PAN-TILT UNIT COMMAND REFERENCE MANUAL
Contents
1. Command Reference Manual Version 3 02 Host Serial Port and Control 9 2 In Motion Power Mode Description Set and query the current level applied to axis motors when in motion in transit Syntax Query pan move power mode PM lt delim gt High pan move power mode PMH lt delim gt Regular move power mode PMR lt delim gt Low pan move power mode PML lt delim gt Query tilt move power mode TM lt del im gt High tilt move power mode TMH lt delim gt Regular tilt move power mode TMR lt delim gt Low tilt move power mode TML lt delim gt Example PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Related Topics It is not recommended that an axis be in transit more than 20 of the time when in High Move Power Mode i e a 20 duty cycle 10 Host Serial Port and Control As was described in Section 3 default host computer communications with the pan tilt controller is 9600 baud Host computer communications can be via RS 232 or as described in the pan tilt user manual it can be via the built in RS 485 Host serial port baud rates can be modified from the default Also a character delay may be specified for applications that cannot consume pan tilt output rapidly enough 10 1 Configuring Host Serial Port Baud and Communications Description Syntax Command specifies the baud rate for the host serial port RS232 RS485 communications with the pan tilt controller Only baud rate can be modif2. COMPUTER CONTROLLED PAN TILT UNIT VERSION 3 02 REVISION DATE SEPTEMBER 6 2011 COMMAND REFERENCE MANUAL 890C Cowan Road Burlingame CA 94010 e 650 692 3900 e FAX 650 692 3930 m ir com e www FLIR com mcs Pan Tilt Unit Command Reference Manual August 3 2011 1991 2011 by FLIR Motion Control Systems Inc 890C Cowan Road Burlingame California 94010 650 692 3900 FAX 650 692 3930 www FLIR com mcs All rights reserved Protected under numerous U S Patents including 5463432 and 5802412 and patents pending No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of FLIR Motion Control Systems Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of FLIR Motion Control Systems FLIR Motion Control Systems cannot be held liable for any mistakes in this manual and reserves the right to make changes Table of Contents P YN 8 OVERVIEW she ie bei KG a 6 Binary COMMand Format saa Ta aaa aaa aga ag EN E a aa a a aan E A a BA a Ka an as 6 General ASCII Command Format 6 Positional Control Commands amp Queries sss sees eee eee eee 6 4 1 POSITION ADSOIUTE asasi aaa E NA TE 6 4 2 Offset Position relative oftset see 7 4 3 Resolution Pen Rest T nt
3. lt index gt 0 32 Clear Preset Example The following commands set the Pan Tilt to position 500 400 store as preset 0 move the unit to position 600 800 and then goes back to previously stored preset 0 position PP500 TP400 xso PP600 TP800 XGO Speed Control Commands amp Queries Command Reference Manual Version 3 02 5 Speed Control Commands amp Queries 5 1 Speed Control amp Relevant Terms The Pan Tilt Unit provides for precise control of axis speed and acceleration This subsection briefly describes how speed control is performed and it introduces relevant terms As shown in Figure 1 upper and lower speed limits determine the bounds on nonstationary pan tilt velocities The base start up speed specifies the velocity at which the pan tilt axis can be started from a full stop without losing synchrony and it is more a function of the motors rather than load characteristics Due to base speed requirements and the property that motors lose torque as speed increases acceleration is required to achieve axis speeds above the base rate The pan tilt controller uses trapezoidal acceleration and deceleration for speeds above the base rate and less than the maximum allowed speed Figure 5 shows two acceleration cases In the first an axis accelerates up to a desired constant speed slew rate then decelerates The second case shows the case when the unit does not have sufficient time to accelerate up to the desir
4. no commands are sent to move the pan tilt Host computer serial PTU commands may be executed when the joystick is centered When the joystick is moving they override the most recent serial PTU commands The joystick center range allows some position slop called a dead band to ensure that the joystick is centered even when joystick values vary over time or movement This dead band is about 20 of each joystick axis range Outside the dead band the joystick position is linearly related to speed of the pan and tilt axes The fastest joystick speed is set by the lowest Upper Speed Limit for the pan and tilt axes For example for the command PU6000 TU4000 the fastest joystick movement will be 4000 pos sec Note that if you change the Upper Speed Limit you must issue a JE command for the new limit to affect joystick control speeds In this way you can control the joystick commanded speeds by setting desired Upper Speed Limits JE lt delim gt Enable ElO analog port joystick control JD lt delim gt Disable ElO analog port joystick control Example JE DS Activates ElO analog port joystick control and Default Saves so that joystick control is activated upon power up of the pan tilt Related Topics To change pan tilt axis upper speed bounds See Section 5 5 Step Modes Command Reference Manual Version 3 02 12 Step Modes 12 1 Configuring Step Mode 13 Description The default motion resolution of the PTU c
5. anana anana n aana an anane 22 9 1 Stationary Power Mode esa degawa aan an td Ge cases ts ak kn 22 9 2 In Motion Power Modest 23 10 Host Serial Port and Controlin risna ienie Da NA E Gaga age TEGANE ES GN TAA a donan 23 10 1 Configuring Host Serial Port Baud and Communications sss sese eee ee ee ee eee eee 23 11 EIO Option Expansion Serial Ports and Control 24 11 1 Select Serial Communications Target sse eee eee 25 11 2 Configuring Expanded Serial Port Communications sss sese eee eee eee eee e ee eee 26 11 3 Attaching a Mouse Trackball to an Expanded Serial Port 26 11 4 Expansion Analog Joystick Commandes sss esse ee eee eee eee 27 12 Step ee 28 12 1 CONfipUfiNgSt p Mode eaaa aa A BN E KENKEN KANAN NAK BER A ta 28 13 PTU Network Software Commands un 28 13 1 Unit Network Dic 28 13 2 Unit E d NET EE 29 Table of Figures Figure 1 Axis Speed during On The Fly Desired Speed and Position Changes nos Fig re 2User LiMIE Ranges ia A A A ees ON A ia Overview Command Reference Manual Version 3 02 1 Overview This document describes the pan tilt unit command set Each command has a section that provides a brief functional description a format syntax description examples and related topics When controlling the pan tilt unit from a terminal a complete menu of pan tilt commands can be obtained by entering the character All FLIR Motion Control Systems Products support this command set and where commands vary between pr
