Home

Pan-Tilt Unit (E Series) Command Reference Manual

1. PCD RP IPIP PN Minimum Pan position is 6533 PX Maximum Pan position is 6533 PCE CV RP P P PS1000 6 User Defined Limits E Series PTUs allow user defined limits on commanded positions The PTU must perform a power up calibration to establish its axis coordinates after which the user defined limits restrict all subsequent movement commands for that axis to the specified allowable range of motion When user limits are activated movements commanded outside those limits will return an error message Factory limits define the possible range of motion allowed for an axis when limits are enabled and that axis cannot travel beyond those limits User defined limits are a subset of factory limits that can be defined by issuing commands to the PTU You can store user limits and have the PTU restore them on power up User limits must contain an origin 0 which means that you cannot set a minimum position above O or a maximum position below 0 E Note If your PTU has an internal slip ring it is capable of full 360 degree pan motion User Range Factory Range Hard Range W Negative max Positive max Non Overlapping Overlapping Non Continuous Range of Motion Range of Motion Figure 2 Range of motion and limits 6 1 Position Limit Queries Query both factory and user axis position limits 6 1 1 Commands e PN e PX e TN E Series Command Reference Manual e TX e PNU e PXU e
2. e If the commanded speed is negative the axis is automatically commanded to the minimum axis position e If the commanded speed is positive the axis is automatically commanded to the maximum axis position e If the commanded speed is 0 axis movement is halted e If the axis supports continuous movement the PTU will continue to move until commanded to stop In pure velocity control mode issuing a speed command for a given axis effectively overrides any position commands that are currently being executed By default the PTU defaults to the independent control mode on power up the speed control mode is not saved when the PTU powers down 4 6 1 Commands e C e Cl e CV 4 6 2 Syntax e Query the current speed control mode C lt delim gt e Set to independent control mode default CI lt delim gt e Set to pure velocity control mode CV lt delim gt E Series Command Reference Manual 4 6 3 Example This command sequence places the PTU into the default independent control mode and pans to position 3000 at a rate of 1 000 positions per second When placed into the pure velocity control mode the PTU will finish on the opposite pan side The factory restore DF command restores independent control mode CI PS1000 PP 3000 A CV PP 3000 PS1000 PTU begins panning in positive direction A PP Current pan position is lt pos gt DF C PTU is in Independent Mode where
3. PP Current pan position is 0 A This text is sent directly to the serial device on CHA B This text is sent directly to the serial device on CHB A20 This B text is sent to CHA without choosing CHB PP Current pan position is 0 10 1 4 See Also To set expanded serial port communications parameters Section 10 2 10 2 Expanded Serial Port These commands specify the communications parameters for the selected expanded serial port They do not affect communications between the PTU and the host computer 10 2 1 Commands oe A e OB Expanded I O 10 2 2 Syntax e Specify CHA parameters EA lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt e Specify CHB parameters EB lt baud gt lt databits gt lt parity gt lt handshaking gt lt delim gt Where e Aand B indicate RS232C expansion port CHA and CHB e lt baud gt may be 300 1200 2400 4800 9600 19200 38400 57600 or 115200 bits per second e lt databits gt may be 7 or 8 data bits per byte e lt parity gt is not case sensitive and may be N none E even or O odd e lt handshaking gt is not case sensitive and may be N none H hardware handshaking X XON XOFF software handshaking F both hardware software handshaking 10 2 3 Example The following command sets the expansion serial port channel CHA to a baud rate of 9 600 bits second with 8 data bits per byte no parity and
4. Query or specify a PTU network subnet mask A subnet mask determines the subnet an IP address belongs to 13 6 1 Commands NS 13 6 2 Syntax e Query PTU network mask NS lt delim gt e Specify PTU network mask NS lt subnet gt lt delim gt Where lt subnet gt is the desired network mask A network mask consists of 4 groups of 1 3 decimal numbers separated by periods For example 255 255 255 0 13 6 3 Example This command sequence queries the PTU network mask specifies a new network mask and then verifies the change NS The network mask is 255 255 0 0 NS255 255 255 0 NS The network mask is 255 255 255 0 14 Control Modes E Series PTUs support multiple control modes to meet a range of application requirements e Open loop control PTU stepper motors can be driven to commanded positions based on the number of steps This method of control is adequate for most applications provided that payloads are properly mounted on a suitable PTU with sufficient torque to reliably move the payload under all intended conditions If a slip occurs the internal position will be become out of sync with the true position Position queries will therefore return incorrect values and the PTU will move based on its internal position counter Correctly sized and configured PTUs should only experience slip events during extreme circumstances such as wind loading or a transient obstacle e Encoder correction control Applying extern
5. Getting Started 3 7 Await Position Completion Awaits the completion of the most recently issued pan and tilt axis position commands Use this command to coordinate axis motions when the PTU is in slaved execution mode 3 7 1 Commands eo A 3 7 2 Syntax e Tocommand the PTU to await the completion of previous position commands A lt delim gt 3 7 3 Example This commands sequence instructs the pan axis to move to a position then move to another position I PP Current Pan position is 0 PP2000 A PP Current Pan position is 2000 PPO A PP Current Pan position is 0 Compare the previous example to this one in which the PTU will begin to move to the first position and then while still in transit begin moving to the second position an on the fly position change I PP Current Pan position is 0 PP2000 PPO 3 7 4 See Also You may use this command with either Immediate or Slaved Position Execution modes see Section 3 6 3 8 Halt Immediately decelerates and halts PTU movement 3 8 1 Commands e H E Series Command Reference Manual 3 8 2 Syntax e Halt all PTU movement in both axes H lt delim gt e Halt pan axis movement only HP lt delim gt e Halt tilt axis movement only HT lt delim gt 3 8 3 Example This command sequence pans the PTU to the right and then to the left The PTU must be in motion for you to see the H command in action PP2500 A
6. AZAR US in IES PT AA os sen eo 73 A 2 2 Managing Rule iS ai a aia 74 A Using the frewa a tl sisees aohadeshlsbbess E a wee cae 74 ASS T COMMA sli 5 R ET EE E EA 74 o ER E AE NE E E E 74 E 74 AMAS ATT IA A E A EOS AA idas 74 AAZ ADHEP A O A A A A AS A al dde 75 ALA T CP CONtOl mans sd dd dades 75 A5 Example Configurations ae e eaa ara a Aaa a aa aaa Aada eaaa aaa San ieo ainat aait 75 ASA Block Ev rythiNg on a iaa tad 75 A 5 2 Block Everything Except DHCP sssssssseeerrenssnssreerrensseeersenrensstosresnnsnestoerseasssesreeareasseeeenene 75 B53 ATMR OM EE Soest A E A fh veka Mao T D E a 75 A 5 4 TEP IP Control 3 aan bil a 75 Rea Aa A E E E A T EES 76 B Compatibility Mode oir aia dis 77 B 1 COMMAN GS uine aniti nar RE EAT doa be tape E A E EEEE ra 77 BAS Md A A ia 77 BiB ETO A isis E E T she Seabees E uh aes Go aad bn wan bi aE Ads 77 B 3 1 Firmware Version 3 0 0 5 22 2 sess ia is 77 B 3 2 Firmware Version 3 1 4 and LateT ooncccccncccncnononccnnnannnnnnanacanoncnannnnonnnncn cnn cnn no nonanancananananonos 78 Table of Contents A deans vnncaenaieandedes sdeenuve vieep EER iE A ERES 79 21 COMMIS aos 79 CoD SVM NON 79 C3 EXAMple A AA AA A A GE 79 E Series Command Reference Manual This page intentionally left blank 1 Introduction Each Pan Tilt Unit PTU from FLIR Motion Control Systems Inc includes a comprehensive set of available commands that give you full control ove
7. E Series TCP IP Controle E Series PTUs include industry standard Ethernet connectivity that allow quick and reliable connections using off the shelf equipment Two basic services are available e Web The web service is intended for basic configuration and control using only a web browser No prior experience with D or E series PTUs is necessary to get started using the web interface Please refer to your PTU User Manual for instructions on using the built in web interface e TCP sockets The TCP socket service is a TCP IP interface on port 4000 that behaves as if it were a serial port It uses the same protocol that experienced D and E Series users are familiar with A splash screen and initialization status asterisk if successful appear upon establishing a TCP connection to the PTU Note D series GPM and ISM users should continue to use the modules for E interfaces because the TCP socket service is different from the modules HTTP method Custom applications for use with the new TCP socket service require a PTU software update Note Real time behavior over TCP IP Ethernet depends on many factors El Applications that require real time behavior should use point to point RS 232 or RS 485 serial connections 15 1 Using TCP IP Control Refer to your E Series PTU User s Manual for instructions on how to connect and power your PTU The PTU User s Manual also describes how to identify a PTU on the network and how to use the web interf
8. RT LTLT R LELI RP IDIP R Pip RD R ITITIDPID RE ETITIDPID R ITIDIP 7 2 Default Save Restore Save current axis settings as defaults that are preserved when the PTU is powered up and or restore factory defaults The PTU can save and restore the following settings e Serial port settings Host CHA CHB e Maximum speed e Desired speed e Base speed e Acceleration e Hold power e Move power e Monitor positions e Continuous rotation mode e Step mode User Defined Limits e User limits e Echo mode CAUTION THE PTU SAVES DEFAULTS TO EEPROM WHICH HAS A LIFETIME MAXIMUM NUMBER OF WRITES BEFORE MEMORY FAILURE OCCURS WHILE IT IS VERY UNLIKELY THAY YOU WILL REACH THESE LIMITS YOU SHOULD AVOID EXCESSIVE SAVING OF CURRENT DEFAULTS DURING THE PTU LIFE 7 2 1 Commands e DS e DR e DF 7 2 2 Syntax e Save current settings as defaults DS lt delim gt e Restore stored defaults DR lt delim gt e Restore factory defaults DF lt delim gt E Note You will probably need to perform a reset after executing a DR or DF command because motor parameters and limits may have changed 7 3 Echo Specify or query whether the PTU will echo incoming commands from the host El Note Disable echoing for fastest command throughput 7 3 1 Commands e E e EE e ED 7 3 2 Syntax e Query current echo mode E lt delim gt e Enable host command echoing EE lt delim
9. Select File gt Save means that you should first open the File menu and then select the Save option Specific commands appear in standard Courier font Sequences of commands appear in the order in which you should execute them and include horizontal or vertical spaces between commands This manual also contains important safety information and instructions in specially formatted callouts with accompanying graphic symbols These callouts and their symbols appear as follows throughout the manual Introduction WARNING WARNINGS ALERT YOU TO THE POSSIBILITY OF PERSONAL INJURY OR DEATH IF THESE INSTRUCTIONS ARE NOT FOLLOWED CAUTION CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED Note Notes provide helpful information E Series Command Reference Manual This page intentionally left blank 2 Getting Started This chapter describes the ASCII command syntax used when controlling a PTU via a serial connection lists the available commands and discusses power level and acceleration considerations Please also refer to the Quick Start section in your PTU User Manual for information about getting your PTU up and running quickly 2 1 ASCII Command Syntax A PTU uses both commands and queries A command tells the PTU to do something such as pan to a specific angle A query asks the PTU to return the requested value such as reporting the current pan angle
