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miniBIRD-II

1. 12 2 1 PORT DEFINON Se ee ee dens Job e Dd dr Fr Ra nd Ja en Ana ed Jed x 12 4 2 PORT BEHAVIOR ON POWER UP guy eos se o tyto e ses 13 4 3 SENDING COMMANDS TO THE miniBIRD ll 13 4 4 RECEIVING DATA FROM THE miniBIRD II 14 4 5 INTERRUPT OPERATION iii IA ei ki ed N hee id 14 45 RESETIING THE MINIBIRDEN se o SE SR EES EER SR RES RE E DER Se 14 5 0 FORMAT OF ISA COMMANDS AND DATA 15 5 1 FORMAT OF COMMANDS AND DATA SENT 15 5 2 FORMAT OF COMMANDS AND DATA RECEIVED 17 5 2 1 POSITION ORIENTATION DATA FORMAT 17 9 2 2 CHANGE EXAMINE DATA FORMAT 17 6 0 COMMANDUTILIZATION 18 6 1 STAND ALONE OPERATION seeeser en 18 6 2 COMMAND SUMMARY sis e505 suey sues SEER SEER EDE ey xy seyn 19 6 3 DEFAULT VALUES vor ER RED DEER GR ED DRS DE ED 20 7 0 COMMAND REFERENCE 21 ANGLE SE A 22 ANGLE ALIGNT ses arua av is A pe UR e RU e a AG pes 23 ANGLE ALIGNE sotana 25 CHANGE VALUE iii 27 EXAMINE VALUE sist UU ah oy ee ew KUUKUU 27 BIED STATUS cu 30 SOFTWARE REVISION NUMBER 31 BIRD COMPUTER CRYSTAL SPEED 31 FILTER ONOEF STATUS i acie is ande aa eta RR CP 31 DC FILTER CONSTANT TABLE ALPHA MIN 32 BIRD MEASUREMENT RATE COUNT 33 BIRD M
2. BYTE 13 address 14 configuration Each byte has the following format BIT 7 If 1 device is accessible If 0 device is not accessible A device is accessible when its fly switch is on It may or may not be running BIT 6 If 1 device is running If 0 device is not running A device is running when the power switch is on it has been AUTO CONFIGed and itis AWAKE A device is not running when the power switch is on and it has not been AUTO CONFIGed or it has been AUTO CONFIGed and it is ASLEEP BIT 5 If 1 device has a sensor If 0 device does not have a sensor BIT 4 If 1 transmitter is an ERT If O transmitter is standard range BIT 3 If 1 ERT 3 is present If 0 ERT 3 is not present BIT 2 If 1 ERT 2 is present If 0 ERT 2 is not present BIT 1 If 1 ERT 1 is present If 0 ERT 1 is not present BIT O If 1 ERT 0 or standard range transmitter is present If 0 ERT 0 or standard range transmitter is not present 44 Installation and Operation Guide Command Reference AUTO CONFIGURATION PARAMETERnumber 50 The AUTO CONFIGURATION command is used to start running multiple BIRDs working together in a Master Slave configuration When PARAMETERnumber 50 during an CHANGE VALUE command the Master BIRD will perform all the necessary configurations of the Slaves and itself for a one transmitter multiple sensor configuration The Master BIRD expects one word of data corresponding to the number of BIRD electronic units
3. MM 3 1 MB 1 2 MM 3 2 MB 1 3 MM 3 3 MB 1 1 MM 3 4 0 MM 4 1 Ypos MM 4 2 Zpos MM 4 3 Xpos MM 4 4 1 0 76 Installation and Operation Guide Application Notes Application Note 3 Configuring the miniBIRD II for Minimum Lag 1 Use STREAM mode not POINT mode for collecting data STREAM mode gives you data every BIRD measurement cycle as soon as it has been computed If you used POINT mode the data request would come at some random point in the miniBIRD II s measurement cycle resulting in a random variation of up to 10 milliseconds in the age of the unit s measured data 2 Select an output format that transmits the minimum amount of data reguired For example if you only want to measure angles then select ANGLE mode and not POSITION ANGLE mode 3 Unlock the outputs if you are going to be making sudden movements by setting the CHANGE VALUE SUDDEN OUTPUT CHANGE LOCK command to zero 4 Minimize the number of filters applied to the miniBIRD II data To determine which filters you can remove 1 Set the miniBIRD ll s sensor at the maximum distance from the transmitter that you will be using in your application 2 Use the CHANGE VALUE FILTER ON OFF STATUS command to remove one filter at a time Observe the noise on the outputs of your measurements as you remove each filter If the amount of noise is acceptable leave the selected filter out The DC filter will have the largest impact on noise and usua
4. PARAMETERnumber 25 When PARAMETERnumber 25 during EXAMINE the miniBIRD II will return a 1 word value corresponding to the Serial Number of the miniBIRD II electronic unit Note This number cannot be changed SENSOR SERIAL NUMBER PARAMETERnumber 26 When PARAMETERnumber 26 during EXAMINE the miniBIRD II will return a 1 word value corresponding to the Serial Number of the miniBIRD II s sensor You can not swap sensors while the miniBIRD II is switched to FLY If you do you will get the Serial Number of the sensor that was attached to the unit when it was first turned on Note This number cannot be changed 42 Installation and Operation Guide Command Reference XMTR SERIAL NUMBER PARAMETERnumber 27 When PARAMETERnumber 27 during EXAMINE the miniBIRD II will return a 1 word value corresponding to the Serial Number of the miniBIRD Il s transmitter You can not swap transmitters while the miniBIRD ll is switched to FLY If you do you will get the Serial Number of the transmitter that was attached to the unit when it was first turned on Note This number cannot be changed GROUP MODE PARAME TI ERnumber 35 The GROUP MODE command is only used if you have multiple BIRDs working together in a Master Slave configuration and you want to get data from all the BIRDs by talking to only the Master BIRD When PARAMETERnumber 35 during EXAMINE VALUE the miniBIRD II will respond with one byte of data indicating
5. Yp Xo M 1 2 Yo M 2 2 Zo M 3 2 Z Z Xo M 1 3 Yo M 2 3 Zo M 3 3 74 Installation and Operation Guide Application Notes Application Note 2 Converting the miniBIRD II s Output to a Graphics Modeling Matrix Purpose Build the 12 elements of a standard computer graphics modeling matrix MM j given the 9 matrix output elements from the miniBIRD II MBG j and the miniBIRD II s X Y Z position outputs Xpos Ypos and Zpos The standard computer graphics XYZ coordinate system is positive X axis points to the right positive Y axis points up and positive Z points towards you Y Standard Graphic Mode When the transmitter is between you and the graphics screen and the transmitter s power cord extends in the direction toward the screen the miniBIRD II s XYZ coordinate system is positive X axis points out of the screen positive Y axis points to the left positive Z axis points down Ascension s Graphic Mode 79 Installation and Operation Guide Application Notes To have the screen image follow the rotations and translations of the miniBIRD II s sensor with movement of the sensor toward the screen causing the image to move toward the front of the graphics screen the following transformations from BIRD coordinates to modeling matrix elements are required MM 1 1 MB 2 2 MM 1 2 MB 2 3 MM 1 3 MB 2 1 MM 1 4 0 MM 2 1 MB 3 2 MM 2 2 MB 3 3 MM 2 3 MB 3 1 MM 2 4 0
6. comes from reducing Vm 8 Reduce the amount of filtering during the steady state part of fast movements by using the CHANGE VALUE DC FILTER CONSTANT TABLE ALPHA MAX Set ALPHA MAX as close to 0 999 as possible The larger ALPHA MAX is the less lag there will be during fast motions But note the larger ALPHA MAX is the larger the noise will be during the movement At Ascension Technology when we want a snappy response with good noise characteristics we use all system defaults except for the following overrides a Stream mode b Sudden output change lock 0 c DC filter ON AC narrow notch filter ON AC wide notch OFF d where most of the snap comes from the Vm table Vm table 2 2 2 10 10 40 200 Ascension Technology Corporation PO Box 527 Burlington VT 05402 USA 802 893 6657 http www ascension tech com 78