6. computer only when the host computer has selected its unit ID A PTU buffers its outgoing data until the host computer polls it the current PTU buffer size is about 100 bytes Select a PTU for bi directional data _ lt unit_ID gt lt delim gt Broadcast to all networked PTUs _0 lt delim gt where O lt lt unit_ID gt lt 127 Example sE pp300 _0 pp300 1 ak Related Topics Unit Network ID See Section 13 1
7. next position would be moved towards this is often called an on the fly position change I PP Current Pan position is 0 PP2000 PPO Related Topics This command can be used for both the Immediate Position Execution Mode see Section 4 6 and Slaved Position Execution Mode see Section 4 7 4 9 Halt Command Description Immediately decelerates and halts pan tilt movement Syntax Halt all pan tilt movement H lt delim gt Halt pan axis movement HP lt delim gt Halt tilt axis movement HT lt delim gt Example PP2500 A PP 2500 Then while the pan tilt is moving the host decides to stop immediately H Related Topics This command can be used for both the Immediate Position Execution Mode see Section 4 6 and Slaved Position Execution Mode see Section 4 7 4 10 Monitor Autoscan Command Description Command defines and initiates repetitive monitoring scanning of the pan tilt Autoscanning is immediately terminated upon receipt of a character from the host computer and the pan tilt is sent to its home position Syntax Initiate monitor autoscan in pan axis only M lt pan pos 1 gt lt pan pos 2 gt lt delim gt Initiate monitor autoscan in both pan and tilt axes Command Reference Manual Version 3 02 Positional Control Commands amp Queries M lt pan pos 1 gt lt pan pos 2 gt lt tilt pos 1 gt lt tilt pos 2 gt lt delim gt Initiate last defined monitor autoscan command t
8. the unit has lost synchrony and this error condition requires a unit reset see Section 4 5 When a factory limit is reached a IP or IT is printed to the host serial port to indicate that an pan axis limit was hit When larger operational pan ranges are required limit enforcement may be disabled Positional commands outside the limits are not rejected when limits are disabled When user defined limits are enabled commands to positions outside the limits are rejected with an error status In pure velocity mode the maximum positions attained are defined by the user defined limits Query current limit enforcement L lt delim gt Enable factory limits LE lt delim gt Enable user defined limits LU lt delim gt Disable limit enforcement LD lt delim gt Set minimum pan user defined limit PN lt panpos gt lt delim gt D lt status gt Set maximum pan user defined limit PX lt panpos gt lt delim gt D lt status gt Set minimum tilt user defined limit TN lt tiltpos gt lt delim gt Y lt status gt Set maximum tilt user defined limit TX lt tiltpos gt lt delim gt Y lt status gt where user defined limits are within the factory limit range Example R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 PNU 1000 PNU Minimum user defined Pan Position is 1000 PXU1500 PXU Maximum user defined Pan Position is 1500 LE L Limit bounds are ENABLED PP 3000 A PP Current Pan posi
9. B lt raw bytes gt lt delim gt where lt raw bytes gt is the number of bytes to follow that will be received from the host computer which will not be scanned for changes in the serial communications target Example PP Current pan position is 0 GA This text is sent directly to the serial device on CHA B This text is sent directly to the serial device on CHB A20 This B text is sent to CHA without choosing CHB PP Current pan position is 0 ElO Option Expansion Serial Ports and Control Command Reference Manual Version 3 02 Related Topics To set expanded serial port communications parameters See Section 6 1 1 11 2 Configuring Expanded Serial Port Communications Description Syntax Command specifies the communications parameters for an expanded serial port RS232C communications These commands only affect the serial data rates for the expansion port connected to the external serial device the PTU controller serial port default communicates at 9600 baud 8 databits no parity and no handshaking See section 4 7 for modifying host port communications speed A lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt B lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt where A and B indicate RS232C expansion port CHA and CHB and lt baud gt may be 300 1200 2400 4800 9600 or 19200 bits per second lt databits gt may be 7
10. aaa ae aa E ida 7 4 4 LIMIt POSITION QUES ada 8 4 5 Position Limit ENTOPCOMEN ti eege atera ceci 8 4 6 Immediate Position Execution Mode 9 4 7 Slaved Position Execution Mode AAA 9 4 8 Await Position Command Completton sss sese ee eee eee 9 4 9 HaltCommand BEE 10 4 10 Monitor Autoscan Commande 10 AUT Postion Presets iii Ah GAGANA a ak Ana Sede dk ah Baik Kasa gan a wang an eae 11 Speed Control Commands amp Queries sss sese 12 5 1 Speed Control Relevant TAM A aaa aa a aa a a ag a a Aa EE 12 5 2 Delta Speed relative offset ek iere Red 13 5 3 ACC ati Dha is radan agan a Na a NEG aa NE a TAA d 14 5 4 Base Start PEA aa aia ANG ea A KENAA Mek NAN A NE ee ii 14 5 5 Speed Round iii A A hai SA EN AAN KANGA AAA a 15 5 6 Speed Control Modesto as da cd E a ee eee 15 CONTINUOUS AXIS ROTATION E 16 6 1 Enabling Disabling Continuous Rotation sss eee eee eee eee ee 16 User Defined Pan Tilt LIMItS 54 554 sara nagan unl ca a KG DAN ANENG aa KN Ta KIE a ANG EA EDAN aa a aa 17 7 1 LIMITE POSITION QUES Aa 18 7 2 Position BT a Enforcement iaa 18 Umit gelunn EE 20 8 1 ResetPaneTilt ME agan aan A aa a E 20 8 2 D fault Save REStOrG EE 20 8 3 Echo OuerviCnable Disable sasasi 22 aa a NO NK AND AN NA BE KA a D A A NG ait 21 8 4 Feedback Verbose ferse Oft 21 8 5 Controller Firmware Version Ouer 21 8 6 Outside Supply Voltage and Controller Temperature Ouer 22 9 Power Control Commands amp Queries nana a nana anana aana nan an cnn anaa naen
