Home

PATRIOT Manual

1. 43 Table 2 15 N ASCII 45 Table 2 16 Binary Response 45 Table 2 17 Output Data Types 46 Table 2 18 ASCII 47 Table 2 19 Binary Response 47 Table 2 20 U ASCII 48 Table 2 21 U Binary Response 48 Table 2 22 X ASCII 51 Table 2 23 X Binary Response 52 Table 2 24 Y ASCII 54 Table 2 25 Y Binary Response 55 Table 2 26 AE ASCII Response 57 Table 2 27 AE Binary 57 Table 2 28 ASCII Baud Rate Values 58 Table 2 29 ASCII Parity 58 Table 2 30 O ASCII 59 REV J vii Table 2 31 O Binary Response 59 Table 2 32 Binary RS 232 59 Table 2 33 U station ASCH Response 62 Table 2 34 UO ASCII 62 Table 2 35 U Binary Response
2. B 1 table of figures ie E vi technical support F 1 zie rtr 44 UC seduce ple USES 25 un boresight sees 56 pure EE 20 Update rate 1 ie E rete tied 20 E 1 US iiem Ue edF RS 25 USB ue Heres TEST 2 4 8 17 USB Buffering 66 useful Anpe retener HRSG 21 user command set summary eene 27 user defaults eite Es 21 WaN GS de E iii sic ed eam ee ete D 1 web address oett 87 WhoAml UE EDU 76 Wildcard eec eau 24 RY Z OFX MUS 21 XYZABR eeu essere sube 21 YAW we ie EO RUE Bee E E 21 NOVEMBER 2013
3. 62 Table 2 36 X ASCII 64 Table 2 37 X Binary Response 65 Table 2 38 B ASCII Response 67 Table 2 39 9 B Binary Response 67 Table 2 40 P ASCII Response 70 Table 2 41 P Binary 70 Table 2 42 AT ASCII Response 75 Table 2 43 AT Binary 75 Table 2 44 ASCII 76 Table 2 45 V Binary Response TI Table 2 46 V station ASCII Response TI Table 2 47 V station Binary Response TI Table 2 48 Z ASCII Response Header 80 Table 2 49 Z ASCII Response 81 Table 2 50 Z Binary 82 Table 3 1 LED conditions sess 84 Table 3 2 RS 232 Pin Outs sees 85 Table 3 3 Switch Settings sess 86 Table 4 1 BIT Results DWORDS C 1 Table 4 2 Source BIT Results C 1 Table 4 3 Global Sensor BIT Results C2 Table 4 4 Sensor Channel BIT Results C2 Table 4 5 Runtime BIT Error Code
4. Ba eae EI 23 2 2 1 NOLAN ON A RR TNO ge OQ HOUR TUN 23 2 2 2 Command FormatNOIGs eic eer FC UNG E Ore Fu uec Wee E e REV SO RE Fo VEN OO PER Ed 23 2 2 3 Response Format Notes eee repr htt eite I Eee eg eter 24 2 3 PATRIOT USER COMMAND SET SUMMARY scssccccccecsssesseceeececescusueceeececsensseecececseseauuaseeseceeseusaeceeececsenssaecaeeees 27 2 4 PATRIOT ERROR CODE nnns esee tet nsn isses teeth 28 2 9 COMMAND RERERENGCR iiis i e D Ub voe TEE E E EE GERE EN ERE issues a eats rue YE ERR E EE NERO 29 2 5 1 Configuration COMMANAS RR 29 2 2 2 Operational Commands ie te e re tee re he re ere neo Fe re rese bere 68 3 COMPONENT DESCRIPTION 6555 5 o io sono ean eo raus ao Sr sana boss e Fo paa Panos dra Sa 84 SYSTEM ELECTRONICS UNIT SEU iia tet me tete iet at dte se tiv e m te e Eie 64 3 1 1 Source POT p Rn e WIE E EOE 84 3 1 2 RUIT eR E 84 3 1 3 SEHSOPIPOTIS eM A eed A ore ien oda KM f Ua 84 3 1 4 EED IndiCatoF 5 5 ete datis nonne acie enne eid 84 3 1 5 RS2232 H O eio Ra ei ER RENS RO PEDE UP E REED NS ROME DERE 5 3 1 6 Serial COnnecton ei Pa GHI REO TR mM Mae 85 3 1 7 Hardware Ls oe etre ete ette n ctv at
5. No tracker connection Figure 1 8 PiMgr Screen Display 1 With no PATRIOT system connected notice that the appears in the lower right corner Once connected the icon will change to 2 If the PATRIOT system is already powered up and connected to the computer the PiMgr will discover the connection immediately upon startup If not you will need to manually create the connection once you have powered up PATRIOT To do this first you must select the type of connection you wish to create 3 If you want to create a USB connection skip to step 4 PiMgr defaults to a USB connection If you want to create an RS 232 connection first configure the serial port settings by opening the Device Configuration dialog Open this dialog off the Device menu Device Device Configuration and select the Connection tab Select the RS 232 Connection Type on the left and the appropriate RS 232 Properties on the right Then Click OK REV J 9 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Frsesar Source Mounting Frame Active Sensors Filters General Connection Connection Type R5 232 Properties Com Port RS 232 Baud Rate 115 200 C USB Parity None Cancel Apply Figure 1 9 RS 232 Configuration Settings To create a connection click the Connect button on the PiMgr toolbar When the connection has been established the connection icon at th
6. Syntax X F FLow FHigh Factor lt gt Part Description F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 FLow FHigh or 1 0 to disable filter REV J 50 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow lt FHigh lt 1 FACTOR ascalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 When the form of the command is X 0 1 0 0 lt gt the position filter is disabled Remarks The default mode for all filter parameters is shown below Although th
7. Table 2 34 U0 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 Ww 3 A Error Indicator 4 B ASCII Blank character 5 8 XXXX Hex bitmap for detected sensors 9 12 XXXX Hex bitmap for active sensors 13 14 AA Carriage Return Line Feed Table 2 35 U Binary Response Byte Index Format Description 0 7 Binary Header 8 I Detected and Active Station bitmap Binary output is the same for both U station and U0 62 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Examples A user could connect two sensors to a PATRIOT and then collect a data point from one sensor at a time after disabling the other one To do so the following commands would be sent 1 Send the command U2 0 lt gt to turn station 2 off 2 Press P to collect a data point from station 1 3 Send the command U2 1 lt gt to turn station 2 on 4 Send the command U1 0 lt gt to turn station 1 off 5 Press P to collect a data point from station 2 6 Repeat steps 1 through 6 as necessary To turn on station while turning off station 2 send U0 1 lt gt where 1 corresponds to 0x01 0001 Bits corresponding to station 1 are set and those corresponding to 2 are cleared 63 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL X
8. 0 41 Source Fail Errors B 0x42 Source Fail Y BIT Errors C 0x43 Source Fail X BIT Errors D 0x44 Source Fail Z BIT Errors EF 0x45 Source Fail XZ BIT Errors 0 46 Source Fail YZ Errors G 0x47 Source Fail XYZ BIT Errors T 0x49 BIT Errors REV J 28 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT USER MANUAL 2 5 Command Reference 2 5 1 Configuration Commands Configuration Commands are typically issued during system setup They affect the overall operation of the PATRIOT system Once a configuration has been established PATRIOT will operate in that configuration until power is removed a reset is issued or the configuration is changed again through a command The current configuration may be saved and used at initialization time by commands discussed in this section Unless otherwise indicated the default behavior of the configuration commands will be as follows e When no arguments except station number where applicable are supplied with the command PATRIOT will respond with the current value of the setting in the response frame body e When arguments are supplied the command modifies the setting and PATRIOT sends no response to the command If ME Set Echo Mode is enabled see page 57 PATRIOT echoes back the command as verification that the command was received and executed e Station specific commands have an option to apply the setting
9. 19 pou 58 PATRIOT ote ER eS 19 PATRIOT System Commands 22 physical characteristics 2 E 1 e 19 Polhemus contact information F 1 position filter parameters esee 50 power module essere E 1 power requirements eese E 1 Powering Up rettet eret 91 print output continuous eee 69 PROM ederet HD R E 44 quaternion 2 iere prier r 19 lup EE E 1 read operational 80 read clear BIT errors esee ere 74 record output rettet erri ee ri 70 reset alignment frame sss 60 TESEL COUNTETS eret are 72 r sol tion E 1 IeSDOlSE scere ER OV PIE IER 20 Response Format csscceeceeesseceeeeeeseeceseeeeneeeeees 24 return merchandise authorization RMA F 1 RMA return merchandise authorization F 1 TOll zi oer eer dde PR RETE 20 TOA ON cernere ED ERNST med eee ieee 37 R5 232 5 iine 4 5 11 27 58 85 86 RS 232 Port Configuration sess 58 runtime results ettet ettet eren C2 Safety Notices ene teeth teres iii save operational 73 A E 20 SONS 20 88 1 sensor number of sssese
10. Figure 1 3 Sensor Connection 5 For testing purposes it is convenient to mount both the source and the sensor on a single block of wood 2x4 or equivalent about 16 inches apart Exact placement of the source and sensor is not important for this test just make sure the cables of both devices are not routed tightly together and that they come off opposite ends of the wooden block See Figure 1 4 REV J 3 NOVEMBER 2013 LL POLHE IN MOTION PATRIOT USER MANUAL Figure 1 4 Sensor Source Test Setup 6 Ensure the power switch is in the OFF position logic 0 DOWN With the separate power supply UNPLUGGED from the wall connect the power input cable to the PATRIOT The power supply can now be plugged into a 110 220 VAC outlet See Figure 1 5 CONFIG Bi Figure 1 5 Power Connector USB or RS 232 Communication Only one I O port USB or RS 232 can be active at a time e For USB continue with step 7 e For RS 222 skip to step 11 For USB Communication 7 Identify the USB cable and insert it into the receptacle as shown in Figure 1 6 Connect the other end of the USB cable to the host computer REV J 4 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL CONFIG RS 232 inu Figure 1 6 USB Cable Connection At this point you may turn on the PATRIOT system using the power switch located on the back panel of the SEU A system status indicator located on the front panel
11. Set Default Operational Configuration on page 78 Output Record Table 2 30 O ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A o 3 A Error Indicator 4 B ASCII Blank character 5 10 A Baud Rate See Table 2 28 above 11 B Blank 12 A Parity See Table 2 29 above 13 14 A Carriage Return Line Feed Table 2 31 O Binary Response Byte Index Format Description 0 7 Binary Header 8 I Baud Rate See Table 2 32 below 12 I Parity See Table 2 32 below Examples Suppose there is a requirement to change the baud rate in software to 19 200 baud after startup It can be accomplished with the following command without turning off and restarting the system O192 1 8 0 The system serial communication parameters will now be 19200 baud no parity 8 data bits and 1 stop bit The host communication software may have to be reset to the new baud rate 19 200 in order for communication with PATRIOT to continue Table 2 32 Binary RS 232 Codes Code Baud Rate Code Parity 1 2400 0 2 4800 1 Odd 3 9600 2 Even 4 19200 5 38400 6 57600 7 115200 59 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Reset Alignment Frame Description This command resets the alignment reference frame for the specified station to t
12. 88 Figure 3 5 8 Stylus 89 Figure 3 6 3 Stylus iste 89 Figure 3 7 Buddy Button and Buddy Button Adaptor 90 Figure 4 1 Alignment Reference 1 DUE TO SOFTWARE AND HARDWARE MODIFICATIONS SCREEN OR PRODUCT EXAMPLES APPEARING IN THIS MANUAL MAY VARY SLIGHTLY FROM THE ACTUAL SCREENS OR PRODUCTS THE USER ACCESSES REV J vi NOVEMBER 2013 LIST OF TABLES Table 2 1 ASCII Response Format 25 Table 2 2 Binary Response Format 25 Table 2 3 A ASCII 31 Table 2 4 A Binary 31 Table 2 5 ASCII 34 Table 2 6 Binary Response 34 Table 2 7 F ASCII Response 36 Table 2 8 F Binary 36 Table 2 9 G ASCII 37 Table 2 10 Binary Response 37 Table 2 11 ASCII 40 Table 2 12 H Binary Response 40 Table 2 13 1 ASCII 43 Table 2 14 L Binary
13. azimuth elevation and roll of the tracking sensor Same as azimuth Used in text to indicate the Enter key Used in text to indicate the Ctrl key 21 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 2 PATRIOT System Commands 2 1 Overview This section specifies the PATRIOT Command Interface It defines the structure and function of PATRIOT commands and responses The interface is comprised of ASCII commands and binary or ASCII response frames The ASCII commands are designed to work in a dumb terminal mode thus keeping the communications protocol simple and easy to use These commands are the basis of the Polhemus APIs Additional information is provided in this document to give the reader some background in the terminology and general science behind the Polhemus tracking technology All commands are input on the RS 232 serial port or USB port REV J 22 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 2 2 Command Syntax 2 2 1 Notation The following notation is used in this manual to describe the PATRIOT command syntax lt gt Items shown inside square brackets are optional To include optional items type only the information inside the brackets Do not type the brackets Represents an ASCII carriage return or enter M 0 Whenever shown this value must be present to terminate the command sequence An ellipsis indicates
14. FL FL FL FL I Description Alignment Origin X Alignment Origin Y Alignment Origin Z Alignment X Axis Alignment X Axis Alignment X Axis Alignment Y Axis Alignment Y Axis Alignment Y Axis Hemisphere X Hemisphere Y Hemisphere Z Boresight Az Boresight El Boresight Roll Stylus Mode 0zMarker 1 PointTrack NK X The following 80 bytes will be repeated once for each station on PATRIOT Byte Index 144 64 station count 1 Examples Format 1 20 Description Output Data List Table 2 17 page 46 NOVEMBER 2013 MUS morion PATRIOT USER MANUAL To view the configuration settings for the current configuration issue the following command Z lt gt To view the configuration settings for the factory default configuration issue the following command 70 lt gt REV J 83 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 3 Component Description 3 1 System Electronics Unit SEU The SEU is a stand alone unit that may be located anywhere that is convenient to the work area AC power and the host computer It contains the required input and output connectors and controls to support up to two sensors a single magnetic source a USB port and an RS 232 port See Getting Started Figure 1 1 on page 2 for a picture of the SEU PATRIOT sources and sensors are compatible with and identical to LIBERTY sources and sensors 3 1 1 Source Port The single sour
15. if possible to avoid transportation damages for which you or your shipper would be liable If your system is still under warranty Polhemus will repair it free of charge according to the provisions of the warranty as stated in Appendix D of this document The proper return address is Polhemus 40 Hercules Drive Colchester VT 05446 Attention RMA From within the U S and Canada 800 357 4777 From outside the U S or Canada 802 655 3159 Fax 802 655 1439 REV J F 1 NOVEMBER 2013 INDEX X Ctrl nets utet 21 lt gt C Enter key emere Eee hito pere 21 6 Degree Of Freedom sese 12 ODOR fete his ilk ie qun 12 active station 61 adaptive filter one temet bets 13 address for Polhemus eee F 1 alignment eene 14 30 31 60 A 1 alignment frame reset esses 60 alignment procedure esee 31 alignment reference frame 30 A 1 nennen 1 14 22 PS CUD cased ectetur ee ders 14 24 B 1 attitude filter parameters esee 53 attitude MatriX senp enoe endian 14 azimuth REM 14 ba d Tate eoe emet 15 58 benign environment esee 15 EEEn 15 Binary oret troie io e toes 25 lum 15 global s
16. is specified instead of a station all station output lists will be set to the programmed value If output list parameters p pn are omitted from the argument list the current defined output list is returned Default is 0 2 4 1 P amp O lt cr gt lt lf gt for all stations NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 18 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A O 3 A Error Indicator 4 B ASCII Blank character 5 X Data Item 1 6 B 7 xB Remaining data items separated by blanks Table 2 19 Binary Response Byte Index Format Description 0 7 Binary Header 8 I Data Item 1 12 I Data Item 2 16 I Data Item 3 84 I Data Item 20 NOTE In the binary output format the list of valid data items will be terminated with a 1 OXFFFFFFFF Examples The user may decide to use X Y Z direction cosines instead of the default output format In order to do so the following command should be sent 1 5 6 7 1 lt gt The output data for Station 1 will now be displayed as X Y Z direction cosines plus carriage return line feed 02e The output for all stations will be position only REV J 47 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL U Set Units Description This