7. 1 STAND ALONE OPERATION After power up or reset the miniBIRD I is ready to output data to you in the POSITION ANGLE format as soon as you send it a B POINT command If you do not want POSITION ANGLE formatted data send one of the following data record select commands to the desired sensor ANGLES MATRIX POSITION QUATERNION POSITION ANGLES POSITION MATRIX or POSITION QUATERNION These commands do not cause the miniBIRD II to transmit data to the host For the host to receive data it must issue a data request Use the POINT data request each time you want one data record or use the STREAM data request once to initiate a continuous flow of data records If you want to reduce the rate at which data STREAMs from the miniBIRD ll use the REPORT RATE command All commands can be issued in any order and at any time to change the miniBIRD II s output characteristics however if the previous command results in the miniBIRD II outputting data to the user the user must not issue a new command until the previous data is received If you change the output format with an ANGLES MATRIX etc command and immediately follow with a data request command you will receive zero s for the data in the new format for up to 8 milliseconds until a new internal measurement cycle is started The following is a hypothetical command sequence issued after power up which illustrates the use of some of the commands These commands assume that the miniBIRD II is in St
8. 180 degrees That is 179 99 deg 7FFF Hex 0 deg 0 Hex 180 00 deg 8000 Hex To convert the numbers into angles first cast it into a signed integer This will give you a number from 32767 Second multiply by 180 and then divide the number by 32767 to get the angle The equation should look something like this signed int Hex 180 32767 22 Installation and Operation Guide Command Reference ANGLE ALIGN1 ANGLE ALIGN1 HEX DECIMAL BINARY Command Byte 4A 74 01001010 Command Data Sin A Cos A Sin E Cos E Sin R Cos R By default the angle outputs from the miniBIRD Il are measured in the coordinate frame defined by the transmitter s X Y and Z axes as shown in Figure 3 and are measured with respect to rotations about the physical X Y and Z axes of the sensor The ANGLE ALIGN1 command allows you to mathematically change the sensor s X Y and Z axes to an orientation which differs from that of the actual sensor For example Suppose that during installation you find it necessary due to physical requirements to cock the sensor resulting in its angle outputs reading Azim 5 deg Elev 10 and Roll 15 when it is in its normal resting position To compensate use the ANGLE ALIGN1 command passing as Command Data the sines and cosines of 5 10 and 15 degrees After this sequence is sent the sensor outputs will be zero and orientations will be computed as if the sensor were not misaligned Note the ANGL
9. 61 Installation and Operation Guide Command Reference REFERENCE FRAME2 REFERENCE FRAME2 HEX DECIMAL BINARY Command Byte 114 01110010 Command Data This is the same as the REFERENCE FRAME1 command except that the command data consists of the angles only and not the sines and cosines of the angles The Command Byte and Command Data must be transmitted to the miniBIRD II in the following four word format WORD Most Significant Byte Least Significant Byte 1 REF command 72 MSbyte A 2 LSbyte A MSbyte E 3 LSbyte E MSbyte R 4 LSbyte R 0 see the ANGLES command for the format and scaling of the angle values sent 62 Installation and Operation Guide REPORT RATE Measurement HEX Rate Divisor Command 91 92 93 94 DECIMAL 81 82 83 84 Command Reference REPORT RATE BINARY 01010001 01010010 01010011 01010100 If you do not want a BIRD data record output to your host computer every BIRD measurement cycle when in STREAM mode use the REPORT RATE command to change the output rate to every other cycle R every eight cycles S or every thirty two cycles T If no REPORT RATE command is issued transmission proceeds at the measurement rate by default 63 Installation and Operation Guide Command Reference RUN RUN HEX DECIMAL BINARY Command Byte 46 70 01000110 The RUN command is issued to the Master BIRD but not to the Slave BIRD to start the BIRDs FLYing or to
10. COS R SIN E COS A COS R SIN E SIN A COS R COS E The 9 word output record is in the following order MSB LSB Lo 14 LS EZ 11 10 J 8 7 6 9 4 3 2 1 0 M15 M14 M13 M12 M11 MO M9 M8 M7 M6 M5 M4 M3 M2 Mi 1 M M15 M14 M13 M12 M11 MO M9 M8 M7 M6 M5 M4 M3 M2 Ml 0 M 2 1 M15 M14 M13 M12 M11 MIO M9 M8 M7 M6 M5 M4 M3 M2 M1 0 M M15 M14 M13 M12 M11 MO M9 M8 M7 M6 M5 M4 M3 M2 Mi 0 M MLS MTA MUS Miz MIL M10 M9 Mo Mi Me MS M4 MS M2 M1 0 M C22 M15 M14 Mis M12 Mil MLO M9 Ms My M6 MS M4 M3 M2 Mi 0 M M15 M14 M13 M12 M11 MO M9 M8 M7 M6 M5 M4 M3 M2 Ml 0 M M15 M14 M13 M12 MII MIO M9 M8 M7 M6 M5 M4 M3 M2 MI 0 MIZga MUS Mia MI gt MI gt Mil MLO M Mo MF _MG Mo M4 M gt M2 Ml 0 M The matrix elements take values between the binary equivalents of 99996 and 1 0 Element scaling is 99996 7FFF Hex 0 0 Hex and 1 0 8000 Hex 49 Installation and Operation Guide Command Reference NEXT TRANSMITTER NEXT TRANSMITTER HEX DECIMAL BINARY Command Byte 30 48 00110000 Command Data TRANSMITTER ADDR If you have multiple transmitters in your Flock and you want to turn on a transmitter other than the transmitter at address 1 use the NEXT TRANSMITTER command This command is sent to the current Master with a single byte of command data containing the transmitter address 1 or 2 At the end of its current measurement cycle 1 to 10 milliseconds after the command is received the addressed BIRD starts its transmi
11. Command Byte Command Data A E R DECIMAL 113 Command Reference ANGLE ALIGN2 BINARY 01110001 This command is the same as the ANGLE ALIGN1 command except that the command data consists of the angles only and not the sines and cosines of the angles The sequence of output words to the miniBIRD II takes the following form WORD NOOR WD Most Significant Byte ALIGN command 71 LSbyte A LSbyte A LSbyte E LSbyte E LSbyte R LSbyte R Least Significant Byte MSbyte A MSbyte A MSbyte E MSbyte E MSbyte R MSbyte R 0 see the ANGLES command for the format and scaling of the angle values sent 25 Installation and Operation Guide Command Reference Transmitter ie Wier re aa ea Z Figure 3 Measurement Reference Frame X Orientation Dimple Y Z Figure 4 Receiver Zero Orientation 26 Installation and Operation Guide Command Reference CHANGE VALUE CHANGE VALUE EXAMINE VALUE EXAMINE VALUE HEX DECIMAL BINARY CHANGE VALUE Command Byte 50 87 0101000 CHANGE VALUE Command Byte PARAMETERnumber PARAMETER value The CHANGE VALUE command allows you to change the value of the miniBIRD II system parameter defined by the PARAMETERnumber byte and the PARAMETERvalue byte s sent with the command HEX DECIMAL BINARY EXAMINE VALUE Command Byte 4F 79 01001111 EXAMINE VALUE Command Byte PARAMETERnumber The EXAMINE VALUE com
12. ERROR MESSAGES The miniBIRD ll keeps track of system errors When an error occurs the SYSTEM STATUS register ERROR bit is set to a 1 and the error code is put into the ERROR CODE register The user can query the SYSTEM STATUS register by using the EXAMINE VALUE SYSTEM STATUS command The ERROR CODE register can be read by using the EXAMINE VALUE ERROR CODE command When the user reads SYSTEM STATUS the ERROR bit is reset to a 0 and when the user reads the ERROR CODE register all bits are reset to O CODE ERROR DESCRIPTION TYPE 1 System Ram Failure FATAL 2 Non Volatile Storage Write Failure FATAL 3 PCB Configuration Data Corrupt WARNING 4 BIRD Transmitter Calibration Data Corrupt or Not Connected WARNING 5 BIRD Sensor Calibration Data Corrupt or Not Connected WARNING 6 Invalid Command WARNING 9 BIRD is Not Initialized WARNING 16 Invalid CPU Speed FATAL 20 27 Intel 80186 CPU Errors FATAL 29 Transmitter Not accessible WARNING 31 CPU Time Overflow WARNING 32 Sensor Saturated WARNING MESSAGE TYPE DESCRIPTION FATAL Error is posted in system status panel light continuously blinks the error code the BIRDs stops running WARNING Error is posted in the system status the BIRDs continues to run 67 Installation and Operation Guide Error Messages 8 1 ERROR MESSAGE DETAILS For each of the BIRD error codes a possible cause and corrective action are listed Corrective actions with an indicate the user should not attempt thi