11. an base speed is 1000 positions sec PB1000 PPO Related Topics Position resolution units See Section 4 3 Command Reference Manual Version 3 02 Speed Control Commands amp Queries Acceleration See Sections 5 1 and 5 3 Speed bounds See Section 5 5 Changes in the base rate cannot be made on the fly since it takes several seconds to re compute the internal tables used to rapidly execute speed ramping 5 5 Speed Bounds Description Set and query the upper and lower speed bounds for desired speed commands Syntax Query upper pan speed limit PU lt delim gt Set upper pan speed limit PU lt positions sec gt lt delim gt Query lower pan speed limit PL lt delim gt Set lower pan speed limit PL lt positions sec gt lt delim gt Query upper tilt speed limit TU lt delim gt Set upper tilt speed limit TU lt positions sec gt lt delim gt Query lower tilt speed limit TL lt delim gt Set lower tilt speed limit TL lt positions sec gt lt delim gt Example PU Maximum Pan speed is 1985 positions sec PS3300 Pan speed cannot exceed 1985 positions sec PS1985 PL Minimum Pan speed is 31 positions sec PL20 Motor speed cannot be less than 31 pos sec PL40 Related Topics Position resolution units See Section 4 3 Changes in the upper speed limit cannot be made on the fly since it takes several seconds to re compute the internal tables used to rapidly execute speed ramping 5 6 Speed Control Mod
12. de See Section 4 7 4 7 Slaved Position Execution Mode Description Instructs pan tilt unit to execute positional commands only when an Await Position Command Completion command is executed see Section 4 8 or when put into Immediate Execution Mode see Section 4 6 This mode is useful when coordinated pan and tilt axis movements are desired Syntax S lt delim gt Example The following commands change the position execution mode instruct the axes which position to achieve and an await command causes the position commands to be executed simultaneously DR S Ka PP1500 TP 900 PP Current Pan position is 0 TP Current Tilt position is 0 A Ka PP Current Pan position is 1500 TP Current Tilt position is 900 Related Topics Alternative immediate position execution mode See Section 4 6 4 8 Await Position Command Completion Description Awaits the completion of the last issued pan and tilt axis position commands Used to coordinate axis motions Syntax Positional Control Commands Queries Command Reference Manual Version 3 02 A lt delim gt Example The following commands instruct the pan axis to move to a position then move to another position T PP Current Pan position is 0 PP2000 A PP Current Pan position is 2000 PPO A PP Current Pan position is 0 In contrast the following commands would begin to move to the first position and before that position is reached the
13. e allowable The default is pan position limits are enabled i e enforced When limits are enabled commands outside of the limits return an error message and are not executed In enabled limit mode limits are only reached when the unit has lost synchrony and this error condition requires a unit reset see Section 4 5 1 When a limit is reached a P is printed to the host serial port to indicate that the pan axis limit was hit When larger operational pan ranges are required the limits may be disabled Positional pan commands outside the limits are not rejected when limits are disabled Syntax Query current pan position limit mode L lt delim gt Enable pan position limits LE lt delim gt Disable pan position limits LD lt delim gt Example L Limit bounds are ENABLED soft limits enabled PX Maximum Pan position is 3090 PP3200 Maximum allowable Pan position is 3090 LD Command Reference Manual Version 3 02 Positional Control Commands amp Queries PP3200 A PP Current Pan position is 3200 Related Topics Position commands See Sections 4 1 and 4 2 4 6 Immediate Position Execution Mode Description Instructs pan tilt unit to immediately execute positional commands This is the default mode Syntax I lt delim gt Example For the below commands the pan axis will immediately execute the pan position command I PP1000 Related Topics Alternative slaved position execution mo
14. e the command Ds An axis Reset is required before the minimum N and maximum X allowed positions are set e g viewed via the PN PX pan tilt commands Standard DP pan tilt axis coordinates designate home as position O with movement in either direction determined by the sign bit of the position The User s Manual details the coordinate system and controls All position commands should be in the range N X inclusive For a given current position the axis will be moved in the direction closest to the desired position 1C lt axis gt lt enable continuous axis gt lt delim gt where lt axis gt T P Command Reference Manual Version 3 02 User Defined Pan Tilt Limits lt enable continuous axis gt T F for True or False After the above is selected an axis reset is required for the proper minimum and maximum position boundaries to be set Example For a PTU D46 17 with a pan axis whose hardware provides for continuous rotation using a quarter microstep and saving this as the power up default 1CPT LD DS RP PN Minimum Pan position is 6999 PX Maximum Pan position is 7000 PP7000 A PP 6900 A cv PS1000 Known Limitations The following issues are known and will be addressed in future firmware PO TO fail across the N X discontinuity Slow accelerations may overshoot for moves close to the N X boundary Final position will be accurate 7 User Defined Pan Tilt Limits FLIR Motio
