 5 Press P and write down the X Y Z measurements these will be Xx Xy Xz 6 Move the sensor along the proposed Y axis from the origin defined in step 2 and place it about 24 inches from the source 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 A1 0x Oy Oz Xx Xy Xz Yx Yy YZ lt gt Rev B 27 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension E B Boresight Description This command causes t
23. Counters Description This command allows the user to zero the frame counting and the frame timestamp feature The frame counting feature is always enabled however it is only output when specified through the O Output Data List command see page 41 The framecount is a positive integer value indicating the relative frame number since system start or the last reset Rollover occurs after 2 frames The timestamp feature is always enabled however the timestamp is only output if it has been specified in the O Output Data List command The timestamp is a positive integer value indicating the number of milliseconds since the last reset operation or system start Rollover occurs after 2 milliseconds Syntax Qcounter lt gt Part Description counter 0 Reset both framecount and timestamp 1 Reset framecount only 2 Reset timestamp only Remarks None Output Record None Examples To zero the framecount execute the following Ql lt Rev B 65 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t AK Save Operational Configuration Rev B Description This command allows the user to save an operational configuration to one of three configuration records stored in PATRIOT non volatile configuration memory The configuration saved is the configuration currently defined Syntax Kslotnum Part Description slotnum 1 3 One of three user definable ope
24. Format Description 0 7 Binary Header 8 UC Sensor count 9 UC Tracker Type 1 PATRIOT 10 UC Reserved 11 end CH Same as ASCII output bytes 5 end Table 2 44 V station ASCII Response Byte Index Format Description 0 A First Digit of Station Number 0 1 A Second Digit of Station Number 2 A y 3 A Error Indicator 4 B ASCII Blank character 5 17 A Station ID 18 n A ID n l n 2 A Carriage Return Line Feed n 24 A Station Serial Number n 24 m A Serial Number m m 2 A Carriage Return Line Feed Table 2 45 V station Binary Response Byte Index Format Description 0 7 Binary Header 8 I ID 12 CH 16 Serial Number Examples To determine the firmware version of the System Controller module in PATRIOT issue the following command V lt gt The record returned will contain the version number of the PATRIOT Firmware I O Processor and Boot Loader Rev B 70 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t AW Set Default Operational Configuration Rev B Description This command sets the system non volatile operational configuration to one of four values This new default configuration will be used upon subsequent system initializations This command does not change the current configuration of the device until the device is restarted Syntax Wslotnum
25. Manual or is damaged by accident or mishandling Parts or material which are disposable or expendable or subject to normal wear beyond usefulness within the warranty period such as lamps fuses etc are not covered by this warranty In the event any System or portion thereof is defective Buyer shall promptly and within the warranty period notify Polhemus in writing of the nature of the defect and return the defective parts at the direction of Polhemus Customer Service to Polhemus Upon determination by Polhemus that the parts or Systems are defective in the reasonable opinion of Polhemus and covered by the warranty set forth above Polhemus at its option shall repair or replace the same without cost to Buyer Buyer shall pay in advance all charges for transportation and delivery costs to Polhemus factory for defective parts where directed to be sent to Polhemus and Polhemus 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 Polhemus In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that Polhemus 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 therefore Buyer shall bear the risk of loss or damage during transit in all cases
26. PATRIOT Ready text message to the RS 232 port when initialization is complete 4 3 Configuration Changes PATRIOT will start up with a default configuration unless otherwise set to a different start up configuration Up to three user defined configuration settings can be stored in the PATRIOT system Any one of these configurations can be set as the startup configuration See K Save Operational Configuration on page 66 and W Set Default Operational Configuration on page 71 for instructions on how to set and store configurations 4 4 Output Update Rate The data output update rate for the PATRIOT is 60 Hz Rev B 82 November 2004 F CIL HEML SS PATRIOT USER MANUAL First in the third dimension t 4 5 Output Considerations Most applications of the PATRIOT system involve using its data output to manipulate some type of computer graphics in real time In this condition it is 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 PATRIOT data point and receiving it into the host computer Factors that could increase this lag are e Output Record Length e Data Format Binary is more efficient than ASCII e Filtering data are produced at normal times but will show effects of filter lag e Background software and applications running on the host computer The PATRIOT also contains an adaptive filter th
27. 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 sensor were placed there An example of where this command would be useful is a sloped test surface that the user wanted referenced to the surface This would obtain congruence between the PATRIOT source and the source frame axes of the sloped surface Syntax Astation Ox Oy Oz Xx Xy Xz LYx LYy Yz lt gt The Alignment Reference Frame Syntax has these parts Part Description station 1 or 2 which specifies the relevant source sensor 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 is in the positive Y direction from the X axis Remarks The source reference frame is the default alignment reference frame 0 0 0 1 0 0 0 1 0 in inches Rev B 25 November 2004 F CILHEML SS PATRIOT USER MANUAL Rev B First in the third dimension t Output Record Table 2 3 A ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A A 3 A Error Indicator 4 B ASCII Blank character
28. The azimuth elevation and roll angles that define the current orientation of the sensor coordinate frame with respect to the designated reference frame The Euler angle coordinates that are output by PATRIOT as one measure of sensor orientation are graphically defined in Figure 1 11 Here the x y z and X Y Z tri axis arrays represent independent three dimensional orthogonal coordinate frames The X y Z triad represents the sensor frame in its current orientation state The X Y Z triad represents the reference frame against which the relative orientation of the sensor frame is measured By definition the X Y Z frame also represents the zero orientation reference state of the sensor frame The Euler angles azimuth elevation and roll are designated y 0 and These angles represent an azimuth primary sequence of frame rotations that define the current orientation of the sensor 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 the figure as a rotation of the X and Y reference axes about the Z reference axis 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 The transition axis labeled Z represent
29. in text to indicate the Ctrl key 17 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t 2 PATRIOT System Commands 2 1 Overview This section specifies the PATRIOT Command Interface It defines the structure and function of PATRIOT commands and responses The interface is comprised of ASCII commands and binary or ASCII response frames The ASCII commands are designed to work in a dumb terminal mode thus keeping the communications protocol simple and easy to use These commands are the basis of the Polhemus APIs Additional information is provided in this document to give the reader some background in the terminology and general science behind the Polhemus tracking technology All commands are input on the RS 232 serial port or USB port 2 2 Command Syntax 2 2 1 Notation The following notation is used in this manual to describe the PATRIOT command syntax 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 M 0x0d 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 exam
30. in the third dimension 1 Getting Started Congratulations on buying the latest most cost effective 3D tracking system yet This section of the user manual has been provided to help get your project under way as quickly as possible As with any new system there are two ways to get started with your PATRIOT system you could wing it which involves a great deal of assumptions based on 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 does not preclude using the manual as a precise guide reference and final arbiter 1 1 Set Up the PATRIOT NOTE This approach assumes the use of a single sensor availability of a USB or COM Port on a computer with either Windows 2000 or Windows XP and that the Polhemus PiMgr GUI is installed on the computer See Install the Host Software on page 6 for instructions 1 Unpack the PATRIOT SEU source sensor s USB and RS 232 cables PATRIOT Host Software CD power supply and cables See Figure 1 1 Figure 1 1 PATRIOT System d Set up the PATRIOT 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 source the two inch gray cube and insert the source connector into the sou
31. rate is critical then the continuous print output configuration should be enabled Issuing a P command disables continuous print output mode Frames will be received from the PATRIOT at 60 frames sec Output Record The format of each frame of continuous output data is identical to that of a single frame generated by the P command See Table 2 38 on page 63 and Table 2 39 on page 64 Examples To enable continuous output mode send the command as follows C lt gt Data from PATRIOT will now flow continuously to the host computer To disable send a P Continuous data will stop and the response to the terminating P will be returned 62 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t P Single Data Record Output Description In non continuous output mode this command polls PATRIOT for a single data record If more than one station is enabled then data from each active station will be sent in numerical order station 1 first station 2 second that is a complete cycle of active stations will be output Output mode refers to whether the system automatically transmits data records to the host continuous output mode or the host must request data records by polling the system each time non continuous output mode Syntax P NOTE This is the only PATRIOT command that does VOT require a lt gt Remarks The system default enables single data record outp
32. source 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 vector from the source through a point at the zenith of the hemisphere and is specified by the LOS direction cosines Syntax Hstation p p2 p3 Part Description station 1 or 2 which specifies the relevant source sensor pair pl The initial x component of a vector pointing in the direction of the operational hemisphere s zenith p2 The initial y component of a vector pointing in the direction of the operational hemisphere s zenith p3 The initial z component of a vector pointing in the direction of the operational hemisphere s zenith Remarks The arguments p p3 above are the vector components of the operational hemisphere s zenith The default hemisphere values are 1 0 0 which is positive X or forward hemisphere 34 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Hemisphere Tracking is enabled by sending Hstation 0 0 0 lt gt It is not enabled by default When enabled PATRIOT modifies the operating hemisphere automatically When turning on Hemisphere Tracking the sensor of the specified station must be initially located in the currently set hemisphere NOTE If Hemisphere Tracking is turned ON when the X Operational Configura