13. Il s sensor quickly the slow measurement rate will cause increased lag errors Also at slower rates the noise will increase or decrease depending on the rate you choose For example the noise will be at a maximum if you select a measurement rate equal to your power line frequency of 50 or 60 hertz As you change the measurement rate of the miniBIRD ll you many want to experiment with changing the filter characteristics For example the AC filter is optimized for a measurement rate of 103 3 measurements sec At very low measurement rates you may want to shut this filter off 34 Installation and Operation Guide Command Reference BIRD MEASUREMENT RATE PARAMETERnumber 7 When PARAMETERnumber 7 during EXAMINE the miniBIRD II returns a word used to determine the measurement rate of the unit The word returned is the measurement rate in cycles sec times 256 The measurement rate in cycles sec is computed from measurement rate word returned 256 To CHANGE the MEASUREMENT RATE send the miniBIRD II one word of PARAMETERdata corresponding to measurement rate 256 The MEASUREMENT RATE command is a simpler form of the MEASUREMENT RATE COUNT command Refer to the MEASUREMENT RATE COUNT command regarding speed limits and metal distortion verses noise tradeoffs DISABLE ENABLE DATA READY OUTPUT CHARACTER PARAMETERnumber 8 Enabling the DATA READY character provides a method for notifying you as soon as the newest positi
14. June 1978 pp 223 4 The output record is in the following format for the eight transmitted bytes MSB LSB L9 14 T3 LA Lu 10 9 8 7 6 3 4 3 2 1 0 plo Bid Bas BL BLL BLU B2 Be GB BE Bo BA Bos BA Bl Bls Bld OBL Bl2 Bill BLO BJ Bo B7 Bo Bo B4 Bs BA Bl Bo Bld Blo BIZ BLL BLIO B9 Bo BL BE Bo BA BS BZ Bl Bls BLA Ji Blar BLL BLO Bor Bo Brk BA BS B4 Bo G2 Bl Jo di ep d3 O C5 05 rt Scaling of the quaternions is full scale 4 99996 7FFF Hex 0 0 Hex and 1 0 2 8000 Hex 99 Installation and Operation Guide Command Reference REFERENCE FRAME1 REFERENCE FRAME1 DECIMAL BINARY Command Byte 72 01001000 Command Data Sin A Cos A Cos E Sin R Cos R By default the miniBIRD II s reference frame is defined by the transmitter s physical X Y and Z axes In some applications it may be desirable to have the orientation measured with respect to another reference frame The REFERENCE FRAME command permits you to define a new reference frame by inputting the angles required to align the physical axes of the transmitter to the X Y and Z axes of the new reference frame The alignment angles are defined as rotations about the Z Y and X axes of the transmitter These angles are called the Azimuth Elevation and Roll angles The command sequence consists of a Command Byte and 12 Command Data bytes The Command Data consists of the sines and cosines of the alignment angles Azimuth A Elevatio
15. and QUATERNION formats All other types of data that the miniBIRD II returns are in the Change Examine value format Both Position Orientation data and the Change Examine value data return one or more 16 bit data words as detailed below 5 2 1 POSITION ORIENTATION DATA FORMAT The Position Orientation information generated by the miniBIRD I is returned to the user in a form called a data record The number of words in each record is dependent on the output format selected by the user i e Position Angles etc Each word in the record is in a 16 bit 2 s complement binary format The binary format consists of the 15 most significant bits bits B15 B1 of the data plus a least significant bit BO used as a phasing bit The phasing bit allows the host computer to identify the start of a record This phasing bit is set to one in the first word of a record and set to zero in all other words in the output record You can ignore the effect of the phasing bit on the magnitude of the position and orientation data since the sixteenth bit is beyond the accuracy or resolution of the tracker 5 2 2 CHANGE EXAMINE DATA FORMAT The Change Examine value data uses the response format described with each Change Examine value command The Change Examine value data does not contain the phasing bits found in the Position Orientation data All 16 bits are used for data 17 Installation and Operation Guide Command Utilization 6 0 COMMAND UTILIZATION 6
16. miniBIRD II Specifications APPENDIX II miniBIRD II SPECIFICATIONS Physical Transmitter Sensor PC Board Technical Positional range Angular range Static positional accuracy Positional resolution Static angular accuracy Angular resolution Update rate Outputs Interface Format Modes Electrical miniBIRD ll Power requirements Environment 3 75 cube with 10 cable 0 71 x 0 32 x 0 32 with 10 cable Half size PC board one per sensor pair to be tracked 3 in any direction 180 Azimuth amp Roll 90 Elevation 0 07 RMS O 12 with miniBIRD ll Transmitter 0 02 RMS O 12 with miniBIRD II Transmitter 0 5 RMS O 12 with miniBIRD ll Transmitter 0 1 RMS O 12 with miniBIRD ll Transmitter 30 120 measurements sec X Y Z positional coordinates and orientation angles rotation matrix or quaternions ISA Bus Binary Point or Stream Uses PC s power supply 5V 1 5A 12V 1 5A No 5V or 12V All specifications are valid at 30 C 10 in an environment void of large metal objects and electromagnetic frequencies other than the power line 73 Installation and Operation Guide Application Notes APPENDIX Ill APPLICATION NOTES Application Note 1 Computing the Coordinates of a Stylus Tip some applications need to measure the X Y Z coordinates that describe the physical shape of an object such as a plastic model or a person s face This measurement can be
17. the miniBIRD II B1 0 but the user can send a command to the miniBIRD II BO 1 4 3 SENDING COMMANDS TO THE miniBIRD II To send a word to the miniBIRD ll the user must first wait until the DATA STATUS bit BO 1 Immediately after the user sends a word the DATA STATUS bit BO is automatically set to zero After the miniBIRD II processes this word BO is again set to one indicating that the user can send another command or data word If the previous command results in the miniBIRD II outputting data to the user the user must not issue a new command until the previous data is received miniBIRD II operation will become faulty if the user sends a word to the miniBIRD II when the DATA STATUS bit BO 0 13 Installation and Operation Guide ISA Interface 4 4 RECEIVING DATA FROM THE miniBIRD II When the miniBIRD II sends a word to the user DATA STATUS bit B1 is set to one Immediately after the user reads the data port to get this word DATA STATUS bit B1 is automatically reset to zero miniBIRD ll operation will become faulty if the user reads a data word when the DATA STATUS bit B1 0 4 5 INTERRUPT OPERATION To send commands and read data from the miniBIRD ll using interrupts one must insert one of the IRQ jumpers on the board You may however still use polling of the DATA STATUS register when an IRQ jumper is inserted if you mask this interrupt in your host computer Behavior of the DATA STATUS bits during interrupt operation is