17. Configuration slot number 0 is reserved for the factory default configuration A 15 character null terminated ID string should be assigned to the user defined configuration before K is issued See the X Operational Configuration ID command page 64 Output Record None Examples Assume a user wants to save the current custom operational configuration for use later The user also wants to make this configuration the default power up configuration for the user s PATRIOT system The following commands should be issued XNewIDstring lt gt Assigns an ID string to current configuration Saves current configuration to first config slot WI Sets Config Slot 1 to startup config 73 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Read Clear BIT Errors Description This command allows the user or technician to read and clear any start up Built In Test BIT errors that occur during system initialization This command will return 9 integer values that can be decoded as described in APPENDIX C Syntax T clear Part Description clear 0 clears all start up BIT errors Remarks If no clear command is supplied this command will display the current start up errors This is a diagnostic command that allows the user or technician to determine the cause of any start up test failures and to clear those errors If a start up test fails PATRIOT will display a message
18. Default Operational Configuration on page 78 for instructions on how to set and store configurations 4 4 Output Update Rate The data output update rate for the PATRIOT is 60 Hz REV J 91 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 4 5 Output Considerations Most applications of the PATRIOT system involve using its data output to manipulate some type of computer graphics in real time In this condition it is extremely important to allow the data to be utilized as quickly as possible and to avoid latency or lag Lag is defined as the interval of time between requesting a PATRIOT data point and receiving it into the host computer Factors that could increase this lag are e Output Record Length e Data Format Binary is more efficient than ASCII e Filtering data are produced at normal times but will show effects of filter lag e Background software and applications running on the host computer e USB Buffering Mode Enabled see B USB Buffering Mode on page 66 The PATRIOT also contains an adaptive filter that is designed to control noise in the data output The filter can be applied to Position or Orientation or both It should be noted that the effect that is seen in the data may have or appear to have a slower dynamic response with medium or heavy filtering selected Although data is transferred at normal time the filtering gives it the appearance of lag See X Position Filter Para
19. IN MOTION PATRIOT USER MANUAL 5 Press P and write down the X Y Z measurements these will be Xx Xy XZ 6 Move the sensor along the proposed Y axis from the origin defined in step 2 and place it about 24 inches from the source 7 Press P and write down the X Y Z measurements These will be Yx Yy Yz 8 Using all of the data that has been written down in steps 1 7 send the command A1 O0x Oy Oz Xx Xy Xz Yx Yy YZ lt gt REV J 32 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL B Boresight Description This command causes the sensor to be electronically aligned in orientation and optionally position with the user system coordinates and establishes the boresight reference angles for the station Azimuth elevation and roll outputs will equal the boresight reference values at the current orientation If the Reset Origin switch is set X Y and Z outputs will equal 0 0 0 at the boresight location PATRIOT then produces outputs relative to this these reference s Any sensor orientation can be designated as the zero orientation point If all the optional parameters are omitted the system returns the boresight reference angles for the specified station A station may be unboresighted by issuing a B command See the section describing the B Un Boresight Command on page 56 Syntax Bstation Azref Elref Rlref ResetOrigin lt gt Part Description station 1 o
20. MOTION Table 2 50 Z Binary Response Byte Index 0 7 8 24 28 76 Format A I FL FL FL FL FL FL FL FL FL FL FL I PATRIOT USER MANUAL Description Binary Header Config ID Bits Meaning 0 2 Baud rate Table 2 32 on page 58 3 4 Parity Table 2 32 on page 58 4 31 Reserved Bits Meaning 0 Continuous Mode 0 Off 1 On 1 Binary Mode O ASCII 1 Binary 2 Units Mode 02Inches 12CM 3 4 Sync Mode N A for PATRIOT 5 7 Reserved 8 9 Compensation N A for PATRIOT 10 25 Station Bitmap 1 Active 26 Echo Mode 0 Off 1 On 27 Buffering Mode 0 Off 1 On 28 31 Reserved Attitude Filter Sensitivity Attitude Filter FLow Attitude Filter FHigh Attitude Filter FACTOR Position Filter Sensitivity Position Filter FLow Position Filter FHigh Position Filter FACTOR Source Mounting Frame Az Source Mounting Frame El Source Mounting Frame Roll Frame Rate 2 60 Hz The following 64 bytes will be repeated once for each station on PATRIOT Byte Index 80 64 station 1 84 64 station 1 88 64 station 1 92 64 station 1 96 64 station 1 100 64 station 1 104 64 station 1 108 64 station 1 112 64 station 1 116 64 station 1 120 64 station 1 124 64 station 1 128 64 station 1 132 64 station 1 136 64 station 1 140 64 station 1 Format FL FL FL FL FL FL FL FL FL FL FL
21. a constant radius from the source so that the box actually might be better described as spherical or hemispherical The azimuth elevation and roll angles that define the current orientation of the sensor coordinate frame with respect to the designated reference frame The Euler angle coordinates that are output by PATRIOT as one measure of sensor orientation are graphically defined in Figure 1 11 Here the x y z and X Y Z tri axis arrays represent independent three dimensional orthogonal coordinate frames The x y z triad represents the sensor frame in its current orientation state The X Y Z triad represents the reference frame against which the relative orientation of the sensor frame is measured By definition the X Y Z frame also represents the zero orientation reference state of the sensor frame The Euler angles azimuth elevation and roll are designated y and 9 These angles represent an azimuth primary sequence of frame rotations that define the current orientation of the sensor with respect to its zero orientation state The defining rotation sequence is an azimuth rotation followed by an elevation rotation followed by a roll rotation The azimuth angle y is defined in the figure as a rotation of the X and Y reference axes about the Z reference axis The transition axes labeled X and Y represent the orientation of the X and Y axes after the azimuth rotation The elevation angle 0 is defined as a rotatio
22. ae aevo B 2 APPENDIX C BUILTIN TEST ere eee Ino eee Sore Sera oe e E Mae Vor oe aa ee e Sov C 1 INITIALIZATION RESULTS teet Dit ete prr DIE 1 R NTIME RESULTS e see tco te rette eite ertt ee C 2 REV J iv NOVEMBER 2013 APPENDIX D LIMITED WARRANTY AND LIMITATION OF LIABILITY ee eese eene D 1 APPENDIX E SPECIFICATIONS E 1 APPENDIX CUSTOMER SERVICE F 1 REV J 2013 TABLE OF FIGURES Figure 1 1 PATRIOT System see 2 Figure 1 2 Source Connection see 3 Figure 1 3 Sensor Connection sese 3 Figure 1 4 Sensor Source Test Setup esses 4 Figure 1 5 Power Connector 4 Figure 1 6 USB Cable Connection 5 Figure 1 7 RS 232 Cable Connection 6 Figure 1 8 PiMgr Screen Display sees 9 Figure 1 9 RS 232 Configuration 10 Figure 1 10 PATRIOT Data Record Display 10 Figure 1 11 Euler Angles ee 19 Figure 3 1 Reset Button 86 Figure 3 2 Source Diagram sese 87 Figure 3 3 Sensor RX2 s ieeueeeuec eher 88 Figure 3 4 5 1 amp
23. and incorporate sophisticated digital signal processing capabilities Adaptive filtering is available as a standard feature REV J 13 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION 1 7 Terms Acronyms Alignment Alignment Frame API ASCII Attitude Matrix Azimuth PATRIOT USER MANUAL Obtaining congruence between the axes of the PATRIOT system and the axes of the application The process whereby the PATRIOT system coordinate reference is brought into coincidence either physically or mathematically with other coordinates of the environment Alignment in an active system is not the same as a boresight operation which concerns only the sensor in passive systems alignment and boresight can be identical The reference frame in which the position and orientation of the sensor is measured The default alignment frame is the source frame Application Programming Interface Programming library used to develop custom host software for driving the instrument Sometimes used interchangeably with SDK American national Standard Code for Information Interchange defines a certain 8 bit code for display and control characters A three by three matrix containing the direction cosines of the sensor s X axis in column one the direction cosines of the sensor s Y axis in column two and the direction cosines of the sensor s Z axis in column three The order of the Euler angle rotation sequence is azimuth elevation
24. and roll where X Direction Cosines Y Direction Cosines Z Direction Cosines CA CE SA CE SE CA SE SR SA CR CA CR SA SE SR CE SR CA SE CR SA SR SA SE CR CA SR CE CR CA Cos azimuth CE Cos elevation CR Cos roll SA Sin azimuth SE Sin elevation SR Sin roll The coordinate of orientation tracking in the horizontal plane where an increase in the angle is clockwise when viewed from above Azimuth is a 14 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Baud Rate rotation around the Z or vertical axis The term yaw is often substituted for azimuth especially in the context of flight The signaling rate on a serial line For example to convey an 8 bit byte normally requires at least two additional bit times a start bit and a stop bit so that synchronization is possible without a separate clocking line For example such an arrangement implies for a 9600 baud rate conveyance of data at a 9600 8 10 7680 bit rate Benign Environment A tracking environment free of the need for special calibration or Binary BIT Boresight bps compensation brought on by the unique features of a particular installation and its environment e g high light levels for optical tracking high sound levels for sonic tracking high metallic distortion for magnetic tracking If not otherwise noted all measurements and statements pertainin
25. control parameters for the adaptive filter that operates on the attitude outputs of the PATRIOT system The user can adjust the parameters of this command to fine tune the overall dynamic response of PATRIOT The filter is a single pole low pass type with an adaptive pole location 1 floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type Y Syntax Y F FLow FHigh Factor Part Description F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the fl
26. development and sale of medical devices and all other regulatory requirements REV J 1 2013 FCC Statement Class A PATRIOT This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designated to provide reasonable protection against interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause interference to radio communications Operation of this equipment in a residential area is likely to cause interference in which case the user will be required to correct the interference at the user s own expense FCC Statement Class B PATRIOT This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be deter
27. frequency magnetic field generated by the source The sensor is used to track both the position and orientation of the object to which it is attached relative to the measurement reference frame The source generates the low frequency magnetic field measured by the sensor The source s X Y and Z axes are the default measurement reference frame The source sensor pair PATRIOT supports up to two sensors yielding a possible two stations A pencil shaped housing for the sensor with an integral switch and used by the operator to indicate and or select points to be digitized Shorthand for synchronization For example sync signal The unit of assumed distance PATRIOT allows measurement in either inches or centimeters The rate at which motion tracking data can be made available from the PATRIOT system 20 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Useful Range User Defaults XYZ or X Y Z XYZAER Yaw lt gt The maximum distance at which the resolution and noise performance of the PATRIOT system can be realized The values assigned to certain system variables by the user Stored in non volatile memory the system receives these variable values at power up The Cartesian coordinates of position tracking where normally X is in the forward direction Y is in the right hand direction and Z is downward The output string of data reporting the position XYZ and orientation AER
28. fumes Operation of any electrical instrument in such an environment constitutes a definite safety hazard e Do not use the instrument in a manner not specified by the manufacturer ii To clean the instrument If the instrument requires cleaning 1 Remove power from the instrument 2 Clean the external surfaces of the instrument with a soft cloth dampened with a mixture of mild detergent and water 3 Make sure that the instrument is completely dry before reconnecting it to a power source REV J iii NOVEMBER 2013 TABLE OF CONTENTS SAFETY NOT TICES T WARNINGS TEC IL IO 4GLEAN THE INSTRUMENT 1 GETTING STARTED E 1 IASSETUPTHEPAEIRIOT uii dieser rin oio ecrit iR er cer WEE eO REL SER OU OPERE retis 2 INSTALE THE HOST SOETWARE e rr ERE RE ERA rc As REOR ORE TA a 8 1 2 1 USB Driver Installation eite d tecto etr eei e Ee c o ai 8 13 USE THE POLHEMUS PIMGR GUL vsccsccccissvesscss cscccssbinsconiescesssasdediesssssvsadesacedsledvessosdedetcasssusesscndded EAT o ASRA eNi Na 9 1 4 EXPERIMENT WITH PATRIOT DATA wu 11 I35GPATRIOTDIGITIZER 12 ESO PATRIOT DB 13 TU DERMS ACRONYMS 14 2 PATRIOT SYSTEM COMMANDS csccssceccssccccssccccssceccesccecescecenceecescecssceecescoecescoecesceecenes 22 2 1 OVERVIEW EET 22 22 COMMAND SYNTAX
29. only operate in one hemisphere at a time relative to the source it is necessary to tell PATRIOT which side of the source they will be on for each station PATRIOT also provides hemisphere tracking a feature whereby PATRIOT can continuously modify its operating hemisphere given that it is started in a known valid hemisphere Because of the symmetry of the magnetic fields generated by the source there are two mathematical solutions to each set of sensor data processed Therefore only half of the total spatial sphere surrounding the source is practically used at any one time without experiencing an ambiguity usually sign flips in the X Y Z measurements This half sphere is referred to as the current hemisphere The chosen hemisphere is defined by an LOS vector from the source through a point at the zenith of the hemisphere and is specified by the LOS direction cosines Syntax Hstation p p2 p3 1 lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair pl The initial x component of a vector pointing in the direction of the operational hemisphere s zenith p2 The initial y component of a vector pointing in the direction of the operational hemisphere s zenith p3 The initial z component of a vector pointing in the direction of the operational hemisphere s zenith Remarks The arguments p p3 above are the vector components of the operational hemisphere s zenith The default he
30. see page 86 The PATRIOT DB will auto detect anytime a sensor is connected to a sensor port REV J 1 2013 POLHEMUS PATRIOT USER MANUAL 1 1 Set Up the PATRIOT NOTE This approach assumes the use of a single sensor availability of a USB or COM Port on a computer with either Windows XP Vista Win 7 and that the Polhemus PiMgr GUI is installed on the computer See Install the Host Software on page 8 for instructions Figure 1 1 PATRIOT System 1 Unpack the PATRIOT SEU source sensor s USB and RS 232 cables PATRIOT Host Software CD power supply and cables See Figure 1 1 25 Set up the PATRIOT system close to your host computer and away from large metal objects like file cabinets metal desks etc and away from the floor and walls 3 Identify the source the two inch gray cube and insert the source connector into the source receptacle being careful to firmly engage it Using your fingers tighten the two retaining screws to secure the connector See Figure 1 2 REV J 2 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL SENSOR 1 SENSOR 2 23 6 DE E Na GY J ey Nas Figure 1 2 Source Connection 4 For getting started use only one sensor Identify the sensor and insert it into either of the sensor receptacles as shown below Firmly engage and lock the sensor connector into place in the same manner as the source connector in step 3 See Figure 1 3