33. t APPENDIX C Built In Test BIT Initialization Results Upon startup and initialization PATRIOT automatically performs a series of Built In Tests PATRIOT initialization Built In Test BIT results are read using the AT Read Clear BIT Errors command on page 67 This command returns initialization BIT results in a series of three bitmapped 32 bit words When any initialization BIT errors have been detected the P amp O output frame header contains an T or A G if runtime errors also exist in the header s error field See Table 4 5 for more about BIT related error codes The initialization BIT results words contain sub bitmaps that represent Source Global Sensor GS and individual Sensor Channel BIT results A SET bit 1 position indicates that a BIT error occurred If no errors were detected each bit in all nine or eighteen words will be CLEARED 0 The words and their content are depicted in Table 4 1 below Shaded areas represent reserved bit fields Table 4 1 BIT Results DWORDs BITMAP Word 21 2029 25 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Source GS 1 Sensor Channel 1 2 Sensor Channel 2 Source BIT Results The sub bitmap representing source BIT results is defined in Table 4 2 below Table 4 2 Source BIT Results Definition Magnitude X Error Magnitude Y Error Magnitude Z Error
34. 2 Communication Only one I O port USB or RS 232 can be active at a time e For USB continue with step 7 e For RS 222 skip to step 11 For USB Communication 7 Identify the USB cable and insert it into the receptacle as shown in Figure 1 6 Connect the other end of the USB cable to the host computer Rev B 3 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t CONFIG RS 232 nnd Figure 1 6 USB Cable Connection 8 At this point you may turn on the PATRIOT system using the power switch located on the back panel of the SEU A system status indicator located on the front panel should flash red for 5 to 10 seconds indicating self test and set up When these routines are completed the indicator will reflect system status as follows e Steady green System operational passed startup testing e Flashing red Failed self test and set up 9 The host should respond with a Found New Hardware message Follow the hardware wizard to install the required drivers from the PATRIOT Host Software CD ROM For step by step instructions refer to USB Driver Installation on page 6 NOTE Once the USB cable is connected to PATRIOT it cannot return to RS 232 mode without removing the USB connection and restarting power OFF ON 10 You may now use the Polhemus PiMgr GUI to exercise the system If you have not yet installed the Host Software continue to Install the Host Software on pa
35. 5 character ASCII string ID that describes the current configuration Remarks A valid configuration ID is up to 15 characters plus a null terminator If no string argument is supplied with this command PATRIOT will respond with a list of the currently saved configuration IDs A string of 15 asterisks followed by the null character indicates an undefined configuration k ikk Output Record Table 2 36 X ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 21 16 A B Current Configuration Record ID 21 37 16 A B Configuration Record ID 1 38 53 16 A B Configuration Record ID 2 54 69 16 A B Configuration Record ID 3 72 71 AA Carriage Return Line Feed 59 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t Table 2 37 X Binary Response Byte Index Format Description 0 7 Binary Header 8 CH 16 Current Config ID 24 CH 16 Default Config ID 40 CH 16 Config Slot 1 10 56 CH 16 Config Slot 2 10 72 CH 16 Config Slot 3 10 88 CH 16 Startup Config ID Examples To determine what configurations are available in the PATRIOT system issue the following command X lt gt The returned record could display the following Current Configuration 1 0 Default 1 Configuration 1 2 Configuratio
36. 6 75 in 17 1 cm L x 6 25 in 15 9 cm W x 1 75 in 4 5 cm H weight 0 85 Ibs 0 4 kg Field Source 2 3 in 5 8 cm L x 2 2 in 5 6 cm W x 2 2 in 5 6 cm H weight 8 8 oz 250 gms Sensor 0 9 in 22 9 mm L x 1 1 in 27 9 mm W x 0 6 in 15 2 mm H weight 0 8 oz 23 gms Power Module 3 5 in 8 9 cm L x 2 4 in 6 1 cm W x 1 4 in 3 6 cm H weight 6 oz 160 gms Power Requirements 100 240V AC 50 60 Hz Nominal 85 264 VAC 47 63 Hz max rating single phase 10 W Rev B E 1 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t APPENDIX F Customer Service If problems are encountered with the PATRIOT system or if you are having difficulty understanding how the commands work help is just a telephone call away Call Polhemus at the numbers listed below and follow the prompts select 2 for Customer Service and then 1 for 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 representatives 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 representative will issue a Return Merchand
37. CII Blank character 5 10 A Baud Rate See Table 2 28 above 11 B Blank 12 A Parity See Table 2 29 above 13 14 A Carriage Return Line Feed Table 2 31 O Binary Response Byte Index Format Description 0 7 Binary Header 8 I Baud Rate See Table 2 32 below 12 I Parity See Table 2 32 below Examples Suppose there is a requirement to change the baud rate in software to 19 200 baud after startup It can be accomplished with the following command without turning off and restarting the system O0192 1 8 0 The system serial communication parameters will now be 19200 baud no parity 8 data bits and 1 stop bit The host communication software may have to be reset to the new baud rate 19 200 in order for communication with PATRIOT to continue Table 2 32 Binary RS 232 Codes Code Baud Rate Code Parity 1 2400 0 None 2 4800 1 Odd 3 9600 2 Even 4 19200 5 38400 6 57600 7 115200 Rev B 54 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t AR Reset Alignment Frame Rev B Description 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 Syntax Rstation lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair
38. Description 80 64 station 1 FL Alignment Origin X 84 64 station 1 FL Alignment Origin Y 88 64 station 1 FL Alignment Origin Z 92 64 station 1 FL Alignment X Axis X 96 64 station 1 FL Alignment X Axis Y 100 64 station 1 FL Alignment X Axis Z 104 64 station 1 FL Alignment Y Axis X 108 64 station 1 FL Alignment Y Axis Y 112 64 station 1 FL Alignment Y Axis Z 116 64 station 1 FL Hemisphere X 120 64 station 1 FL Hemisphere Y 124 64 station 1 FL Hemisphere Z 128 64 station 1 FL Boresight Az 132 64 station 1 FL Boresight El 136 64 station 1 FL Boresight Roll 140 64 station 1 I Stylus Mode O Marker 1 PointTrack The following 80 bytes will be repeated once for each station on PATRIOT Byte Index Format Description 144 64 station count 1 I 20 Output Data List Table 2 17 page 41 Rev B November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Examples To view the configuration settings for the current configuration issue the following command AZ lt gt To view the configuration settings for the factory default configuration issue the following command Z0 lt gt Rev B 76 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t 3 Component Description 3 1 System Electronics Unit SEU The SEU is a stand alone unit that may b
39. E FOREGOING POLHEMUS MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATSOEVER 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 ACTUAL DIRECT DAMAGES NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED The systems are not certified for medical or bio medical use Any references to medical or bio medical use are examples of what medical companies have done with the systems after obtaining all necessary or appropriate medical certifications The end user OEM must comply with all pertinent FDA CE and all other regulatory requirements Rev B D 2 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t ma APPENDIX E Specifications Update Rate 60 Hz per sensor simultaneous samples Latency Less than 20 milliseconds Number of Sensors lor2 T O Ports USB RS232 to 115 200 Baud both standard Static Accuracy 0 1 in RMS for X Y or Z position 0 75 RMS for sensor orientation Resolution 0 0015 in 0 0038 mm at 12 in 30 cm range 0 1 orientation Range 36 in 90 cm at above specifications useful operation up to 60 in 152 cm Multiple Systems Provision available to operate two separate systems in same environment Angular Coverage All attitude Data Format Operator selectable ASCII or IEEE 754 binary English Metric Units Physical Characteristics SEU
40. E VIB W T E E 2 2 COMMAND SYNTAX cocccvcscatecadeveascvecnddacctavacacncatatecedanacacueeeadecubacheacncetadetederacacneerdtecste Sacacueat tecudseocncuee PPS EESTI DRE TERR T AEE E EE E EEE E E EE E E RTE EE EE EEEE 2 2 2 Command Format Notes ccc cccccsccccccccccccssssccceccccccsssseecccsccasscsseccecececssseseescceseausaescesscessuuanececeses Station Wild card ccccccccccccsccccccsssssscscccesessssssecccesssssssssscesesssssssscecesessssssecesessssesssceceesssssesseceneesttssseees Default Parameters 2 2 5 Response Format Notes 2 3 PATRIOT USER COMMAND SET SUMMARY 2 4 PATRIOT ERROR CODE SUMMARY vac sncsccosceseusessnssccecavscoscavecatsovensestessesciusdencessossescovadsrcovescesscvecewnes 2 5 COMMAND REFERENCE eeeeeeneneneneenenn enne nennen 2 5 1 Configuration Commands A Alignment Reference Frame xs B Bor sight dro n e LEE HE EEG EERE saenuses HR aa F Output Format MD M G Source Mounting Frame H Hemisphere of Operation eter ere debere etie tbe Re Perte daba orbe eek lee aA a Sty lS Button FUNGUO ieys deer n o rey e e En ae a ed Erga teri een N Tip Offsets O Output Data List rcr rne reo ie ree fct bete ero e e rico eii b debes UPS Set Ui tS m X Position Filter Parameters Y Attitude Filter P rameters
41. Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A O 3 A Error Indicator 4 B ASCII Blank character 5 X Data Item 1 6 B 7 xB Remaining data items separated by blanks Table 2 19 O Binary Response Byte Index Format Description 0 7 Binary Header 8 I Data Item 1 12 I Data Item 2 16 I Data Item 3 84 I Data Item 20 NOTE In the binary output format the list of valid data items will be terminated with a 1 OxFFFFFFFF Examples 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 1 will now be displayed as X Y Z direction cosines plus carriage return line feed O 2 lt gt The output for all stations will be position only Rev B 42 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension U Set Units Rev B Description This command sets the distance unit to either metric centimeters or English inches Subsequent input and output lengths will be interpreted as centimeters or inches respectively Syntax U units lt gt Part Description units Defines the type of input and output Units The choices are 0 English Inches 1 Metric Centimeters Remarks The system default unit format is inches As with all other c