15. ed slew speed before the need to decelerate to the desired position The pan tilt controller provides for on the fly position and speed changes If the direction is changed on the fly the controller manages all deceleration direction reversal and acceleration to achieve the most recently specified target pan tilt speed and acceleration rates Because speed acceleration and position are precisely controlled you can accurately and simply predict the position attained by the pan tilt unit in time Upper Speed Limit Speeds Requiring Acceleration Base Speed Instantaneous Speed Changes Lower Speed Limit Fee A eto tato toto Time Figure 1 Axis Speed during On The Fly Desired Speed and Position Changes Speed absolute Description Specify or query desired axis speed Desired speed is specified in positions second and it can be changed on the fly The speed specifies the rate at which the pan tilt moves to achieve position movement commands Command Reference Manual Version 3 02 Speed Control Commands amp Queries Desired speed commands outside the speed bounds return an error and are not executed Syntax Query desired pan speed PS lt delim gt Set desired pan speed PS lt positions sec gt lt delim gt Query desired tilt speed TS lt delim gt Set desired tilt speed TS lt positions sec gt lt delim gt Example The following commands instruct the pan axis to move to the far left then slowly move right and the
16. es Description By default position control commands are independent from the speed control commands In this independent control mode the commanded speed is an unsigned magnitude that determines the speed at which independently commanded positions are effected and the execution of these speed commands do not affect the commanded desired positions themselves This mode is appropriate for pure position control methods when pan tilt control is affected solely by commanding pan tilt position and hybrid position velocity control methods when pan tilt positions and the rate at which they are achieved are both controlled An alternative pan tilt control method uses a pure velocity control mode in which all pan tilt control is affected by signed changes in command axis speed In this mode the speed command specifies a signed velocity in which the sign determines the direction of axis movement and the ordinal value specifies the speed of movement in this direction In this mode if the commanded speed is negative the axis is automatically commanded to the minimum axis position Conversely if the speed command is positive the axis is automatically commanded to the maximum axis position A speed of zero is applied by halting the axis motion t is important to note that in pure velocity control mode a speed command for a given axis effectively Continuous Axis Rotation Command Reference Manual Version 3 02 overrides currently executing position com
17. he default at power up is pan axis only autoscan between the pan limit positions M lt delim gt Enable monitor autoscan at power up ME lt delim gt Disable monitor autoscan at power up MD lt delim gt Query monitor status at power up MQ lt delim gt Example When executed at power up M the pan tilt begins scanning between the minimum and maximum pan limit positions lt delim gt terminates the scanning and homes the pan tilt Other monitoring command forms M 2500 100 M 2500 100 800 600 M0 0 300 300 Related Topics Limit Position Queries see Section 4 4 4 11 Position Presets Description Position preset functionality is provided for backward compatibility with legacy CCTV applications D300 pan tilt controller firmware version v2 12 11r2 and higher support position presets The pan tilt can be commanded to a position using any of the standard motion control commands of the D300 PTU The current pan and tilt position can be stored as a numbered preset The PTU can then be commanded to a previously stored preset using a new go to preset command Currently set motion parameters acceleration base rate etc apply during go to preset commands Preset positions are remembered when the controller is repowered Syntax XS lt index gt lt delim gt where lt index gt 0 32 Set Preset XG lt index gt lt delim gt where lt index gt 0 32 Goto Preset XC lt index gt lt delim gt where
18. he rated life of the motor driver circuitry 9 1 Stationary Power Mode Description Set and query the current level applied to axis motors when not in transit Syntax Query pan hold power mode PH lt delim gt Regular pan hold power mode PHR lt delim gt Low pan hold power mode PHL lt delim gt Off pan hold power mode PHO lt delim gt Query tilt hold power mode TH lt delim gt Regular tilt hold power mode THR lt delim gt Low tilt hold power mode THL lt delim gt Off tilt hold power mode THO lt delim gt Example PH Pan in REGULAR hold power mode PHL PH Pan in LOW hold power mode Related Topics Because holding torque for steppers is significantly greater than generated dynamic torque it is highly recommended that Low Hold Power Mode be used when appropriate for your load Regular hold power is intended to be used for brief periods when very high holding torque may be required this requirement is rare Regular hold power mode should be avoided or used sparingly as its use for long periods of time can lead to significant motor and controller heating depending on ambient temperature When using Off Hold Power Mode fully test that your load does not back drive the unit when stationary Back driving will cause the controller to lose track of pan tilt position and this requires that the unit be reset see Section 8 1 Back driving is more likely on the tilt axis which has higher torque applied to it by the load
19. ied The pan tilt controller RS232 485 communications always use 1 start and stop bit 8 data bits and no handshaking The command also allows a transmission delay to be placed between bytes output by the pan tilt controller The host serial port command in this Section 10 1 is only available when the controller is not networked i e the unit ID is the default of 0 When the controller is networked i e unit ID is greater than 0 the host serial port communications rate is automatically set to the default and it cannot be modified by this command the default is 9600 baud 8 data bits 1 start and stop bit no parity no handshaking and no byte transmission delay This ensures that networked controllers will always communicate at the same baud rate and that higher data rates will not unduly burden pan tilt controller processors lt baud gt lt byte delay in msec gt lt startup default gt lt delim gt ElO Option Expansion Serial Ports and Control Command Reference Manual Version 3 02 where lt baud gt may be 600 1200 2400 4800 9600 19200 bits sec lt byte delay in msec gt is the time in milliseconds the pan tilt controller waits between transmitting output data If no delay is desired use a parameter of 0 otherwise the delay may vary from 10 ms to 1000 ms lt startup default gt lf T lt baud gt and lt byte delay in msec gt are applied at power up otherwise the power up default is 9600 baud with no byte transmiss