10. AA A A AAA AA A LA Ot 52 LT Step MOGES ni AA AA 53 Table of Contents 11 1 Configuring Step Modeion aopa aeae en a E ia Sao NEE aS 53 LETS CONO MMS T EE E A E A E A es 53 LETS ON is A id dae A tad E ee a ees ek 53 AA EM a AR eee eee rere ane eer eee 53 12 PTU Serial Networks iii 55 12 1 Unit Network Diin neinei oree a ee i eoe ape eiaa i oaea 55 12 2 Commands nen aa e a Rd dive dad aa eels 55 A SS Ai D EEE E RATA 55 T2 1 3 Exa A a a E E TAE 55 A A E AE EE A a 55 12 2 Unit Select Deselect oonononoconcnccnnnnananonanononononanannnnnnonocnononannnnnoncnnononnnnn nono nanicnnnnn 56 AD 2D ER Eo NAAT LAIO EEEE E E E E A E As areqeci id 56 A OR devtdiatis 56 A O O O 56 SN O E EE 56 TS P NON Oi e 57 131 MACIAddress cion botando leales NER TE A islas 57 VELA COMMAS ss inete e aa ss aa ho Te A EO EA 57 PS DZS Vai rates A Weert ean A A Sa a nh Peaa sna nek ttiah uae 57 T3 Bese AM Enn AA Cen ree A mere Late dada 57 A A O eee 58 EPA A 58 E SVACAK ssies a a ia i aii a tosis a dhetedaveateaeedel a aa 58 T323 EXAMP E ni a ae E a a a oc a dessus ena ei edie e tote 58 13 37 Network Modesto e aar A EE EE E E A A eed ate 58 13 3 1 Command S iii A ad iia 58 E A RAN 58 13 33 EMP E A AA A NEEN EAEN 59 134 5 Redirect Pot cad 59 13 ATA Eoo Aa AN LAO PNE REETA E taeda ten devs E T aan esew thee oes ees Neder aT eee 59 LALA NA A TA A A RAR E a des 59 13 4 3 Example at 59 13 5 NetworkHostNaMe iia 59 E E
11. For example 34 A0 CB 25 12 3E 13 1 3 Example The following code sequence queries the PTU MAC address changes that address and verifies that the change has occurred NA MAC address is D9 38 E8 21 94 AF NA34 A0 CB 25 12 3E NA MAC address is 34 A0 CB 25 12 3E E Series Command Reference Manual 13 2 IP Address Queries or sets the PTU Internet Protocol IP address 13 2 1 Commands e NI 13 2 2 Syntax e Query current PTU IP address NI lt delim gt e Specify PTU IP address NI lt ip address gt lt delim gt Where lt ip_address gt is the desired IP address An IP address consists of 4 groups of 1 3 decimal numbers separated by periods such as 192 168 1 1 The PTU must be in static IP mode for this command to work 13 2 3 Example The following code sequence queries the PTU IP address changes that address and verifies that the change has occurred NI IP address is 192 168 1 1 NI10 0 0 3 NI IP address is 10 0 0 3 13 3 Network Mode Queries or sets the network IP addressing mode In static mode the PTU has a fixed IP address that can be specified using the NI command In dynamic mode the PTU accepts an IP address assigned by a Dynamic Host Control Protocol DHCP server Many Ethernet routers contain DHCP servers 13 3 1 Commands e NM e NMD e NMS 13 3 2 Syntax e Query current PTU network mode NM lt del im gt e Specify dynamic network mode NMD lt del im gt e Specify stati
12. Rights Reserved VV 3 2 0 VM D48 VS 1271 7 6 Voltage and Temperature Query The PTU includes sensors for both input voltage to 0 5V and internal and motor temperatures El Note Reported voltage is accurate to approximately 0 5V 7 6 1 Commands O 7 6 2 Syntax Query PTU voltage and internal motor temperatures O lt delim gt 7 6 3 Example This command queries the PTU input voltage and temperature O Input 29 7 VDC 106 degF motors pan 96 degF tilt 96 degF E Series Command Reference Manual This page intentionally left blank 8 Power Control The constant current motors used in FLIR PTUs allow you to control power consumption using simple commands This is useful for battery powered operation reducing internal temperatures and extending motor life 8 1 Hold Power Mode Set and query the current power level applied to axis motors when holding position stationary Regular Power is the highest amount of hold power available because stepper motors generate significantly more holding torque than dynamic torque This allows you to use the Low Power hold mode in most situations If needed you may use Regular Power hold mode for brief periods when maximum holding torque is required CAUTION THE REGULAR HOLD POWER SETTING IS INTENDED ONLY FOR IN INTERMITTENT DUTY CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN OVERHEAT THE PTU MOTORS If your payload is light enough and or suitably position
13. Speed 0 CME In velocity mode CV setting the desired speed to O does not return a response until the PTU stops completely All other commands are postponed until the PTU stops The desired position is reset to the current position CMD Setting the desired speed to zero is a non blocking operation where the response returns before the PTU achieves the desired speed The desired position does not change E Series Command Reference Manual Setting Unit ID CME Setting a unit ID with the U command automatically changes the host COM port baud rate to 9600 baud CMD The baud rate remains the same Limits Reported CME When limits are disabled querying the maximum and minimum position returns factory values CMD When limits are disabled queries return accurate enforced limits B 3 2 Firmware Version 3 1 4 and Later Voltage and Temperature Report CME The O command reports input voltage in whole numbers integer CMD The O command reports input voltage with 1 decimal precision Terse mode FT reduces the verbosity of the report Carriage Return Behavior CME Received carriage returns lt CR gt echo as is Using carriage returns as a delimited caused terminals to overwrite the command printed on the screen This is standard D Series behavior CMD Carriage returns lt CR gt convert to newline characters lt N gt before processing When used as a delimiter this causes a new line r n to form before printing t
14. The basic ASCII command syntax is lt command gt lt parameter gt lt delimiter gt where e lt commands is the actual command such as PP for pan position e lt parameter gt is an alphanumeric value such as the desired pan position and e lt delimiter gt is a character used to denote the end of a command Valid delimiter characters can be either SPACE or ENTER The basic ASCII query syntax is lt command gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt delimiter gt is a character used to denote the end of a query Valid delimiter characters can be either SPACE or ENTER For example e Command PP lt position gt lt del im gt sets the desired absolute pan position e Query PP lt delim gt returns the current absolute pan position Commands and queries return results that display on the terminal screen as follows e A successfully executed command displays lt CR gt lt N gt on the terminal screen where lt CR gt is a carriage return and lt N gt is a new line e A successfully executed query displays lt QueryResult gt lt CR gt lt N gt where lt QueryResult gt is the result of the query you just executed e A failed command displays lt ErrorMessage gt lt CR gt lt N gt where lt ErrorMessage gt describes the error encountered e A pan axis limit hit asynchronously displays P e Atilt axis limit hit asynchronously displays T E S
15. base and maximum speed meaning that acceleration and deceleration occur at the same rate Acceleration is measured in positions per second per second For example a PTU accelerating from 500 positions per second at a rate of 150 positions per second per second will be moving at 650 positions per second after one second 800 positions per second after two seconds etc Figure 1 next page displays the relationships between lower base speed limits upper speed limits and velocity changes acceleration under three scenarios from left to right e Inthe first scenario a PTU axis starts at the base speed and accelerates to a desired constant speed slew rate which it holds for some time before decelerating to the base rate e Inthe second scenario additional speed changes are required that are below the base speed The PTU instantaneously changes speed e Inthe third scenario the PTU does not have enough time to accelerate to the desired slew speed before having to decelerate to stop at the desired position The upper speed base speed and acceleration parameters are interrelated Depending on how one or more of these parameters are set attempting to set another parameter may return an error If you receive an error while setting an acceleration try lowering the upper speed limit If you receive an error while setting an upper speed limits try increasing the acceleration The PTU allows on the fly position speed and directiona
16. for simplified wiring Integrated digital encoder for more robust positioning E Series Command Reference Manual e Programmable ranges of motion e Higher command rates with lower latency and jitter e Reduced calibration movement e Support for future integrated geo pointing GPM and stabilization ISM functionality without the need for external hardware e Full backward compatibility with previous PTU models 1 3 About This Manual This section describes the formatting conventions and information contained in this manual 1 3 1 Formatting Conventions This manual uses several formatting conventions to present information of special importance Commands and other information that is new for the E Series PTUs include the E icon shown here Lists of items points to consider or procedures that do not need to be performed in a specific order appear in bullet format e ltem1 e ltem2 Procedures that must be followed in a specific order appear in numbered steps Perform this step first Perform this step second Specific keyboard keys are depicted in square brackets and are capitalized for example ESC If more than one key should be pressed simultaneously the notation will appear as KEY1 KEY 2 for example ALT F4 Interface elements such as document titles fields windows tabs buttons commands options and icons appear in bold text Menus and submenus have the notation Menu gt Submenu For example
17. locking yourself out of the PTU because of a typo accidental rule DS command or reboot The staging set is user edited until ready for processing e The NFA firewall apply command applies the staging set to the current set and the firewall starts filtering with the new rules e DS default save saves the current set to non volatile memory which is loaded when the PTU boots up e Both the DR default restore and DF default factory commands implicitly update both the staging and current firewall sets Figure 5 shows how these commands modify the current and working sets Default Set DF P NFA Staging Set DF DR Current Set DR DS Saved Set Figure 5 Rule set flow E Series Command Reference Manual A 2 2 Managing Rule Lists The E Series protocols do not include a list data type Simple commands on the staging set handle list management A 3 Using the Firewall The fire A 3 1 Commands e NFU e NFO e NFF e NFI e NFC e NFA A 3 2 Syntax e Push a rule onto the end of the rule list NFU lt rule gt e Remove return the last rule NFO e Remove flush all rules NFF e Index NFI lt n gt e Read or replace a rule by its index number NFI lt n gt lt rule gt e Return count the total number of rules NFC e Copy apply the staging set to the current set NFA E Note The NFU command is the same as the NFI command where the index is the maximum index plus one
18. lt pos gt is the current pan position Note When the PTU commanded to CV mode the axis will not move until the El next velocity command is issued For example PS1000 CV will still show a speed of 1000 even though the axis is not moving 4 6 4 See Also e Position commands Section 3 1 and Section 3 2 e Speed commands Section 4 1 and Section 4 2 5 Continuous Axis Rotation The PTU D300 PTU D100 and PTU D48 with optional slip ring support continuous rotation in both of the control modes described in Section 4 6 This section describes the command syntax and semantics that support continuous axis rotation You do not need to disable limits in order to enable continuous rotation 5 1 Continuous Rotation These commands allow you to enable or disable continuous 360 degree pan rotation 5 1 1 Commands e PCE e PCD 8 Note These commands supersede the previous 1CPT command Executing this command on an E Series PTU will return an error message El Note You must reset the PTU after issuing a PCE or PCD command 5 1 2 Syntax e To enable continuous pan rotation PCE lt delim gt e To disable continuous pan rotation PCD lt delim gt E Series Command Reference Manual 5 1 3 Example This command sequence disables continuous panning resets the pan axis queries the pan minimum and maximum limits then enables continuous panning and starts continuous rotation at a speed of 1 000 positions per second