42. Hence this definition is intended to correspond to the center point of data collection time so that latency is straightforward and understandable as stated Other tracking systems e g inertial may produce raw data continuously or nearly continuously PATRIOT latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer LIBERTY A generation of flexible and expandable motion tracking instruments after which the PATRIOT is modeled using the same sources and sensors The LIBERTY 240 8 allows up to 8 sensors while the LIBERTY 240 16 allows up to 16 sensors Line of Sight LOS 1 The orientation angle of the source sensor pair 2 in active tracking systems the angle between the source of stimulation and the sensor 3 not obscured or blocked from view such as a clear line of sight for optical uses LSB Least significant bit LSD Least significant digit MSB Most significant bit Rev B 13 November 2004 POLHEMUS PATRIOT USER MANUAL Motion Box The volume in which motion tracking is specified 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 source 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 Orientation Angles
43. ION 4 1 VO Considerations There are two possible communication options available on the PATRIOT system USB or RS 232 Each option supports either Binary or ASCII formats Upon power up or system initialization if the USB cable is not plugged into the SEU the PATRIOT will automatically send data to the RS 232 interface The USB cable can be plugged in at any time and the PATRIOT will shift to USB operation If the USB is unplugged the PATRIOT system s power must be recycled to shift back to RS 232 operation 4 2 Powering Up PATRIOT To power up the PATRIOT system first ensure that the power switch on the back panel of PATRIOT is in the OFF DOWN position and that the power supply is not plugged into the AC Then connect the power cable from the power supply to the power connector on the rear panel of PATRIOT Plug in the source and the desired number of sensors Plug in the desired I O cable USB or RS 232 Plug the power supply into the AC outlet and turn the Power Switch to the ON UP position On power up the power indicator will blink red for 5 to 10 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 flashing red state to a steady green state See LED Indicator on page 77 for a description of the LED status If PATRIOT is connected via RS 232 it will send a
44. Remarks None Output Record None Examples To reset the alignment reference frame for station 2 execute the following R2 55 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t AU Active Station State Rev B Description The purpose of this command is to allow the host to turn a station on or off in software A station is defined as a source sensor port pair The two sensors paired with the one source are assigned station numbers one and two 1 2 Although stations are enabled simply by plugging the sensors into the ports on PATRIOT the stations can then be disabled or enabled again by using a software command When a station exists and is enabled data records for that sensor will be transmitted from that station If the station is disabled no data records from that station will be transmitted Syntax U station L state or AU0 bitmap lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair 0 causes active station bitmap to be retrieved or set state 0 Off On n a if station 0 bitmap 8 bit bitmap reflecting state of each sensor represented as a hexadecimal number Remarks If a station is supplied without a state then the current states of all stations are returned See output record below The default condition depends on the number of sensors that are currently connected to PATRIOT The defa
45. T 77 34 3 LEDIdiCcdl r aei tea ncossedeasanatocbecssubs sve cle EE c petens tedret E ess ose edvee ie eoidud 77 Rede IS 2 92 I O EE 78 Serial Connector 5 s insnsaui ce HER OE GRIS REPRE EC ONS ERE ANNAE EENS r EXPERTEN EHEECH RE 78 lard ware S witGhes T ERES 78 3 2 MAGNETIC SOURCE si cctvcdvscskvccsscstvdacsodercosdedsvvevscouveesdedevosdscouecesdecseeevssncneesdedsoacsssocnwesbenseworseaeneessdoeies 79 Ded SBNSOR S eRUE S techn ence Seated ML M LL IM IM EL IPLE MCI 80 SA OSDYDUSS E E ere ERE EEER EP EEEEER E EEUEP EE E CER e FOR PETENS E ERE PEE TRTR TERR OR R TERT LIN SEE EET 80 4 TO CONSIDERATIONS 2 5 cic reet teet repetere Eb FRE RERO PERPE ER CERE FERE ER PERPE REP EEE PERPE 4 2 POWERING UP PATRIQT rtr rrr rere tt PE ERE EEEE E EO E RERNE E e C SEDE E ee Enae 4 3 CONFIGURATION CHANGES cofins sneon iorn EErEE EE Er DE AE EE eE E ei ie ir E Ein AA OUTPUT UPDATE RATE iche eere repr Ear E EE EEE Ae ERE r YER RERNE EE EEE SENE Eara aiii 4 5 OUTPUT CONSIDERATIONS einion norne or eE EE EE usupsabssacpesensasesebeeacseseteadnenbheacbebeosaceee AiO USEFUL RANGE raene E e D Re ene E APPENDIX A Alignment Reference Frame sessi nns nne tnt nnne nns tree nnt teens rnt nn sentes SES APPENDIX B System Output Data Records ccsssssscssessecsssceccsssostcssssssesscseesoessenescesssvstenssosecosscosesensesseserseseesonees ASCH FORMA Twice nian BINARY FORMAT TTC
46. at is designed to control noise in the data output The filter can be applied to Position or Orientation or both 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 selected Although data is transferred at normal time the filtering gives it the appearance of lag See X Position Filter Parameters on page 45 and Y Attitude Filter Parameters on page 48 for more information on setting the filters 4 6 Useful Range An X Y or Z position value exceeding PATRIOT s useful range of 60 inches 152 cm will be output as zero Rev B 83 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t APPENDIX A Alignment Reference Frame Z Legend X Y Z Alignment Reference Frame x y z Rotated Stylus or Sensor Coordinate Frame Y Azimuth 0 Elevation Roll Figure 4 1 Alignment Reference Frame Rev B A 1 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t APPENDIX B System Output Data Records ASCII FORMAT INITIATING COMMANDS P or C continuous mode Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Initiating Command 3 A Error Indicator 4 B ASCII Blank character 5 x Variable See Possible Formats below x 1 x 2 AA Carriage Return Line Feed Original Pre
47. ceived from PATRIOT in response to the commands detailed in this document will conform to one of the following format definitions ASCII ASCII response frames are described in this document using the following notation pa sub iRau Is an ASCII Character B nsnsi Is a Blank or Space Aet Is the Sign byte or a space for Sora Is a decimal digit 0 9 SS ET Carriage Return Line Feed i e M J 0xOd 0x0a H mre Repeat contents of parentheses n times Example A format 3 Sx xxxxB would be output as 1 1111 2 2222 3 3333 Except where noted ASCII mode response includes a standard 5 character response header The default ASCII response frame format is as follows Table 2 1 ASCII Response Format Byte Index Format Description 0 A First Digit of Station Number amp 1 A Second Digit of Station Number gt 2 A Command Letter E 3 A Error Indicator 4 B ASCII Blank character 5thrun A Response Body n l n 2 lt gt A P amp O response frame may not contain a Carriage Return Line Feed as specified by the user with the O command If the Station Number is not applicable to the command the first two fields will be ASCII zeros 0 Error codes presented in the Error Indicator field are detailed in PATRIOT Error Code Summary on page 23 No Error is represented by an ASCII blank character lt Binary Binary response frames are described in this document using the follo
48. cision x y z position Cartesian Coordinates 3 Sxxx xxx az el roll Euler orientation angles 3 Sxxx xxx direction cosines of the sensor s x y z axis 3 Sx xxxxx Orientation Quaternion Q0 Q3 4 Sx xxxxx Stylus Switch x where x Oorl Extended precision x y z position Cartesian coordinates 3 Sx xxxxxESxxb az el oll Euler orientation angles 3 Sx xxxxxESxxb 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 NOTE 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 i e space cr lf gt 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 Rev B B 1 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t BINARY FORMAT INITIATING COMMANDS P or C continuous mode Byte Type Description 0 1 US Frame Tag always PA or 0x5041 for PATRIOT HST 2 UC Station Number 3 UC Initiating command 4 UC Error Ind
49. ck Finish e The same process will be launched again automatically to install the Polhemus PATRIOT USB Driver Repeat the same selections and the process will be complete 1 3 Use the Polhemus PiMgr GUI If you selected the default settings when you installed the PATRIOT Host Software on your computer you will find a shortcut to the PiMgr application on your Windows 2000 or XP desktop It looks like this Rev B 6 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Otherwise navigate to the program through the windows Start menu Start gt All Programs Polhemus PiMgr The initial PiMgr screen will look like this Dd Died p True Conia File View Device Motion Graphics Tools Help 85 fom lt oo Kr r Configuration Default Modified Active Sensors Bi Bz Bs os O Frames 00 00 00 Cm d For Help press F1 No tracker connection Figure 1 8 PiMgr Screen Display l With no PATRIOT system connected notice that the 29K icon appears in the lower right corner Once connected the icon will change to W 2 If the PATRIOT system is already powered up and connected to the computer the PiMgr will discover the connection immediately upon startup If not you will need to manually create the connection once you have powered up PATRIOT To do this first you must select the type of connection you wish to create 3 If you want to create a USB connection skip to st
50. collect another data frame The first four columns will be approximately as they were in step 1 but the Azimuth data in column 5 will have changed by approximately 45 degrees 4 Continue to experiment with the system as described in step 3 to demonstrate that it measures the position and orientation six degree of freedom of the sensor with respect to the source 5 For a more hands on approach to communicating with PATRIOT an RS 232 connection is available Rev B 9 November 2004 F CILHEML SS gt ATRIOT USER MANUAL E First in the third dimension t 1 5 Terms Acronyms Alignment Alignment Frame API ASCII Attitude Matrix Rev B Obtaining congruence between the axes of the PATRIOT system and the axes of the application The process whereby the PATRIOT system coordinate reference is brought into coincidence either physically or mathematically with other coordinates of the environment Alignment in an active system is not the same as a boresight operation which concerns only the sensor in passive systems alignment and boresight can be identical The reference frame in which the position and orientation of the sensor is measured The default alignment frame is the source frame Application Programming Interface Programming library used to develop custom host software for driving the instrument Sometimes used interchangeably with SDK American national Standard Code for Information Interchange d
51. d dimension t i uy N Tip Offsets Description 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 Each stylus has been factory calibrated with custom tip offsets This is the offset of the sensor from the tip of the stylus The tip offsets allow the tip to act as the measurement reference instead of the sensor coil inside the handle Tip Offset settings are not saved in the PATRIOT configuration They must be re applied each time PATRIOT is restarted Syntax Nstation Xoff Yoff Zoff Part Description station or 2 which specifies the relevant source sensor pair Xoff X direction Tip offset Yoff Y direction Tip offset Zoff Z direction Tip offset Remarks 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 Rev B 39 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Output Record Table 2 15 N ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A N 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB X offset 12 18 Sx xxxB Y offset 19 25 Sx xxxB Z of