18. the same as during polled operation When either or both of the DATA STATUS bits are 1 an interrupt will occur To identify the source of the interrupt the user must preset B1 in the INTERRUPT RESET port to either a 0 or 1 When B1 has been preset 0 then an interrupt will be generated when the RDR status bit goes to 1 If the user has preset B1 1 an interrupt will be generated when the TDR status bit goes to 1 When you preset B1 to 0 or 1 be sure to keep BO 1 to keep the card from resetting 4 6 RESETTING THE miniBIRD II To initialize or re initialize the miniBIRD II card using an ISA software command write to Base Address 2 with BO 0 followed immediately with a second write to Base Address 2 with BO 1 B1 can be any value when you initiate the reset At the end of the reset B1 is 1 The reset command can be sent at any time After receiving the reset sequence the miniBIRD I will take approximately two seconds to initialize itself It will then indicate that it is ready to accept user commands by setting DATA STATUS BO 1 and generating an interrupt if interrupts are enabled Any commands or command data sent to the miniBIRD II before or during the reset will be lost 14 Installation and Operation Guide Command Format 5 0 FORMAT OF ISA COMMANDS AND DATA 5 1 FORMAT OF COMMANDS AND DATA SENT All commands sent to the miniBIRD II consist of a single byte packed into a word Associated with some commands are multiple byt
19. turned on you can modify its noise lag characteristics by changing ALPHA MIN and Vm To CHANGE the FILTER ON OFF STATUS send the miniBIRD II two bytes of PARAMETERdata with the most significant byte set to zero and the least significant set to the code in the table above DC FILTER CONSTANT TABLE ALPHA MIN PARAMETERnumber 5 When PARAMETERnumber 5 during EXAMINE the miniBIRD II returns 7 words 14 bytes which define the lower end of the adaptive range that filter constant ALPHA MIN can assume in the DC filter as a function of sensor to transmitter separation When ALPHA MIN 0 Hex the DC filter will provide an infinite amount of filtering the outputs will never change even if you move the sensor When ALPHA MIN 0 99996 7FFF Hex the DC filter will provide no filtering of the data 32 Installation and Operation Guide Command Reference The default values as a function of transmitter to sensor separation range for the miniBIRD II transmitter are as follows miniBIRD II Xmtr Range ALPHA_MIN inches decimal 0 to 17 0 02 028F Hex 17 to 22 0 02 22 to 27 0 02 2 to 34 0 02 34 to 42 0 02 42 to 54 0 02 54 0 02 To CHANGE ALPHA MIN send the miniBIRD II seven words of PARAMETERdata corresponding to the ALPHA MIN table defined above At the shorter ranges you may want to increase ALPHA MIN to obtain less lag while at longer ranges you may want to decrease ALPHA MIN to provide more filtering less noise more lag
20. 0 Hex 10000000 200 Hex 10000001 204 Hex 10000010 208 Hex 11000001 304 Hex Here the two least significant bits to the right of the number one dip switch are fixed at zero and the two most significant bits to the left of the number eight switch are zeros On the Base Address dip switch 0 switch down toward the PC card and 1 switch up away from the PC card the OFF label on the switch If you cannot talk to the miniBIRD ll it may be because the VO address you have selected is the same address used by another device in your system Try another address In a PC the VO address space is usually assigned per the following table Use this to help select a non interfering address Installation and Operation Guide Installation VO Address Device Range 1FO 1F8 200 207 278 27F 2E8 2EF 2F8 2FF 300 31F 360 363 368 36B 378 3F7 380 38F 3A0 3AF 3BO 3BF 360 3CF 3DO 3DF 3E8 3EF SFO 3F7 3F8 SFF Fixed disk Game port LPT2 COM4 COM2 unused or network PC network low address PC network high address LPT1 SDLC bisynchronous Bisynchronous primary Mono display and printer adapter EGA VGA display CGA MCGA display COMS Diskette COM 1 2 3 1 2 IRQ JUMPERS If interrupt driven ISA bus operation is required instead of polled operation you must select which interrupt number is assigned to the miniBIRD II card The miniBIRD II can utilize interrupt numbers 3 4 5 9 10 11 12 an
21. E command to the Master before sending the STREAM command to the Master 2 Data output from the Master may be delayed up to 2 milliseconds when running at 100 measurements second from the time the PASS THROUGH command is issued 93 Installation and Operation Guide Command Reference POINT POINT HEX DECIMAL BINARY Command Byte 42 66 01000010 In the POINT mode the miniBIRD II sends one data record each time it receives the B Command Byte When in GROUP MODE the Master BIRD will output a record for each running BIRD in the Flock see EXAMINE CHANGE parameter number 35 Remember when GROUP MODE is enabled an extra byte containing the sensor number is added to the end of each data record If you issue the POINT command immediately after you have changed the output format with an ANGLES MATRIX etc command you will receive zero s for the data in the new format for up to 8 milliseconds 54 Installation and Operation Guide Command Reference POSITION POSITION HEX DECIMAL BINARY Command Byte 56 86 01010110 In the POSITION mode the miniBIRD ll outputs the X Y and Z positional coordinates of the sensor with respect to the transmitter The output record is in the following format for the three transmitted words MSB LSB Lo 14 103 12 T 10 J 8 3 6 J 4 S 2 i 0 XLS LA oe Xlo LE ALO O X XF XO Ko X4 X3 XZ XI 1 LS AA Los USD LL YL AD Io AA EO Xo MAA Ya CEA Al 0 Alo Ada ATIS als Ade GAL
22. E ALIGN1 command only affects the computation of orientation it has no effect on position If you immediately follow the ANGLE ALIGN1 command with a POINT or STREAM mode data request you may not see the effect of the ALIGN command in the data returned It will take at least one measurement period i e 10 milliseconds if running the miniBIRD II at 100 measurements sec before you see the effect of the command 23 Installation and Operation Guide Command Reference The host computer must send the Command Data immediately after the Command Byte The Command Data consists of the sines and cosines of the Azimuth A Elevation E and Roll R angles that specify the amount of sensor misalignment you want to remove Use the ANGLE ALIGN2 command for sending the angles instead of the sines and cosines of the angles The Command Data must be sent even if the angles are zero The sequence of output words to the miniBIRD II takes the following form WORD Most Significant Byte Least Significant Byte 1 ALIGN command 4A MSbyte Sin A 2 LSbyte Sin A MSbyte Cos A 3 Sbyte Cos A MSbyte Sin E 4 LSbyte Sin E MSbyte Cos E 5 L Sbyte Cos E MSbyte Sin R 6 Sbyte Sin R MSbyte Cos R 7 Sbyte Cos R 0 The sine and cosine elements take values between the binary equivalents of 4 99996 and 1 0 Element scaling is 4 99996 7FFF Hex 0 0 Hex and 1 8000 Hex 24 Installation and Operation Guide ANGLE ALIGN2
23. EASUREMENT RATE 35 DISABLE ENABLE DATA READY OUTPUT CHARACTER 35 SET DATA READY CHARACTER 36 ERBORGEBE cerrara oa 36 DC FILTER CONSTANT TABLE Vm 36 DC FILTER CONSTANT TABLE ALPHA MAX 3 SUDDEN OUTPUT CHANGE LOCK 38 SYSTEM MODEL IDENTIFICATION 39 XYZ REFERENCE FRAME 292923 uem news Shae Ghee ae 40 FILTER LINE EREOUENGY oa Dr Be dea on dw Die is Wi See eben J 40 CHANGE EXAMINE HEMISPHERE 41 CHANGE EXAMINE ANGLE ALIGN2 41 CHANGE EXAMINE REFERENCE FRAME 42 BIRD SERIAL NUMBER zan smee eie Ret Perte tena 42 SENSOR SERIAL NUMBER EER ach eoe o es 42 ANIA SERIAL NUMBER Stata Da a D Da aaa ios 43 GROUP MODE si EDE WERE EDE IR DE OE DE esau DE RY EDS 43 FLOCK SYSTEM STATUS sau 2 eae ee aw eeu shaw aa 44 AUTO CONFIGURATION 45 HEMISPHERE ford toed ded Ge ee eee tae ho dee dicendo he oe ee 46 MATR A UA AA AAA AA WA 48 NEXT TRANSMITTER kiini 90 OUTPUT BUFFER Wi aereas 52 PASS THROUGH orita UR nat 53 POINT ninini 54 POSITION sspe here whee RADE AD ie EE ee ai ds 55 POSMION ANGLES a stunt SARA AAA 96 ge Bei iD Wc 57 POSIHONQUATERNI N iii 58 OUATERNION teta 59 REFERENCE FRAMMET orto 60 REFERENCE FRAME ona a 62 KERO URAIA 63 RUIN waa wa aa Ya wa ka ai ai it Rai sia ada ada e Jodido a OE DE xe 64 SLEE ISIHAKA IIIA 65