19. 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 with 8 data bits per byte no parity and hardware handshaking B 19200 8 n H 10 2 4 See Also To communicate with an expansion serial port channel Section 10 1 E Series Command Reference Manual 10 3 ASCII TTL Control TTL control seen in the payload connector as OP2 OP3 and OP4 has only been accessible with binary control E Series PTU firmware versions 3 1 4 and later support TTL control with new ASCII commands When working with TTL commands e The default OP level is low e Levels are undefined and may change while the PTU boots This can take a few seconds after applying power to the PTU e PTUs do not have a high impedance setting and do not support tri state e E Series PTUs have buffers on the TTL lines and can source or sink 10 milliamps for every OP CAUTION D SERIES PTUS CANNOT SOURCE SINK 10 MILLIAMPS OF CURRENT PLEASE REFER TO YOUR PTU MANUAL FOR MORE INFORMATION e It is good design practice to use a buffer between the PTU and your hardware for isolation and ESD protection ES B Note This section does not apply to D Series PTUs Please refer to your PTU documentation if you have a D Series unit 10 3 1 Commands e OOH e OOL 10 3 2 Syntax e TILhigh OOH lt n gt e TTILlow OOL lt n gt where n defines which TTL output to change such as 2 for
20. 0 Continuous Axis ROTATION ooococccocnoroncncnnoroncnoncncnncnoncnoroncnncnrononoronoso 31 5 1 Continuous Rotationen nnan A A E N 31 5d Ea E Eo a A LANO EE AA E A E Suns eves tv A A a a 31 o ee EAE E A E IS 31 ci A mem eeepc 32 User Defined Limits cid 33 6 1 Position Linit QUES aire aans aaa a AA AA 33 61 1 Command Snas A A r aie 33 EET A ANE E AO EEE EEE AA te 34 ls EXAMP IP ON 34 6 14 S E i LE e EE A E A aa a diia 35 6 2 Position Limit Enforcement a s iinei eaa a haroda ie diios 35 6 21 COMME E Aa aos 35 o A A Mid A Nac clad ar ian La do 36 E Sedans eters 36 624 SAO idad Dad aes tt 36 UNITE COMMANGS sisssssicediccncess ccc usesisidsccakcccssecuseceusdestucssecsucescesvucsdecussoustdanins 37 7 1 Reset PTU ntan aan aa e a a eide eaae ata deao aa aena 37 PA E E olaaa ENa Lo E EEE E E A Steak as A EAE T 37 Ta RO EES O EE A EEEE 37 TA E diia 38 7 2 Default Save REStOL cecceecccccccsssssssssescccecsessnsaececceccessesaeceeseccessessntsaueeeesesersnaaas 38 VE GOMMMANGS i ai cdec dic cdicedcadacedectads cicadacharaccicedicadacsadaceieddiaicvecaatedeiiaiavacelisaet asieceasasa baba da chases 39 FDO MERELE BIG HH ess tet A TA RS E Sey 39 7 3 ECONO A ts 39 EST COMM MN Sida dt LU tdt 39 E Series Command Reference Manual A RN 40 7 4 TR A O RN 40 A A A O 40 RS D E P A RAN 40 TAS O e E se tl de 40 7 5 Controller Firmware Version cccccccccononononnnononnnnnnnnnnononononononononono
21. 1 4 and later includes lightweight firewall functionality that lets you control or restrict access to E Series services at both the Ethernet and IP layers Note Dedicated firewall equipment is recommended for situations that require El complex source destination flags state specifications deep packet inspection or egress filtering A 1 Rules Rules specify how to identify and process incoming packets of data and form the core of any firewall All rules use the same basic format Pass or Block From source All or TCP or UDP or Both If TCP UDP then Port Number Rules work as follows e A Pass rule accepts packets that match the specified criteria e ABlock rule rejects packets that match the specified criteria e From specifies a matching parameter which can be all packets a MAC address a single IP address or a network in CIDR notation e Packets are further matched by the particular protocol if matching an IP packet All IP packets can be matched TCP or UDP packets can also be matched by additionally specifying the destination port number A 1 1 Rule Syntax The rule syntax is simple to specify and understand The destination always matches the PTU and the PTU will not forward packets because it is not a router or a NAT device The basic firewall rule syntax is Rule Action From Proto Port Action Pass Block Pass P Block B From All MAC Host Net All A MAC M HB HB H
22. 15 13 Using Tera Term Newer versions of Tera Term enable local line buffering and echoing by default on TCP connections This is not compatible with the PTUs TCP socket service and must be disabled by editing the Tera Term configuration file To do this 1 Use a text editor to open the default configuration TERATERM INI file located in the install directory typically C Program Files teraterm 2 Locate or add the option EnableLineMode and set it to False 3 Restart Tera Term to reload the configuration Tera Term New connection a To connect to a PTU TCP IP Host v History 1 Launch Tera Term Service O Telnet TCP port 4000 O SSH SSH version ssH2 y Open the New connection window Other z Protocol 2 3 Check the TCP IP radio button 4 Enter the PTU s IP address in the Host field 5 Serial Port OK Cancel Help Check the Other radio button in the Service area 6 Enter 4000 in the TCP port field 7 Set the protocol to UNSPEC using the Protocol pull down menu 15 1 4 Using Putty E Series TCP IP Control Putty is a terminal program that is available for both Windows and many versions of Linux The Windows version does not require installation and may therefore be desirable for use on computers with limited user rights To configure Putty 1 Open Putty 2 Click the Terminal entry in the Category tree on the left side 3 Check the For
23. 59 A O OR 59 a OO 60 13 6 Network Mask inicia oir 60 EA O E 60 EN E ne a A 60 is e i cc i vei dna the te ia cea Oe ba ET aie 60 14 Control MOOS iii Si AA 61 VAT S COMMANAS ws tisesrcicdidaesiveds dos lealtad a noite lactea la 62 AZ E da A AA E ET EE 62 14 3 A EXaMDIO at iets ns aay EE a TA acd sata a isan aw nae ak 62 E Series Command Reference Manual 15 E Series TCP IP Control id 63 15 1 Using TCP IP CON Molina aaa ia ias 63 15 1 1 Legacy Application ac 64 15 1 2 Using HyperTermimal ccccscsssccececsssssnsaccecesesesnsaeeececesseseneaeseceeessssesaeaeseeesesesnaneassaes 64 15 17 53 Using Tera Terns neck annn A eh ee NSS 64 TS Ut sino A ts cmt ch ee hia on tees cei aur O 65 16 PeleG D Protocol iii a di 67 E21 S CONTBULACION E E EE EEE ii 67 TOTAL CO MMA See i a e a cee ec Tae e a A a sees 67 16 12 Mi an ia A A a i a A i i a 67 16 13 EM ii A A A shale ee Moss eee ines 67 16 2 Standard Pelco D Commands ccccccncnnnononocnnononnnnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 68 16 3 Extended Pelco D COMMANOS ccccccnnnonoononnnnnncnnnononnnnnnnnnnnnonnnnnnnnnnnonnnnnnnnnnnnnnnninnnnns 68 16 4 Auxiliary Pelco DIDS ccoconcnoononnnccononononnnnnnnnnnnnnnannnnnnnnononnnnononnnnnnnnnnnnnnnnnnnnnnnnnnannns 69 A TCP IP Fire Wall sisteccosiitocesiiaas ete iern eee Nene 71 ATS R Sa AA A av Peds MAIR 71 ARS O ces as 71 AE O da E oe des y de E e e ed 72 A E ON 72
24. 85 PL Minimum Pan speed is PL20 Motor speed cannot PL40 4 5 4 See Also Position resolution units Section 3 3 PU lt delim gt PU lt positions sec gt lt delim gt PL lt delim gt PL lt positions sec gt lt delim gt TU lt delim gt TU lt positions sec gt lt delim gt TL lt delim gt TL lt positions sec gt lt delim gt 1985 positions sec exceed 1985 positions sec 31 positions sec be less than 31 pos sec Speed Control 4 6 Speed Control Modes PTU position and speed control are independently controlled by default In this mode speed commands represent unsigned magnitudes that determine how fast the PTU travels between independently commanded positions while not affecting the commanded positions themselves This mode is appropriate for both e pure position control methods when pan tilt control is affected solely by commanding pan tilt position and e hybrid position velocity control methods when both pan tilt positions and the rate at which the PTU travels between them are controlled E Note E Series PTUs can be set to pure velocity control mode when user limits are specified Your PTU also supports controlling pan and tilt via a pure velocity control mode that uses signed changes in the commanded axis speed In this mode the speed command is a signed value where the sign determines the direction of movement and the value determines the speed of movement in that direction as follows
25. A 4 Precautions Network services can be complex in nature and hence difficult to describe in a firewall rule set This section describes some network services that you should be aware of when editing the PTUs firewall A 4 1 HTTP HTTP runs on TCP port 80 No web access is possible without allowing incoming connections on this port An allow HTTP rule would be PAT80 TCP IP Firewall A 4 2 DHCP DHCP uses broadcast and unicast UDP packets to assign network addresses DHCP functionality requires incoming UDP packets on port 68 You must configure a static IP address if these packets are blocked Use the command PAU68 to allow DHCP requests You may also use a more restrictive rule for greater security such as passing only UDP port 68 packets from a specific DHCP server by MAC address A 4 3 TCP Control E Series ASCII and binary protocols are available on TCP port 4000 Blocking port 4000 will prevent access to this service This can be desirable or undesirable depending on your specific requirements Be careful when editing firewall rules over the network Failure to provide a TCP port 4000 allow rule will cause the NFA command to block the currently open TCP stream and all further access to the PTU will be denied until the PTU is power cycled or reconfigured via the serial interface A 5 Example Configurations Here are some sample firewall configurations A 5 1 Block Everything NFF NFA DS A 5 2 Block Ev
26. AEE EEA Eea aE E ie 13 A A aa a a a aa aa 13 E A cy One aE A IS 13 SI A de e Dt dd 13 O TN A ee ore 13 3 4 Limit Position QUETICS ccccccccccccecsensssseecccececseeseesseseececesseeeusssssesceceesssuuensseeseesess 13 A O ed eee aoa he 14 BD SS Vila esi ea tree eats Meat ol he tai hare tee Peake ost Ube tame ear eines Ante Lae aes 14 B43 SEX AIM POs Fe Bas doe ea Woes deck eae Pods a d a a ase a ala e a ake aa shes 14 E Series Command Reference Manual FAA SRA O A A A Te dt RE en 14 3 5 Position Limit Enforce Ment cccccononocoonnnnnnnnononononnnnonnnnnonononnnnnnnnnnonannnnnnnnnnnninnnnnnnnnos 14 A E RU cote Rae es 15 A ESN Uy eee Re ERR OR RIL EE REAR nv TT ORR OPE OnE REN ee OCR 15 o e Ro SEX A 15 A T A E sive eres 15 3 6 Position Execution MOAe ccccccconononoonnnnncnononononnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 16 3 6 1 Commands io a a a es saber vaeea tensed depen hs 16 E E See RR E E A A NA 16 3 6 3 SEXA Mpls a a ran 16 3 7 Await Position CompletioN siie ni a a a aiei tana 17 E CERET E EE E EE E E E E T 17 EOE AS A E E A E A E O E 17 A Examples a a a a a a a e E aE E EEE 17 O 17 3 8 A 17 2B 1 S COMIMANGS ot ey hae A A ash a Toes nt a sean oreo eT 17 o Cee ee A E O Ae SE A E 18 A anes 18 O A O ON 18 3 9 Monitor AUtO SCAN oooooccccccccncnnnananannnnnacononananonannnnononannno no nnnnnccnonanann nora nc cnc nanannon nano 18 RV COM MMS tt tt at ween 18 EKo ROE
27. B HB HB HB E Series Command Reference Manual HB HexadecimalCharacter HexadecimalCharacter Host H DotQuad Net N DotQuad Number DotQuad Number Number Number Number Proto TCP UDP Both TCP T UDP U Both B Port Number A 1 2 Examples Rule Description PAT80 Pass all TCP packets to port 80 PM00 11 22 33 44 55T4000 Pass TCP port 4000 packets from MAC 00 11 22 33 44 55 PN192 168 1 0 24T80 Pass TCP port 80 packets from the 192 168 1 0 24 255 255 255 0 subnet BAT4000 Block all TCP port 4000 packets A 2 Management Firewall rule management uses a list format with last match applies processing The default list contains one entry pass all All packets except ICMP are blocked before processing the rule list This means that the default firewall configuration marks all packets blocked marks all ICMP packets as pass and then marks all packets as pass This default configuration will pass all packets because of the last match applies processing Figure 4 shows the order of filtering in the default configuration Figure 4 Default firewall rule and packet processing order TCP IP Firewall A 2 1 Rule Lists Rule lists are managed as two different sets e Staging set e Current set Separating the firewall into two sets where only the current set saves to non volatile memory allows you to edit and test the firewall while reducing the risk of accidentally