31. that you can repeat an item A comma represents a delimiter in a list of optional parameters The comma must be present for those parameters which are omitted except for the case of trailing commas For example Qs p1 p4 lt gt is the proper command format when omitting parameters p2 and p3 Commas following the parameter p4 are not required if parameters p5 and p6 are omitted A vertical bar means either or Choose one of the separated items and type it as part of the command For example ONIOFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar A caret in front of a command letter indicates that the control key should be held down while typing the command letter Control commands produce ASCII values between 0x00 and Ox1F For discussion purposes examples assume that only one sensor is used in the Sensor 1 position 2 2 2 Command Format Notes e Commands and alphabetic parameters are NOT case sensitive e Commands that use optional parameters use current system retained values for parameters omitted from the command e The term station refers to a source sensor pair For example eight sensors paired with the one available source are assigned station numbers one through eight 1 8 e Unless otherwise noted commands do not take any punctuation immediately following the command letter However if an optional first parameter is to be omitted a comma is necessary between the
32. the PATRIOT Digitizer Stylus and capture data points in hard to reach places easily move around the object freely The Stylus is tracked using Polhemus magnetic 6 Degree Of Freedom 6DOF technology and requires no mechanical arm or optical markers Digitize a kayak furniture a kitchen countertop the PATRIOT Digitizer has a range of up to five 5 feet for a ten 10 foot diameter workspace REV J 12 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 1 6 PATRIOT DB The PATRIOT DB is a 3D digitizer and a dual sensor motion tracker making it perfect for a wide array of applications requiring medium resolution accuracy and range Computing the position and orientation of a small sensor as it moves through space PATRIOT DB provides dynamic real time measurements of position X Y and Z Cartesian coordinates and orientation azimuth elevation and roll Measuring position and orientation in real time PATRIOT DB can update data continuously discretely point by point or incrementally Mount up to two sensors on heads or hand sto capture real time data for virtual reality or simulator applications With the optional stylus trace the outline of a physical object or collect polygon facets and get pinpoint accurancy of unlimited X Y and Z points Quiet and stable PATRIOT DB is essentially unaffected by facility power grids Update rates are always maintained as A C magnetic offer the best signal to noise ratios
33. to all stations Refer to Station Wildcard on page 24 REV J 29 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Alignment Reference Frame Description The alignment command does two things It defines a reference frame to which all position and orientation output data is referred In addition it creates a new origin point where the X Y Z measurements would equal 0 0 0 if the sensor were placed there An example of where this command would be useful is a sloped test surface that the user wanted referenced to the surface This would obtain congruence between the PATRIOT source and the source frame axes of the sloped surface Syntax Astation Ox Oy Oz Xx Xy Xz Yx Yy Yz The Alignment Reference Frame Syntax has these parts Part Description station 1 or 2 which specifies the relevant source sensor pair Ox Oy Oz the Cartesian coordinates of the origin of the new reference frame Xy Xz the coordinates of the point defining the positive direction of the X axis of the new reference frame Yx Yy Yz the coordinates of a third point that is in the positive Y direction from the X axis Remarks The source reference frame is the default alignment reference frame 0 0 0 1 0 0 0 1 0 in inches NOTE Fach time this command is applied to a station the effect is cumulative That is each successive applied alignment coordinates are relative to the current fr
34. to the host and an error code of T or A G if run time errors also exist will be placed in any P amp O frame output header Once a user clears the errors the P amp O frame output header error will disappear The user can determine at a glance which sensor channel failed initialization by looking at words 2 9 Any word that does not contain all zeros indicates a failure for that sensor channel If further information is needed Appendix C can be used to further decode these BIT results This command will not clear run time BIT errors Example Word 0x00000000 REV J 74 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record NOTE TO has no output record Table 2 42 T ASCII Response Byte Index Format Description 0 A 0 1 A 0 2 A t 3 B Blank 4 B Blank 5 14 Bitmap of source and global sensor processor errors sensors 1 8 15 16 AA Carriage Return Line Feed 17 27 AAXxxxxxxxxB Bitmap of sensor channel 1 errors 28 38 AAXxxxxxxxxB Bitmap of sensor channel 2 errors 60 61 AA Carriage Return Line Feed Table 2 43 T Binary Response Byte Index Format Description 0 7 Binary Header 8 DW Bitmap of source and global sensor processor errors 12 DW Bitmap of sensor channel 1 errors 16 DW Bitmap of sensor channel 2 errors Examples AT lt gt Read BIT Errors Yields
35. 0 2 3 A Error Indicator 4 B ASCII Blank character 5 A 0 Disabled 1 Enabled 6 7 AA Carriage Return Line Feed Table 2 39 B Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 Disabled 0x01 Enabled Examples The command to disable USB buffering mode is BO lt gt 67 NOVEMBER 2013 POLHEMUS PATRIOT USER MANUAL INNOVATION IN MOTION 2 5 2 Operational Commands Operational commands are typically executed during normal system operation They do not affect the current configuration of the PATRIOT system 68 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Continuous Print Output Description This command enables the continuous output mode When the system is in continuous mode the data points from all stations are requested automatically and are streamed to the host continuously If more than one station is enabled then the data from each station will be sent in numerical order station 1 first station 2 second Output mode refers to whether the system automatically transmits data records to the host continuous mode or the host must request data records by polling the system each time non continuous mode Syntax C lt gt Remarks By default continuous mode is disabled If the system is being used in an application where a fast update rate is critical then the continu
36. 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL O RS 232 Port Configuration Description This command sets the RS 232 port configuration The system output port settings include RS 232 BAUD rate and parity only Syntax O rate parity lt gt Part Description rate 100 bits per second Valid arguments include Table 2 28 ASCII Baud Rate Values Rate Baud Rate 24 2 400 48 4 800 96 9 600 192 19 200 384 38 400 576 57 600 1152 115 200 parity Table 2 29 ASCII Parity Values Parity Meaning 0 1 2 Even Remarks See RS 232 I O on page 85 for reference on the use of RS 232 for communicating with PATRIOT By default the baud rate and parity RS 232 parameters are determined by the state of the RS 232 CONFIG switches located on the back panel of PATRIOT upon PATRIOT startup or initialization See Hardware Switches on page 85 for switch values In addition number of data bits is always eight 8 The number of stop bits is always one 1 Hardware Handshake is always disabled 58 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Changes to the RS 232 port settings using O will be ignored during the next power up or system initialize Y Initialize System page 79 in deference to the hardware switch settings even if the new port settings are saved as the startup configuration W
37. 3 Sx xxxxxESxxb The system data record contents are specified by the user using the command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined NOTE Original precision is retained for compatibility with previous Polhemus 3SPACE systems Also note that some item values are repeated as extended precision items although no output difference is made 1 space cr lf gt Original and extended precision may be freely mixed in an output record but it is recommended that extended precision be used if compatibility is not required as the original precision may be deleted in future systems REV J B 1 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL BINARY FORMAT INITIATING COMMANDS P or C continuous mode 9 Byte Type Description 0 1 US Frame Tag always PA or 0x5041 for PATRIOT HST 2 UC Station Number 3 UC Initiating command 4 UC Error Indicator 5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body VR eer x y z position Cartesian coordinates FL 3 hy ERES az el roll Euler orientation angles FL 3 qe s direction cosines of the sensor s x y z axes FL 3 The system data record contents are specified by the user using the O command and may vary from con
38. Entet iiie EPI e e EUR UNUS 21 error code summary 0 eee ee eeeeeeceseceee 28 experiment with data esses 11 filter parameter scalar value 50 53 ice 51 54 factory defaults siasio ne 16 PI BD bec edet des 51 54 f ld Source asi ee creare erue ee E 1 filter parameters attitude sss 53 filter parameters position eese 50 PATI WATE dec rediere endete eee ie e 16 lu r 25 PLOW a 50 53 16 global sensor GS BIT results C 2 hardware SWitches cssccesceeesseceeeeeeseeceereeeeeeeees 85 hemasph te rotten t nes 16 39 hemisphere of operation eee 39 lor E 17 I 25 on 9 considerations eene 91 VO latency cete 17 insta es repe tiie E 1 ID operational configuration 64 TIGNES is ith E RR PER TR RR ODD RU 48 initialization results eese C 1 initialize 79 lag itte adr re RIEF 17 latency aeo her RR RR s 17 E 1 least significant bit 5 17 least significant digit LSD 17 LED indicator etre DH 84 D 1 LIBERTY 3233 2o eerie egeat 17 limited wa
39. INNOVATION IN MOTION PATRIOT USER MANUAL 2 4 PATRIOT Error Code Summary The following error codes may appear as binary values in binary mode frame headers In ASCII mode only the text meaning appears Error Hexadecimal ASCII Text Meaning 0 0x00 No Error 1 0x01 Invalid Command 2 0x02 Invalid Station 3 0x03 Invalid Parameter 4 0x04 Too Few Parameters 5 0x05 Too Many Parameters 6 0x06 Parameter Below Limit 7 0x07 Parameter Above Limit 8 0x08 Communication Failure with Sensor Processor Board 9 0x09 Error Initiating Sensor Processor 1 10 0x0a Error Initiating Sensor Processor 2 11 OxOb Error Initiating Sensor Processor 3 12 0x0c Error Initiating Sensor Processor 4 13 Ox0d No Sensor Processors Detected 14 0x0e Error Initiating Source Processor 15 OxOf Memory Allocation Error 16 0x10 Excessive Command Characters Entered 17 0 11 You must exit mode to send this command 18 0x12 Error reading source prom Using Defaults 19 0x13 This is a read only command 20 0x14 Non fatal text message 21 0x15 Error loading map N A for PATRIOT The remaining error codes may appear in ASCII and binary frame headers Error Hexadecimal ASCII Text Meaning s 0x20 No Error ASCII mode only a 0x61 Source Fail X db 0x62 Source Fail Y te 0x63 Source Fail XY 0 64 Source Fail Z fe 0x65 Source Fail XZ P 0x66 Source Fail YZ tg 0x67 Source Fail XYZ tu 0x75 Position outside of mapped area N A for PATRIOT
40. OEVER EXCLUSIVE OF CLAIMS FOR PATENT INFRINGEMENT AND REGARDLESS OF THE FORM OF THE ACTION INCLUDING BUT NOT LIMITED TO CONTRACT NEGLIGENCE OR STRICT LIABILITY SHALL BE LIMITED TO BUYER S ACTUAL DIRECT DAMAGES NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED The Products are not certified for medical or bio medical use Any references to medical or bio medical use are examples of what medical companies have done with the Products after obtaining all necessary or appropriate medical certifications The end user OEM VAR must comply with all pertinent FDA CE and all other regulatory requirements REV J D 2 NOVEMBER 2013 APPENDIX E Specifications Update Rate 60 Hz per sensor simultaneous samples Latency Less than 18 5 milliseconds Number of Sensors 10 2 Ports USB RS232 to 115 200 Baud both standard Static Accuracy 0 06 in RMS for X Y or Z position 0 40 RMS for sensor orientation Resolution 0 00046 in 0 012 mm at 12 in 30 cm range 0 0038 orientation Range 36 in 90 cm at above specifications useful operation up to 60 in 152 cm Multiple Systems Provision available to operate two separate systems in same environment Angular Coverage All attitude Data Format Operator selectable ASCII or IEEE 754 binary English Metric Units Physical Characteristics SEU 6 75 in 17 1 cm L x 6 25 in 15 9 cm W x 1 75 in 4 5 cm H weight 0 85 Ibs 0 4 kg Field Source 2 3 in 5 8 cm L x 2 2
41. OT and there is a requirement to take it off line temporarily to do visual checks the user would enable the ASCII output data format in order to be able to easily read PATRIOT data on the PC monitor The user may wish to write a software application for PATRIOT where a fast update rate is crucial In order to reduce data throughput size PATRIOT could be set to output in binary instead of ASCII REV J 35 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 7 F ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A F 3 A Error Indicator 4 B ASCII Blank character 5 A 0 6 7 AA Carriage Return Line Feed Table 2 8 F Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00000001 Examples The command to enable binary output mode for the system is Fl lt gt 36 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Source Mounting Frame Description This command allows the user to modify the mounting frame coordinates of the source It is basically a non physical rotation of the source and becomes the new orientation reference for each sensor s measurements Source mounting frame is not a sensor specific setting Syntax GI A E R 1 lt gt Part Description A Azimuth mounting fr
42. Operational Configuration ID Description This command allows a 16 character ID to be assigned to the current operational system configuration This command also allows the user to view the IDs of all valid stored configurations within PATRIOT non volatile configuration memory Syntax Xstring Part Description string A 15 character ASCII string ID that describes the current configuration Remarks A valid configuration ID is up to 15 characters plus a null terminator If no string argument is supplied with this command PATRIOT will respond with a list of the currently saved configuration IDs A string of 15 asterisks followed by the null character indicates an undefined configuration COR ERE CREA ERE EEN Output Record Table 2 36 X ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 3 A Error Indicator 4 B ASCII Blank character 5 21 16 A B Current Configuration Record ID 21 37 16 A B Configuration Record ID 1 38 53 16 A B Configuration Record ID 2 54 69 16 A B Configuration Record ID 3 72 71 AA Carriage Return Line Feed 64 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Table 2 37 X Binary Response Byte Index Format Description 0 7 Binary Header 8 CH 16 Current Config ID 24 CH 16 Default Con