52. e Host Software NOTE PATRIOT Host Software is intended to be installed on a computer running Windows 2000 or Windows XP only e Insert the PATRIOT Host Software CD ROM into your computer s CD ROM drive e Ifthe PATRIOT Host Software Installation Panel does not run automatically then navigate to the CD ROM drive using Windows Explorer Run Setup exe The Host Software Installation Panel will appear Click on Install Host Software The installation wizard will walk you through the installation e For simplicity it is recommended that you use the default installation settings suggested by the installation wizard e When the installation is complete if you are planning to use your computer s USB port to connect to the PATRIOT System leave the CD ROM in the drive It will be needed when the initial USB connection is made e f you are not planning to use the USB port you may remove the CD ROM from the drive now 1 2 1 USB Driver Installation e When PATRIOT is connected via USB to a Windows host for the first time the host will display a Found New Hardware message The host will then launch the Found New Hardware Wizard to locate and install the USB drivers for PATRIOT e If the CD ROM is not already in the drive load it now e When the Found New Hardware Wizard displays select the Install software automatically option and click Next e The wizard will install the PATRIOT Loader When it has completed cli
53. e Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A B 3 A Error Indicator 4 B ASCII Blank character 5 12 Sxxx xxB Azimuth Reference 13 20 Sxxx xxB Elevation Reference 21 28 Sxxx xxB Roll Reference 29 30 AA Carriage Return Line Feed Table 2 6 B Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Reference 12 FL Elevation Reference 16 FL Roll Reference Examples The sensor may be mounted on a person s head to measure where it is pointing When the user s head is looking at a given object the user may want the system angular outputs to be zero The user can designate this sensor orientation as the zero orientation by sending the boresight command B1 0 0 0 0 lt gt 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 source with the zero points shifted to the point where the boresight occurred 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 included with the B command B1 0 15 0 0 lt gt The boresight command will now cause the azimuth elevation and roll data output to be 0 15
54. e 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 Hemisphere Z H1 0 0 1 lt gt Rev B 36 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t L Stylus Button Function Rev B Description This command allows the user to put the PATRIOT stylus into different output modes by controlling the button function Syntax Lstation fbutton lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair fbutton Defines the function of the Stylus Button The choices are 0 Marker Mode 1 Point Track Mode Remarks System default is Marker Mode An entry of fbutton 0 defines the output interaction as marker mode The pushing of the stylus switch has no effect on system output other than setting an event marker in the output record when the button is pressed In this case a is reported in the output record when the switch is pressed and a 0 when it is not pressed NOTE Output of this marker must be enabled through the O Output Data List command see page 41 An entry of fbutton 1 defines a pseudo point track mode interaction wi
55. e 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 i 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 Y Syntax Y F FLow FHigh Factor Part Description 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 0 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 FLow FHigh or 1 0 to disable filter Rev B 48 November 2004 POLHEMUS PATRIOT USER MANUAL Rev B First i
56. e 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 two sensors a single magnetic source a USB port and an RS 232 port See Getting Started Figure 1 1 on page 1 for a picture of the SEU PATRIOT sources and sensors are compatible with and identical to LIBERTY sources and sensors 3 1 1 Source Port The single source port is a 15 pin plug D type connector located on the front of the SEU as shown in Figure 1 2 on page 1 The source should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off CAUTION Do not disconnect or connect the source while the PATRIOT SEU is powered on Be sure the source cable is routed separately from the sensor cables Source Frequency The PATRIOT is shipped with a source designed to operate at a standard frequency It is possible to operate multiple PATRIOT units in close proximity by using sources designed to operate at alternate frequencies The source frequency is automatically detected and no operator action is needed Contact Polhemus Customer Service see page F 1 for more information 3 1 2 Sensor Ports The sensor ports are 15 pin high density receptacle D type connectors located on the front of the SEU as shown in Figure 1 3 on page 2 The SEU can be configured to accept up to two sensors The sensor s can be connected or di
57. e of Operation command on page 34 which defines the hemisphere in which the sensors are operating Therefore only half of the total spatial sphere surrounding the source 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 source 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 source 12 November 2004 POLHEMUS PATRIOT USER MANUAL Host Any device capable of supporting an RS 232C interface or the high speed USB interface and capable of bi directional data transmission Devices may range from a dumb terminal to a mainframe computer I O latency The interval of time needed by the host computer to transfer data from the PATRIOT system into the host application Lag The interval of time between requesting a PATRIOT system data point and receiving it into the host computer Latency The interval of time between when measurement data were collected and when the P amp O result is formatted ready for transfer to the host computer In some systems namely active PATRIOT systems there is a time interval between when the data is collected and when the P amp O computation can be done
58. ecial calibration or Binary BIT Boresight Rev B 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 PATRIOT performance shall be regarded as occurring in such a benign environment Mathematical system based on two digits 0 and 1 Built In Test features monitoring the status and health of the PATRIOT system as well as flagging certain preset conditions monitored by the PATRIOT system software Not to be confused with bit a contraction of binary digit Any procedure that rotates the sensor frame so as to precisely align the sensor to the designated reference frame In a PATRIOT system context the term usually refers to the system software routine that on command performs a coordinate rotation which effectively aligns the sensor frame to a predefined boresight reference orientation The boresight routine accomplishes the boresight orientation of the sensor regardless of the sensor s physical orientation at the instant of boresight initiation For applications that require the orientation tracking of the body or body member to which the sensor is attached a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresigh
59. efines a certain 8 bit code for display and control characters A three by three matrix containing the direction cosines of the sensor s X axis in column one the direction cosines of the sensor s Y axis in column two and the direction cosines of the sensor s Z axis in column three The order of the 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 z Cos azimuth CE Cos elevation CR Cos roll SA Sin azimuth SE Sin elevation SR Sin roll 10 November 2004 F CILHEML SS First in the third dimension t Azimuth Baud Rate PATRIOT USER MANUAL 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 Benign Environment A tracking environment free of the need for sp
60. environment 11 lihri MEN ER 11 pri 20 BD ea tes uednbuneeshue nene idt 11 global sensor results C 2 sensor channel results C 2 source results esee C 1 BIT Built In Test C 1 BEV CL1 08S nsere eE ES s 67 boresight oe botes 11 28 Dore 12 Built In Test BIT C 1 CONMMELELS gt serene reete rhe re eR I eere nS 43 CH 21 command reference sess 24 command set summary eene 22 Command syntax essere 18 component description sseeeeee 77 configuration eese een nen 82 configuration changes 82 configuration commands sss 24 contacting Polhemus F 1 continuous print output 62 opui ce een eaa eaaa ER EE E 65 eum 17 customer service essen F 1 data experiments seen 9 data format ud retenti terree E 1 data record sedet B 1 default operational configuration 71 direction cosines sees 12 DW dO Eee EP REPE 21 echo mode i5 eee desees oe voee ERRARE 22 EEPROM vocari tes 71 elevaliotb i RE RE A eee 12 Enterza cS ERRARE Ard 17 error code summary sseeeeeee 23 Rev B experiment with data eee 9 F filter parameter scalar value 45 48 lb rero mE PEE 46 49 factory de
61. ep 4 PiMgr defaults to a USB connection If you want to create an RS 232 connection first configure the serial port settings by opening the Device Configuration dialog Open this dialog off the Device menu Devicec Device Configuration and select the Connection tab Select the RS 232 Connection Type on the left and the appropriate RS 232 Properties on the right Then Click OK Rev B 7 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Fra eir Coriisurtiun Source Mounting Frame l Active Sensors General Connection Filters r Connection Type r RS 232 Properties Com Port M Baud Rate 15200 Parity None gt RS 232 C USB Cancel Apply Figure 1 9 RS 232 Configuration Settings 4 To create a connection click the Connect button on the PiMgr toolbar When the connection has been established the connection icon at the lower right will change to W 5 To collect a single frame of motion data from the PATRIOT system click the Single button on the toolbar 6 You can also do this by typing p or P anywhere on the PiMgr window This will cause PiMgr to request a single data frame from the PATRIOT system The contents of the frame will be displayed in the text window at the top of the PiMgr display The airplane image s in the graphics portion of the screen will move to the retrieved position and orientation pd Untitled ey freer Conti File Vie
62. faults n Ponte ge b es 12 EHISI Lei etees emend tr Red 46 49 field source ssesssseeeeennerens E 1 filter parameters attitude 48 filter parameters position 45 PWA 8s desee tecti e e s 12 EL usen ae tepidis 21 EEOWa ite ne e hen ree a 45 48 format oo eee eee ceeececsseceeccecsecseeeecssecseeeecsseeesees 12 global sensor GS BIT results C 2 hardware SWitches c ccccssscecssseceesseeeeesseees 78 hemisphere eene 12 34 hemisphere of operation seeseee 34 HOSE 13 Deme eiiam 21 cp 82 V O considerations ccccccceceescecessteeeeeseeeees 82 VO l teney cett ftrt 13 VO POS T E 1 ID operational configuration 59 INCHES pM LEER 43 initialization results sssseessss C 1 initialize system sese 72 ID A 13 latency ose tnde 13 E 1 least significant bit LSB 13 least significant digit LSD 13 LED indicator eseeseeeeennen Y habii ys obs sacs D 1 LIBERTY ere eer Reine 13 limited warranty limitation of liability D 1 Line of Sight LOS 13 List of Tables cesset terree es vi LOS line of sight 13 34 LSB least significant bit