28. E IA A 19 3 9 3 AN 19 A O TN ee ee ee eee 19 3 10 RAN 20 3 LOST COMMandss c E E E E E EE EE i Pesca Rast aes sees 20 LOLA OCA tes tthe hada aside eatin tke hia A ede 20 321033 Exam pl eres fcc eset a e o 20 3 11 Query Set PTU Speed Position nta 21 BELLA COMMAS ias 21 AS A E E E T E 21 3113 Eli ii 21 4 50600 CONTO da 23 4 1 ADSOIUtE Pe e a e a eae 24 v a Ea A AL A Ae tk ok Ai ise E dane dotctes dudes teoust tackdacaste E 24 AAD Sina IA A A 24 AA SEM PL A a O O Mee O A os iste eee k tea vs 24 BT TN A E A E E ENE EEE 25 4 2 Relative Speed iii di a dd 25 ADA COMMANGS 2054 eek ea th Hoare ae ae ois ative vette 25 WDD Sib O NS O E RO 25 42 3 EM AAA A A A 25 ADEA TN Eo EA II ka shag s 64 bv A A EERE EE 25 4 3 ACCElErAL ON ON 26 43 1 COMMANGS vcic diese UU lh ccveecade eS vvedeevsa ed des vindecdevados svete deevededdevatd Mee eens 26 Table of Contents RS e A A A T AE E A IA We NE AC 26 AB EMO ii A ca 26 ABA A A ae aad eee 26 4 4 BASE Start Up Spe daa a 27 AAT A NN 27 IS E A A A A O nh 27 MEARS O 27 Pa TN A A EEEE ENT E ENE avacaidiacdsdeeletectuedsagtvacstes 27 4 5 Speed A A A II oud 28 AS COMMAND ds 28 IS e CE A A A O A A AERO ee 28 A AP sedesh ee a a a aa e eied an dee L E 28 AVS LN O A 28 4 6 Speed Control Modest e RE ee de e do ar dd 29 4 6 1 COMMAS iacaaladi iaa iaa a a aa 29 TN S50 See Sc O ere One A on eee iT E A eC 29 4 6 3 SEKAI li Ai A id 30 4 6 4 See Alai did dado 3
29. High Performance Pan Tilt Unit E Series VERSION 4 10 REVISION DATE December 2011 Command Reference Manual E Series Command Reference Manual DOCUMENT CONTROL Date Author Rev Changes 09 2010 A Hernandez 4 00 Initial E Series release 12 2011 A Hernandez 4 10 Updated E Series release COPYRIGHT NOTICE Pan Tilt Unit E Series Command Reference Manual 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 580241 with other patents pending No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means including but not limited to 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 Inc FLIR Motion Control Systems Inc cannot be held liable for any mistakes in this manual and reserves the right to make changes Table of Contents 1 Introd ctiOM abs 1 1 1 Safety eek O aO EE a asta TA N E Aa a aa Taaa EAEE Aa A 1 1 2 E Series Feature Saia re e na a A A e aaia E aeai 1 1 3 About This Manuall
30. LD r ITITLPIP PP3200 A PP Current Pan position is 3200 nm Note This example demonstrates the LD command only This command is El recommended instead of disabling limits when continuous mode rotation PCE is enabled 3 5 4 See Also Position commands Section 3 1 and Section 3 2 E Series Command Reference Manual 3 6 Position Execution Mode Instructs the PTU to either immediately execute positional commands default or execute these commands only after an Await Position Completion command is executed slaved position execution Slaved position execution is recommended when you need coordinated pan and tilt axis movements Switching from slaved to immediate execution mode will execute any queued commands 3 6 1 Commands e 5S e Q 3 6 2 Syntax e Enable immediate execution mode I lt delim gt e Enable slaved execution mode S lt delim gt e Query execution mode IO lt delim gt 3 6 3 Example This command sequence enables immediate execution mode and then sends a pan command to the PTU which will begin moving immediately It then changes to slaved execution mode commands the axes to specified positions and adds an Await Position Completion command to start moving the PTU in both axes simultaneously I PP1000 IQ I S IQ S PP1500 TP 900 PP Current Pan position is 0 TP Current Tilt position is 0 A PP Current Pan position is 1500 TP Current Tilt position is 900
31. OP2 3 for OP3 etc 10 3 3 Example This example sets TTL output OP2 to low and TTL output OP3 to high 00L2 00H3 11 Step Modes E Series PTUs support various step modes for precise resolution control 11 1 Configuring Step Mode You may configure separate step modes for the pan and tilt axes including automatic stepping When automatic stepping is enabled the controller will automatically select the correct step mode based on the PTU s current speed and process all units as though the unit were in eighth step mode while allowing the PTU to move at the higher speeds allowed by the half step setting 11 1 1 Commands W 11 1 2 Syntax W lt axis gt lt resolution gt where lt axis gt can be either T Tilt axis or P Pan axis e lt resolution gt can be either F H Q E A for Full Half Quarter Eighth and Auto step resolution 11 1 3 Example The following command sets the Tilt axis to eighth step resolution and recalibrates the tilt axis WTE RT amp T T E Series Command Reference Manual This page intentionally left blank 12 PTU Serial Networks This section describes the commands used to configure set and query the PTU serial network configuration 12 1 Unit Network ID Specify or query the PTU controller network unit ID number The default PTU unit ID is O when the PTU is not networked and is in the default interactive communications mode Be sure to assign a unique uni
32. PP 2500 Enter the following command while the PTU is moving H PP Current pan position is lt pos gt where lt pos gt is the current pan position which will be between 2500 and 2500 3 8 4 See Also You may use this command with either Immediate or Slaved Position Execution mode see Section 3 6 3 9 Monitor Auto scan This command defines and initiates repetitive PTU monitoring auto scanning Auto scanning stops immediately and the PTU returns to its home position upon receiving a character from the host computer 3 9 1 Commands e M e ME e MD e MQ Getting Started Es 9 2 Syntax Initiate monitoring pan axis only M lt pan pos 1 gt lt pan pos 2 gt lt delim gt e Initiate monitoring both axes M lt pan pos 1 gt lt pan pos 2 gt tilt pos l gt lt tilt pos 2 gt lt delim gt e Initiate the last defined monitor command M lt delim gt E Note The power up monitoring default is the most recently saved auto scan mode The pan limits are the default monitor positions e Begin monitoring M lt delim gt e Enable monitor at power up ME lt delim gt e Disable monitor at power up MD lt delim gt e Query power up monitor status MQ lt delim gt 3 9 3 Example Executing the following command at power up starts the PTU scanning between its most recently saved default limits M To stop scanning and return the PTU to the home position lt delim gt This example enables pan axis monitorin
33. TNU e TXU ie 1 2 Syntax Query minimum pan factory user limit position PN lt delim gt e Query maximum pan factory user limit position PX lt delim gt e Query minimum tilt factory user limit position TN lt delim gt e Query maximum tilt factory user limit position TX lt delim gt e Query minimum pan user defined limit position PNU lt delim gt e Query maximum pan user defined limit position PXU lt delim gt e Query minimum tilt user defined limit position TNU lt delim gt e Query maximum tilt user defined limit position TXU lt delim gt e Set minimum pan user defined limit position PNU lt value gt lt delim gt e Set maximum pan user defined limit position PXU lt value gt lt delim gt e Set minimum tilt user defined limit position TNU lt value gt lt delim gt e Set maximum tilt user defined limit position TXU lt value gt lt delim gt 8 Note The PN PX TN and TX commands return either factory limits if user limits are not enabled or user limits if user limits are enabled 6 1 3 Example This command sequence resets the PTU to factory defaults queries the limits for each axis then commands a movement beyond the specified limits to return an error message and queries the user defined minimum pan position 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 PNU Minimum Pan u
34. ace 8 Note New E Series users should connect to the PTU using the web interface first to verify operation before attempting to connect to the TCP socket service The only requirement for using the TCP socket service is opening a TCP IP socket to the PTU on port 4000 The TCP socket service contains an application layer protocol that uses the same ASCII and binary protocols supported by existing D and E Series PTUs via RS 232 RS 485 serial connections E Series Command Reference Manual 15 1 1 Legacy Applications The TCP socket service supports legacy applications through a COM port redirector The following COM port redirectors have been successfully tested with FLIR PTUs TALtech TCP Com Microsoft Windows Tactical Software Serial IP Windows e EterLogic Virtual Serial Port Emulator Windows e Socat Linux links a pseudo terminal to a TCP connection 15 1 2 Using HyperTerminal To establish a TCP socket connection to the PTU using ax HyperTerminal i D PTU 1 Launch HyperTerminal and create a new connection as if opening a standard COM port Enter details for the host that you want to call 2 Inthe Connect To dialog select TCP IP instead of a 2 jost address 10 17 3 5 COM port using the Connect using pull down menu AA sooo 3 Enter the PTU s IP address in the Host address field 4 Enter 4000 in the Port number field eee using TCP IP winsock y 5 Click OK to connect to the PTU Cancel
35. al forces such as a strong wind gust may exceed available torque and cause the PTU to fail to move This may result in the commanded step count may not match the actual step position If a slip is detected the PTU automatically halts to regain control of the payload resets its internal counters and then begins moving again using the normal acceleration settings This process ensures that the PTU reports and achieves the correct position Enabling encoder correction control on an E Series PTU allow the controller to read the true position of each motor using encoders on the output shafts and keep the internal PTU position counters accurate Figure 4 illustrates a situation where the commanded position does not match the actual position because of to a slip event with encoder correction disabled AS CA AN a Y Y TRUE 0 TRUE 45 TRUE 45 INTERNAL 0 INTERNAL 90 INTERNAL 0 Figure 4 Slip event causes true and internal positions to desynchronize In this example 1 The PTU starts out at position O with the true position and the internal counter in sync 2 The PTU is commanded to position 90 but a slip event occurs during the move The controller continues commanding and counting step commands At the end of the move the controller believes the PTU is at position 90 but the true position is 45 3 The PTU is then commanded back to position 0 The controller sends enough steps to move back to O based on the assumption that the PTU starte
36. ally upon power up You may also issue a reset mode command to control how the PTU resets on power up and allow you to reset individual axes A reset calibration allows the PTU to determine the home position and should therefore occur before you issue any axis position commands A non calibrated PTU has axis minimum and maximum positions set to 0 meaning that any position commands issued when limits are enabled see Section 6 2 will return an error message Payloads beyond the PTU s handling capacity may cause the reset to fail Always test load handling ability as described in your PTU User Manual 7 1 1 Commands e R e RD e RT e RP e RE e RQ 7 1 2 Syntax e Perform Reset calibration R lt delim gt E Note Issuing an R command executes the last reset mode only For example RP R executes a pan axis reset followed by another pan axis reset The PTU saves the following reset modes for power up reset control e Disable reset upon power up RD lt delim gt e Reset tilt axis only RT lt delim gt e Reset pan axis only RP lt delim gt e Reset both pan and tilt axes upon power up RE lt delim gt E Series Command Reference Manual e Query current reset type RQ lt delim gt E Note Issuing an RE command followed by a DS command see Section 7 2 restores the default of calibrating both axes at power up 7 1 3 Example This command sequence switches reset modes and performs a reset calibration between each mode change