43. POLHEMUS PATRIOT PATRIOT USER MANUAL URMO3PH170 Rev J NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Copyright 2004 2013 by Alken Inc dba Polhemus Colchester Vermont U S A All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical photocopying recording or otherwise without the prior written permission of Polhemus No patent liability is assumed with respect to the use of the information contained herein While every precaution has been taken in the preparation of this manual Polhemus assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACE is a registered trademark of Polhemus PATRIOT and LIBERTY are trademarks of Polhemus Windows is a registered trademark of Microsoft Corporation Medical Device Use Polhemus is a Good Manufacturing Practices GMP Contract Manufacturer under U S FDA Regulations We are not a manufacturer of Medical Devices Polhemus systems are not certified for medical or bio medical use Any references to medical or bio medical use are examples of what medical companies have done with the Products after they have obtained all necessary or appropriate medical certifications The end user OEM VAR Distributor must comply with all pertinent FDA CE regulations pertaining to the
44. Tip Offsets on page 44 for stylus configuration details Figure 3 5 8 Stylus Figure 3 6 3 Stylus REV J 89 NOVEMBER 2013 POLHEMUS PATRIOT USER MANUAL 3 5 Buddy Button The Buddy Button see Figure 3 7 is an optional component to accompany the stylus Some users may experience motion of the stylus tip while attempting to capture data due to the position of the push button switch on the stylus Users may find it difficult to hold the stylus tip in place while operating the switch The Buddy Button allows the user to operate the switch separately with a free hand The Buddy Button and stylus connect to the SEU via an adaptor containing a 3 5mm phono jack and 15 contact female high density D sub connector Both of these converge to a 15 pin male high density D sub connector that attaches to the sensor inputs on the SEU Figure 3 7 Buddy Button and Buddy Button Adaptor REV J 90 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 4 SYSTEM OPERATION 4 1 VO Considerations There are two possible communication options available on the PATRIOT system USB or RS 232 Each option supports either Binary or ASCII formats Upon power up or system initialization if the USB cable is not plugged into the SEU the PATRIOT will automatically send data to the RS 232 interface The USB cable can be plugged in at any time and the PATRIOT will shift to USB operation If the USB is unplugged the PATRIOT sys
45. ake another single data frame The value of the X position data will decrease by approximately six inches The Y and Z values will remain roughly the same as the original data If you left the attitude of the sensor approximately the same as it was when you started then the attitude data also will be approximately the same Again remove the sensor and without moving its position try twisting it in azimuth in the same plane as the wood support approximately 45 degrees and lock it down with tape Now collect another data frame The first four columns will be approximately as they were in step 1 but the Azimuth data in column 5 will have changed by approximately 45 degrees Continue to experiment with the system as described in step 3 to demonstrate that it measures the position and orientation six degree of freedom of the sensor with respect to the source For a more hands on approach to communicating with PATRIOT an RS 232 connection is available 11 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 1 5 PATRIOT Digitizer The PATRIOT Digitizer is the most affordable digitizer on the market The system includes everything needed to start digitizing objects from engineering prototypes to precious artwork By utilizing proprietary magnetic tracking technology pioneered by Polhemus for advanced military applications the digitizing stylus can be moved freely around under and behind objects big and small Use
46. ame angle E Elevation mounting frame angle R Roll mounting frame angle Remarks The default mounting frame is 0 0 0 Issuing a G lt gt will read the current source mounting frame Output Record Table 2 9 G ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a O 1 Second Digit of Station Number 0 2 A G 3 A Error Indicator 4 B ASCII Blank character 5 13 Sxxx xxxB Azimuth Mounting Frame Angle 14 22 Sxxx xxxB Elevation Mounting Frame Angle 23 31 Sxxx xxxB Roll Mounting Frame Angle 32 33 AA Carriage Return Line Feed Table 2 10 G Binary Response Byte Index Format Description 0 7 Binary Header 8 Azimuth Mounting Frame Angle 12 FL Elevation Mounting Frame Angle 16 FL Roll Mounting Frame Angle 37 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Examples If there was a requirement to mount the source upside down more mechanically feasible then the following command should be used G0 0 180 The orientation measurements for all stations will now look as if the source had not been mounted upside down 38 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL H Hemisphere of Operation Description This command allows the user to set or change the hemisphere of operation vector Since the sensor s can
47. ame of reference If this is not the desired behavior reset the alignment reference frame between successive A commands Refer to the R Reset Alignment Frame command on page 60 to do this REV J 30 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 3 A ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 25 3 Sxxx xx Origin Coordinates 26 27 AA Carriage Return Line Feed 28 48 3 Sxxx xx Positive X Axis Coordinates 49 50 AA Carriage Return Line Feed 51 71 3 Sxxx xx Positive Y Axis Coordinates 72 73 AA Carriage Return Line Feed Table 2 4 A Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Ox 12 FL Oy 16 FL Oz 20 FL Xx 24 FL Xy 28 FL Xz 32 FL 36 Yy 40 FL Yz Examples To perform an alignment on station 1 follow the steps listed below Standard Alignment Procedure 1 Send R1 2 Place the sensor at the proposed origin location 3 Press P and write down the X Y Z measurements these will be Ox Oy Oz 4 Move the sensor along the proposed X axis from the origin defined in step 2 and place it about 24 inches in front of this origin 31 NOVEMBER 2013 POLHEMUS INNOVATION
48. and DOWN is logic 0 The hardware switches located on the rear panel of the SEU to the left of the RS 232 serial port connector as depicted in Figure 1 7 on page 6 PATRIOT reads baud rate and parity RS 232 connection settings from these switches only on power up If you change the switches to obtain a different setting you must restart PATRIOT either by using the Y Initialize System command page 79 or by cycling the power Alternatively the O RS 232 Port Configuration command page 58 may be used to configure the RS 232 connection during operation However after using this command and saving the new settings to the startup configuration W Set Default Operational Configuration page 78 the saved settings will be ignored during the next power up or system initialize Y Initialize System in deference to the hardware switch settings The hardware switches are numbered 1 to 5 from left to right Switch setting definitions are provided in Table 3 3 REV J 85 NOVEMBER 2013 POLHEMUS PATRIOT USER MANUAL Table 3 3 Switch Settings Baud Rate Switches Parity Switches 1 2 3 4 5 115 200 ft 57600 ft Odd f 38400 ft Even ft ft 19200 f f reserved ft 9600 ft ft 4800 ft ft 2400 tT ft f reserved 3 1 8 Reset Button If your unit has a reset button it is located through a small hole in the front panel of the PATRIOT ele
49. ation Part Description station 1 or 2 which specifies the relevant source sensor pair Remarks None Output Record None Examples B1 Resets Station 1 56 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION AK Set Echo Mode Description PATRIOT USER MANUAL This command enables and disables the communications echo mode In echo mode Patriot responds to configuration modifying commands by echoing back the command that was received Recall that without echo mode configuration modifying commands generate no response message from the tracker See Configuration Commands on page 29 This allows feedback to the user when modifying configuration settings In binary mode the echo is prefixed by the standard 8 byte binary header Syntax AE echo lt gt Part Description echo Defines the echo mode The choices are 0 No echo mode 1 Echo mode Output Record Table 2 26 E ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 A 1 on 0 off 6 7 AA Carriage Return Line Feed Table 2 27 E Binary Response Byte Index Format Description 0 7 Binary Header 8 I 1 on 0 off Remarks The system default for echo mode is off Examples 1 lt gt 0 lt gt 57
50. ble 5 NOVEMBER 2013 POLHEMUS 12 13 14 INNOVATION IN MOTION PATRIOT USER MANUAL CONFIG Figure 1 7 RS 232 Cable Connection You may now exercise the system To use the Polhemus PiMgr GUI return to step 10 With the RS 232 connection you may also use PATRIOT s ASCII interface through the Windows HyperTerminal program To do this first set PATRIOT s CCONFIG hardware switches to all DOWN as shown in Figure 1 7 RS 232 switch settings are described in detail in RS 232 I O on page 85 Next start the HyperTerminal program and create a serial connection using these switch settings The steps are as follows e Navigate to HyperTerminal from the Windows Start menu Start gt All Programs gt Accessories Communications gt HyperTerminal In HyperTerminal enter a session name choose an icon and click OK In the Connect using field select the desired COM port COM1 and click OK In the Bits per second field select 115200 In the Data bits field select 8 default In the Parity field select None default In the Stop bits field select 1 default In the Flow control field select None and click OK You should now have a serial connection opened to PATRIOT Turn PATRIOT on In 5 to 10 seconds you will see PATRIOT Ready in the HyperTerminal screen Collect a single data record from PATRIOT by typing the P Single Data Record Output command see pa
51. by the binary frame header followed by the ASCII error string In ASCII mode error responses have no header See PATRIOT Error Code Summary on page 28 for a complete listing of error responses REV J 26 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION 2 3 PATRIOT User Command Set Summary Command KK CA TO 4Z2rrauazaa ss gt ON2 x 22648 5A BB Description Alignment Reference Frame Boresight Continuous Print Output Output Format Source Mounting Frame Hemisphere of Operation Stylus Button Function Tip Offsets Output Data List Single Data Record Output FrameCount Timestamp Reset Set Units Position Filter Parameters Attitude Filter Parameters UN Boresight Set Echo Mode Save Operational Configuration RS 232 Port Configuration Reset Alignment Frame Built in Test Information Active Station State WhoAml Software versions Set Operational Configuration Operational Configuration ID Initialize System Read Operational Configuration USB Buffering Mode Decimal 65 66 67 70 71 72 76 78 79 80 81 85 88 89 2 5 11 15 18 20 21 22 23 24 25 26 64 66 27 PATRIOT USER MANUAL Hexadecimal 0 41 0 42 0x43 0x46 0x47 0x48 0x4C 0x4E 0x4F 0x50 0x51 0x55 0x58 0x59 0x02 0x05 0x0B OxOF 0x12 0x14 0x15 0x16 0x17 0x18 0x19 Ox1A 0x40 0x41 Notes Page O asc 1 bin 35 O both 1 FC 2 TS 12 O in 12cm 48 O off 12on O off 1 on 66 NOVEMBER 2013 POLHEMUS
52. ce port is a 15 pin plug D type connector located on the front of the SEU as shown in Figure 1 2 on page 2 The source should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off CAUTION Do not disconnect or connect the source while the PATRIOT SEU is powered on Be sure the source cable is routed separately from the sensor cables 3 1 2 Source Frequency The PATRIOT is shipped with a source designed to operate at a standard frequency It is possible to operate multiple PATRIOT units in close proximity by using sources designed to operate at alternate frequencies The source frequency is automatically detected and no operator action is needed Contact Polhemus Customer Service see page F 1 for more information 3 1 3 Sensor Ports The sensor ports are 15 pin high density receptacle D type connectors located on the front of the SEU as shown in Figure 1 3 on page 3 The SEU can be configured to accept up to two sensors The sensor s can be connected or disconnected from the SEU at any time The sensors are automatically detected and will begin sending data about one second after being connected CAUTION Route the sensor cables separately from the source cable as there may be some cross coupling between the sensor cables and the source cable 3 1 4 LED Indicator An LED power on indicator is located on the front of the SEU Upon power up the indicator will blink red
53. chever is longer Warranties shall not apply to any Products which have been e repaired or altered other than by Polhemus except when so authorized in writing by Polhemus or e used in an unauthorized or improper manner or without following normal operating procedures or e improperly maintained and where such activities in Polhemus s sole judgment have adversely affected the Products Neither shall warranties apply in the case of damage through accidents or acts of nature such as flood earthquake lightning tornado typhoon power surge s or failure s environmental extremes or other external causes Warranties shall not apply to any Products if the Products are defective because of normal wear and tear or e used for any purpose without obtaining any applicable regulatory approvals REV J D 1 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL POLHEMUS DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE POLHEMUS MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE WITHOUT LIMITING THE FOREGOING POLHEMUS S MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATS
54. command letter and the next parameter 23 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT USER MANUAL e numeric floating point value will be accepted by the machine if any of the following formats are used For example 3 0 may be specified as 3 3 3 0 or 3 0E 00 Station Wildcard When using a command that requires a station number as the parameter the user may wish to apply the command to both stations of the PATRIOT system In such situations a character may be used in place of the station number to apply the settings to both stations in the PATRIOT system e g H 0 0 1 lt gt would change the hemisphere for every station to the positive Z hemisphere e g H1 0 0 1 lt gt would change the hemisphere for only station 1 to the positive Z hemisphere Default Parameters Commands that take multiple parameters can be used to change a subset of the parameters and leave the remaining parameter values unchanged For example e The command Gaz el roll changes the source mounting frame to az el roll e The command GO 80 0 lt gt changes the source mounting frame to 0 180 0 By omitting the el parameter from the command 0 180 lt gt the source mounting frame would then change to 0 180 180 The e setting remains unchanged e Similarly the az parameter can be defaulted by Gel roll lt gt and the roll parameter can be defaulted by Gaz el lt gt The trailing comma is not required when the las
55. command sets the distance unit to either metric centimeters or English inches Subsequent input and output lengths will be interpreted as centimeters or inches respectively Syntax U units lt gt Part Description units Defines the type of input and output Units The choices are 0 English Inches Metric Centimeters Remarks The system default unit format is inches As with all other configuration commands if the units parameter is not stated in this command the current units setting will be returned in the default response body Output Record Table 2 20 U ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A U 3 A Error Indicator 4 B ASCII Blank character 5 A for inches 1 centimeters 6 7 AA Carriage Return Line Feed Table 2 21 U Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 for inches 0x01 for centimeters REV J 48 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Examples Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches U0 lt gt The system will now output data in inches and interpret input data in inches If the operator wanted the system to output its measurements in centimeters the following command sh