63. fset 26 27 AA Carriage Return Line Feed Table 2 16 N Binary Response Byte Index Format Description 0 7 Binary Header 8 FL X offset 12 FL Y offset 16 FL Z offset Examples 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 PATRIOT is measuring units in inches by sending the U Set Units command see page 43 Read the factory tip offsets from the PROM in the connector by sending the command N1 lt gt A typical factory tip offset might be 2 523 0 004 0 03 2 To add one inch in X to the factory calibration type N1 3 523 0 004 0 03 lt gt To verify that the tip offset was entered correctly type N1 lt gt to read it back Rev B 40 November 2004 F CILHEML SS First in the third dimension t O Output Data List Description 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 20 items that produces a P amp O response frame of less than or equal to 1000 bytes is permissible NOTE Due to the high output rate of PATRIOT caution should be used when defining large output records to prevent overwhelming the host communications channel The output list refers to the subset of data items to be included in a data
64. ge 6 Otherwise continue to Use the Polhemus PiMgr GUI on page 6 and Experiment with PATRIOT Data on page 9 For RS 232 Communication 11 Locate the RS 232 cable and insert it into the receptacle as shown in Figure 1 7 Most PC hosts have a 9 pin male D type connector for COMI If you are using COMI plug the remaining end of the cable into the COMI 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 Rev B 4 November 2004 p First in the third dimension t POLHEMUS PATRIOT USER MANUAL CONFIG 12 13 14 Rev B Figure 1 7 RS 232 Cable Connection You may now exercise the system To use the Polhemus PiMgr GUI return to step 10 With the RS 232 connection you may also use PATRIOT s ASCII interface through the Windows HyperTerminal program To do this first set PATRIOT s CONFIG hardware switches to all DOWN as shown in Figure 1 7 RS 232 switch settings are described in detail in RS 232 I O on page 78 Next start the HyperTerminal program and create a serial connection using these switch settings The steps are as follows e Navigate to HyperTerminal from the Windows Start menu Start gt All Programs gt Accessories gt Communications gt HyperTerminal In Hy
65. he following formats are used For example 3 0 may be specified as 3 3 3 0 or 3 0E 00 Station Wildcard When using a command that requires a station number as the parameter the user may wish to apply the command to both stations of the PATRIOT system In such situations a character may be used in place of the station number to apply the settings to both stations in the PATRIOT system e g H 0 0 1 lt gt would change the hemisphere for every station to the positive Z hemisphere e g H1 0 0 1 lt gt would change the hemisphere for only station 1 to the positive Z hemisphere Default Parameters Commands that take multiple parameters can be used to change a subset of the parameters and leave the remaining parameter values unchanged For example e The command Gaz el roll changes the source mounting frame to az el roll e The command G0 80 0 changes the source mounting frame to 0 180 0 By omitting the el parameter from the command GO 50 the source mounting frame would then change to 0 180 180 The e setting remains unchanged Rev B 19 November 2004 POLHEMUS PATRIOT USER MANUAL e Similarly the az parameter can be defaulted by Gel roll lt gt and the roll parameter can be defaulted by Gaz el lt gt The trailing comma is not required when the last parameter s are omitted 2 2 3 Response Format Notes Depending on the F Output Format configuration setting see page 30 frames re
66. he sensor to be electronically aligned in orientation and optionally position with the user system coordinates and establishes the boresight reference angles for the station Azimuth elevation and roll outputs will equal the boresight reference values at the current orientation If the Reset Origin switch is set X Y and Z outputs will equal 0 0 0 at the boresight location PATRIOT then produces outputs relative to this these reference s Any sensor orientation can be designated as the zero orientation point If all the optional parameters are omitted the system returns the boresight reference angles for the specified station A station may be unboresighted by issuing a B command See the section describing the B Un Boresight Command on page 51 Syntax Bstation Azref Elref Rlref ResetOrigin lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair Azref The azimuth reference angle Elref The elevation reference angle Rlref The roll reference angle ResetOrigin A switch to enable disable setting the X Y and Z origin values to 0 0 0 upon boresight 0 disable the origin reset 1 reset origin upon boresight Default is 0 Remarks The system default boresight reference values are 0 0 0 Rev B 28 November 2004 POLHEMUS PATRIOT USER MANUAL Rev B First in the third dimension Output Record Table 2 5 B ASCII Response Byt
67. here 3 Sxx xxxB Az El Roll Boresight Reference Angles 3 xxx xxB lt gt Az El Roll Stylus Function Marker Point Track Mode lt gt Alignment Coordinates lt gt Origin Coordinates 3 Sxxx xxB lt gt Ox Oy Oz Pos X Axis 3 Sxxx xxB lt gt Xx Xy Xz Pos Y Axis 3 Sxxx xxB Yx Yy Yz Rev B 74 November 2004 LHEMUS NT e IN T USER MANUAL Table 2 48 Z Binary Response Byte Index Format Description 0 7 Binary Header 8 A Config ID 24 I Bits Meaning 0 2 Baud rate Table 2 32 on page 53 3 4 Parity Table 2 32 on page 53 4 31 Reserved 28 I Bits Meaning 0 Continuous Mode 0 Off 1 On 1 Binary Mode O ASCII 1 Binary 2 Units Mode 0 Inches 1 CM 3 4 Sync Mode N A for PATRIOT 5 7 Reserved 8 9 Compensation N A for PATRIOT 10 25 Station Bitmap 1 Active 26 Echo Mode 0 Off 1 On 27 31 Reserved 32 FL Attitude Filter Sensitivity 36 FL Attitude Filter FLow 40 FL Attitude Filter FHigh 44 FL Attitude Filter FACTOR 48 FL Position Filter Sensitivity 52 FL Position Filter FLow 56 FL Position Filter FHigh 60 FL Position Filter FACTOR 64 FL Source Mounting Frame Az 68 FL Source Mounting Frame El 72 FL Source Mounting Frame Roll 76 I Frame Rate 2 60 Hz The following 64 bytes will be repeated once for each station on PATRIOT Byte Index Format
68. icator 5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body iie x y z position Cartesian coordinates FL 3 as ese az el roll Euler orientation angles FL 3 Pica direction cosines of the sensor s x y z axes FL 3 e 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 H3 The notation FL 3 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 31 Bit 30 23 Bit 22 0 Sign Exponent Fraction Byte 3 Byte 2 Byte 1 Byte 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 are 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 1 8 2 e 127 O1 f If0 e 255 Rev B B 2 November 2004 F CIL HEML SS PATRIOT USER MANUAL First in the third dimension
69. ing definitions are provided in Table 3 3 Table 3 3 Switch Settings Baud Rate Switches Parity Switches 1 2 3 4 5 115 200 None fr 57600 ft Odd ft 38400 f Even ft f 19200 f ft reserved fr 9600 f ft 4800 fr ft 2400 f tT f reserved 3 2 Magnetic Source The Source is the device which produces the electro magnetic field and is normally the reference for the position and orientation measurements of the sensors It is usually mounted in a fixed position to a non metallic surface or stand which is located in close proximity to the sensors The standard source is the 2 cube and the specifications in this manual are based on the 2 source shown in Figure 3 1 Other source sizes are available Review the Polhemus web site at www Polhemus com or contact Polhemus Customer Service on page F 1 for more information 1335 1 400 33 909mn1 L35 560mm1 0 378 9 601mm1 i TW 1 333 L33 909mm1 Y di 0 378 d 1400 9 60imm CABLE EXIT 35 560mm e Ww EXIT x c 2 SOURCE ee SOURCE Figure 3 1 Source Diagram Rev B 79 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t 3 8 Sensor s The sensor is the smaller device whose position and orientation is measured relative to the Source The
70. ise Authorization RMA number and you may then return the system to the factory Do not return any equipment without first obtaining an RMA number Please retain and use the original shipping container if possible to avoid transportation damages for which you or your shipper would be liable If your system is still under warranty Polhemus will repair it free of charge according to the provisions of the warranty as stated in Appendix D of this document The proper return address is Polhemus 40 Hercules Drive Colchester VT 05446 Attention RMA From within the U S and Canada 800 357 4777 From outside the U S or Canada 802 655 3159 Fax 802 655 1439 Rev B F 1 November 2004 F CILHEML SS First in the third dimension t PATRIOT USER MANUAL INDEX OCU Key uiri eoe epe pack te epe deka 17 lt gt Enter key iet eee dione 17 active station state sess 56 address for Polhemus esses F 1 alignment eseesee 10 25 26 55 A 1 alignment frame reset ssssssss 55 alignment procedure sese 26 alignment reference frame 25 A 1 angular COVETALE eseceeeeceeneecseeceeeeecseeeeeneees E 1 IP iue nr s a E eu 10 18 ASCI esane ea 10 20 B 1 attitude filter parameters eese 48 attitude matrix sese 10 VAULT 11 baud rate eeeceeeceeeeeeeeen nn 11 53 benign
71. n 2 3 KKK KKK K K K K K K K K K Startup Configuration 1 In this case two unique configurations are stored in PATRIOT configuration memory The third configuration is not defined To set an ID for the third configuration do the following XConfiguration 3 lt gt K3 lt gt To make this configuration the startup configuration W3 lt gt Rev B 60 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t E EE Gy 2 5 2 Operational Commands Operational commands are typically executed during normal system operation They do not affect the current configuration of the PATRIOT system Rev B 61 November 2004 F CIL HEML SS PATRIOT USER MANUAL First in the third dimension t C Continuous Print Output Rev B Description This command enables the continuous output mode When the system is in continuous mode the data points from all stations are requested automatically and are streamed to the host continuously If more than one station is enabled then the data from each station will be sent in numerical order station 1 first station 2 second Output mode refers to whether the system automatically transmits data records to the host continuous mode or the host must request data records by polling the system each time non continuous mode Syntax C lt gt Remarks By default continuous mode is disabled If the system is being used in an application where a fast update
72. n the third dimension t 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 lt FACTOR 1 When the form of the command is YO 1 0 0 lt gt the attitude filter is disabled This is the system default configuration Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 24 Y ASCII Response Byte Index Format Description 0 First Digit of Station Number n a 1 Second Digit of Station Number n a 2 Y 3 Error Indicator 4 ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33
73. namic response of PATRIOT The filter is a single pole low pass type with an adaptive pole location i 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 i 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 X Syntax XI F LFLow LFHigh Factor Part Description 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 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during peri