37. ample A common configuration enables Pelco D parsing sets the Pelco D address to 1 the baud rate to the standard Pelco rate of 2400 baud and then saves those settings to the PTU QPE QA1 2400 0 T DS E Series Command Reference Manual 16 2 Bit Value Bit Value 16 3 Command Set Preset Standard Pelco D Commands A standard command consists of a bit vector that describes basic pan tilt and camera control E Series PTUs implement the shaded fields shown here 15 14 13 12 11 10 9 8 1 0 0 Standard Reserved Reserved Auto Camera Iris Close Iris Open Focus Command Scan Enable Near 7 6 5 4 3 2 1 0 Focus Far Zoom Zoom Down Up Left Right Reserved Wide Tele Extended Pelco D Commands Extended commands allow for querying or changing single values instead of taking several actions simultaneously as seen in standard commands The Pelco D protocol includes many extended commands for basic functions and advanced functions E Series PTUs support the commands listed in the following table Clear Preset Go To Preset Set ON Auxiliary Clear OFF Auxiliary Set Pan Absolute Position Set Tilt Absolute Position Get Pan Absolute Position Get Tilt Absolute Position Opcode 0x03 0x05 0x07 0x09 0x0B 0x4B 0x4D 0x51 0x53 Data ID number ID number ID number AUX number AUX number Position in 1 100 of a de
38. ations with the PTU the host computer issues another command that selects the PTU as the desired communication target Note The expansion port baud rate does not affect communications with the El serial port connecting the host computer to the PTU The default PTU serial communications baud rate is 9600 10 1 1 Commands oe A oe MB 10 1 2 Syntax e Establish communications with CHA A lt delim gt e Establish communications with CHB EB lt delim gt E Series Command Reference Manual e Resume communications with the PTU controller lt delim gt The following modified commands ensure that lt raw bytes gt bytes will pass 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 inadvertently breaking communications in mid stream e Establish protected communications with CHA A lt raw bytes gt lt delim gt e Establish protected communications with CHB B lt raw bytes gt lt delim gt where lt raw bytes gt is the number of bytes to follow that will be received from the host computer without being be scanned for changes in the serial communications target 10 1 3 Example The following command sequence establishes communications with the PTU switches communications channels then resumes communications with the PTU
39. c network mode NMS lt del im gt PTU Network 13 3 3 Example The following code sequence queries the network mode queries the PTU IP address switches the network mode to dynamic and then queries the PTU IP address again NM Network mode is static NI IP address is 192 168 1 1 NMD NI IP address is 10 0 0 3 13 4 Redirect Port Redirects the HTTP Port 80 or UDP Port 4000 services to a different port 13 4 1 Command NR 13 4 2 Syntax e Query default port for T CP or U DP service NR T U lt port gt e Set new port for T CP or UJDP services NR T U lt oldport gt lt newport gt 13 4 3 Example This example queries the current HTTP port resets the HTTP port to 9090 and then resets the HTTP port again to 8080 NRT80 80 NRT80 9090 NRT80 9090 NRT80 8080 NRT80 8080 13 5 Network Host Name Query or specify a network host name for the PTU 13 5 1 Commands NN 13 5 2 Syntax e Query the PTU host name NN lt del im gt e Specify the PTU host name NN lt hostname gt lt delim gt Where lt hostname gt is the name of the PTU such as D4 8 The host name may contain letters numbers dashes and periods E Series Command Reference Manual 13 5 3 Example The following command sequence queries the PT host name specifies a new name and then verifies the change NN Current host name is D48 NN UNIT1 NN Current host name is UNIT1 13 6 Network Mask
40. ccccccccccscsssssscececececsesesssececeeeceeseseeseeeceeesesesaeaeeeeeeseessesssaeeeees 2 1 3 1 Formatting CONVENTIONS 2 05 23 cccecsebedeeveuedeneleadecewseve a a a et 2 Getting tartera ensenen ioaea nenene sees oiiaee 5 2 1 ASCIC ommand MD a 5 2 2 Power Levels arein ni rrea diari ta 6 2 3 SVACCElEPALiOM 215 4082 eeno e eiaa e i eea ea e iaaea 6 2 4 Serial COMmMAN o do e ts 7 24 1 Position A seed eves sav en vbncod evs edcdevessxduds a a a aaa a ieai iaaa 7 242 Pl A A A a 7 2 4 3 Continuous Axis ROtati0N cccccccocononononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 7 DAA LUAES ccs oc oes Seed cbs cd beds ateedvbusod ev sdacUeeeadasod savesohensadedvetsssebdedeta Gedo odebesdieedsatesedecdsaxeusaioaenes Gebeas 8 24S Unit Cono Sii a ia 8 ZA PON etiwanda vated delete et eat a ated anid alae Ae 8 243 Serial Expanded Ml Oia das 9 2 4 8 Step Modest ie 9 24 9 IP NetWork a a ii tina 9 ZA 10 Control Mode cia O AS lb ea 9 POSIEIONN A A 11 3 1 Absolute POSION i OS 11 SAS COMMAND E a Te 11 E A E ered tem he act eae 11 i132 EXAIMPIOk ce O an as O ees 11 Sede L E A ISO ieee A A uaa sh TER ava WS TREES ene tea ta Nase en 11 3 2 Offset POSITION ii A A das 25k eas Pe SV SRR sev E 12 321 COMIMANGS 2 choses aee e e a aaee eE a AAEE Ea a EA opie ink SKE NSC 12 Di E A EEE E EE NN 12 A Ea S E E E E O O E E E 12 32 4 SEA lO ii dit 12 3 3 Resolution per POSION aesir ae iea Ea aa aai
41. ce off radio button in the Local echo section 4 Check the Force off radio button in the Local line editing section 5 Click the Connection entry in the Category tree on the left side Clear the Disable Nagle s algorithm checkbox A E e Enter 4000 in the Port field a ES PuTTY Configuration Category 5 Basic options for your PuT TY session Logging Specify the destination you want to connect to B Terminal Host Name or IP address Port Keyboard Bell 10 17 35 4000 Features Connection type B Window Raw Telnet Rlogin MSSH Serial aaa Load save or delete a stored session aviour Translation Saved Sessions Selection FMCS PTU Socket Colours Default Settin gs Load B Connection FMCS PTU Socket Proxy Rlogin E SSH Serial Close window on exit q 5 Never Only on clean exit oen J Cancel Click the Session entry in the Category section on the left side Check the Raw radio button in the Connection type section 10 Enter FMCS PTU Socket in the Saved sessions field 11 Click the Save button and verify that FMCS PTU Socket appears in the list of sessions To use Putty 1 Open Putty 2 Click the FMCS PTU Socket session and then click the Load button 3 Enter the IP address of the PTU in the Host Name field 4 Click Open ii R PuTTY Configuration Category a Basic options for your PuTTY session i Logging Specify the d
42. d at position 90 The PTU therefore ends up moving to position 45 E Series Command Reference Manual Enabling encoder correction mode before this slip event would have caused the PTU to immediately correct its position after the event as described above The CPEC and CTEC commands query the number of times that the encoder correction control mode has had to correct slips in the pan and tilt axes respectively Use these commands during development to validate PTU settings Excessive slips can be caused by excessive acceleration or upper speed limits for the current payload To remedy this e Lower the speed and or acceleration e Adjust the payload to reduce the required torque e Increase the move power level These counters are zeroed when a reset R is commanded and on power up B Note Resetting the PTU with the R command or power cycling the PTU resets the pan and tilt slip counters to 0 14 1 Commands CT e COL e CEC 14 2 Syntax e Query current control mode CT lt delim gt e Set open loop control mode COL lt delim gt e Set encoder correction mode CEC lt delim gt e Query the number of pan axis corrections CPEC lt delim gt e Query the number of tilt axis corrections CTEC lt delim gt 14 3 Example This command sets encoder correction control queries the current control mode and then sets and queries open loop control The same control mode is used for both axes CEC CT CEC COL CT COL 15
43. d in positions per second relative to the speed before the command is issued For example if the PTU is moving at 1 000 positions per second adding a delta of 300 using a relative speed command will increase the speed to 1 300 positions per second You can change speeds on the fly Speed changes that will result in a speed outside the speed bounds return an error and are not executed 4 2 1 Commands e PD e TD 4 2 2 Syntax e Query current pan speed PD lt delim gt e Set desired delta offset pan speed PD lt positions sec gt lt delim gt e Query current tilt speed TD lt delim gt e Set desired delta offset tilt speed TD lt positions sec gt lt delim gt 4 2 3 Example The following command sequence instructs the pan axis to move to the far left then slowly move right decrease speed on the fly by 150 positions second and then query the current speed I PS1900 PP2600 A PS600 PP 2600 PD 150 PD Current Pan speed is 450 positions sec 4 2 4 See Also e Position commands Section 3 1 and Section 3 2 e Position resolution units Section 3 3 e Speed bounds Section 4 5 E Series Command Reference Manual 4 3 Acceleration Specify or query axis acceleration and deceleration for speeds above the base speed Acceleration is specified in positions per second per second Note The PTU requires a brief period to re compute the internal tables used to rapidly execute speed ramping when calc
44. ds to be mounted Acceleration is measured in positions per second per second Please see Section 4 3 for more information about setting acceleration Getting Started 2 4 Serial Command List These tables list the available serial commands Please refer to later sections within this manual for complete information about the available commands and their usage 2 4 1 Position The available position commands are CMD DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION PP Set query pan position XS Set preset Immed execution mode TP Set query tilt position XG Go to preset S Slaved mode PO Set query pan offset XC Clear preset H Halt all TO Set query tilt offset M Monitor HP Halt pan PR Pan resolution ME Monitor auto enable HT Halt tilt TR Tilt resolution MD Monitor auto disable A Await MQ Monitor auto query Please see Section 3 for more information about the position commands 2 4 2 Speed The available speed commands are DESCRIPTION Set query pan speed Tilt acceleration Tilt upper speed CMD DESCRIPTION DESCRIPTION TS Set query tilt speed Pan base speed TL Tilt lower speed Set query pan speed Pp offset Tilt base speed C Query control mode Set query tilt speed offset TD PU Pan upper speed CI Set to position control PA Pan acceleration Pan lower speed CV Set to velocity control Please
45. ed you may be able to shut power off completely when holding Before doing this verify that your payload will not back drive the PTU when holding under all expected conditions Back driving causes the PTU to lose track of pan and tilt position which requires a unit reset See Section 7 1 E Note Back driving usually occurs on the tilt axis because of the higher torque loads applied by the payload in high vibration environments Note If you set hold power to off there will be a 2 second delay from the time El the axis stops moving to when hold power shuts off This allows the payload to come to a complete stop E Note If you change the hold power setting the PTU must move before the new setting takes effect 8 1 1 Commands e PH e PHR e PHL e PHO E Series Command Reference Manual e TH e THR e THL e THO 8 1 2 Syntax e Query pan hold power mode PH lt delim gt e Regular pan hold power mode PHR lt delim gt e Low pan hold power mode PHL lt delim gt e Off pan hold power mode PHO lt delim gt e Query tilt hold power mode TH lt delim gt e Regular tilt hold power mode PHR lt delim gt e Low tilt hold power mode PHL lt delim gt e Off tilt hold power mode PHO lt delim gt 8 1 3 Example The following command sequence queries the pan hold power mode sets the mode to LOW and then verifies the change PH Pan in REGULAR hold power mode PHL PH Pan in LOW hold power mode 8 2 In Motion Power M