56. ctronics unit The reset button is a hard reset and may be used to restart the Electronic Unit See Figure 3 1 ae SENSOR 1 SENSOR 2 SOURCE ote ojo cman Figure 3 1 Reset Button REV J 86 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 3 2 Magnetic Source The Source is the device which produces the electro magnetic field and is normally the reference for the position and orientation measurements of the sensors It is usually mounted in a fixed position to a non metallic surface or stand which is located in close proximity to the sensors The standard source is the 2 cube and the specifications in this manual are based on the 2 source shown in Figure 3 2 Other source sizes are available Review the Polhemus web site at www Polhemus com or contact Polhemus Customer Service on page F 1 for more information 407 104 0mm HEIGHT TX2 2 3 56 0mm TX4 4 04 102 6mm se mm 0 38 9 601 mm 2 4 SOURCE 1 4 35 560mm 2 SOURCE 1 40 35 560mm 4 0 104 0mm 58 rim CABLE EXIT A Figure 3 2 Source Diagram REV J 87 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 3 3 Sensor s The sensor is the smaller device whose position and orientation is measured relative to the Source The sensor is dimensionally shown in Figure 3 3 including the position of the electrical center Th
57. e N command can only override the factory defaults during the current operational session REV J 44 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 15 N ASCII Response Byte Index Format Description A First Digit of Station Number 1 Second Digit of Station Number 2 A N 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB X offset 12 18 Sx xxxB Y offset 19 25 Sx xxxB Z offset 26 27 AA Carriage Return Line Feed Table 2 16 N Binary Response Byte Index Format Description 0 7 Binary Header 8 FL X offset 12 FL Y offset 16 FL Z offset Examples If the user created a special stylus tip attachment that extended exactly one inch from the end of the stylus an adjustment to the tip offsets would have to be made To do so the following steps should be taken 1 Verify that PATRIOT is measuring units in inches by sending the U Set Units command see page 48 Read the factory tip offsets from the PROM in the connector by sending the command N1 A typical factory tip offset might be 2 523 0 004 0 03 2 add one inch in X to the factory calibration type N1 3 523 0 004 0 03 lt gt To verify that the tip offset was entered correctly type N1 to read it back REV J 45 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT USER MANUAL Output Da
58. e frame counting and the frame timestamp feature The frame counting feature is always enabled however it is only output when specified through the O Output Data List command see page 46 The framecount is a positive integer value indicating the relative frame number since system start or the last reset Rollover occurs after 2 frames The timestamp feature is always enabled however the timestamp is only output if it has been specified in the O Output Data List command The timestamp is a positive integer value indicating the number of milliseconds since the last reset operation or system start Rollover occurs after 2 milliseconds Syntax Qcounter lt gt Part Description counter 0 Reset both framecount and timestamp 1 Reset framecount only 2 Reset timestamp only Remarks None Output Record None Examples To zero the framecount execute the following 1 lt gt 72 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Save Operational Configuration Description This command allows the user to save an operational configuration to one of three configuration records stored in PATRIOT non volatile configuration memory The configuration saved is the configuration currently defined Syntax Kslotnum Part Description slotnum 1 3 One of three user definable operational configurations that are stored within PATRIOT Remarks
59. e lower right will change to To collect a single frame of motion data from the PATRIOT system click the Single button on the toolbar You can also do this by typing p or P anywhere on the PiMgr window This will cause PiMgr to request a single data frame from the PATRIOT system The contents of the frame will be displayed in the text window at the top of the PiMgr display The airplane image s in the graphics portion of the screen will move to the retrieved position and orientation Und Unito Traciur Config File View wice Motion Graphics Tools Help xx n Y M 1 0 389 34 603 0 000 1 000 0 000 88 000 For Help press F1 Figure 1 10 PATRIOT Data Record Display The text portion of the screen will display the retrieved position and orientation Position in inches Euler Orientation in degrees Station Number X Y Z Azimuth Elevation Roll 1 0 389 34 603 0 000 1 000 0 000 88 000 10 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 7 4 1 Experiment with PATRIOT Data Take some initial samples of data using the P Single Data Record Output command see page 70 Because you have locked the sensor in one position relative to the source Set Up the PATRIOT step 5 the data output will not change regardless of the number of data samples you take Remove the sensor move it approximately six inches toward the source secure it in place and t
60. e sensor package provides two mounting holes for 4 nylon screws supplied in the event that sensor mounting is required NOTE Nylon hardware is only required when the hardware will be in direct contact with the source or sensor A testing surface where the devices will be used a table for example could have small metal hardware like screws nuts and bolts which probably would not affect the accuracy of the PATRIOT system 900 E ELECTRICAL CENTER 120m Sl 15 PIN CONNECTOR ISOMETRIC VIEW FOR REFERENCE ONLY THEORETICAL ELECTRICAL CENTER POSITION SHOWN i 0 24 0 25 H 0 31 Figure 3 4 Sensor RX1 C REV J 88 NOVEMBER 2013 MUS morion PATRIOT USER MANUAL 3 4 Stylus The stylus is a pen shaped device with a sensor coil assembly built inside and a push button switch mounted on the handle to effect data output The position measurements are relative to the tip of the stylus due to a precise factory calibration The 8 stylus is shown in Figure 3 5 77 Lx 0 5 W x 0 75 H 0 75 oz and Figure 3 6 shows the 3 stylus 3 5 L x 0 5 W x 0 75 H 0 45 oz either stylus may be used in any of the sensor ports The stylus functions as a sensor with the electrical center offset from the tip of the stylus via firmware Single or Continuous output records may be obtained as a function of the integral switch See L Stylus Button Function on page 42 and N
61. ensor results esses C2 sensor channel results esses C 2 Source results irre ce e HS Hm C 1 Built In Test eee C 1 rt R 74 boresight eremo set 15 33 on EE T 15 Buffering Mode 05 66 Built In Test 1 Cert meters 48 CH neto nO SOC inicio Sais 25 command reference sees 29 command set summary 27 Command syntax sesesseseeeeeeeneeeee 23 component 1 84 configuration sese rene eene 91 configuration 91 configuration commands see 29 contacting Polhemus eene F 1 continuous print output 69 COUNLETS i ipee er pepe eoe ERER 72 Ctrl as stihl ineo ee ea etl eid As Sees 21 customer service 1 data experiments nennen 11 format oie teet ee tete tes E 1 Gata record ide i det te ett its B 1 DB eng eae 13 default operational configuration 78 DigitZerzis iet ee 12 direction cosines 0 esc eeeeeeeeceeeeecseceeeeecaeceeneecsaeeeees 16 DW nce aha en eMe eee 25 echo mode i ie eite tete decent 57 REV J ue REUS 78 elevation i Rete 16
62. ented in the Error Indicator field are detailed in PATRIOT Error Code Summary on page 28 No Error is represented by an ASCII blank character lt Binary Binary response frames are described in this document using the following notation US unsigned short 16 bits SH signed short 16 bits unsigned char 8 bits CH ise uu char 8 bits eee signed integer 32 bits DW unsigned double word 32 bits Loses 32 bit single precision floating point in IEEE format consisting of sign bit 8 bit exponent and 23 bit mantissa SXXX XXXX XMMM MMMM MMMM MMMM MMMM MMMM 71 m Array of size n of type preceding square brackets e g FL 3 Binary response frames are composed of an 8 byte frame header followed by a variable length frame body as follows Table 2 2 Binary Response Format Byte Index TYPE Description 0 1 US Frame Tag always PA or 0x5041 for PATRIOT HST ec 2 UC Station Number al 3 UC Initiating command 4 UC Error Indicator H5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body REV J 25 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Error codes presented in the Error Indicator field are detailed in PATRIOT Error Code Summary on page 28 No Error is represented by NULL 0x00 Error Responses When in binary mode error responses are always prepended
63. ese parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 22 X ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 1 Second Digit of Station Number n a 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed 51 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Table 2 23 X Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Filter Sensitivity 12 Filter High Value 16 FL Filter Low Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system X 2 2 8 95 lt gt All active stations will now have filtering applied to the position measurements To turn off position filters X0 1 0 0 lt gt 52 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Y Attitude Filter Parameters Description This command establishes the sensitivity boundary and transition
64. eseeeeerereree E 1 sensor channel BIT results ssse C2 SENSOL POLS rete tette terre 84 serial Connector eerte rere 85 set default operational configuration 78 set echo mode senescere 57 Se Units ee ruth ie hie 48 SEU system electronics unit 84 E 1 jo M 25 shipping address sseeeeeenee F 1 single data record 70 SOUTCQ i estt ueteri pere ette hr 20 Nue 87 Source BIT results icc eto dne C 1 So rce TrequenBCy ooi eiii tedesco erede 84 source mounting frame ssseseeeeeeeee 37 Source DOE oes D erret ERREUR 84 Specifications eed teer A sions E 1 standard alignment procedure 31 static accUtacy e a E E 1 SLALOM sees see elei teri tet vice anes 20 61 station State 4 eee ERE ie trenes 61 E 20 42 89 90 stylus button function eseeeeeeerene 42 SEXTUS pesi recette eet 44 stylus tip offsets eret ten ries 44 summary of command set esee 27 summary of error codes 28 SYNC crar trt E 20 SI IEEE edi eret 23 system electronics unit SEU 84 system operation eeeeeeeeenneeee eene 91 System output data record
65. f each individual frame of output data is comprised of output data types configured by the command Table 2 40 P ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Error Indicator 3 B Blank 4 m See Table 2 17 page 46 Data Output Item 1 configured by command See O Output Data List on page 46 m l n See Table 2 17 page 46 Data Output Item 2 See Table 2 17 page 46 Data Output Item n Table 2 41 P Binary Response Byte Index Format Description 0 7 Binary Header 8 n See Table 2 17 page 46 Data Output Item 1 configured by command See O Output Data List on page 46 n l m See Table 2 17 page 46 Data Output Item 2 See Table 2 17 page 46 Data Output Item n REV J 70 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Examples If the system is being used in an application where data is only needed a certain number of times or on command then the single data record output should be used To poll the system for a single data record send the command as follows P One data record from PATRIOT will be sent to the host computer 71 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Q Reset Counters Description This command allows the user to zero th
66. fig ID 40 CH 16 Config Slot 1 10 56 CH 16 Config Slot 2 10 72 CH 16 Config Slot 3 10 88 CH 16 Startup Config ID Examples To determine what configurations are available in the PATRIOT system issue the following command X The returned record could display the following Current 0 1 2 3 Startup Configuration 1 Default Configuration 1 Configuration 2 KOKK K KKK KKK K K K K K Configuration 1 In this case two unique configurations are stored in PATRIOT configuration memory The third configuration is not defined To set an ID for the third configuration do the following XConfiguration 3 lt gt K3 lt gt To make this configuration the startup configuration W3 lt gt 65 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL B USB Buffering Mode Description This command enables or disables USB output buffering before USB transmission to the host When USB buffering is disabled the PATRIOT system operates in a real time mode in which only the most current frame of motion data is transmitted When enabled buffering mode allows host delays in requests for data without frame loss but with possible latency introduced Syntax B mode lt gt Part Description mode Defines the status of USB Buffering mode The choices are 0 Disabled 1 Enabled default Remarks By default USB buffering mode is enabled As with other configuration commands if
67. figuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined The notation FL 3 refers to ANSI IEEE Standard for Binary Floating Point Arithmetic 754 1985 format of data This is defined in the standard as MSB LSB Bit 31 Bit 30 23 Bit 22 0 Sign Exponent Fraction Byte 3 Byte 2 Byte 1 Byte 0 The IEEE floating point format uses sign magnitude notation for the mantissa and an exponent offset by 127 In a 32 bit word representing a floating point number the first bit is the sign bit The next 8 bits are the exponent offset by 127 i e the actual exponent is e 127 The last 23 bits are the absolute value of the mantissa with the most significant 1 implied The decimal point is after the implied 1 or in other words the mantissa is actually expressed in 24 bits In the normal case an IEEE value is expressed as 1 S 2 e 127 01 lt e lt 255 B 2 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL APPENDIX C Built In Test BIT Initialization Results Upon startup and initialization PATRIOT automatically performs a series of Built In Tests PATRIOT initialization Built In Test BIT results are read using the AT Read Clear BIT Errors command on page 74 This command returns initialization BIT results in a series of three bitmapped 32 bit words Whe
68. for 5 to 10 seconds while the system performs its initialization and self test routines When these routines are completed the indicator changes from blinking read to steady green indicating that the system is ready for operation If the LED continues to flash red after 10 seconds the self test has failed Table 3 1 below summarizes the LED condition Table 3 1 LED conditions e Steady green System operational passed startup testing e Flashingred Failed self test and set up REV J 84 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL A malfunctioning sensor or source can cause a poor quality signal that will trigger a solid red LED This condition should be accompanied by a Built In Test BIT error See APPENDIX C for a description of BIT errors If no sensors are plugged into the SEU and the initialization test passes the LED will be a solid green 3 1 5 RS 232 I O 3 1 6 Serial Connector The RS 232 I O serial connector is a standard 9 pin plug D type connector located on the rear panel of the SEU as shown in Figure 1 7 on page 6 The pinout identification for this connector is as follows Table 3 2 RS 232 Pin Outs Pin PATRIOT Host 1 Not used Not used 2 RxD TxD 3 TxD gt RxD 4 Not used Not used 5 GND 7 GND 6 Not used Not used 7 Not used Not used 8 Not used Not used 9 Not used Not used 3 1 7 Hardware Switches NOTE UP switch position is a logic 1
69. g to PATRIOT performance shall be regarded as occurring in such a benign environment Mathematical system based on two digits 0 and 1 Built In Test features monitoring the status and health of the PATRIOT system as well as flagging certain preset conditions monitored by the PATRIOT system software Not to be confused with bit a contraction of binary digit Any procedure that rotates the sensor frame so as to precisely align the sensor to the designated reference frame In a PATRIOT system context the term usually refers to the system software routine that on command performs a coordinate rotation which effectively aligns the sensor frame to a predefined boresight reference orientation The boresight routine accomplishes the boresight orientation of the sensor regardless of the sensor s physical orientation at the instant of boresight initiation For applications that require the orientation tracking of the body or body member to which the sensor is attached a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresight reference orientation Bits per second Not to be confused with the signaling or baud rate which is always equal to or higher than the bit rate See baud rate 15 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL DB Digitizer Direction Cosines Drive Bay Elevation Factory Defaults Firmware Format Hem