20. ion delay Example The following command sets the host serial port RS232 RS485 to a baud rate of 19 200 bits second 8 data bits per byte no parity no handshaking no delay in controller outbound byte transmission and the power up baud rate is the system default of 9600 baud 19200 0 F The following command sets the host serial port RS232 RS485 to a baud rate of 19 200 bits second 8 data bits per byte no parity no handshaking a 30ms delay between bytes output from the pan tilt controller and the power up baud rate overrides the default and is set at 19 200 baud 19200 30 T Related Topics To set the pan tilt controller unit ID See Section 13 1 11 EIO Option Expansion Serial Ports and Control The EIO option is available on D46 controllers providing additional I O lines directly on the controller In the D48 D100 and D300 product lines the controller is built into the pan tilt and a subset of these lines are exposed through the payload interface CHAA CHAB TTLs In many cases other serial devices are attached or proximal to the pan tilt In these cases you can directly connect these other devices to your host computer serial ports Doing this requires more serial ports on your host computer and additional serial cabling is required To reduce the host computer port and cabling requirements an option for the PTU Controller is provided which adds two additional serial ports to the PTU controller A mouse or t
21. mands As a result the speed control mode at power up is always set to independent control mode the speed control mode is not saved as defaults that are preserved when the unit is powered back up These commands are available in PTU firmware versions 1 09 7 and higher Syntax Query the current speed control mode C lt delim gt Set to independent control mode default CI lt delim gt Set to pure velocity control mode CV lt delim gt Example Put into the default independent control mode the pan tilt will finish at position 3000 Put in the pure velocity control mode the pan tilt will finish on the opposite pan side Note that the default restore also executed upon unit power up restores the unit to independent control mode cI PP 3000 PS1000 A CV PP 3000 PS1000 DR PP 3000 PS1000 Related Topics Position commands See Sections 4 1 and 4 2 Speed commands See Section O and 5 2 6 Continuous Axis Rotation D300 and D100 pan tilt controller firmware versions v2 12 12r7 and higher provide for continuous rotation in position and pure velocity modes This section describes the command syntax and semantics that support continuous axis rotation 6 1 Enabling Disabling Continuous Rotation Description Syntax To allow the unit to perform continuous pan axis rotation using the integral slip ring you must issue the command 1CPT LD To make this the default at power up you must then issu
22. mits Syntax Query minimum pan factory limit position PN lt delim gt Query maximum pan factory limit position PX lt delim gt Query minimum tilt factory limit position TN lt del im gt Query maximum tilt factory limit position TX lt delim gt Query minimum pan user defined limit position PNU lt delim gt Query maximum pan user defined limit position PXU lt delim gt Query minimum tilt user defined limit position TNU lt delim gt Query maximum tilt user defined limit position TXU lt delim gt Example R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 LE PP3200 Maximum allowable Pan position is 3090 PNS Minimum Pan user defined position is 1000 Known Limitations The following issues are known and will be addressed in future firmware PO TO fail across the N X discontinuity Related Topics Position resolution units See Section 4 3 Achieving larger axis bounds See Section 7 2 7 2 Position Limit Enforcement Description Determines whether position commands beyond the factory limits or user defined limits are allowable Factory limits are enabled by default Le enforced Command Reference Manual Version 3 02 User Defined Pan Tilt Limits Syntax When limits are enabled commands outside of the limits return an error message and are not executed In enabled factory limit mode limits are only reached when
23. n Control Systems pan tilt controllers firmware versions v2 13 1r0 and higher allow user defined limits on commanded positions The pan tilt must perform a power up calibration to its factory limits to establish its axis coordinates and then the user defined limits ensure that all subsequent movement commands for that axis will be kept in the allowed range of motion Movements commanded outside the user defined limits when activated will return a status indicating the error FLIR Motion Control Systems pan tilt units employ an internal factory installed vane to precisely calibrate each axis As depicted in the figure below the factory installed limits define the possible range of motion allowed for that axis when limits are enabled and movement of an axis outside its factory limits is prevented with an electronic lockout feature Pan tilts which include an internal slip ring allow continuous pan rotations with limit enforcement disabled User defined limits are a subset of the factory limits They are defined by commands issued to the pan tilt and the user defined limits can be stored and restored automatically at power up User Defined Pan Tilt Limits Command Reference Manual Version 3 02 Factory Limits User Defined Limits HOME Figure 2 User Limit Ranges 7 1 Limit Position Queries Description Queries return the axis position bounds determined upon unit reset factory limits and user defined limits within the factory li