46. eries Command Reference Manual El Note You may see one or multiple Por Terrors This is normal behavior This sample command sequence pans the PTU to the left waits and then pans it back to the right with queries after finishing each pan movement PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 2 2 Power Levels Each FLIR PTU model can accept power within a permissible range of voltages The ability of any PTU to successfully move the payload depends upon the inertial payload factors and their relationship to power supply voltage unit speed acceleration position motor torque etc In general higher voltages allow the PTU to handle heavier payloads Your specific installation will determine the amount of voltage available to the PTU You may then control how the PTU uses the available power for each axis when the payload is at rest hold power or in motion move power by specifying High Regular or Low power mode Please refer to e Section 8 2 for information on setting the PTU move power e Section 8 1 for information on setting the PTU hold power Please also refer to your PTU User Manual and Configuration Guide for more information about permissible payload and power voltage ranges 2 3 Acceleration You may also control the PTU acceleration In general lower acceleration settings place lower torque requirements on the PTU and mounting and allow heavier payloa
47. erything Except DHCP NFF NFUPAU68 NFA DS A 5 3 HTTP Only NFF NFUPAT80 NFA DS A 5 4 TCP IP Control This example is for a local network 10 0 0 0 24 and HTTP Access for a gateway 10 0 0 23 NFF NFUPN10 0 0 0 24T4000 NFUPH10 0 0 23T80 NFA DS E Series Command Reference Manual A 5 5 Listing Rules NFC 2 NFIO PAT80 NFI1 PN10 0 0 0 24T4000 NFI2 Illegal argument B Compatibility Mode E Series PTUs include a compatibility mode switch to ensure backward compatibility with previous models This gives users the flexibility to either maintain backward compatibility when required or take advantage of the E Series enhancements Enabling compatibility mode makes the PTU operate as a Series D unit Disabling compatibility mode enables E Series behavior e PTUs with firmware versions earlier than 3 1 4 have compatibility mode enabled by default e PTUs with ISM or with firmware version 3 1 4 and later have compatibility mode disabled by default E Note Enabling stabilization on an E Series PTU automatically disables compatibility mode B 1 Commands e CM e CME e CMD B 2 Syntax e Query compatibility mode status CM lt delim gt e Enable compatibility mode CME lt delim gt e Disable compatibility mode CMD lt delim gt B 3 Effects This section compares PTU behavior when compatibility mode is enabled or disabled B 3 1 Firmware Version 3 0 0 e Velocity Mode
48. eset pan Query firmware version EE Enable host cmd echo RE Reset both axes Query echo mode ED Disable host cmd echo NOTES 3 Subsequent resets and any power on reset will only affect this axis 4 This also enables reset on power up Please see Section 7 for more information about the unit commands 2 4 6 Power The available power commands are CMD DESCRIPTION Query pan hold power DESCRIPTION Tilt hold power low DESCRIPTION Query tilt move power PHR Pan hold power regular Tilt hold power off TMH Tilt move power high PHL Pan hold power low Query pan move power TMR Tilt move power regular TH Pan hold power off Query tilt hold power PMR Pan move power high Pan move power regular Tilt move power low Query VDC and temp THR Tilt hold power regular PML Pan move power low Please see Section 8 for more information about the power commands Getting Started 2 4 7 Serial amp Expanded I O The available serial and Expanded I O commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION Serial port settings _ lt id gt Unit select JE Joystick enable A ChannelA U Query network ID JD Joystick disable B ChannelB Please see e Section 9 for more information about the host serial commands e Section 10 for more information about the expanded I O c
49. estination you want to connect to B Terminal Host Name or IP address Port Keyboard Bell 10 17 35 4000 Features Connection type B Window 9 Raw Telnet Rogn O SSH Serial premos Load save or delete a stored session aviour Translation Saved Sessions Selection FMCS PTU Socket Colours Default Settin gs Load B Connection FMCS PTU Socket Proxy Rlogin 6 SSH Serial Close window on exit Aways 5 Never Only on clean ext Open cance E Series Command Reference Manual This page intentionally left blank 16 Pelco D Protocol Pelco products use the proprietary Pelco D Protocol also known as Pelco D E Series PTUs with firmware version 3 1 1 and newer support the standard pan tilt portions of Pelco D Camera control commands are not currently implemented Note This chapter assumes that you are already familiar with Pelco D framing El and specifications Please refer to the appropriate Pelco documentation for more information about Pelco D 16 1 Configuration The PTU must be configured for Pelco D The web interface includes Pelco configuration and there are new ASCII configuration commands 16 1 1 Commands e QP e QPE e QPD e QA 16 1 2 Syntax e Query Pelco D parsing status QP lt delim gt e Enable Pelco D parsing QPE lt delim gt e Disable Pelco D parsing QPD lt delim gt e Query Pelco D address QA lt del im gt e Set Pelco D address QA lt n gt lt delim gt 16 1 3 Ex
50. etting Started 3 11 Query Set PTU Speed Position You may query the PTU s current speed and or position and command the PTU to a specified speed and or position 3 11 1 Commands e B 3 11 2 Syntax e Query PTU position and speed B lt delim gt e Set PTU position and speed B lt pan pos gt lt tilt pos gt lt pan speed gt lt tilt speed gt 3 11 3 Example The following command queries the PTU position and speed and then sends new position and speed parameters to the PTU B B P 256 23 S 0 0 PTU is at position 256 23 and moving at speed 0 B256 400 300 250 Commands the PTU to position 256 400 at pan speed 300 and tilt speed 250 E Series Command Reference Manual This page intentionally left blank 4 Speed Control Each PTU combines precise position control with precise speed and acceleration control This allows you to quickly and accurately predict any given PTU position at any given time e The base start up speed is the instantaneous velocity that the PTU axis can achieve without losing synchronization when starting from a full stop Base speed capabilities are more a function of the motors rather than load characteristics e The upper speed limit is the maximum speed that the PTU axis can achieve e Motors lose torque as speed increases and acceleration is therefore necessary to achieve speeds above the base rate The PTU uses trapezoidal acceleration and deceleration for speeds between the
51. g between the specified positions M 2500 100 This example enables pan and tilt monitoring between the specified positions M 2500 100 800 600 This example enables tilt axis monitoring between the specified positions MO 0 300 300 3 9 4 See Also Limit Position Queries Section 3 4 E Series Command Reference Manual 3 10 Position Presets E Series PTUs support 33 position presets which allow you to command the PTU to a position using any standard motion control commands and then store that position as a preset numbered from O to 32 You can then command the PTU to any previously stored preset using a Go to command Presets are retained when the PTU is powered down 8 Note When moving to a preset the PTU will follow the currently set motion parameters such as acceleration base rate etc 3 10 1 Commands e XS e XG e XC 3 10 2 Syntax e Set preset XS lt index gt lt delim gt e Go to preset XG lt index gt lt delim gt e Clear Preset XC lt index gt lt delims gt In the above examples lt index gt is the number of the stored preset position Valid index numbers are integers between 0 and 32 3 10 3 Example The following command sequence sets the PTU to position 500 400 store that position as preset 0 move the PTU to position 600 800 and then return it to the previously stored preset O position PP500 TP400 A XSO PP600 TP800 A XGO PTU moves to 500 400 G
52. gree Position in 1 100 of a degree N A N A Notes No special indexes supported zero pan 180 flip etc Generates extended response Generates extended response Pelco D Protocol Get Pan Absolute 0x59 Position in 1 100 ofa This is an extended Position Response degree response not a command Get Tilt Absolute 0x5B Position in 1 100 ofa This is an extended Position Response degree response not a command 16 4 Auxiliary Pelco D IDs Auxiliary commands function as a simple switch interface The following table describes the auxiliary IDs implemented in E Series PTUs AUX Name AUX ID AUX Command Notes Inverted Pan 3 ON Inversion flag is not saved Standard Pan 3 OFF Default mode Inverted Tilt 4 ON Inversion flag is not saved Standard Tilt 4 OFF Default mode ISM Start 8 ON ISM Stop 8 OFF Reset 9 ON Reinitialize Pelco module and executes a reset sequence Both axes are reset E Series Command Reference Manual This page intentionally left blank A TCP IP Firewalle E Series PTUs introduced Ethernet connectivity which provides easy and reliable communication on all standard PTUs Ethernet is a multi layered technology that allows many different uses and protocols E Series PTUs take full advantage of this by offering different services over a single Ethernet connection however not all services are required or desirable in a production installation Firmware version 3
53. gt e Disable host command echoing ED lt del im gt E Series Command Reference Manual 7 3 3 Example This command sequence queries the pan position disables echoing and reattempts the query to demonstrate that echoing is disabled PP Current pan position is 22 ED PP Current pan position is 22 7 4 Feedback Command and query the ASCII feedback returned by PTU commands El Note Enable terse mode for fastest command throughput 7 4 1 Commands e FV e FT e F 7 4 2 Syntax e Enable verbose ASCII feedback FV lt delim gt e Enable terse ASCII feedback FT lt delim gt e Query ASCII feedback mode F lt delim gt 7 4 3 Example This command sequence demonstrates verbose and terse feedback then queries the current feedback mode FV PP Current pan position is 0 FT PP 0 F ASCII terse mode 7 5 Controller Firmware Version Query the PTU firmware version and copyrights PTU model number and PTU serial number User Defined Limits 7 5 1 Commands e Y e VV e VM e VS 7 5 2 Syntax e Query PTU firmware version V lt delim gt e Query PTU short firmware version VV lt delim gt e Query PTU model number VM lt delim gt e Query PTU serial number VS lt delim gt 7 5 3 Example This series of commands queries the PTU firmware version short firmware version PTU model number and PTU serial number V Pan Tilt Controller v3 2 0 C 10 2011 FLIR Commercial Systems Inc All
54. hapter describes the available PTU position commands and queries 3 1 Absolute Position 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 3 1 1 Commands The available absolute position commands queries are e PP e TP 3 1 2 Syntax e Query current absolute pan position PP lt delim gt e Set desired absolute pan position PP lt position gt lt delim gt e Query current absolute tilt position TP lt delim gt e Set desired absolute tilt position TP lt position gt lt delim gt 3 1 3 Example The following command sequence sends the pan axis to the left waits then sends it to the right PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 3 1 4 See Also Please refer to the following sections for more information e Position relative offset and desired position queries Section 3 2 e Position resolution units Section 3 3 e Position limits Section 3 4 e Position execution modes Section 3 6 e Position limit enforcement modes Section 3 5 E Series Command Reference Manual 3 2 Offset Position Specify the desired pan or tilt axis position as an offset relative to the current position or query the desired axis position You may change desired offset positions on the fly without waiting for previous position commands to complete 3 2 1 Com