24. If you decrease the value below 0 008 the output noise will actually increase due to loss of mathematical precision ALPHA MIN must always be less than ALPHA MAX BIRD MEASUREMENT RATE COUNT PARAME TI ERnumber 6 When PARAMETERnumber 6 during EXAMINE the miniBIRD II returns a word that is used to determine the measurement rate of the unit The word returned represents a timer count XMTR TIME CNT determining how long each of the miniBIRD II s three transmitter antennas will be turned on off From this word you can estimate the total measurement period XMTR TIME ONT is returned with values from 0000 to FFFF Hex or 0 to 65535 decimal See the miniBIRD Il MEASUREMENT RATE command below for a simpler form of this command The measurement rate in cycles sec is computed from measurement rate 1000 4 0 XTIME 0 3 where XTIME in milliseconds is XTIME XMTR TIME CNT CLOCK 1000 33 Installation and Operation Guide Command Reference where CLOCK is the period of one computer time count in microseconds Witha crystal value equal to 40 MHz CLOCK 8 40 The crystal value is determined by using the command EXAMINE VALUE BIRD COMPUTER CRYSTAL SPEED The miniBIRD II s measurement rate is nominally set for 103 3 measurements sec If however the unit is synchronized to your CRT see CRT SYNC command the measurement rate will automatically increase If you reduce the measurement rate after you are synchronized the miniBIRD II wil
25. LO ay de AT A0 Loc BA AS AZ UAI 0 N K BE The X Y and Z values vary between the binary equivalent of MAX inches where MAX 36 The positive X Y and Z directions are shown in Figure 3 Scaling of each position coordinate is full scale MAX inches That is MAK 7FFF Hex 0 0 Hex MAX 8000 Hex Since the maximum range Range square root X 2 Y 2 Z 2 from the transmitter to the sensor is limited to MAX inches only one of the X Y or Z coordinates may reach its full scale value Once a full scale value is reached the positional coordinates no longer reflect the correct position of the sensor To convert the numbers into inches first cast it into a signed integer This will give you a number from 32767 Second multiply by 36 Finally divide the number by 32767 to get the position in inches The equation should look something like this signed int Hex 36 32767 55 Installation and Operation Guide Command Reference POSITION ANGLES POSITION ANGLES HEX DECIMAL BINARY Command Byte 59 89 01011001 In the POSITION ANGLES mode the outputs from the POSITION and ANGLES modes are combined into one record containing the following six words MSB LSB dis 14 TS IA LI 0 9 8 7 6 gt 4 3 2 L 0 MLS XIA X13 AXIZ X11 ALO X9 Xo Xr K X5 X4 A XA Xl 1 X vie Webs iS vie FAL YL O Ye r 6 Mor CY Yoo A Yl 0 NA ALO CALA AL Ar ALL ALO 249 Le al AO SAS MA AA MA AX 0 Z 415 ZA bs
26. SIE cua er nal t rd es ed as ar a ia aa a ed d ed 66 8 0 ERROR MESSAGES iii ont 67 os ERROR MESSAGE DETAILS 2050 AA 68 9 0 TROUBLE SHOOTING 71 APPENDIX I NOMENCLATURE 72 APPENDIX ll miniBIRD II SPECIFICATIONS 73 APPENDIX Ill APPLICATION NOTES 74 Computing the Coordinates of a Stylus Tip 74 Converting the miniBIRD II s Output to a Graphics Modeling Matrix 75 Configuring the miniBIRD II for Minimum Lag 77 USER MANUAL REVISIONS Manual Date Rev Changes September 2 1999 Initial release of the miniBIRD II with 21 09 PLD November 22 1999 A Several text changes and improvements were done to the manual Installation and Operation Guide Installation 1 0 INTRODUCTION The miniBIRD ll is a six degrees of freedom measuring device that measures the position and orientation of a small body mounted sensor when located within 3 feet of its transmitter The miniBIRD ll determines position and orientation by transmitting a pulsed DC magnetic field that is measured by the sensor From the measured magnetic field characteristics the sensor electronics card computes its position and orientation and makes this information available to the user over the host computer s ISA bus The miniBIRD ll consists of a single electronics card tha
27. TDR bit to go high in the port at Base Address 2 This wait may be as long as 20 microseconds 3 Head one word from the input port at Base Address 0 and throw the word away to clear the port In reading this word you do not have to wait for the RDR bit to go high This is the only command where you do not have to wait for the RDR bit to go high before reading a port The miniBIRD ll is now ready to accept new commands from the user 52 Installation and Operation Guide Command Reference PASS THROUGH PASS THROUGH DECIMAL BINARY Command Byte 240 11110000 Sensor In order to talk to the second sensor transmitter you need to use the PASS THROUGH command The PASS THROUGH command is a 1 Byte preface to each of the user commands The command looks like the following Command Byte FO destination sensor in Hex i e Sensor 1 1 Hex would be F1 Sensor 2 2 Hex would be F2 Example There are two sensors in the Flock configured for the 1 transmitter 2 sensor mode To get Position Angle data from sensor 1 the host would either send a 2 byte command consisting of the PASS THROUGH command F1 Hex followed by the POINT command 42 Hex or the 1 byte POINT command 42 Hex To get Position Angle data from sensor 2 the host would send a 2 byte command consisting of the PASS THROUGH command F2 Hex followed by the POINT command 42 Hex 1 To use STREAM mode with multiple BIRDs first send the GROUP MOD
28. TION and ANGLES Data record contains POSITION and MATRIX Data record contains POSITION and QUATERNION Data record contains QUATERNIONSs Defines new measurement reference frame 19 Installation and Operation Guide Command Utilization REPORT RATE Number of data records second output in STREAM mode RUN Starts the system running again after put to SLEEP SLEEP Turns transmitter off and suspends system operation STREAM Data records are transmitted continuously from the selected sensor 6 3 DEFAULT VALUES Upon power up or reset the miniBIRD II is configured as follows where all numbers are listed as base 10 20 MO ee DE POINT mode POSITION ANGLE outputs selected REPORT RATE Q maximum ANGLE ALIGN sines cosines set for alignment angles of zero REFERENCE FRAME sines cosines set for reference angles of zero Maximum range scaling 36 inches Filter on off status AC WIDE notch on DC on AC NARROW notch off Filter constants ALPHA MIN table values 0 02 Filter constants ALPHA MAX table values 0 9 Filter constant Vm table values 2 4 8 32 64 256 512 Hemisphere forward system measurement rate 103 3 measurements sec Installation and Operation Guide Command Reference 7 0 COMMAND REFERENCE All commands are listed alphabetically in the following section Each command description contains the command codes required to initiate the commands as well as the format and scaling of the data records which