70. ge 70 in the HyperTerminal screen PATRIOT will respond with a single frame of position and orientation data The data displayed in the HyperTerminal screen consists of a station number and six columns of data as follows these values represent an arbitrary placement of the sensor and source 1 2 3 4 5 6 7 01 16 082 0 387 0 713 3 051 1 126 0 674 6 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 15 Continue experimenting with the position and orientation data See Experiment with PATRIOT Data on page 11 If the system fails to produce position and orientation data carefully go over the above procedure in a systematic fashion checking connections and switch settings especially If you still need assistance refer to Customer Service on page F 1 7 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 1 2 Install the Host Software NOTE PATRIOT Host Software is intended to be installed on a computer running Windows XP Vista Win7 Win8 only e Insert the PATRIOT Host Software CD ROM into your computer s CD ROM drive e Ifthe PATRIOT Host Software Installation Panel does not run automatically then navigate to the CD ROM drive using Windows Explorer Run Setup exe The Host Software Installation Panel will appear Click on Install Host Software The installation wizard will walk you through the installation e For simplicity it is recommended that you use the default
71. gh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 24 Y ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 1 A Second Digit of Station Number n a 2 A 3 Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed 54 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Table 2 25 Y Binary Response Byte Index Format Description 0 7 Binary Header 8 Filter Sensitivity Value 12 FL Filter Low Value 16 Filter High Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system Y 2 2 8 95 lt gt All active stations will now have filtering applied to the attitude measurements To turn off attitude filters Y0 1 0 0 lt gt 55 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL AB Un Boresight Description This command causes the sensor boresight rotation matrix to be reset to the identity matrix for the specified station If the origin of the station was previously reset using the Boresight command see page 33 the origin will revert back to the source origin Syntax Bst
72. he source reference frame It provides an easy way to re align the reference frame to the factory default values The command parameter is defined as Syntax lt gt Part Description station 1 or 2 which specifies the relevant source sensor pair Remarks None Output Record None Examples To reset the alignment reference frame for station 2 to the default source reference frame execute the following AR2 lt gt 60 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL AU Active Station State Description The purpose of this command is to allow the host to turn a station on or off in software A station is defined as a source sensor port pair The two sensors paired with the one source are assigned station numbers one and two 1 2 Although stations are enabled simply by plugging the sensors into the ports on PATRIOT the stations can then be disabled or enabled again by using a software command When a station exists and is enabled data records for that sensor will be transmitted from that station If the station is disabled no data records from that station will be transmitted Syntax AU station state lt gt Or UO bitmap Part Description station 1 or 2 which specifies the relevant source sensor pair 0 causes active station bitmap to be retrieved or set state 0 Off On n a if station 0 bitmap 8 bit bitmap reflecting s
73. in 5 6 cm W x 2 2 in 5 6 cm H weight 8 8 oz 250 gms Sensor 0 9 in 22 9 mm L x 1 1 in 27 9 mm W x 0 6 in 15 2 mm H weight 0 8 oz 23 gms Power Module 3 5 in 8 9 cm L x 2 4 in 6 1 cm W x 1 4 in 3 6 cm H weight 6 oz 160 gms Power Requirements 100 240V AC 50 60 Hz Nominal 85 264 VAC 47 63 Hz max rating single phase 10 W REV J E 1 NOVEMBER 2013 APPENDIX F Customer Service If problems are encountered with the PATRIOT system or if you are having difficulty understanding how the commands work help is just a telephone call away Call Polhemus at the numbers listed below and follow the prompts select 2 for Customer Service and then 1 for Technical Support Polhemus is open Monday through Friday 8 00 AM to 5 00 PM Eastern Standard Time For the most part our customer service representatives are usually able to solve problems over the telephone and get you back into the fast lane right away Help is also available on our web page at www polhemus com Simply double click Technical Support then click techsupport polhemus com to send us an email describing the problem or question If a problem requires repair of your system the customer service representative will issue a Return Merchandise Authorization RMA number and you may then return the system to the factory Do not return any equipment without first obtaining an RMA number Please retain and use the original shipping container
74. ined in Table 4 3 below Table 4 3 Global Sensor BIT Results Bit Definition Sensor Errors 1 Sensor 1 PROM Read Error 2 Sensor 2 PROM Read Error 3 Reserved 4 Reserved 5 Reserved 6 Reserved Sensor Channel BIT Results If Bit 0 of the global sensor BIT result map is SET then sensor channel BIT results should be parsed to determine BIT errors for individual sensor channels If a failed sensor channel is not in use the initialization BIT errors can be cleared using the T Read Clear BIT Errors command on page 74 Table 4 4 below defines sensor channel BIT results Table 4 4 Sensor Channel BIT Results Bit Definition 0 Gain 0 1 Gain 1 2 Gain 2 3 Noise 0 4 Noise 1 5 Noise 2 6 30 Reserved Runtime Results There are only 3 runtime BIT errors defined These are Source Failure X Source Failure Y Source Failure Z Runtime errors are indicated in the error field of the output P amp O frame header An error code of a g or A G will indicate a combination of runtime and initialization BIT errors as indicated in Table 4 5 below Note that upper case error codes indicate that uncleared initialization errors also exist Lower case errors indicate that only runtime errors are present 1 NOTE Because they are updated on a frame by frame basis runtime errors cannot be cleared with the Read Clear BIT E
75. installation settings suggested by the installation wizard 1 2 1 USB Driver Installation e If you used the default installation settings when installing the Host Software above the PATRIOT USB Driver Package was installed e Ona Windows 7 or Windows 8 host when PATRIOT is connected via USB for the first time the PATRIOT USB drivers will be loaded automatically e Ona Windows XP host the first time PATRIOT is connected the host will display a Found New Hardware message and then launch the Found New Hardware Wizard to locate and install the USB drivers for PATRIOT e When the Found New Hardware Wizard displays select the Install software automatically option and click Next e The wizard will install the PATRIOT loader driver When it has completed click Finish e The same process will be launched again automatically to install the Polhemus PATRIOT USB runtime driver Repeat the same selections and the process will be complete REV J 8 NOVEMBER 2013 POLHEMUS PATRIOT USER MANUAL 1 3 Use the Polhemus PiMgr GUI If you selected the default settings when you installed the PATRIOT Host Software on your computer you will find a shortcut to the PiMgr application on your Windows XP Vista Win 7 Win 8 desktop It looks like this Otherwise navigate to the program through the windows Start menu Start gt All Programs gt Polhemus gt PiMer The initial PiMgr screen will look like this
76. iption 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A T 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for Marker 1 for Point Track 6 7 AA Carriage Return Line Feed Table 2 14 L Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 for Marker 0x01 for Point Track Examples The command to enable Stylus Track mode on station 2 is 12 1 lt gt 43 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL N Tip Offsets Description This command allows the user to override the factory defaults for the stylus tip offsets Although changing the tip offsets is not recommended the ability to do so is available Each stylus has been factory calibrated with custom tip offsets This is the offset of the sensor from the tip of the stylus The tip offsets allow the tip to act as the measurement reference instead of the sensor coil inside the handle Tip Offset settings are not saved in the PATRIOT configuration They must be re applied each time PATRIOT is restarted Syntax Nstation Xoff Yoff Zoff Part Description station 1 or 2 which specifies the relevant source sensor pair Xoff X direction Tip offset Yoff Y direction Tip offset Zoff Z direction Tip offset Remarks Factory default tip offsets are read from the PROM inside the stylus connector on power up As a result th
77. isphere Denotes the Drive Bay version of PATRIOT SEU The DB SEU fits into a standard 5 25 PC drive bay A special sensor shaped like a pen or stylus used for recording the X Y Z coordinates of an object easily captures data points in hard to reach places requires no mechanical arm or optical markers The cosines of the angles between the sensor s x y z axes and the X Y Z axes of the measurement reference alignment frame A slot on a personal computer that accepts peripherals such as a hard drive CD DVD or PATRIOT Coordinate of orientation tracking in the vertical plane where an increase in the angle is upward from the horizontal A term often substituted for elevation especially as it concerns flight is pitch The values assigned to certain system variables by the factory Stored in non volatile memory they are used to reinitialize the variables if configuration information is lost Term used to describe the software programmed into PATRIOT non volatile memory The interchange coding used to present data PATRIOT outputs either ASCII or BINARY data but accepts only ASCII inputs from the host Because of the inversion symmetry of the magnetic fields generated by the source there are two possible mathematical solutions for the X Y Z position coordinates for each set of sensor data processed and PATRIOT is unable to determine which solution is the correct one without additional information This additio
78. meters on page 50 and Y Attitude Filter Parameters on page 53 for more information on setting the filters 4 6 Useful Range An X Y or Z position value exceeding PATRIOT s useful range of 60 inches 152 cm will be output as zero REV J 92 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Appendices APPENDIX A Alignment Reference Frame Z Legend X Y Z Alignment Reference Frame x y z Rotated Stylus or Sensor Coordinate Frame Y Azimuth 0 Elevation Roll Figure 4 1 Alignment Reference Frame REV J 1 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL APPENDIX B System Output Data Records ASCII FORMAT INITIATING COMMANDS P or C continuous mode Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 Initiating Command 3 A Error Indicator 4 B ASCII Blank character 5 x Variable See Possible Formats below x 1 x 2 AA Carriage Return Line Feed Original Precision X y Z position Cartesian Coordinates 3 Sxxx xxx az l oll Euler orientation angles 3 Sxxx xxx direction cosines of the sensor s x y z axis 3 Sx xxxxx Orientation Quaternion Q0 Q3 4 9 2 Stylus Switch x where x Oorl Extended precision 2 position Cartesian coordinates 3 Sx xxxxxESxxb az el roll Euler orientation angles
79. mined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help EC Declaration of Incorporation This Product Complies with the following European Community Directives 89 336 EEC as amended by 92 31 EEC 73 23 EEC Low Voltage as amended by 93 68 EEC The following standards were used to verify compliance with the directives EMC EN 61326 1 1997 A1 1998 A2 2001 A3 2003 EN 55011 2003 Group 1 Class A for Class A PATRIOT and Class B for Class B PATRIOT N 61000 4 2 1995 ESD 4kV CD 8kV AD N 61000 4 3 1996 3V m 8096 AM N 61000 4 4 1995 0 5kV line line 1kV line earth N 61000 4 5 1995 Surge Immunity N 61000 4 6 1996 3V 8096 AM power line N 61000 4 11 1994 Voltage Dips and Interruptions Australia New Zealand AS NZS 2064 1 Er Eri pri rrj pri pri REV J ii NOVEMBER 2013 Safety Notices i Warnings e This instrument contains no user serviceable parts Do not attempt to service unit Return to Polhemus for repair e Do not perform any unauthorized modification to the instrument e Do not operate the instrument in the presence of flammable gas or
80. misphere values are 1 0 0 which is positive X or forward hemisphere 39 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Hemisphere Tracking is enabled by sending Hstation 0 0 0 lt gt It is not enabled by default When enabled PATRIOT modifies the operating hemisphere automatically When turning on Hemisphere Tracking the sensor of the specified station must be initially located in the currently set hemisphere NOTE If Hemisphere Tracking is turned ON when the X Operational Configuration ID see page 64 is sent PATRIOT will save the default hemisphere Issuing an Hstation lt gt returns a record of structure as shown below Output Record Table 2 11 H ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A H 3 A Error Indicator 4 B ASCII Blank character 5 11 SXX XXX Current Vector X component 12 18 SXX XXX Current Vector Y component 19 25 SXX XXX Current Vector Z component 26 27 AA Carriage Return Line Feed Table 2 12 H Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Vector X component 12 FL Vector Y component 16 BL Vector Z component Examples The user may decide to mount the source above the test area in order to be able to move the sensor to the positive and negative sides of X and the posi
81. n 00z Configuration name lt gt 3 char ASCII Header Config ID string lt gt Binary Yes No lt gt Metric Yes No lt gt lt gt Frame Rate 60Hz lt gt Fixed at 60 Hz for PATRIOT lt gt Verbosity Level 1 lt gt Echo Mode OnlOff lt gt lt gt RS 232 Baud Rate baudrate lt gt See Table 2 28 on page 58 RS 232 Parity parity lt gt See Table 2 29 on page 58 lt gt Position Filter Sensitivity Sx xxx Position Filter Low Value Sx xxx Position Filter High Value Sx xxx lt gt Position Transition Rate Maximum Value Sx xxx lt gt Attitude Filter Sensitivity Sx xxx Attitude Filter Low Value Sx xxx Attitude Filter High Value Sx xxx Attitude Transition Rate Maximum Value Sx xxx lt gt lt gt Mounting Frame Angle 3 Sxxx xxx B Az EI Roll lt gt Compensation OfflOn lt gt Buffering OfflOn lt gt lt gt The following text data will be repeated once for each station on PATRIOT Format Description Station x Station number Output List xB List of Output Data Items See Table 2 17 on page 46 Hemisphere 3 Sxx xxxB Az El Roll Boresight Reference Angles 3 xxx xxB Az EI Roll Stylus Function Marker Point Track Mode lt gt Alignment Coordinates lt gt Origin Coordinates 3 Sxxx xxB lt gt Ox Oy Oz Pos X Axis 3 Sxxx xxB lt gt Xx Xy Xz Pos Y Axis 3 Sxxx xxB lt gt Yx Yy Yz REV J 81 NOVEMBER 2013 POLHEMUS INNOVATION IN
82. n any initialization BIT errors have been detected the P amp O output frame header contains an or A G if runtime errors also exist in the header s error field See Table 4 5 for more about BIT related error codes The initialization BIT results words contain sub bitmaps that represent Source Global Sensor GS and individual Sensor Channel BIT results A SET bit 1 position indicates that a BIT error occurred If no errors were detected each bit in all nine or eighteen words will be CLEARED 0 The words and their content are depicted in Table 4 1 below Shaded areas represent reserved bit fields Table 4 1 BIT Results DWORDs BITMAP Word 31130 29 128 27 26 25 24 23 22 21 2019 18 17 16 15 14 13 12 11111019 8 7 65 4 32 10 0 Source GS 1 Sensor Channel 1 2 Sensor Channel 2 Source BIT Results The sub bitmap representing source BIT results is defined in Table 4 2 below Table 4 2 Source BIT Results Definition Magnitude X Error Magnitude Y Error Magnitude Z Error Noise X Error Noise Y Error Noise Z Error Source PROM Read Error Reserved Reserved E e C 1 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Global Sensor GS BIT Results The sub bitmap representing global sensor BIT results is def