55. he response on a terminal Note Changing the mode will only affect the current stream and new streams until the PTU is reset For example sending this command over a TCP stream El will not affect the serial port until the PTU is reset New TCP streams will inherit the most recent mode Sending this command over the web interface will not change settings for any existing streams until the PTU is reset Await Completion CME The A command never returns an error even if the command timed out CMD The A command will return an error code if necessary because of situations such as internal errors impossible to achieve conditions timeouts and more Host Serial Port Settings CME Double conformation prompt emitted with a response required An implicit DS command is issued when the answer is Y D Series PTUs required a secondary confirmation when setting the host port s settings CMD The double conformation sequence is not used C Timestampse Some commands may contain timestamp information The timestamp is currently implemented by a free running 32 bit counter running at 90 MHz Note Future PTU hardware or software may use different frequencies You El should include a timestamp frequency query in your software as part of initialization C 1 Commands e CNT e CNF C 2 Syntax e Query current timestamp count CNT lt delim gt e Query timestamp counter frequency CNF lt delim gt e Query current PTU speed positi
56. ition resolution units Section 3 3 e Achieving larger axis bounds Section 6 3 5 Position Limit Enforcement Determines whether position commands beyond the detected pan axis limits are allowable When limits are enabled default commands outside of the limits return an error message and are not executed In this mode the PTU only reaches limits when it has lost synchronization a condition that requires a unit reset see Section 7 1 The PTU displays P on the host computer port when it reaches its pan axis limits and T when it reaches its tilt axis limits El Note You may see one or multiple Por Terrors This is normal behavior Getting Started 3 5 1 Commands e L e LD e LE e LU 3 5 2 Syntax e Query current pan position limit mode L lt delim gt e Enable pan position limits LE lt delim gt e Disable pan position limits LD lt delim gt e User limits LU lt delim gt UN CAUTION DISABLING LIMITS MAY DAMAGE INTERNAL PTU WIRING AND IS NOT RECOMMENDED PARTICULARLY ON PTUS WITHOUT HARD STOPS 3 5 3 Example This command sequence queries the current limit status and maximum pan limit attempts to pan the PTU beyond its pan limit to return an error message then disables limits and repeats the pan command which now executes successfully because of the disabled limits L Limit bounds are ENABLED soft limits enabled PX Maximum Pan position is 3090 PP3200 Maximum allowable Pan position is 3090
57. l changes When changing direction on the fly the PTU manages all deceleration direction reversal and acceleration to achieve the most recently specified target speed and acceleration rates E Series Command Reference Manual Lower Speed Limit Time Figure 1 Axis Speed during On The Fly Desired Speed and Position Changes 4 1 Absolute Speed Specify the desired axis speed in positions per second or query the desired speed for the selected axis Speed is the rate at which the PTU moves to execute movement commands You can change speeds on the fly Speed commands outside the speed bounds return an error and are not executed 4 1 1 Commands PS e TS 4 1 2 Syntax e Query desired pan speed PS lt delim gt e Setdesired pan speed PS lt positions sec gt lt delim gt e Query desired tilt speed TS lt delim gt e Set desired tilt speed TS lt positions sec gt lt delim gt 4 1 3 Example The following command sequence instructs the pan axis to move to the far left then slowly move right and speed up on the fly PS1900 PP2600 A PS600 PP 2600 PS1900 Speed Control 4 1 4 See Also e Position commands Section 3 1 and Section 3 2 e Position resolution units Section 3 3 e Speed bounds Section 4 5 4 2 Relative Speed Specify desired axis speed in positions per second relative to the current speed or query the current axis speed The relative speed change or delta is measure
58. lly networked PTUs automatically use the default communications settings described above Note E Series PTUs do not support host byte delays but the command E E syntax has been preserved to ensure backward compatibility with previous PTU models Add a O in the byte delay segment of the command as shown below 9 1 1 Commands 9 1 2 Syntax Specify baud and default lt baud gt 0 lt startup default gt lt delim gt where e lt baud gt may be 600 1200 2400 4800 9600 19200 38400 57600 or 115200 bits per second e lt startup default gt may be either T to apply your specified baud at power up or F to use the default 9600 baud The T and F arguments are only effective when the PTU is in Compatibility mode see Appendix B E Series Command Reference Manual 9 1 3 Example The following command sets the host serial port RS 232 RS 485 to 19200 baud with 8 data bits per byte no parity no handshaking and keeps the power up baud rate at the default 9600 19200 0 F The following command sets the host serial port RS 232 RS 485 to 19200 baud with 8 data bits per byte no parity no handshaking and changes the power up baud to 19200 19200 0 T 9 1 4 See Also Setting the PTU controller unit ID Section 12 1 10 Expanded I O Many usage scenarios require additional serial units that are attached to or located near the PTU These devices can be connected directly to the host computer which require
59. lt delim gt e Enable factory limits LE lt delim gt e Enable user defined limits LU lt delim gt e Disable limit enforcement LD lt delim gt 6 2 3 Example This command sequence resets the PTU queries the pan axis limits sets user pan axis limits enables limit enforcement commands the PTU beyond pan limits to return an error message enables user limit enforcement and queries the pan position after the PTU finishes panning to come within the user limits Note In this example the PTU pan position is beyond he specified user limit In El The PTU therefore automatically pans to the appropriate user limit when user limit enforcement is enabled 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 R ITIT P P PP 3000 A PP Current Pan position is 3000 PP3200 Maximum allowable Pan position is 3090 LU L Limit user defined bounds are enabled R ITIT P P PN Minimum Pan position is 1000 PX Maximum Pan position is 1500 6 2 4 See Also Position commands Section 3 1 and Section 3 2 7 Unit Commands The commands and queries listed in this chapter allow you to issue housekeeping commands and queries to the PTU 7 1 Reset PTU This command controls PTU calibration By default the PTU resets both axes automatic
60. lt positions sec gt lt delim gt e Query desired tilt base speed TB lt delim gt e Set desired tilt base speed TB lt positions sec gt lt delim gt 4 4 3 Example The following command sequence homes the pan axis moves it far left changes the base rate then moves back to home I PPO PB Current Pan base speed is 0 positions sec PP2600 A PB1000 PPO A 4 4 4 See Also e Position resolution units Section 3 3 e Acceleration Section 4 3 e Speed bounds Section 4 5 E Series Command Reference Manual 4 5 Speed Bounds Set and query the upper and lower speed bounds for desired speed commands 8 Note The PTU requires several seconds to re compute the internal tables used to rapidly execute speed ramping when calculating speeds The upper speed bound therefore cannot be changed on the fly If the PTU is moving and you attempt to change the upper speed the PTU will immediately slow to a halt 4 5 1 Commands PU PL TU TL 5 2 Syntax Query upper pan speed limit Set upper pan speed limit Query lower pan speed limit Set lower pan speed limit Query upper tilt speed limit Set upper tilt speed limit Query lower tilt speed limit Set lower tilt speed limit 4 5 3 Example This command sequence queries the upper and lower pan speeds and attempts to exceed those limits in order to return an error message PU Maximum Pan speed is PS3300 Pan speed cannot PS19
61. mands The available offset position commands queries are e PO e TO 3 2 2 Syntax e Query desired pan position PO lt delim gt e Set desired offset pan position PO lt position gt lt delim gt e Query desired tilt position TO lt delim gt e Set desired offset tilt position TO lt position gt lt delim gt 3 2 3 Example The following command sequence sends the pan axis to position 500 then sends it 1500 positions to the left of position 500 PP 500 A PO Current Pan position is 500 PO1500 A PP Current Pan position is 1000 3 2 4 See Also e Position resolution units Section 3 3 e Position limits Section 3 4 e Position execution modes Section 3 6 e Position limit enforcement modes Section 3 5 Getting Started 3 3 Resolution per Position This query returns the axis resolution per position moved in seconds of arc Note A degree of arc is divided into 60 minutes of arc and each minute of arc B is further divided into 60 seconds of arc A degree of arc therefore contains 3600 seconds of arc and each second of arc is equal to 1 3600 of a degree or 0 0002778 3 3 1 Commands The available resolution per position queries are e PR e TR 3 3 2 Syntax e Query pan resolution PR lt delim gt e Query tilt resolution TR lt delim gt 3 3 3 Example To pan the PTU 21 3 degrees to the left PR 92 5714 seconds arc per position PO828 To calculate the number of degrees
62. nonononononenicananeness 40 Teds COMM MAS ai 41 A O A A II A RNY A AA ee mE 41 a llo A ees Seas ise dae A AT 41 7 6 Voltage and Temperature QUe TY occocooconccncncnnnonononnnnnnnnnnononannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnns 41 AM A NOAA 41 A O O A RN NE 41 Al O ON 41 8 POWER Controla a 43 8 1 Hold PoWwer Modena dias 43 Sl COMMANGS 22 A E EE svete have EEE daca acs A E atta dae hdacatie AERE 43 e OARE Sy Eee OT BED SRR E Te Pee eT EE eer oor 44 A O AE es 44 8 2 IN Motion Power Mode occccccccccccconcnononnnnnnnnnnnnnnnnononononononononononononononononenonananananinaness 44 Bi 221 COMMANAS cieces A d dhevatcatensees 44 PEP ae ON LEY A A A A O mr 45 B23 NN 45 9 Hosteria PO nina 47 9 1 BURT A ala 47 TELS COMMAN Saa ali liada i s 47 A A A O Aerated 47 LEO li A Ia 48 QA A S EASO aa A des 48 10 Expanded Oi i 49 10 1 Serial Communications Tarta pd 49 LOA EE COMA MS lala T 49 LONAS Ata ire NT A AAA AA RAE ea a 49 fe lege lt 100 6 ee cee IR E CRT E A 50 VO E SS CO AIS A A A ands deuenenedvereretaa 50 10 2 Expa ded Serial POM ccicvesccrcececccaat sstctnas 50 10 21 COMMONS iii a data dates 50 MS en setesicc Bit eveviucsi te maniac ane na Aad ane tent aes a eRe tae ad avd ete 51 10 23 SEX Ml O ene INCA iaiie 51 10 24 SCA lO tit e E E ao 51 103 SS ASCITTECON TO A A a SN Raid 52 VO ES COMMAS ii AA A A AAA A AAA A ae a dad a his TR aa iis 52 A A a A E O cigs tonkastades 52 10 33 EXAMPLE
63. ode Set and query the current power level applied to axis motors when in motion transiting INTERMITTENT DUTY CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN f CAUTION THE HIGH MOVE POWER SETTING IS INTENDED ONLY FOR OVERHEAT THE PTU MOTORS 8 2 1 Commands e PM e PMH e PMR e PML e TM e TMH TMR TML 8 2 2 Syntax Query pan move power mode High pan move power mode Regular move power mode Low pan move power mode Query tilt move power mode High tilt move power mode Regular tilt move power mode Low tilt move power mode 8 2 3 Example The following command sequence queries the pan move power mode sets the mode to LOW and then verifies the change PM lt delim gt PMH lt delim gt PMR lt delim gt PML lt delim gt TM lt delim gt TMH lt delim gt TMR lt delim gt TML lt del 1im gt PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Power Control E Series Command Reference Manual This page intentionally left blank 9 Host Serial Port Serial PTU communications always use the following settings e Start bits 1 e Stop bits 1 Data bits 8 e Handshaking None e Parity None In addition you may specify the following serial communications settings e Baud rate up to 115200 baud default is 9600 9 1 Baud Rate This command specifies the baud rate for the RS 232 RS 485 serial communications between the PTU and the host computer E Note Seria