29. TT cene die gt fel er KAE E YEYE Sensor 1 9 ad cen Connector KIBABA Rs Eo Optional TEG p HH f yv E E a Sensor 2 Eas mir oi 1 Ta Connector Transmitter 1 E Connector t IRQ Jumpers vor GD SUBIDO 3 3 7 fi EET nui T m z lt E wT SES O ai L 992 A m q A unis d TE Optional gt E Transmitter 2 Connector E Optional Transmitter 2 daughter board Figure 1 System Electronics Card Installation and Operation Guide Installation WARNING NEVER install or remove the electronics card when the PC s power is ON The card and the PC may be damaged 2 3 1 1 BASE I O ADDRESS The Base Address dip switch selects the ISA bus I O address for sending and receiving data from the miniBIRD II This dip switch allows the user to select Base Addresses from 000 Hex to 3FC Hex in address steps of 4 The miniBIRD II uses Base Address 0 and Base Address 2 In selecting a Base Address for the miniBIRD II you must have no other devices on the ISA bus that use Base Address 0 1 2 and 3 The system is shipped with a Base Address of 200 Hex If your shipment also includes slave cards they have addresses 204 208 etc Dip switch pins 7 and 8 determine the one hundred range i e 100 200 300 and pins 1 through 6 determine the one and tens range i e 00 04 08 70 etc Example Base Address settings are as follows dip switch number 8765432 1 Base Address 01011100 17
30. Technology may impair the protection and accuracy provided by the equipment The lightning flash arrow symbol within an equilateral triangle is intended to h alert the user to the presence of uninsulated dangerous voltage within the product s enclosure That voltage may constitute a risk of electric shock to persons The exclamation point within an equilateral triangle is intended to alert the A user to the presence of important operating and maintenance servicing instructions in the appliance literature Equipment Maintenance 1 Do not block the ventilation holes on the PC s casing 2 Do not expose the miniBIRD II to rain or condensing moisture 3 Keep the equipment away from extreme sources of heat TABLE OF CONTENTS 1 0 INTRODUCTION 22020 oe cuca and adC 1 2 0 INSTALLATION sr iii AI AAA 2 2 COMPONENT LOCATION SES RO ee Sar etos won ee as ee ae he tu 3 2 1 1 miniBIRD Il TRANSMITTER LOCATION 3 2 1 2 SENSOR LOCATION iis cst eee a eee eee eee ee wae ees 3 2 2 SENSORINSERTION sperret vane Yano awe me he ya vtri ene wien een 4 23 SYSTEM ELEC TRONIEGS CARD 5 32 41 m 4 ERR dO CER ERAS 5 2 3 1 CONFIGURING THE CARD iii 5 23 14 BASE VOADDRESS iu dada dada 7 25 2 IRQVYUNMPERS ra 8 2 3 1 3 CONFIGURATION DIP SWITCH 9 2 3 2 INSTALLING THE CARD soii 40 nba ava ones ead eka 9 3 0 INCLUDED SOFTWARE ota ao CA DR RB a 11 4 0 ISA HOST INTERFACE TO THE miniBIRD ll
31. UATERNION HEX DECIMAL BINARY Command Byte 5D 93 01011101 In the POSITION QUATERNION mode the miniBIRD II outputs the X Y and Z position and the four quaternion parameters go d q gt and q which describe the orientation of the sensor with respect to the transmitter The output record is in the following format for the seven transmitted words MSB LSB L5 14 Lo 1 2 LL 10 9 8 7 6 5 4 a 2 all 0 X15 Kla XLS X12 ZLI LO 3X9 X0 XF Di ME Xd X3 MA Xl i X Is JUDA qp SOLA LE ALO AYO DN EK AO saxo NA DER EA DEL 0 x ALS ALA X3 aL ALL ALO Zo Zo Zh 0 ZS VA ZS AA Zl 0 Z Blo BIA Bl le BLE BLU BP Be BI BE Ba BA Bo BA BI 0 Ao Blo Bld Bl Bin BLL BLY BA Be BA BG Ba Bd 5D BA Bl 0 qi Blo Bld Bl BIZE BIT BLO Bo Bo BL Bo Boe BA B3 BZ Bl 0 Og Bla BLF BIDS Bi BLL SLO OBS Be BA BE BE BA BO Di Bl 0 q3 See POSITION mode and QUATERNION mode for number ranges and scaling 58 Installation and Operation Guide Command Reference QUATERNION QUATERNION HEX DECIMAL BINARY Command Byte 5C 92 01011100 In the QUATERNION mode the miniBIRD ll outputs the four quaternion parameters that describe the orientation of the sensor with respect to the transmitter The quaternions qs d q gt and q where q is the scalar component have been extracted from the MATRIX output using the algorithm described in Quaternion from Rotation Matrix by Stanley W Shepperd Journal of Guidance and Control Vol 1 May
32. ZL2 ubl A40 9 Lo Ar A0 A9 BA Wo E Ll 0 Zang ao LA ELS Tele LLE AOL IS Me X X6 X0 VA Io NI OW 0 Yang XLo ALA ORS AA MIL ALO Z9 MO XT KO MO X4 X3 X2 X1 0 Kang See POSITION mode and ANGLE mode for number ranges and scaling 56 Installation and Operation Guide Command Reference POSITION MATRIX POSITION MATRIX HEX DECIMAL BINARY Command Byte 5A 90 01011010 In the POSITION MATRIX mode the outputs from the POSITION and MATRIX modes are combined into one record containing the following twelve words MSB LSB T5 14 1 5 LA LL LO 9 8 Jg 6 5 4 gt Z n 0 ALS ADA XLS SXIZ KILO ALO X Ko X KG NS DE X X2 X cl X YES VIA ILS Mi FLL COLO NS Ve GET MO Lo LA Lo CX dal 0 hd Zio WI Al ZAL 211 ZIU AP Z0 XP O6 429 X4 43 AZ Ad 0 Z M15 M14 M13 M12 M11 MIO M9 M8 M7 M6 M5 M4 M3 M2 Mi 0 M M15 M14 M13 M12 M11 MIO M9 M8 M7 M6 M5 M4 M3 M2 Ml 0 MIZA LI M15 M14 M13 M12 M11 MO M9 M8 M7 M6 M5 M4 M3 M2 Mi 0 M MLS MIA MIS Miz MLL MIO M9 Me M7 Me M5 M4 M gt M2 M1 0 M M15 M14 MIS Miz M11 MO M9 Ms My M6 MS M4 M3 M2 Mi 0 MAZAZI MIS MI4 MIS MIZ MLL MLO M9 M3 My MG MS MA4 M3 M2 M1 0 M M15 M14 M13 M12 M11 MO M9 M8 M7 M6 M5 M4 M3 M2 Mi 0 M M15 M14 M13 M12 M11 MIO M9 M8 M7 M6 M5 M4 M3 M2 Ml 0 M 2s 9 M15 M14 M13 M12 M11 MIO M9 M8 M7 Mo M5 M4 M3 M2 Mi 0 M See POSITION mode and MATRIX mode for number ranges and scaling 57 Installation and Operation Guide Command Reference POSITION QUATERNION POSITION Q
33. accomplished by moving the miniBIRD II s sensor over the object and recording the X Y Z positional outputs Because of the sensor s size it is sometimes more convenient to mount the miniBIRD Il s sensor onto a pencil or pen or some other device with a pointed tip generically called a stylus and then trace the object with the stylus tip to record its shape Since the positional outputs of the miniBIRD II are in relation to the center of the sensor one needs to find the corresponding X Y Z coordinates at the tip of the stylus This translation of coordinates is easily accomplished with the application of some elementary trigonometry given the POSITION MATRIX outputs and the X Y Z offset distances from the miniBIRD II s sensor center to the tip of the attached stylus Notation Xa Ys Zg are the X Y Z position outputs from the miniBIRD II that is the location of the sensor s center with respect to the transmitter s center Xo Yo Zo are the offset distances from the sensor s center to the tip of the stylus Xs Ys Zs are the coordinates of the stylus s tip with respect to the transmitter s center M i j are the elements of the rotation matrix returned to the user when the user requests POSITION MATRIX outputs Definition of the individual matrix elements can be found in the User s manual under the heading MATRIX Math The stylus coordinates can be computed from the following Xs Xa Xo M 1 1 Yo M 2 1 Zo M 8 1 Ys
34. and Alone configuration COMMAND ACTION ANGLES opecify that the output record will contain angles only POINT miniBIRD ll outputs an ANGLE data record POINT miniBIRD II outputs another ANGLE data record STREAM ANGLE data records start streaming from miniBIRD II OUTPUT BUFFER Stops the stream of ANGLE records clears the output buffer CLEAR 18 Installation and Operation Guide 6 2 COMMAND SUMMARY Command Utilization The following summarizes the action of each command The details of each command are presented in Section 7 0 Command Name ANGLES ANGLE ALIGN CHANGE VALUE EXAMINE VALUE HEMISPHERE MATRIX NEXT TRANSMITTER OUTPUT BUFFER CLEAR PASS THROUGH POINT POSITION POSITION ANGLES POSITION MATRIX POSITION QUATERNION QUATERNION REFERENCE FRAME Description Data record contains 3 Euler rotation angles Aligns a sensor to a specified direction Changes the value of a selected system parameter Reads and examines a selected system parameter sets desired hemisphere of transmitter operation Data record contains 9 element rotation matrix Turns on the next transmitter Stops any data being output and clears the output buffer Address preface to allow access to second sensor One data record is output for each B command from the selected sensor If GROUP mode is enabled one record is output from all configured sensors Data record contains X Y Z position of sensor Data record contains POSI