83. n of the Z reference axis and the X transition axis about the Y transition axis The transition axis labeled Z represents the orientation of the Z reference axis after the elevation rotation The current x axis of the current sensor frame represents the orientation of the X transition axis after the elevation rotation Lastly the roll angle is defined as a rotation of the Y and Z transition axes about the x axis of the sensor frame The y and z axes of the current sensor frame represent the orientation of the Y and Z transition axes after the roll rotation 18 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output List PATRIOT P amp O Pitch Quaternion In the example of Figure 1 11 the azimuth elevation and roll rotations are positive negative and positive respectively Legend X Y Z Alignment Reference Frame X y Z Rotated Stylus or Sensor Coordinate Frame Azimuth 0 Elevation Roll Figure 1 11 Euler Angles A list of the data items included in a data record A two sensor low cost tracking instrument modeled after LIBERTY Acronym for position and orientation the six pieces of data needed to fully describe tracking of an object in 3D space Some tracking devices by virtue of their principle of operation can produce only position or only orientation whereas others can produce both P amp O although the user usually can opt for only those parameters de
84. nal information is provided by the H Hemisphere of Operation command on page 39 which defines the hemisphere in which the sensors are operating Therefore only half of the total spatial sphere surrounding the source can be utilized at any one time for unambiguous position measurement The selected hemisphere is referred to as the current hemisphere It is defined by an LOS line of sight vector from the source through a point at the zenith of the hemisphere and is specified by the direction cosines of the chosen LOS vector 16 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Host I O latency Lag Latency LIBERTY Line of Sight LOS LSB LSD MSB The orientation coordinates do not have a two solution spherical ambiguity and are therefore valid throughout the operating sphere centered at the source Any device capable of supporting an RS 232C interface or the high speed USB interface and capable of bi directional data transmission Devices may range from a dumb terminal to a mainframe computer The interval of time needed by the host computer to transfer data from the PATRIOT system into the host application The interval of time between requesting a PATRIOT system data point and receiving it into the host computer The interval of time between when measurement data were collected and when the P amp O result is formatted ready for transfer to the host computer In some systems
85. namely active PATRIOT systems there is a time interval between when the data is collected and when the P amp O computation can be done Hence this definition is intended to correspond to the center point of data collection time so that latency is straightforward and understandable as stated Other tracking systems e g inertial may produce raw data continuously or nearly continuously PATRIOT latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer A generation of flexible and expandable motion tracking instruments after which the PATRIOT is modeled using the same sources and sensors The LIBERTY 240 8 allows up to 8 sensors while the LIBERTY 240 16 allows up to 16 sensors 1 The orientation angle of the source sensor pair 2 in active tracking systems the angle between the source of stimulation and the sensor 3 not obscured or blocked from view such as a clear line of sight for optical uses Least significant bit Least significant digit Most significant bit 17 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Motion Box Orientation Angles The volume in which motion tracking is specified to perform as prescribed Although this 3D volume usually is cubicle in nature many of the tracking technologies known as active are dependent on a source of stimulation e g magnetic field light source which actually performs equally well at
86. nd page 79 or system power cycle must be used to make PATRIOT use the operational configuration Output Record None Examples If the PATRIOT system s configuration had been altered by sending various other commands and saving the result to the configuration non volatile memory and the user wanted to return the system to its original factory default settings then the following commands should be sent WO Y After initialization the system non volatile configuration memory will be set with all of the factory default parameters This exercise is especially useful when the system has been modified to the point where the user is not sure how to get back to factory defaults However care should be taken because all non saved custom settings will be lost as a result of the reset 78 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL AY Initialize System Description This command reinitializes the entire system to an advanced power up state The user should allow sufficient time for the system to run through its self test and initialization as signified by completion of LED flashing explained in step 8 of Getting Started before attempting to send the system additional commands Syntax Yc Remarks None Output Record None Examples If the user wanted to set the system configuration back to its original factory default condition the following commands should be sent AW 0 lt g
87. no mode argument is provided the current value of the setting is returned in the default response frame Buffering Mode applies to USB data I O only RS 232 data buffering is controlled by the host computer With USB buffering enabled a First In First Out FIFO buffer collects motion data in scenarios where the host computer is not able to capture it at the rate that it is generated This does not guarantee that data is not lost but it helps in transient conditions where the host computer does not have continuously available CPU and memory resources to capture every frame over USB PATRIOT can buffer up to 2 046 bytes of data A consequence of enabling USB buffering mode is that the FIFO operation may result in data latency When the buffer is full P amp O frames delivered to the host computer are not real time As such they may not reflect the P amp O of the stations at that instant in time The P amp O reported may be several frames behind real time depending on the frame rate frame size and buffer size With USB Buffering Mode disabled the FIFO buffer does not fill up with motion data Each time the host computer requests a new frame the frame delivered is guaranteed to be as close to real time as possible thus avoiding data latency 66 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 38 B ASCII Response Byte Index Format Description 0 A 0 1 A
88. oating filter parameter variable Allowable range of values 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 FLow FHigh or 1 0 to disable filter REV J 53 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow lt FHigh lt 1 FACTOR ascalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by proportionately limiting the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 When the form of the command is YO 1 0 0 lt gt the attitude filter is disabled This is the system default configuration Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHi
89. ould be sent Ul lt The system will now output data in centimeters 49 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL X Position Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the position outputs of the PATRIOT system The user can adjust the parameters of this command to fine tune the overall dynamic response of PATRIOT The filter is a single pole low pass type with an adaptive pole location 1 floating filter parameter variable The pole location is constrained within the boundary values FLow and FHigh but is continuously self adaptive between these limits as a function of the sensitivity parameter F and the sensed ambient noise plus rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 e increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type
90. ous print output configuration should be enabled Issuing a P command disables continuous print output mode Frames will be received from the PATRIOT at 60 frames sec Output Record The format of each frame of continuous output data is identical to that of a single frame generated by the P command See Table 2 40 on page 70 and Table 2 41 on page 70 Examples To enable continuous output mode send the command as follows C lt gt Data from PATRIOT will now flow continuously to the host computer To disable send a P Continuous data will stop and the response to the terminating P will be returned 69 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION PATRIOT USER MANUAL P Single Data Record Output Description In non continuous output mode this command polls PATRIOT for a single data record If more than one station is enabled then data from each active station will be sent in numerical order station 1 first station 2 second that is a complete cycle of active stations will be output Output mode refers to whether the system automatically transmits data records to the host continuous output mode or the host must request data records by polling the system each time non continuous output mode Syntax P NOTE This is the only PATRIOT command that does NOT require a lt gt Remarks The system default enables single data record output mode Output Record The body o
91. r 2 which specifies the relevant source sensor pair Azref The azimuth reference angle Elref The elevation reference angle Rlref The roll reference angle ResetOrigin switch to enable disable setting the X Y and Z origin values to 0 0 0 upon boresight 0 disable the origin reset 1 reset origin upon boresight Default is 0 Remarks The system default boresight reference values are 0 0 0 REV J 33 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 5 ASCII Response Byte Index Format Description A First Digit of Station Number 1 Second Digit of Station Number 2 A B 3 A Error Indicator 4 B ASCII Blank character 5 12 Sxxx xxB Azimuth Reference 13 20 Sxxx xxB Elevation Reference 21 28 Sxxx xxB Roll Reference 29 30 AA Carriage Return Line Feed Table 2 6 B Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Reference 12 FL Elevation Reference 16 FL Roll Reference Examples The sensor may be mounted on a person s head to measure where it is pointing When the user s head is looking at a given object the user may want the system angular outputs to be zero The user can designate this sensor orientation as the zero orientation by sending the boresight command B1 0 0 0 0 lt gt This results in azimuth elevation and roll outputs of zero at this orien
92. rranty period such as lamps fuses etc are not covered by this warranty In the event any Product or portion thereof is defective Buyer shall promptly and within the watranty period notify Polhemus in writing of the nature of the defect and return the defective parts to Polhemus at the direction of Polhemus s Customer Service representative Upon determination by Polhemus that the parts or Products are defective and covered by the warranty set forth above Polhemus at its option shall repair or replace the same without cost to Buyer Buyer shall be responsible for any import export duties tariffs and pay all charges for transportation and delivery costs to Polhemus s factory for defective parts where directed to be sent to Polhemus and Polhemus shall pay for transportation costs to Buyer s facility only for warranty replacement parts and Products Removed parts covered by claims under this warranty shall become the property of Polhemus In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that Polhemus may invoice Buyer for all reasonable expenses incurred in inspecting testing repairing and returning the Products and that Buyer will pay such costs on being invoiced therefor Buyer shall bear the risk of loss or damage during transit in all cases Any repaired or replaced part or Product shall be warranted for the remaining period of the original warranty or thirty 30 days whi
93. rranty limitation of liability D 1 Line of Sight LOS sse 17 List of Tables terere vii LOS line of sight esses 17 39 LSB least significant bit sss 17 LSD least significant digit sss 17 Magnetic Source essere 87 48 most significant bit MSB 17 MOON BOX eee erret ee ee nete HERE 18 mounting frame 0 ee eee eee ceeeceteceeeceseceecseeees 37 MSB most significant bit 17 multiple systems eene E 1 non continuous output mode sese 70 m 23 ASC xa lieet e ie 24 Binary oue interes 25 NOVEMBER 2013 null m dem e oett rrt 5 ier ies ate e e EE RAE 44 operational commands esee 68 operational 73 78 80 operational configuration 10 64 orientation angles sees 18 mili 70 91 B 1 Qu tpUt eco tete tede Reg 92 Output Considerations esee 92 outpu t data St xoci teet tenen 46 output format eoe Rotes 35 output USE tto He etie ER Used 19 e petro t ETE 91 P amp O position and orientation
94. rrors command on page 74 REV J C 2 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Table 4 5 Runtime BIT Error Codes Error Code Source Source Source Initialization Failure Failure Failure BIT Errors ASCII HEX X Y Z Occurred b Y Y y C Y Y y Gi y y ter Y Y Y P y y F Y y y g G T y REV J C 3 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL APPENDIX D Limited Warranty and Limitation of Liability Polhemus warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Polhemus s delivery to the Buyer or two years and 30 days from the date ownership of Product passed to the Buyer whichever occurs first with the exception of FastSCAN which has a warranty period of only one year Batteries have a 90 day warranty period Polhemus shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at Polhemus s option This warranty shall be considered void if the Product is operated other than in accordance with the instructions in Polhemus s User Manual or is damaged by accident or mishandling Parts or material which are disposable or expendable or subject to normal wear beyond usefulness within the wa
95. s C 3 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 1 Getting Started Congratulations on buying the latest most cost effective 3D tracking system yet This section of the user manual has been provided to help get your project under way as quickly as possible As with any new system there are two ways to get started with your PATRIOT system you could wing it which involves a great deal of assumptions based on previous experience and or visual inspection and hope for the best Alternatively you could sit down and read the whole manual line by line and then start What we provide here is a middle ground to cover the basics to get you going quickly However this approach does not preclude using the manual as a precise guide reference and final arbiter NOTE For the PATRIOT DB System please refer to the separate PATRIOT DB Installation Guide for installing the drive bay in your personal computer Once the PATRIOT DB is installed be sure to keep the source and sensor s away from large metal objects like filing cabinets metal desks etc and away from the floor and walls Once you have installed the Source use Y Initialize System see page 79 then continue with Use the Polhemus PiMgr GUI see page 9 Any time a source is disconnected or reconnected into a PATRIOT DB the system must be restarted using Y Initialize System page 79 or by pressing the Reset Button