64. ommands 2 4 8 Step Modes The available step mode commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION WP Query pan step mode WPE Pan axis eighth step WTH Tilt axis half step WPF Pan axis full step WPA Pan axis auto step WTQ Tilt axis quarter step WPH Pan axis half step WT Query tilt step mode WTE Tilt axis eighth step WPQ Pan axis quarter step WTF Tilt axis full step WTA Tilt axis auto step Please see Section 11 for more information about the step mode commands 2 4 9 IP Network The available IP network commands are DESCRIPTION Network host name DESCRIPTION CMD CMD DESCRIPTION MAC address NI IP address Network mode static NS Network mask NMD Network mode dynamic Query network mode Network gateway Please see Section 13 for more information about the IP network commands 2 4 10 Control Mode The available control mode commands are CMD DESCRIPTION DESCRIPTION DESCRIPTION Get PTU motion B Query set PTU motion BT imestamp CNT Timestamp Control d CNF Timestamp frequency CEC en Sa di COL Control open loop correction CT Query control type IQ Query immed slave RQ Query reset type Please see Section 14 for more information about the control mode commands E Series Command Reference Manual This page intentionally left blank 3 Position This c
65. on with timestamp BT lt delim gt Note The CNT command always returns a fixed width timestamp count with Os El added on the front as needed to obtain the correct width The BT command is not fixed width and does not add Os to the timestamp C 3 Example This example queries the current timestamp count the current counter frequency and the PTU speed position with timestamp CNT Current timestamp count in fixed size format If the value is too small it will be prepended with Os to full width CNT 0000009275 CNP 90000000 BT P 2300 550 S 600 200 9278 E Series Command Reference Manual v 4 10 12 2011 SFLIR Motion Control Systems 890C Cowan Road Burlingame CA 94010 p 650 692 3900 f 650 692 3930 www FLIR com MCS
66. orked PTUs _O lt delim gt where lt unit_ ID gt is between 1 and 127 12 2 3 Example The following command sequence selects PTU 1 sets its pan position to 300 then selects all networked PTUs and simultaneously sets their pan positions to 500 It then selects PTU 1 again to receive its response 1 PP300 0 PP500 1 12 2 4 See Also Unit Network ID Section 12 1 13 IP Network The commands in this chapter support the Ethernet connectivity included with E Series PTUs E Note D series PTUs and earlier do not support Ethernet connections or the commands described in this chapter E Note Please refer to Appendix A for information about setting up the built in firewall when using TCP IP to communicate with your PTU E Series PTUs are designed to accept an IP address assigned by a DHCP server by default If this fails the PTU will attempt a direct connection with the host computer You may determine the PTU IP address using the PTU Finder utility included on the CD that shipped with your PTU Please refer to your PTU User Manual for more information 13 1 MAC Address Queries or sets the PTU Media Access Control MAC address 13 1 1 Commands e NA 13 1 2 Syntax e Query current PTU MAC address NA lt delim gt e Specify PTU MAC address NA lt mac_address gt lt delim gt Where lt mac_address gt is the desired MAC address A MAC address consists of 6 pairs of hexadecimal numbers separated by colons
67. per position use the formula Resolution 3600 In this example each position equals 0 025714 which is 92 5714 3600 Dividing the number of degrees you want to move the PTU by the number of degrees per position yields the number of positions to move the PTU Using this resolution if you want to pan the PTU 21 3 left from its current position you must first translate the desired number of degrees into positions Dividing 21 3 by 0 025714 yields 828 positions 3 3 4 See Also Step Modes Section 11 3 4 Limit Position Queries These queries return the axis position limits either factory set or user limits Please refer to your PTU User Manual for more information about limits E Series Command Reference Manual 3 4 1 Commands The available limit position queries are e PN e PX e TN eo TX 4 2 Syntax Query minimum pan position PN lt delim gt e Query maximum pan position PX lt delim gt e Query minimum tilt position TN lt delim gt e Query maximum tilt position TX lt delim gt 3 4 3 Example The following query sequence enables factory limits resets the PTU queries the pan and tilt axis limits and then attempts to pan the PTU beyond its limits to return an error message LE RE T IT IPBIP PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 PP3200 Maximum allowable Pan position is 3090 3 4 4 See Also e Pos
68. r all functionality The E Series of PTUs features an expanded command set for even more control options This Pan Tilt E Series Command Reference Manual covers the software control interface for the following E Series PTUs e PTU D48 E Series e PTU D100 E Series e PTU D300 E Series Each PTU also includes a User Manual specific to that unit model such as PTU D48 E Series User Manual The User Manual describes the electrical and mechanical interfaces and includes general setup and use instructions The E Series command set described in this manual is backwards compatible with prior PTU models with the following exceptions e Range of motion command syntax has been updated Section 6 e Network commands have been added to support the Ethernet interface Section 13 Note This manual is not intended for use with the PTU D46 or PTU D47 If you El have a PTU D46 or PTU D47 please refer to the PTU D46 47 Command Reference Manual Note The Compatibility Mode feature allows you to switch from D Series El compatibility to the slightly different E Series behavior Please see Appendix B for details 1 1 Safety Please refer to and comply with all safety warnings contained in your PTU User Manual 1 2 E Series Features The E Series of PTUs includes the following new features e Built in Ethernet Web IP interface for easy configuration control and diagnostics e Improved power protection circuitry e 32 pin base connector
69. s additional serial ports on the host plus additional serial cabling Some E Series PTU configurations offer an optional Expanded Input Output ElO option that adds CHA CHB TTL lines through the payload interface Please refer to your PTU User Manual for more information about available lines and wiring The PTU controls serial port expansion channels You may configure CHA and CHB RS 232 communications for expanded port baud rates data bits parity and handshaking Each channel operates independently and the PTU fully buffers bidirectional data flow to allow for communications rate mismatch Point to point communications between the PTU 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 by at least 200 characters This buffer can overflow when hardware handshaking is not used verify that attached devices do not exceed the buffer size before the host computer can read their serial data 10 1 Serial Communications Target These commands establish point to point communications between the host computer connected to the PTU serial port and either the expanded serial port CHA CHB or PTU Selecting an expansion port channel switches the host computer communications from the PTU to the external device connected to the selected port To resume communic
70. see Section 4 for more information about the speed commands 2 4 3 Continuous Axis Rotation The available continuous axis rotation commands are CMD DESCRIPTION CMD DESCRIPTION DESCRIPTION PC Pan continuous PCD Pan continuous disable PCE Pan continuous enable Please see Section 5 for more information about the continuous axis commands E Series Command Reference Manual 2 4 4 Limits The available limit commands are DESCRIPTION DESCRIPTION CMD DESCRIPTION PN Minimum pan position PNU User defined pan min L Query limit status PX Maximum pan position PXU User defined pan max LE Enable limits TN Minimum tilt position TNU User defined tilt min LD Disable limits TX Maximum tilt position TXU User defined tilt max LU User limits NOTES 1 Factory limits 2 This command is retained for backward compatibility For E Series PTUs it is best to either use continuous pan mode to exceed limits or enable user limits to reduce range of motion Please see Section 6 for more information about the limit commands 2 4 5 Unit Controls The available unit control commands are DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION R Reset Query feedback mode DS Default save RD Disable reset Enable verbose feedback DR Restore saved settings RT Reset tilt Enable terse feedback DF Restore factory defaults RP R
71. ser defined position is 1000 User Defined Limits 6 1 4 See Also e Position resolution units Section 3 3 e Achieving larger axis bounds Section 6 2 6 2 Position Limit Enforcement These commands specify whether position commands beyond the factory or user defined limits are allowable El Note Factory limits are enabled and enforced by default When limits are enabled commands beyond those limits return an error message and are not executed When factory limits are enabled the PTU will only reach those limits when it has lost synchronization This error condition requires a unit reset as described in Section 7 1 A PTU that reaches a factory limit sends P or T to the serial port to indicate that the specified limit was hit ES El Note You may see one or multiple Por Terrors This is normal behavior You may disable limit enforcement when larger operational pan ranges are required as described in Section 5 The PTU accepts positional commands beyond the specified limits when limits are disabled Enabling user defined limits triggers an error message when the PTU is commanded to positions beyond those limits The PTU respects user limits in both independent and pure velocity modes as described in Section 4 6 El Note Enabling continuous pan overrides user limits 6 2 1 Commands e L e LE e LU e LD E Series Command Reference Manual i 2 2 Syntax Query current limit enforcement L
72. t ID number to each PTU on the network Assigning a unit ID of O to a PTU places the PTU back in the default interactive non networked communication mode 12 1 1 Commands U 12 1 2 Syntax e Query current PTU network unit ID U lt delim gt e Set PTU to interactive mode non networked U0 lt del im gt e Set PTU network unit ID U lt unit_ID gt lt delim gt where lt unit_ ID gt is between 1 and 127 12 1 3 Example The following queries a PTU unit ID then sets and stores the unit ID configuration so that the PTU will use the new ID number when it powers up U Unit ID is 0 Ul U Unit ID is 1 Ul DS 12 1 4 See Also Unit Select Deselect Section 12 2 E Series Command Reference Manual 12 2 Unit Select Deselect This command selects the PTU to be controlled A PTU will execute incoming host computer commands only when the preceding unit_ ID selected by the host is equal to either e The PTU s assigned unit ID e 0 Note A host computer can issue commands for simultaneous execution by all networked PTUs by using unit ID 0 however only one PTU can provide El feedback to the host computer at a time A PTU only provides feedback to the host computer when its ID is selected by the computer and buffers outgoing data until polled up to about 100 bytes 12 2 1 Commands _ lt unit_ID gt 12 2 2 Syntax e Select a PTU for bi directional data _ lt unit_ID gt lt delim gt e Broadcast to all netw
73. ulating acceleration and deceleration El Acceleration therefore cannot be changed on the fly If the PTU is moving and you attempt to change the acceleration the PTU will immediately slow to a halt 4 3 1 Commands e PA e TA 4 3 2 Syntax e Query desired pan acceleration PA lt delim gt e Set desired pan acceleration PA lt positions sec2 gt lt delim gt e Query desired tilt acceleration TA lt delim gt e Set desired tilt acceleration TA lt positions sec2 gt lt delim gt 4 3 3 Example The following command sequence illustrates different rates of acceleration PA Pan acceleration is 2000 positions sec sec PB Current Pan base speed is 1000 positions sec PU Maximum Pan speed is 2902 positions sec A PPO PS1900 PP2600 A PA1500 PPO A 4 3 4 See Also Position resolution units Section 3 3 Speed Control 4 4 Base Start Up Speed Specify or query the axis base start up speed in positions per second The default base speed is O positions per second Note The PTU requires several seconds to re compute the internal tables used 8 to rapidly execute speed ramping when calculating speeds The base speed therefore cannot be changed on the fly If the PTU is moving and you attempt to change the base speed the PTU will immediately slow to a halt 4 4 1 Commands e PB e TB 4 4 2 Syntax e Query desired pan base speed PB lt delim gt e Set desired pan base speed PB

Pan-Tilt Unit (E Series) Command Reference Manual

Contents

Download Pdf Manuals

Related Search

Related Contents