35. ast significant byte would have been OD Hex If the revision number were 3 1 then the bytes would be 03 and 01 Hex BIRD COMPUTER CRYSTAL SPEED PARAMETERnumber 2 When PARAMETERnumber 2 during EXAMINE the miniBIRD ll returns the speed of its computer s crystal in megahertz MHz You need to know the crystal speed if you want to determine or set the measurement rate of the miniBIRD II or compute the vertical scan rate of your CRT The most significant byte of the speed word is equal to zero and the base 10 value of the least significant byte represents the speed of the crystal For example if the least significant byte 19 Hex the crystal speed is 25 MHz FILTER ON OFF STATUS PARAMETERnumber 4 When PARAMETERnumber 4 during EXAMINE the miniBIRD II returns a code telling you what software filters are turned on or off in the unit The average user should not have to change the filters but it is possible to do so The most significant byte returned is always zero The bits in the least significant byte are coded as follows BIT NUMBER MEANING B7 B3 0 B2 0 if the AC NARROW notch filter is ON 1 if the AC NARROW notch filter is OFF default B1 O if the AC WIDE notch filter is ON default 1 if the AC WIDE notch filter is OFF BO 0 if the DC filter is ON default 1 if the DC filter is OFF 31 Installation and Operation Guide Command Reference The AC NARROW notch filter refers to a two tap finite impulse response FIR no
36. connected together to make a single system The Master miniBIRD II is the electronic unit that controls and coordinates the operation of all the sensors and transmitters The Master controls the sequencing and synchronizing of Flock transmitters and dictates when to measure the transmitted magnetic fields The user s host computer communicates with the Master to start and stop the Flock and perform other master specific control functions This is the second sensor in the Flock with possibly a transmitter that receives operating instructions from the Master Noise is when you place a sensor in a stable location and the sensor still looks like it is moving Noise can come from many places in your environment including but not limited to power lines monitors transformers overhead lights fuse boxes etc The CRT Cathode Ray Tube is the monitor that connects to the host computer The ISA bus is the interface that the computer uses to talk to the miniBIRD II Is the dip switch assigned address that the user selects for communication with the miniBIRD II Each electronic unit must have a unique VO address These are the rotations about the axes The Azimuth is the rotation about the Z axis the Elevation is the rotation about the Y axis and the Roll is the rotation about the X axis This is the state that the miniBIRD II is in immediately after power on This is the running state Installation and Operation Guide Appendix II
37. d 15 Place a jumper plug vertically over the two pins below the interrupt number on the circuit board If the card is not interrupt driven remove any jumpers present If you are using several miniBIRD ll cards in the same chassis all interrupt driven each card must use a different IRQ The cards are shipped with no IRQ jumpers installed If you cannot talk to the miniBIRD ll it may be because the IRQ number you have selected is used by another device in your system Try another IRQ In a PC the IRQs are usually assigned per the following table Use this to help select a non interfering IRQ Tine oec COM2 COM4 COM1 COM3 LPT2 LPT1 Installation and Operation Guide Installation 2 3 1 8 CONFIGURATION DIP SWITCH The configuration dip switch is used for Factory Test purposes For normal operation all 10 switches should be OFF The only dip switch of interest to the user is switch 10 When 10 is OFF the system will power up in the Sleep mode If 10 is ON the system will power up Running ON Towards the board OFF Away from the board 2 3 2 INSTALLING THE CARD Once the switches and jumpers are set the card is installed into a 16 bit ISA slot connector in your computer Figure 2 by doing the following 1 Shut the computer s power off 2 Remove the computer s case 3 Remove the slot cover plate from the location where you want to install the miniBIRD II card 4 Hold the miniBIRD II card along the top edges a
38. e Data Ready Character in the LSbyte ERROR CODE PARAMETERnumber 10 When PARAMETERnumber 10 during EXAMINE the miniBIRD II will output a one word Error register code defined in the Error Message Section 8 0 The error code is reset to all O s after it has been read DC FILTER CONSTANT TABLE Vm PARAMETERnumber 12 When PARAMETERnumber 12 during EXAMINE the miniBIRD II returns a 7 word table or during CHANGE the user sends to the miniBIRD Il a 7 word table representing the expected noise that the DC filter will measure By changing the table values the user can increase or decrease the DC filter s lag as a function of sensor range from the transmitter The DC filter is adaptive in that it tries to reduce the amount of low pass filtering in the miniBIRD ll as it detects translation or rotation rates in the units sensor Reducing the amount of filtering results in less filter lag Unfortunately electrical noise in the environment when measured by the sensor also makes it look like the sensor is undergoing a translation and rotation As the sensor moves farther and farther away from the transmitter the amount of noise measured by the sensor appears to increase because the measured transmitted signal level is decreasing and the sensor amplifier gain is increasing In order to decide if the amount of filtering should be reduced the miniBIRD II has to know if the measured rate is a real sensor rate due to movement or a false rate d
39. e ambiguity in position determination can be eliminated if your host computer s software continuously tracks the sensor location In order to implement tracking you must understand the behavior of the signs of the X Y and Z position outputs when the sensor crosses a hemisphere boundary When you select a given hemisphere of operation the sign on the position axes that defines the hemisphere direction is forced to positive even when the sensor moves into another hemisphere For example the power up default hemisphere is the forward hemisphere This forces X position outputs to always be positive The signs on Y and Z will vary between plus and minus depending on where you are within this hemisphere If you had selected the lower hemisphere the sign of Z would always be positive and the signs on X and Y would vary between plus and minus If you had selected the left hemisphere the sign of Y would always be negative etc Using the default forward hemisphere if the sensor moved into the aft hemisphere the signs on Y and Z would instantaneously change to opposite polarities while the sign on X remained positive To track the sensor your host software on detecting this sign change would reverse the signs on the miniBIRD II s X Y and Z outputs In order to track correctly you must start tracking in the selected hemisphere so the signs on the outputs are initially correct and you must guard against having the sensor legally cross