24. n on the fly it speeds up I PS1900 PP2600 A X PS600 PP 2600 PS1900 Related Topics Position commands See Sections 4 1 and 4 2 Position resolution units See Section 4 3 Speed bounds See Section 5 5 5 2 Delta Speed relative offset Description Specify desired axis speed as an offset from the current speed or Query the current axis speed Desired delta offset speed is specified in positions second and it can be changed on the fly A desired delta speed command that results in a speed outside the legal speed bounds returns an error and it is not executed Syntax Query current pan speed PD lt delim gt Set desired delta offset pan speed PD lt positions sec gt lt delim gt Query current tilt speed TD lt delim gt Set desired delta offset tilt speed TD lt positions sec gt lt delim gt Example The following commands instruct the pan axis to move to the far left then slowly move right and then on the fly it decreases speed by 150 positions second then queries the current speed gp PS1900 PP2600 A L PS600 PP 2600 PD 150 PD Current Pan speed is 450 positions sec Related Topics Position commands See Sections 4 1 and 4 2 Position resolution units See Section 4 3 Speed Control Commands amp Queries Command Reference Manual Version 3 02 Speed bounds See Section 5 5 5 3 Acceleration Description Specify or query axis acceleration and deceleration for speed
25. o which indicates the PTU controller is not networked and the PTU controller is in the default interactive communications mode When assigning a unit ID number to a controller the unit ID number should be unique the controller should be the only PTU controller attached to the host computer or terminal otherwise other controllers may be set to the same unit ID number A unit ID of zero may be used to put a PTU controller back in interactive non networked mode Syntax Query current PTU network unit ID U lt delim gt Set PTU to interactive mode non networked U0 lt delim gt Set PTU network unit ID U lt unit_ID gt lt delim gt where 1 lt unit_ID lt 127 Command Reference Manual Version 3 02 PTU Network Software Commands Example The following queries a PTU unit ID then sets and stores the unit ID configuration so that upon power up the new unit ID will be used U Unit ID is 0 Ul X US Unit ID is 1 Ul X DS Related Topics Unit Select Deselect See Section 13 2 13 2 Unit Select Deselect Description Syntax Command is used to select the PTU to be controlled A PTU will execute incoming host computer commands only when the preceding unit_ID selected by the host is a equal to the PTU s assign unit ID or b equal to O A host computer can broadcast instructions to be executed by all PTUs using unit_ID 0 Only one PTU can provide feedback to the host computer at a time A PTU provides feedback to the host
26. oducts look at the description for the command to determine if it is supported 2 Binary Command Format A C Programmer s Interface model PTU CPI is available for higher bandwidth binary communications between a host computer and the PTU controller 3 General ASCII Command Format When describing the format syntax of pan tilt commands the following conventions are adopted e Commands issued to the pan tilt unit e g typed in by you are shown in bold e Input characters may be in upper or lower case we show them in upper case for presentational consistency un e Adelimiter lt delim gt can be either a space or a carriage return lt CR gt e A successfully executed command returns lt CR gt Successful query execution returns x lt QueryResult gt lt CR gt Command execution failure returns lt ErrorMessage gt lt CR gt A pan axis limit hit asynchronously returns P and a tilt axis limit hit asynchronously returns a T 4 Positional Control Commands amp Queries 4 1 Position absolute Description Specify or query the absolute pan or tilt axis position Desired positions can be changed on the fly without waiting for previous position commands to complete Syntax Query current absolute pan position PP lt delim gt Set desired absolute pan position PP lt position gt lt delim gt Query current absolute tilt position TP lt delim gt Set desired absolute tilt positi
27. on TP lt position gt lt delim gt Example The following sends the pan axis to the left waits then sends it to the right PP 2500 A PP Current Pan position is 2500 Command Reference Manual Version 3 02 Positional Control Commands amp Queries PP2500 A PP Current Pan position is 2500 Related Topics Position relative offset and desired position queries See Section 4 2 Position resolution units See Section 4 3 Position limits See Section 4 4 Position execution modes See Sections 4 6 4 7 and 4 8 Position limit enforcement modes See Section 4 5 4 2 Offset Position relative offset Description Specify desired axis position as an offset from the current position or Query the current axis position Desired offset positions can be changed on the fly without waiting for previous position commands to complete Syntax Query desired pan position PO lt delim gt Set desired offset pan position PO lt position gt lt delim gt Query desired tilt position TO lt delim gt Set desired offset tilt position TO lt position gt lt delim gt Example The following sends the pan axis to position 500 then sends it 1500 positions to the left PP 500 A L PO Current Pan position is 500 PO1500 A L PP Current Pan position is 1000 Related Topics Position resolution units See Section 4 3 Position limits See Section 4 4 Position execution modes See Sections 4 6 4 7 and 4 8 Position limit enf
28. ontroller is half step mode Firmware versions 2 12 8 and higher added micro stepping in guarter and eighth steps Micro stepping provides much quieter operation and smoother motion at slow speeds In addition the micro stepping increases the effective resolution of the pan tilt unit Firmware versions 2 13 0 and higher added auto step electronic gearing The controller will automatically select the correct step mode based on the pan tilt s current speed and process all units as though the unit were in eighth step mode while allowing the unit to move at the higher speeds of half step Syntax W lt axis gt lt resolution gt where lt axis gt P lt resolution gt H QO E A for Full Half Quarter Eighth and Auto step resolution Example The following command puts the tilt axis into eighth step resolution and recalibrates the tilt axis which returns success WIE Known Issues Auto step mode is only supported in firmware versions v2 13 0 and higher This firmware supports querying the micro step mode with the W lt axis gt lt delimiter gt command Micro stepping decreases the pull out torque of the motor PTU Network Software Commands This section describes the pan tilt command set used to configure set and query the network configuration of your PTU controllers 13 1 Unit Network ID Description Specify or query the PTU controller network unit ID number By default the PTU unit ID is set to zer