74. nd to clear those errors If a start up test fails PATRIOT will display a message to the host and an error code of T or A G if run time errors also exist will be placed in any P amp O frame output header Once a user clears the errors the P amp O frame output header error will disappear The user can determine at a glance which sensor channel failed initialization by looking at words 2 9 Any word that does not contain all zeros indicates a failure for that sensor channel If further information is needed Appendix C can be used to further decode these BIT results This command will not clear run time BIT errors Example Word 0x00000000 Rev B 67 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Output Record NOTE TO has no output record Table 2 40 T ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 A t 3 B Blank 4 B Blank 5 14 AAXXXXXXXX Bitmap of source and global sensor processor errors sensors 1 8 15 16 AA Carriage Return Line Feed 17 27 AAXxXxxxxxxB Bitmap of sensor channel 1 errors 28 38 AAXxxxxxxxxB Bitmap of sensor channel 2 errors 60 61 AA Carriage Return Line Feed Table 2 41 T Binary Response Byte Index Format Description 0 7 Binary Header 8 DW Bitmap of source and global sensor processor errors 12 DW Bitmap of sensor channel
75. nnector located on the rear panel of the SEU as shown in Figure 1 7 on page 5 The pinout identification for this connector is as follows Table 3 2 RS 232 Pin Outs Pin PATRIOT Host 1 Not used Not used 2 RxD e TxD 3 TxD ees S RxD 4 Not used Not used 5 GND GND 6 Not used Not used 7 Not used Not used 8 Not used Not used 9 Not used Not used Hardware Switches NOTE UP switch position is a logic 1 and DOWN is logic 0 The hardware switches located on the rear panel of the SEU to the left of the RS 232 serial port connector as depicted in Figure 1 7 on page 5 PATRIOT reads baud rate and parity RS 232 connection settings from these switches only on power up If you change the switches to obtain a different setting you must restart PATRIOT either by using the Y Initialize System command page 72 or by cycling the power Alternatively the O RS 232 Port Configuration command page 53 may be used to configure the RS 232 connection during operation However after using this command and saving the new settings to the startup configuration W Set Default Operational Rev B 78 November 2004 POLHEMUS PATRIOT USER MANUAL Configuration page 71 the saved settings will be ignored during the next power up or system initialize Y Initialize System in deference to the hardware switch settings The hardware switches are numbered to 5 from left to right Switch sett
76. ods 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 filter Rev B 45 November 2004 POLHEMUS PATRIOT USER MANUAL Rev B First in the third dimension t 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 lt FACTOR 1 When the form of the command is X 0 1 0 0 lt gt the position filter is disabled Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 22 X ASCII Response Byte Index Format Description 0 First Digit of Station Number n a 1 Second Digit of Sta
77. of runtime and initialization BIT errors as indicated in Table 4 5 below Note that upper case error codes indicate that uncleared initialization errors also exist Lower case errors indicate that only runtime errors are present Rev B C 2 November 2004 F CILHEML SS First in the third dimension t OT USER MANUAL NOTE Because they are updated on a frame by frame basis runtime errors cannot be cleared with the T Read Clear BIT Errors command on page 67 Rev B Table 4 5 Runtime BIT Error Codes Recor Code Source Source Source Initialization Failure Failure Failure BIT Errors ASCII HEX X Y Z Occurred a y A y y b y B N y 8 y Y C V V V d y D V V e y y F y V V P V V F y V V Q y y T A C 3 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t APPENDIX D Limited Warranty and Limitation of Liability Polhemus warrants that the Systems shall be free from defects in material and workmanship for a period of two years from the date ownership of the System passed from Polhemus to Buyer Polhemus shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at Polhemus option This warranty shall be considered void if the System is operated other than in accordance with the instructions in Polhemus User
78. on modifying commands by echoing back the command that was received Recall that without echo mode configuration modifying commands generate no response message from the tracker See Configuration Commands on page 24 This allows feedback to the user when modifying configuration settings In binary mode the echo is prefixed by the standard 8 byte binary header Syntax E echo Part Description echo Defines the echo mode The choices are 0 No echo mode 1 Echo mode Output Record Table 2 26 E ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A e 3 A Error Indicator 4 B ASCII Blank character 5 A 1 on 0 off 6 7 AA Carriage Return Line Feed Table 2 27 E Binary Response Byte Index Format Description 0 7 Binary Header 8 I 1 on 0 off Remarks The system default for echo mode is off Examples El lt gt E0 lt gt 52 November 2004 F CIL HEML SS PATRIOT USER MANUAL First in the third dimension t AQ RS 232 Port Configuration Rev B Description This command sets the RS 232 port configuration The system output port settings include RS 232 BAUD rate and parity only Syntax O rate parity lt gt Part Description rate 100 bits per second Valid arguments include Table 2 28 ASCII Baud Rate Values
79. onfiguration commands if the units parameter is not stated in this command the current units setting will be returned in the default response body Output Record Table 2 20 U ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A U 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for inches 1 centimeters 6 7 AA Carriage Return Line Feed Byte Index Format Description 0 7 Binary Header 8 I 0x00 for inches 0x01 for centimeters 43 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Examples Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches U0 lt gt The system will now output data in inches and interpret input data in inches If the operator wanted the system to output its measurements in centimeters the following command should be sent Ul lt The system will now output data in centimeters Rev B 44 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t X Position Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the position outputs of the PATRIOT system The user can adjust the parameters of this command to fine tune the overall dy
80. ounting Frame Angle 32 33 AA Carriage Return Line Feed Table 2 10 G Binary Response Rev B Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Mounting Frame Angle 12 FL Elevation Mounting Frame Angle 16 FL Roll Mounting Frame Angle 32 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension VE PSs P Examples If there was a requirement to mount the source upside down more mechanically feasible then the following command should be used G0 0 180 The orientation measurements for all stations will now look as if the source had not been mounted upside down Rev B 33 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t H Hemisphere of Operation Rev B Description This command allows the user to set or change the hemisphere of operation vector Since the sensor s can only operate in one hemisphere at a time relative to the source it is necessary to tell PATRIOT which side of the source they will be on for each station PATRIOT also provides hemisphere tracking a feature whereby PATRIOT can continuously modify its operating hemisphere given that it is started in a known valid hemisphere Because of the symmetry of the magnetic fields generated by the source there are two mathematical solutions to each set of sensor data processed Therefore only half of the total spatial sphere surrounding the
81. perTerminal enter a session name choose an icon and click OK In the Connect using field select the desired COM port COM1 and click OK In the Bits per second field select 115200 In the Data bits field select 8 default In the Parity field select None default In the Stop bits field select 1 default In the Flow control field select None and click OK You should now have a serial connection opened to PATRIOT Turn PATRIOT on In 5 to 10 seconds you will see PATRIOT Ready in the HyperTerminal screen Collect a single data record from PATRIOT by typing the P Single Data Record Output command see page 63 in the HyperTerminal screen PATRIOT will respond with a single frame of position and orientation data The data displayed in the HyperTerminal screen consists of a station number and six columns of data as follows these values represent an arbitrary placement of the sensor and source 1 2 3 4 5 6 7 01 16 082 0 387 0 713 3 051 1 126 0 674 5 November 2004 POLHEMUS PATRIOT USER MANUAL 15 Continue experimenting with the position and orientation data See Experiment with PATRIOT Data on page 9 If the system fails to produce position and orientation data carefully go over the above procedure in a systematic fashion checking connections and switch settings especially If you still need assistance refer to Customer Service on page F 1 1 2 Install th
82. ple Qs p1 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 ONIOFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar Rev B 18 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t A caret in front of a command letter indicates that the control key should be held down while typing the command letter Control commands produce ASCII values between 0x00 and Ox1F For discussion purposes examples assume that only one sensor is used in the Sensor 1 position 2 2 2 Command Format Notes e Commands and alphabetic parameters are NOT case sensitive e Commands that use optional parameters use current system retained values for parameters omitted from the command e The term station refers to a source sensor pair For example eight sensors paired with the one available source are assigned station numbers one through eight 1 8 e Unless otherwise noted commands do not take any punctuation immediately following the command letter However if an optional first parameter is to be omitted a comma is necessary between the command letter and the next parameter e A numeric floating point value will be accepted by the machine if any of t
83. rational configurations that are stored within PATRIOT Remarks Configuration slot number 0 is reserved for the factory default configuration A 15 character null terminated ID string should be assigned to the user defined configuration before a K is issued See the X Operational Configuration ID command page 59 Output Record None Examples Assume a user wants to save the current custom operational configuration for use later The user also wants to make this configuration the default power up configuration for the user s PATRIOT system The following commands should be issued XNewlIDstring Assigns an ID string to current configuration K1 Saves current configuration to first config slot AW1 Sets Config Slot 1 to startup config 66 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t T Read Clear BIT Errors Description This command allows the user or technician to read and clear any start up Built In Test BIT errors that occur during system initialization This command will return 9 integer values that can be decoded as described in APPENDIX C Syntax T clear Part Description clear 0 clears all start up BIT errors Remarks If no clear command is supplied this command will display the current start up errors This is a diagnostic command that allows the user or technician to determine the cause of any start up test failures a