96. should flash red for 5 to 10 seconds indicating self test and set up When these routines are completed the indicator will reflect system status as follows e Steady green System operational passed startup testing e Flashing red Failed self test and set up The host should respond with a Found New Hardware message Follow the hardware wizard to install the required drivers from the PATRIOT Host Software CD ROM For step by step instructions refer to USB Driver Installation on page 8 NOTE Once the USB cable is connected to PATRIOT it cannot return to RS 232 mode without removing the USB connection and restarting power OFF ON 10 You may now use the Polhemus PiMgr GUI to exercise the system If you have not yet installed the Host Software continue to Install the Host Software on page 8 Otherwise continue to Use the Polhemus PiMgr GUI on page 9 and Experiment with PATRIOT Data on page 11 For RS 232 Communication 11 Locate the RS 232 cable and insert it into the receptacle as shown in Figure 1 7 Most PC hosts have a 9 pin male D type connector for COMI If you are using COMI plug the remaining end of the cable into the COMI port of the host PC engage and lock as before If your host computer has a 25 pin D connector for the RS 232 port you will need a 9 to 25 pin D connector adapter with the proper genders Note that this adapter must not compromise the NULL MODEM sense of your ca
97. sired Same as elevation A four parameter quantity representing a vector and a scalar The quaternion q qo i q j q2 qs can be used to represent the sensor s orientation without the need for trigonometric functions The attitude matrix output from PATRIOT can be equivalently represented by the following matrix using quaternions X Directional Cosines Y Directional Cosines Z Directional Cosines q qd d qd 2 4 4 454 2 4193 9992 2 4399 9192 h 45 4 2 4 4 4 2 q d5 4042 2 4140 93 gt q d 9 9 19 NOVEMBER 2013 POLHEMUS INNOVATION IN MoTION Reset Button Response Roll SDK Sensor Source Station Stylus Sync Units Update Rate PATRIOT USER MANUAL System reset switch does not cycle power The interval of time between a request to the PATRIOT system to collect a data point and when that data is available for input from the PATRIOT system Coordinate of orientation tracking about the azimuth elevation axis where an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing Software Development Kit software development toolset available for LIBERTY PATRIOT based trackers consisting of programming libraries help files and sample code SDK is sometimes referred to as API although API refers specifically to the programming libraries used to interface with the instrument The sensor measures the low
98. station ASCII Response Byte Index Format Description 0 A First Digit of Station Number 0 1 A Second Digit of Station Number 2 A tv 3 A Error Indicator 4 B ASCII Blank character 5 17 A Station ID 18 n A ID 1 0 2 Carriage Return Line Feed n 24 A Station Serial Number 24 Serial Number m l m 2 A Carriage Return Line Feed Table 2 47 V station Binary Response Byte Index Format Description 0 7 Binary Header 8 I ID 12 CH 16 Serial Number Examples To determine the firmware version of the System Controller module in PATRIOT issue the following command AV lt gt The record returned will contain the version number of the PATRIOT Firmware I O Processor and Boot Loader NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL AW Set Default Operational Configuration Description This command sets the system non volatile operational configuration to one of four values This new default configuration will be used upon subsequent system initializations This command does not change the current configuration of the device until the device is restarted Syntax W slotnum lt gt Part Description slotnum 0 Default Factory configuration 1 3 z User defined configurations Remarks When using the W command the Y Initialize System comma
99. t MY lt gt The system will now be in its original factory default condition The Ctrl Y simulates turning the system power off then back on again 79 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL 7 Read Operational Configuration Description This command allows the user to view the operational configuration settings for the current factory default and saved custom configurations Syntax Z slotnum lt gt Part Description slotnum 0 factory default configuration 1 3 One of three User definable operational configurations that are stored within PATRIOT Remarks If no slotnum is supplied the current operational configuration will be returned Output Record The ASCII response to Z will be prepended by only the first 3 characters of the normal 5 byte ASCII header Table 2 48 Z ASCII Response Header Byte Index Format Description 0 A First Digit of Station Number n a 0 1 A Second Digit of Station Number n a 0 2 A ue The body of the response will be a variable length block of text in the format below Data in italics will vary according to the configuration settings being reported Table 2 49 describes the text block line by line The binary response frame is described by Table 2 50 REV J 80 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Table 2 49 Z ASCII Response Format Descriptio
100. t is Marker Mode An entry of fbutton 0 defines the output interaction as marker mode The pushing of the stylus switch has no effect on system output other than setting an event marker in the output record when the button is pressed In this case a 1 is reported in the output record when the switch is pressed and a 0 when it is not pressed NOTE Output of this marker must be enabled through the O Output Data List command see page 46 An entry of fbutton 1 defines a pseudo point track mode interaction with the switch In non continuous mode of output pressing the stylus switch has the same effect as sending a P Single Data Record Output command see page 70 to the system point mode In point mode every time the button is pressed a data record is sent to the host NOTE The host must be aware of this mode If the stylus button is pressed the host must be polling for the data frame or monitoring RS232 output in order to capture the output data In continuous output mode pressing the stylus switch serves as a toggle for continuous output track mode The first time the button is pressed continuous output mode is turned off The next time the button is pressed continuous output mode is turned back on again and so on 42 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Output Record Table 2 13 L ASCII Response Byte Index Format Descr
101. t parameter s are omitted 2 2 3 Response Format Notes Depending on the F Output Format configuration setting see page 35 frames received from PATRIOT in response to the commands detailed in this document will conform to one of the following format definitions ASCII ASCII response frames are described in this document using the following notation P C T Is an ASCII Character B Is a Blank or Space Is the Sign byte a space for X T Is a decimal digit 0 9 Carriage Return Line Feed i e M J 0 0x0a HL ise Repeat contents of parentheses n times REV J 24 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Example A format 3 Sx xxxxB would be output as 1 1111 2 2222 3 3333 Except where noted ASCII mode response includes a standard 5 character response header The default ASCII response frame format is as follows Table 2 1 ASCII Response Format Byte Index Format Description 0 A First Digit of Station Number e 1 A Second Digit of Station Number a 2 A Command Letter E 3 A Error Indicator 4 B ASCII Blank character 5thrun A Response Body 1 2 lt gt P amp O response frame may not contain Carriage Return Line Feed as specified by the user with the command If the Station Number is not applicable to the command the first two fields will be ASCII zeros 0 Error codes pres
102. ta List Parameter Value Description This command allows the user to define the list of variables to be output to the host computer for the specified station Any combination of up to 20 items that produces a P amp O response frame of less than or equal to 1000 bytes is permissible NOTE Due to the high output rate of PATRIOT caution should be used when defining large output records to prevent overwhelming the host communications channel The output list refers to the subset of data items to be included in a data record Syntax O station p1 p2 pn lt gt Part Description 1 or 2 which specifies the relevant source sensor pair station Up to 20 parameters that define the list of variables output to the host The possible parameters are listed below pl pn Table 2 17 Output Data Types Description ASCII Output Data Binary Output Format Data Format ASCII space character Al Al ASCII carriage return linefeed A2 A2 X Y Z Cartesian coordinates of position 3 Sxxx xxxB FL X Y Z Cartesian coords extended precision 3 Sx xxxxxxESxxxB FL Az El RI Euler orientation angles 3 Sxxx xxxB FL Az El Euler angles extended precision 3 Sx xxxxxxESxxxB FL Direction Cosine Matrix 3 3 Sx xxxxxB CRLF FL 3 Orientation Quaternion 4 Sx xxxxxB FL 3 Timestamp Al A10 DWORD Frame Count Al 10 DWORD Stylus Flag 0 or 1 Al I Remarks If the wildcard
103. tate of each sensor represented as a hexadecimal number Remarks If a station is supplied without a state then the current states of all stations are returned See output record below The default condition depends on the number of sensors that are currently connected to PATRIOT The default condition of a station that has a sensor connected to it is a 1 or station The default condition of a station that does not have a sensor connected to it is a 0 or station off If zero 0 is supplied as the station number this command will take a hexadecimal bitmap to identify ALL the enabled stations E g U0 03 enables all sensors 61 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL NOTE Do not place Ox in front of the input hex bitmap If no bitmap is supplied the current active sensor bitmap will be returned in the default response body This bitmap will indicate the detected sensors in the upper 16 bits and the active sensors in the lower 16 bits A sensor must be detected AND enabled to be active Output Record Table 2 33 U station ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A Ww 3 A Error Indicator 4 B ASCII Blank character 3 X Station 1 state 1 Active 0 Inactive 6 X Station 2 state 1 Active 0 Inactive 7 8 AA Carriage Return Line Feed
104. tation As the user s head moves away from the boresight point the orientation angles are still measured relative to the source with the zero points shifted to the point where the boresight occurred The user may wish to set the boresight reference values to an orientation that corresponds with the application For example if the application required an output of 0 15 0 following a boresight reference angles should be included with the B command B1 0 15 0 0 lt gt The boresight command will now cause the azimuth elevation and roll data output to be 0 15 0 respectively REV J 34 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL F Output Format Description This command selects the Binary or ASCII output data format ASCII format means that the data is generally human readable while binary format is generally computer readable Regardless of output data format selected all input data commands to PATRIOT must be in ASCII format Syntax F fmt Part Description fmt Defines the type of output from PATRIOT The choices are 0 ASCII output 1 Binary output Remarks The default output data format is ASCII The Polhemus SDK uses binary output exclusively As with other configuration commands if no fmt argument is provided the current value of the setting is returned in the default response frame If a software application is written to receive binary data from PATRI
105. tem s power must be recycled to shift back to RS 232 operation 4 2 Powering Up PATRIOT To power up the PATRIOT system first ensure that the power switch on the back panel of PATRIOT is in the OFF DOWN position and that the power supply is not plugged into the AC Then connect the power cable from the power supply to the power connector on the rear panel of PATRIOT Plug in the source and the desired number of sensors Plug in the desired I O cable USB or RS 232 Plug the power supply into the AC outlet and turn the Power Switch to the ON UP position On power up the power indicator will blink red for 5 to 10 seconds to indicate the system s performance of an initialization and self test routine During this time system operation is not possible At the completion of this routine the power indicator will change from a flashing red state to a steady green state See LED Indicator on page 84 for a description of the LED status If PATRIOT is connected via RS 232 it will send a PATRIOT Ready text message to the RS 232 port when initialization is complete 4 3 Configuration Changes PATRIOT will start up with a default configuration unless otherwise set to a different start up configuration Up to three user defined configuration settings can be stored in the PATRIOT system Any one of these configurations can be set as the startup configuration See Save Operational Configuration on page 73 and W Set
106. the results below when no error 00t 0 00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 ATO lt gt Clear BIT errors 75 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL AV WhoAmI Description This command returns the basic identification and firmware version of PATRIOT system Syntax AV station lt gt Remarks None Output Record Table 2 44 V ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 0 1 A Second Digit of Station Number n a 0 2 A tv 3 A Error Indicator 4 B ASCII Blank character 5 6 A Carriage Return Line Feed 7 22 A Polhemus PATRIOT 23 24 A Carriage Return Line Feed 25 26 A Carriage Return Line Feed 27 45 A Boot Loader Version 46 52 A Boot Version 53 54 A Carriage Return Line Feed 55 79 A PATRIOT Firmware Version 80 86 A System Controller Version 87 88 A Carriage Return Line Feed 89 110 A T O Processor Version 111 117 A I O Processor Version 118 119 A Carriage Return Line Feed 76 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Table 2 45 V Binary Response Byte Index Format Description 0 7 Binary Header 8 UC Sensor count 9 UC Tracker Type IZPATRIOT 10 UC Reserved 11 end CH Same as ASCII output bytes 5 end Table 2 46 V
107. tive and negative sides of Y NOTE since the default hemisphere value is forward the user cannot move the sensor to the negative X side of the source because the signs will flip and it will appear as if the X measurement never goes negative If the source is positioned above the test area the positive Z or lower hemisphere should be selected This can be accomplished with the following command H1 0 0 1 lt gt Station 1 of PATRIOT will now be set for the positive Z or lower hemisphere 40 NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL Although the hemisphere vector is not limited to 1s and Os the following table of hemisphere commands may be useful Forward Hemisphere X Back Hemisphere X Right Hemisphere Y Left Hemisphere Y Lower Hemisphere Z Upper Hemisphere Z 41 H1 1 0 0 lt gt H1 1 0 0 lt gt H1 0 1 0 lt gt H1 0 1 0 lt gt H1 0 0 1 lt gt H1 0 0 1 lt gt NOVEMBER 2013 POLHEMUS INNOVATION IN MOTION PATRIOT USER MANUAL L Stylus Button Function Description This command allows the user to put the PATRIOT stylus into different output modes by controlling the button function Syntax Lstation fbutton Part Description station 1 or 2 which specifies the relevant source sensor pair fbutton Defines the function of the Stylus Button The choices are 0 Marker Mode 1 Point Track Mode Remarks System defaul
108. u ee eee ete eather divest lected b ee beds 5 3 1 8 Reset B lton il ees e 86 3 2 MAGNETIC SOURCE soster EE 67 88 S24 STVEUS soumeeansavees 89 3 3 BUDDY BUTTON RETE 90 4 SYSTEM OPERATIQN 5 5 correa ao scscsvecdecssnesccsvacecseasceessvecgvendecsessnecabebesdcccvan veseverdcabapenescees 91 4 T CONSIDERATIONS vcd ssccousdicnssdedussdecsiastesssasvesecdivceiessdaessedcdesdesecdveviecsSses asdenndacddvadestelect des ro elo e Fave doe Ese Peso Ee 9 4 2 POWERING UP PATRIOT ccccccccccecssnsnnsccceceessnsanssececscsensnneaecececsensaaeaesececsensaaeaecececeensaaaaesececsensanaaeaeescsesennaaeaes 9 4 3 CONFIGURATION CHANGES u scccccccccecssssnsccecececsensnnscecececsessaeaecesecsensseaecececsensasaaecececeeseaaesececeeseneaaeeeeeceeseneaeaee 9 P MEOUINJINIBEER I UON VOR 9 4 5 OUTPUT CONSIDERATIONS Re 92 4 6 USEFUL RANGE iiie di 92 APPENDIX A ALIGNMENT REFERENCE FRAME 4 eee eee eee nennen nnne hene eee rene A 1 APPENDIX SYSTEM OUTPUT DATA 5 e serene B 1 ASCTLEORMJAT it treten E eO rr EE p nod n hc B 1 BINARY FORMAT essaie eee er o de de eod a doni

PATRIOT Manual

Contents

Download Pdf Manuals

Related Search

Related Contents