29. or 8 databits per byte lt parity gt is case insensitive and may be N none E even or O odd lt handshaking gt is case insensitive and may be N none H hardware handshaking X XON XOFF software handshaking or F both hardware software handshaking Example The following command sets the expansion serial port channel CHA to a baud rate of 9 600 bits second 8 data bits per byte no parity and no handshaking A 9600 8 N n The following command sets the expansion serial port channel CHB to a baud rate of 19 200 bits second 8 data bits per byte no parity and hardware handshaking B 19200 8 n H Related Topics To communicate with an expansion serial port channel See Section 6 1 1 11 3 Attaching a Mouse Trackball to an Expanded Serial Port Description A mouse or trackball can be connected to one of the expanded serial ports to allow direct user control of pan tilt position without requiring an external host computer When a host computer and mouse trackball are both attached and enabled the most recent pan tilt movement command is processed The host computer can control when the mouse trackball is enabled and the host can query the pan tilt position while the pan tilt is actively being controlled by the mouse trackball Any Microsoft format compatible mouse or trackball can be used These devices default the communications to be 1200 baud 7 bits per character no parity and hardware handshaking which power
30. orcement modes See Section 4 5 4 3 Resolution per Position Description Query returns the axis resolution per position moved in seconds arc Syntax Query pan resolution PR lt delim gt Query tilt resolution TR lt delim gt Example Resolution can be determined by PR 92 5714 seconds arc per position 1 sec arc 1 3600 0 0002778 Positional Control Commands amp Queries Command Reference Manual Version 3 02 So one position 92 5714 seconds arc is 92 5714 sec arc 0 0002778 0 02572 Thus to pan 21 3 left requires a relative move of 21 3 0 02572 828 positions yielding the following command PO828 Related Topics Step Modes See Section 12 4 4 Limit Position Queries Description Syntax Queries return the axis position bounds determined upon unit reset Query minimum pan position PN lt delim gt Query maximum pan position PX lt delim gt Query minimum tilt position TN lt delim gt Query maximum tilt position TX lt delim gt Example R Ka PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 LE PP3200 Maximum allowable Pan position is 3090 Related Topics Position resolution units See Section 4 3 Achieving larger axis bounds See Section 7 2 4 5 Position Limit Enforcement Description Determines whether position commands beyond the detected pan axis limits ar
31. rackball can be connected to one of the expanded serial ports to allow direct user control of pan tilt position without requiring an external host computer A PTU controller with additional serial ports may be identified by the two DB9 male connectors on the controller housing and the firmware version number will include a D see Section 4 5 5 for querying PTU firmware These additional RS232C DTE ports are designated Channel A CHA and Channel B CHB The serial port expansion channels are controlled from the main PTU controller serial port CHA CHB RS232C ports may be configured from the PTU controller serial port to set expanded port baud rate data bits parity and handshaking Each channel operates independently and the PTU controller fully buffers bi directional data flow to allow for communications rate mismatch Point to point Command Reference Manual Version 3 02 EIO Option Expansion Serial Ports and Control communications between the PTU controller serial port and an expansion channel e g CHB is initiated by the host computer Point to point communications is broken upon command from the host computer Communications from a serial device attached to an expansion serial channel is buffered at least 200 characters When hardware handshaking is not used this buffer can overflow so care should be taken to ensure that attached devices do not exceed the buffer size before its data on the serial channel is read by
32. s above the base speed Acceleration is specified in positions second Syntax Query desired pan acceleration PA lt delim gt Set desired pan acceleration PA lt positions sec2 gt lt delim gt Query desired tilt acceleration TA lt delim gt Set desired tilt acceleration TA lt positions sec2 gt lt delim gt Example The following illustrate different rates of acceleration PA Pan acceleration is 2000 positions sec 2 PB Current Pan base speed is 1000 positions sec PU Maximum Pan speed is 2902 positions sec PPO PS1900 PP2600 PA1500 PPO Related Topics Position resolution units See Section 4 3 Symmetric trapezoidal acceleration is used so the rate of deceleration is equivalent to the rate of acceleration Acceleration cannot be changed on the fly since it takes several seconds to re compute the internal tables used to rapidly execute speed ramping 5 4 Base Start Up Speed Description Specify or query axis base start up speed Base speed is specified in positions second Defaults to 57 positions sec Syntax Query desired pan base speed PB lt delim gt Set desired pan base speed PB lt positions sec gt lt delim gt Query desired tilt base speed TB lt delim gt Set desired tilt base speed TB lt positions sec gt lt delim gt Example The following commands home the pan axis moves it far left changes the base rate then moves back to home I PPO A X PP2600 PB Current P
33. s the device The default is for mouse trackball control is enabled for CHA If the mouse trackball is enabled for both CHA CHB expansion ports only the CHA port will be used to effect pan tilt control A Default Save see Section 4 5 2 will restore this state at power up Whenever expansion port communications are modified using the Command Reference Manual Version 3 02 EIO Option Expansion Serial Ports and Control Syntax commands in Section 6 1 2 mouse trackball control is disabled the command in this section must be used to reenable mouse trackball control QA M lt del im gt QB M lt del im gt where A and B indicate RS232C expansion port CHA and CHB RA M is the system default Example PH Pan in LOW hold power mode QA M DS Configures the pan tilt controller to look for a mouse trackball on the CHA expansion port After power up V Pan Tilt Controller v2 12 1d1 C14 EM C 2003 FLIR Motion Control Systems Inc All Rights Reserved where EM indicates the presence of the ElO option and the detection of a Mouse trackball Related Topics To change expansion serial port communications See Section 11 2 11 4 Expansion Analog Joystick Commands Description Syntax The following section is only for D46 users with the expanded I O option Two PTU controller commands were added to support the ElO joystick port to activate and deactivate it When the joystick is centered in its X Y range