84. rce receptacle being careful to firmly engage it Using your fingers tighten the two retaining screws to secure the connector See Figure 1 2 Rev B 1 November 2004 PER B a uu First in the third dimension t POLHEMUS PATRIOT USER MANUAL SENSOR 1 SENSOR 2 relie 35 om P QU lo e G Figure 1 2 Source Connection 4 For getting started use only one sensor Identify the sensor and insert it into either of the sensor receptacles as shown below Firmly engage and lock the sensor connector into place in the same manner as the source connector in step 3 See Figure 1 3 Figure 1 3 Sensor Connection Je For testing purposes it is convenient to mount both the source and the sensor on a single block of wood 2x4 or equivalent about 16 inches apart Exact placement of the source and sensor is not important for this test just make sure the cables of both devices are not routed tightly together and that they come off opposite ends of the wooden block See Figure 1 4 Rev B 2 November 2004 First in the third dimension F CILHEML SS PATRIOT USER MANUAL Figure 1 4 Sensor Source Test Setup 6 Ensure the power switch is in the OFF position logic 0 DOWN With the separate power supply UNPLUGGED from the wall connect the power input cable to the PATRIOT The power supply can now be plugged into a 110 220 V AC outlet See Figure 1 5 CONFIG MEE O Figure 1 5 Power Connector USB or RS 23
85. s F 0x46 Source Fail YZ BIT Errors G 0x47 Source Fail XYZ BIT Errors T 0x49 BIT Errors Rev B 23 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t 2 5 Command Reference 2 5 1 Configuration Commands Configuration Commands are typically issued during system setup They affect the overall operation of the PATRIOT system Once a configuration has been established PATRIOT will operate in that configuration until power is removed a reset is issued or the configuration is changed again through a command The current configuration may be saved and used at initialization time by commands discussed in this section Unless otherwise indicated the default behavior of the configuration commands will be as follows e When no arguments except station number where applicable are supplied with the command PATRIOT will respond with the current value of the setting in the response frame body e When arguments are supplied the command modifies the setting and PATRIOT sends no response to the command If ME Set Echo Mode is enabled see page 52 PATRIOT echoes back the command as verification that the command was received and executed e Station specific commands have an option to apply the setting to all stations Refer to Station Wildcard on page 19 Rev B 24 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t A Alignment Reference Frame Description
86. s the orientation of the Z reference axis after the elevation rotation The current x axis of the current sensor 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 sensor frame The y and z axes of the current sensor frame represent the orientation of the Y and Z transition axes after the roll rotation Rev B 14 November 2004 F CILHEML SS First in the third dimension t Output List PATRIOT P amp O Pitch Quaternion Rev B In the example of Figure 1 11 the azimuth elevation and roll rotations are positive negative and positive respectively Legend X Y Z Alignment Reference Frame x y z Rotated Stylus or Sensor Coordinate Frame Y Azimuth 0 Elevation Roll Figure 1 11 Euler Angles A list of the data items included in a data record A two sensor low cost tracking instrument modeled after LIBERTY Acronym for position and orientation the six pieces of data needed to fully 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 i q
87. sconnected from the SEU at any time The sensors are automatically detected and will begin sending data about one second after being connected CAUTION Route the sensor cables separately from the source cable as there may be some cross coupling between the sensor cables and the source cable 3 1 3 LED Indicator An LED power on indicator is located on the front of the SEU Upon power up the indicator will blink red for 5 to 10 seconds while the system performs its initialization and self test routines When these routines are completed the indicator changes from blinking read to steady green indicating that the system is ready for operation If the LED continues to flash red after 10 seconds the self test has failed Table 3 1 below summarizes the LED condition Rev B TI November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Table 3 1 LED conditions e Steady green System operational passed startup testing e Flashing red Failed self test and set up A malfunctioning sensor or source can cause a poor quality signal that will trigger a solid red LED This condition should be accompanied by a Built In Test BIT error See APPENDIX C for a description of BIT errors If no sensors are plugged into the SEU and the initialization test passes the LED will be a solid green 3 1 4 RS 232 I O Serial Connector The RS 232 I O serial connector is a standard 9 pin plug D type co
88. scribes the text block line by line The binary response frame is described by Table 2 48 Rev B 73 November 2004 POLHEMUS PATRIOT USER MANUAL Table 2 47 Z ASCII Response Format Description 00z Configuration name lt gt 3 char ASCII Header Config ID string lt gt Binary Yes No lt gt Metric Yes No lt gt lt gt Frame Rate 60Hz lt gt Fixed at 60 Hz for PATRIOT lt gt Verbosity Level 1 lt gt Echo Mode ONIOFF lt gt lt gt RS 232 Baud Rate baudrate lt gt See Table 2 28 on page 53 RS 232 Parity parity lt gt See Table 2 29 on page 53 lt gt Position Filter Sensitivity Sx xxx Position Filter Low Value Sx xxx Position Filter High Value Sx xxx lt gt Position Transition Rate Maximum Value Sx xxx lt gt Attitude Filter Sensitivity Sx xxx lt gt Attitude Filter Low Value Sx xxx Attitude Filter High Value Sx xxx Attitude Transition Rate Maximum Value Sx xxx lt gt Mounting Frame Angle 3 Sxxx xxx B Az El Roll lt gt Compensation Off lt gt lt gt The following text data will be repeated once for each station on PATRIOT Format Description Station x lt gt Station number Output List xB lt gt List of Output Data Items See Table 2 17 on page 41 Hemisp
89. sensor is dimensionally shown in Fig 4 1 including the position of the electrical center The sensor package provides two mounting holes for 4 nylon screws supplied in the event that sensor mounting is required NOTE Nylon hardware is only required when the hardware will be in direct contact with the source or sensor 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 PATRIOT system CONNECTOR Figure 3 2 Sensor 3 4 Stylus The stylus is a pen shaped device with a sensor 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 3 3 and may be used in any of the sensor ports The stylus functions as a sensor with the electrical center offset from the tip of the stylus via firmware Single or Continuous output records may be obtained as a function of the integral switch See L Stylus Button Function on page 37 and N Tip Offsets on page 39 for stylus configuration details Rev B 80 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t Figure 3 3 Stylus Rev B 81 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t 4 SYSTEM OPERAT
90. t gt Remarks None Output Record None Examples If the user wanted to set the system configuration back to its original factory default condition the following commands should be sent AW0 lt gt AY lt gt The system will now be in its original factory default condition The Ctrl Y simulates turning the system power off then back on again 72 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t 7 Read Operational Configuration Description This command allows the user to view the operational configuration settings for the current factory default and saved custom configurations Syntax Z slotnum Part Description slotnum 0 factory default configuration 1 3 One of three User definable operational configurations that are stored within PATRIOT Remarks If no slotnum is supplied the current operational configuration will be returned Output Record The ASCII response to Z will be prepended by only the first 3 characters of the normal 5 byte ASCII header Table 2 46 Z ASCII Response Header Byte Index Format Description 0 A First Digit of Station Number n a 0 1 A Second Digit of Station Number n a 0 2 A z The body of the response will be a variable length block of text in the format below Data in italics will vary according to the configuration settings being reported Table 2 47 de
91. t reference orientation 11 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t bps Direction Cosines Elevation Factory Defaults Firmware Format Hemisphere Rev B Bits 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 The cosines of the angles between the sensor s x y z axes and the X Y Z axes of the measurement reference alignment frame 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 non volatile memory they are used to reinitialize the variables if configuration information is lost Term used to describe the software programmed into PATRIOT non volatile memory The interchange coding used to present data PATRIOT 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 the source there are two possible mathematical solutions for the X Y Z position coordinates for each set of sensor data processed and PATRIOT is unable to determine which solution is the correct one without additional information This additional information is provided by the H Hemispher
92. tached relative to the measurement reference frame The source generates the low frequency magnetic field measured by the sensor The source s X Y and Z axes are the default measurement reference frame The source sensor pair PATRIOT supports up to two sensors yielding a possible two stations A pencil shaped housing for the sensor 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 The unit of assumed distance PATRIOT allows measurement in either inches or centimeters The rate at which motion tracking data can be made available from the PATRIOT system The maximum distance at which the resolution and noise performance of the PATRIOT system can be realized 16 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t User Defaults XYZ or X Y Z XYZAER Yaw lt gt Rev B The values assigned to certain system variables by the user Stored in non volatile memory the system receives these variable values at power up The Cartesian coordinates of position tracking where normally X is in the forward direction Y is in the right hand direction and Z is downward The output string of data reporting the position XYZ and orientation AER azimuth elevation and roll of the tracking sensor Same as azimuth Used in text to indicate the Enter key Used
93. text meaning appears Error Hexadecimal ASCII Text Meaning 0 0x00 No Error 1 0x01 Invalid Command 2 0x02 Invalid Station 3 0x03 Invalid Parameter 4 0x04 Too Few Parameters 5 0x05 Too Many Parameters 6 0x06 Parameter Below Limit 7 0x07 Parameter Above Limit 8 0x08 Communication Failure with Sensor Processor Board 9 0x09 Error Initiating Sensor Processor 1 10 0x0a Error Initiating Sensor Processor 2 11 Ox0b Error Initiating Sensor Processor 3 12 0x0c Error Initiating Sensor Processor 4 13 Ox0d No Sensor Processors Detected 14 0x0e Error Initiating Source Processor 15 OxOf Memory Allocation Error 16 0x10 Excessive Command Characters Entered 17 0x11 You must exit UTH mode to send this command 18 0x12 Error reading source prom Using Defaults 19 0x13 This is a read only command 20 0x14 Non fatal text message 21 0x15 Error loading map N A for PATRIOT The remaining error codes may appear in ASCII and binary frame headers Error Hexadecimal ASCII Text Meaning tf 0x20 No Error ASCII mode only a 0x61 Source Fail X b 0x62 Source Fail Y te 0x63 Source Fail XY d 0x64 Source Fail Z te 0x65 Source Fail XZ P 0x66 Source Fail YZ g 0x67 Source Fail XYZ w 0x75 Position outside of mapped area N A for PATRIOT A 0x41 Source Fail X BIT Errors B 0x42 Source Fail Y BIT Errors C 0x43 Source Fail X BIT Errors D 0x44 Source Fail Z BIT Errors FE 0x45 Source Fail XZ BIT Error