34. t delim gt Example PP 22 ED lt pp entered again but not echoed gt 22 8 4 Feedback Verbose Terse Off Description Command and query the ASCII feedback returned by PTU commands Syntax Enable verbose ASCII feedback FV lt delim gt Enable terse ASCII feedback FT lt delim gt Query ASCII feedback mode F lt delim gt Example FV PP Current pan position is 0 FT PP 0 F ASCII terse mode 8 5 Controller Firmware Version Query Description Query specifies the version and copyrights for the pan tilt controller firmware Syntax V lt delim gt Example V Pan Tilt Controller v2 12 1d1 C14 E C 2003 FLIR Motion Control Systems Inc All Rights Reserved Power Control Commands Queries Command Reference Manual Version 3 02 8 6 Outside Supply Voltage and Controller Temperature Query Description The pan tilt controller includes sensors for the internal temperature and the input voltage supplied to the pan tilt This query measures and prints the controller temperature and input supply voltage Syntax O lt delim gt Example O Input 30 VDC 86 degF 9 Power Control Commands amp Queries A key advantage of the constant current motor control drivers used in the Pan Tilt Controller is that it allows the current consumed by the pan tilt unit to be controlled via simple unit commands These capabilities are useful for battery powered operation see Section 7 reducing unit heat generation and extending t
35. the host computer 11 1 Select Serial Communications Target Description Syntax Command establishes point to point communications between the host computer connected to the PTU controller serial port and the expanded serial port CHA CHB or pan tilt controller When an expansion port channel is selected the host computer is no longer communicating with the PTU controller but instead with the external device connected to the expanded serial port To resume communicating with the PTU controller the host computer need only issue a command selecting the PTU controller as its desired communications target The baud rate of an expansion port does not affect the communications with the serial port connecting the host computer to the pan tilt controller which defaults to 9600 baud Establish communications with CHA A lt delim gt Establish communications with CHB B lt delim gt Resume communications with the PTU controller lt delim gt The modified commands below ensure that lt raw bytes gt bytes will be passed directly from the host computer to the expanded serial port without any attempt to change the communications target This allows strings like B to be embedded in communications between the host computer and the expanded serial port device without causing communications between the two to be inadvertently interrupted Establish communications with CHA A lt raw bytes gt lt delim gt Establish communications with CHB
36. tilt axes upon power up RE lt delim gt Example adel fies Belt Bebe Related Topics A load beyond the handling capacity of the pan tilt unit may cause the reset to fail so load handling capability should be tested as described in the pan tilt user manual 8 2 Default Save Restore Description Allows current axis settings to be saved as defaults that are preserved when the unit is powered back up Also allows the factory defaults to be restored The following changeable settings are saved restored e Serial port settings host CHA B e Maximum speed e Desired speed e Base speed e Acceleration e Hold and move power e Monitor positions e Continuous rotation mode Command Reference Manual Version 3 02 Unit Commands e Step mode e User limits e Echo mode Syntax Save current settings as defaults DS lt delim gt Restore stored defaults DR lt delim gt Restore factory defaults DF lt delim gt Related Topics Defaults are saved in EEPROM which have a lifetime limit on the number of writes before memory failure Though it is unlikely that these failure limits will be reached excessive saving of current defaults should be avoided when possible 8 3 Echo Query Enable Disable Description Sets of queries whether the pan tilt controller echoes incoming commands from the host Syntax Query current echo mode E lt delim gt Enable host command echoing EE lt delim gt Disable host command echoing ED l
37. tion is 3000 PP3200 Maximum allowable Pan position is 3090 LU L Limit user defined bounds are enabled A PP Current Pan position is 1000 Known Limitations The following issues are known and will be addressed in future firmware PO TO fail across the N X discontinuity Related Topics Position commands See Sections 4 4 and 4 5 Unit Commands Command Reference Manual Version 3 02 8 Unit Commands 8 1 Reset Pan Tilt Unit Description This command controls how and when the pan tilt unit is calibrated By default the pan tilt unit is configured to reset both the pan and tilt axes automatically upon power up and by issuing the reset command The reset mode commands are used to control the reset performed at pan tilt power up and to allow reset of an individual pan tilt axis The reset calibration allows the pan tilt unit to determine axis coordinates hence a pan tilt axis should be reset prior to issuing any axis position commands A pan tilt axis that has not been calibrated has a minimum and maximum axis position of O see Section 4 4 hence position commands in limit enabled mode see Section 4 5 will return an illegal position command feedback Syntax Performs Reset calibration R lt delim gt Reset modes saved in internal EEPROM for power up reset control Disable reset upon power up RD lt delim gt Reset tilt axis only RT lt delim gt Reset pan axis only RP lt delim gt Reset both pan and
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