94. th the switch In non continuous mode of output pressing the stylus switch has the same effect as sending a P Single Data Record Output command see page 63 to the system point mode In point mode every time the button is pressed a data record is sent to the host NOTE The host must be aware of this mode If the stylus button is pressed the host must be polling for the data frame or monitoring RS232 output in order to capture the output data In continuous output mode pressing the stylus switch 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 37 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Output Record Table 2 13 L ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A L 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for Marker 1 for Point Track 6 7 AA Carriage Return Line Feed Table 2 14 L Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 for Marker 0x01 for Point Track Examples The command to enable Stylus Track mode on station 2 is L2 1 lt gt Rev B 38 November 2004 POLHEMUS PATRIOT USER MANUAL 216 First in the thir
95. tings 8 Figure 1 10 PATRIOT Data Record Display 8 Figure 1 11 Euler Angles 15 Figure 3 1 Source Diagram 79 Figure 3 2 Sensor 80 Figure 3 3 Stylus 81 Figure 4 1 Alignment Reference Frame A 1 Rev B v November 2004 POLHEMUS PATRIOT USER MANUAL LIST OF TABLES Table 2 1 ASCII Response Format Table 2 2 Binary Response Format Table 2 3 A ASCII Response Table 2 4 A Binary Response Table 2 5 B ASCII Response Table 2 6 B Binary Response Table 2 7 F ASCII Response Table 2 8 F Binary Response Table 2 9 G ASCII Response Table 2 10 Q Binary Response Table 2 11 H ASCII Response Table 2 12 H Binary Response Table 2 13 L ASCII Response Table 2 14 L Binary Response Table 2 15 N ASCII Response Table 2 16 N Binary Response
96. tion ID see page 59 is sent PATRIOT will save the default hemisphere Issuing an Hstation lt gt returns a record of structure as shown below Output Record Table 2 11 H ASCII Response Byte Index Format Description A First Digit of Station Number 1 A Second Digit of Station Number 2 A H 4 B ASCII Blank character 5 11 SXX XXX Current Vector X component 12 18 SXX XXX Current Vector Y component 19 25 SXX XXX Current Vector Z component 26 27 AA Carriage Return Line Feed Table 2 12 H Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Vector X component 12 FL Vector Y component 16 FL Vector Z component Examples The user may decide to mount the source above the test area in order to be able to move the sensor 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 sensor to the negative X side of the source because the signs will flip and it will appear as if the X measurement never goes negative If the source is 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 Rev B 35 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t E EE uu Station 1 of PATRIOT will now be set for the positiv
97. tion Number n a 2 x 3 Error Indicator 4 ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed 46 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension Table 2 23 X Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Filter Sensitivity 12 FL Filter High Value 16 FL Filter Low Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system X 2 2 8 95 lt gt All active stations will now have filtering applied to the position measurements To turn off position filters X0 1 0 0 lt gt Rev B 47 November 2004 F CILHEML SS PATRIOT USER MANUAL First in the third dimension t Y Attitude Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the attitude outputs of the PATRIOT system The user can adjust the parameters of this command to fine tune the overall dynamic response of PATRIOT The filter is a single pole low pass type with an adaptive pole location i e a floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptiv
98. tive sensors 13 14 AA Carriage Return Line Feed Description Binary Header Detected and Active Station bitmap Binary output is the same for both U station and U0 Examples A user could connect two sensors to a PATRIOT and then collect a data point from one sensor at a time after disabling the other one To do so the following commands would be sent 1 Send the command U2 0 lt gt to turn station 2 off 2 Press P to collect a data point from station 1 57 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension af EE Gy 3 Send the command U2 1 lt gt to turn station 2 on 4 Send the command U1 0 lt gt to turn station 1 off 5 Press P to collect a data point from station 2 6 Repeat steps 1 through 6 as necessary To turn on station 1 while turning off station 2 send AU0 1 lt gt where 1 corresponds to 0x01 0001 Bits corresponding to station 1 are set and those corresponding to 2 are cleared Rev B 58 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension X Operational Configuration ID Rev B Description This command allows a 16 character ID to be assigned to the current operational system configuration This command also allows the user to view the IDs of all valid stored configurations within PATRIOT non volatile configuration memory Syntax Xstring Part Description string A 1
99. uction manual may cause interference to radio communications Operation of this equipment in a residential area is likely to cause interference in which case the user will be required to correct the interference at the user s own expense EC Declaration of Incorporation This Product Complies 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 EMC IEC 61326 1 1997 A1 1998 EN 61326 1 1997 A1 1998 CCISPR 11 1990 EN 55011 1991 Group 1 Class A IEC 6100 4 2 1995 A1 1998 EN 61000 4 2 1995 ESD 4kV CD 8kV AD IEC 6100 4 3 1995 EN 61000 4 3 1995 3V m 80 AM IEC 6100 4 4 1995 EN 61000 4 4 1995 0 5kV line line 1k V line earth TEC 6100 4 6 1995 EN 61000 4 6 1995 3V 80 AM power line Australia New Zealand AS NZS 2064 1 Rev B i November 2004 F CIL HEML SS PATRIOT USER MANUAL First in the third dimension t Safety Notices i ii Warnings This instrument contains no user serviceable parts Do not attempt to service unit Return to Polhemus for repair Do not perform any unauthorized modification to the instrument Do not operate the instrument in the presence of flammable gas or fumes Operation of any electrical instrument in such an environment constitutes a definite safety hazard Do not use the instrument in a manner not specified by the manufacturer
100. ult condition of a station that has a sensor connected to itis a 1 or station on The default condition of a station that does not have a sensor connected to it is a 0 or station off If zero 0 is supplied as the station number this command will take a hexadecimal bitmap to identify ALL the enabled stations E g U0 03 enables all sensors NOTE Do not place Ox in front of the input hex bitmap 56 November 2004 F CILHEML SS Rev B First in the third dimension t ATRIOT USER MANUAL If no bitmap is supplied the current active sensor bitmap will be returned in the default response body This bitmap will indicate the detected sensors in the upper 16 bits and the active sensors in the lower 16 bits A sensor must be detected AND enabled to be active Output Record Table 2 33 U station ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A y 3 A Error Indicator 4 B ASCII Blank character 5 X Station 1 state 1 Active 0 Inactive 6 X Station 2 state 1 Active O Inactive 7 8 AA Carriage Return Line Feed Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A u 3 A Error Indicator 4 B ASCII Blank character 5 8 XXXX Hex bitmap for detected sensors 9 12 XXXX Hex bitmap for ac
101. ut mode Output Record The body of each individual frame of output data is comprised of output data types configured by the O command Table 2 38 P ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Error Indicator 3 B Blank 4 m See Table 2 17 page 41 Data Output Item 1 configured by O command See O Output Data List on page 41 m l n See Table 2 17 page 41 Data Output Item 2 See Table 2 17 page 41 Data Output Item n Rev B 63 November 2004 F CILHEMLSS First in the third dimension t ATRIOT USER MANUAL Table 2 39 P Binary Response Byte Index Format Description 0 7 Binary Header 8 n See Table 2 17 page 41 Data Output Item 1 configured by O command See O Output Data List on page 41 n l m See Table 2 17 page 41 Data Output Item 2 See Table 2 17 page 41 Data Output Item n Examples If the system is being used in an application where data is only needed a certain number of times or on command then the single data record output should be used To poll the system for a single data record send the command as follows P One data record from PATRIOT will be sent to the host computer Rev B 64 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension E Q Reset
102. w Device Motion Graphics Tools Help E S E EJ BN e 9 m6 m N 1 0 389 34 603 0 000 1 000 0 000 88 000 For Help press F1 Tracker connected via USB Figure 1 10 PATRIOT Data Record Display The text portion of the screen will display the retrieved position and orientation Position in inches Euler Orientation in degrees Station Number X Y Z Azimuth Elevation Roll 1 0 389 34 603 0 000 1 000 0 000 88 000 Rev B 8 November 2004 POLHEMUS PATRIOT USER MANUAL First in the third dimension t E 1 4 Experiment with PATRIOT Data l Take some initial samples of data using the P Single Data Record Output command see page 63 Because you have locked the sensor in one position relative to the source Set Up the PATRIOT step 5 the data output will not change regardless of the number of data samples you take 2 Remove the sensor move it approximately six inches toward the source secure it in place and take another single data frame 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 sensor approximately the same as it was when you started then the attitude data also will be approximately the same 3 Again remove the sensor and without moving its position try twisting it in azimuth in the same plane as the wood support approximately 45 degrees and lock it down with tape Now
103. wing notation US anced unsigned short 16 bits SELL dde signed short 16 bits UC gauss unsigned char 8 bits Rev B 20 November 2004 F CILHEML SS First in the third dimension t char 8 bits ATRIOT USER MANUAL signed integer 32 bits unsigned double word 32 bits 32 bit single precision floating point in IEEE format consisting of sign bit 8 bit exponent and 23 bit mantissa SXXX XXXX XMMM MMMM MMMM MMMM MMMM MMMM Array of size n of type preceding square brackets e g FL 3 Binary response frames are composed of an 8 byte frame header followed by a variable length frame body as follows Table 2 2 Binary Response Format Byte Index TYPE Description 0 1 US Frame Tag always PA or 0x5041 for PATRIOT HST m 12 UC Station Number A 3 UC Initiating command 3 4 UC Error Indicator H5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body Error codes presented in the Error Indicator field are detailed in PATRIOT Error Code Summary on page 23 No Error is represented by NULL 0x00 Error Responses When in binary mode error responses are always prepended by the binary frame header followed by the ASCII error string In ASCII mode error responses have no header See PATRIOT Error Code Summary on page 23 for a complete listing of error responses Rev B 21 November 2004 F CILHEML SS First in the third dimension t

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