40. e command data If you are sending only a command byte this byte is positioned as the most significant byte in the output word The least significant byte must be set to zero For example the following sends a B 42 Hex to request data Most Significant Byte 42 Least Significant Byte 0 B15 B14 pis 812 811 B10 go B8 B7 Be B5 B4 B3 B2 B1 BO po jo o o o s ofo o o oj o o o o To send two or more one byte commands you must send two or more words one command per word as defined above If you are going to send a command that has command data associated with it the command is positioned in the most significant byte of the first word to be output and the first byte of command data is positioned in the least significant byte Additional command data fill up additional output words If the last output word has only one byte the least significant byte of this word is set to zero For example the REFERENCE FRAME 1 command H 48 Hex has 6 command data words associated with it For this example we ll assign the following Hex values to these data words Sin A 3618 Cos A 7401 Sin E 496A Cos E 68D9 Sin R 7EDE Cos R 163A The resulting seven words sent to the miniBIRD II would be as follows Most Significant Byte 48 Least Significant Byte 36 Bi5jat4 eta va 811 B10 B9 B8 B7 es es B4 B3 B2 B1 BO oli ofofi ojojojojojijijojijijo 15 Installation and Operation Guide Command For
41. ering of the data during fast movements 37 Installation and Operation Guide Command Reference The default values as a function of transmitter to sensor separation range for the miniBIRD II transmitter are as follows Std Range Xmtr Hange ALPHA MAX inches fractional 0 to 17 0 9 2 07333 Hex 17 to 22 0 9 22 to 27 0 9 2 to 34 0 9 34 to 42 0 9 42 to 54 0 9 54 0 9 To CHANGE ALPHA MAX send the miniBIRD II seven words of PARAMETERdata corresponding to ALPHA MAX During CHANGE you may want to decrease ALPHA MAX to increase the amount of filtering if the units outputs are too noisy during rapid sensor movement ALPHA MAX must always be greater than ALPHA MIN SUDDEN OUTPUT CHANGE LOCK PARAMETERnumber 14 When PARAMETERnumber 14 during EXAMINE the miniBIRD ll returns a word which indicates if the position and orientation outputs will be allowed to change if the system detects a sudden large change in the outputs Large undesirable changes may occur at large separation distances between the transmitter and sensor when the sensor undergoes a fast rotation or translation The word returned will 1 to indicate that the outputs will not be updated if a large change is detected If the byte returned is zero the outputs will change To change SUDDEN OUTPUT CHANGE LOCK send the miniBIRD I one word of PARAMETERdata 0 to unlock the outputs or send one byte 1 to lock the outputs 38 Installation and Operation Guide Comma
42. f the axes of the transmitter This symmetry leads to an ambiguity in determining the sensor s X Y Z position The amplitudes will always be correct but the signs may all be wrong depending upon the hemisphere of operation In many applications this will not be relevant but if you desire an unambiguous measure of position operation must be either confined to a defined hemisphere or your host computer must track the location of the sensor There is no ambiguity in the sensor s orientation angles as output by the ANGLES command or in the rotation matrix as output by the MATRIX command The HEMISPHERE command is used to tell the miniBIRD II in which hemisphere centered about the transmitter the sensor will be operating There are six hemispheres from which you may choose the forward aft rear upper lower left and the right If no HEMISPHERE command is issued the forward is used by default The two Command Data bytes sent immediately after the HEMISPHERE command are to be selected from the following Hemisphere HEMI AXIS HEMI SIGN ASCII HEX ASCII HEX Forward nul 00 nul 00 Aft Rear nul 00 soh 01 Upper ff OC soh 01 Lower ff OC nul 00 Left ack 06 soh 01 Right ack 06 nul 00 46 Installation and Operation Guide Command Reference The HEMISPHERE command sequence sent to each BIRD with a receiver would look like this WORD Most Significant Byte Least Significant Byte 1 command 4C HEMI AXIS 2 HEMI SIGN 0 Th
43. f the data for a command does not make sense i e change value commands with an unknown parameter number Action Only send valid commands to the miniBIRD II 9 BIRD is Not Initialized WARNING Cause The Master BIRD is sent the Run command butit has not been initialized via the Auto Configuration command Action Send the Auto Configuration command prior to sending the Run command 68 Installation and Operation Guide CODE ERROR DESCRIPTION 16 20 21 22 23 24 25 26 27 29 Invalid CPU Speed Cause If the system reads an invalid CPU speed from the system EEPROM and the EEPROM is initialized the error will occur Action Initialize the system EEPROM Unused_INT4 Cause CPU overflow Action Check code for INTO instruction Unused_INT5 Cause Array Bounds Action Check code for BOUND Instruction Unused_INT6 Cause Unused Opcode Action CPU has executed an invalid opcode Possibly bad or going bad EPROM Also check the power supply to assure that the 5VD is not dropping below 4 75 volts even when the transmitter is running Unused_INT7 Cause ESC Opcode Action Check code for the ESC Instruction Unused_INT9 Cause Reserved Action Should never occur Unused_INT10 Cause Reserved Action Should never occur Unused_INT11 Cause Reserved Action Should never occur Unused_INT16 Cause Numeric coprocessor exception Action Numeric CPU does not exi
44. hysical axes or the frame specified by the REFERENCE FRAME command FILTER LINE FREQUENCY PARAMETERnumber 20 When PARAMETERnumber 20 during EXAMINE the miniBIRD II returns a word whose value in the LSbyte is the Line Frequency which is being used to determine the Wide Notch Filter coefficients The default Line Frequency is 60 Hz To CHANGE the Line Frequency send 1 byte of PARAMETERdata corresponding to the desired Line Frequency The range of Line Frequencies available are 1 gt 255 Example To change the Line Frequency to 50Hz you would first send a Change Value command 50 Hex followed by a Filter Line Frequency command 14 Hex followed by the line frequency for 50 Hz 32 Hex 40 Installation and Operation Guide Command Reference CHANGE EXAMINE HEMISPHERE PARAMETERnumber 22 When PARAMETERnumber 22 during EXAMINE the miniBIRD II will return one word of data defining the current Hemisphere These are as follows Hemisphere HEMI AXIS HEMI SIGN ASCII HEX ASCII HEX Forward nul 00 nul 00 Aft Rear nul 00 soh 01 Lower ff OC nul 00 Upper ff OC soh 01 Right ack 06 nul 00 Left ack 06 soh 01 Note These are the same PARAMETERdata values as are used by the HEMISPHERE command L 4C Hex To CHANGE the Hemisphere send 2 PARAMETERdata bytes as described above Note This command operates in exactly the same way as the HEMISPHERE command The command is included in the CHANGE EXAMINE command set in order t
45. if the unit is in GROUP MODE If the data is a 1 the miniBIRD II is in GROUP MODE and if the data is 0 the miniBIRD II is not in GROUP MODE When in GROUP MODE in response to the POINT or STREAM commands the Master BIRD will send data records from all running BIRDs with sensors Information is output from the BIRD with the smallest address first The last byte of the data record from each BIRD contains the address of that BIRD This address byte contains no phasing bits Each BIRD can be in a different data output format if desired For example if the first sensor is configured to output POSITION data only 6 data bytes plus 1 address byte and the other sensor is configured to output POSITION ANGLES data 12 data bytes plus 1 address byte the Master BIRD will respond with 20 bytes when a data request is made During a CHANGE VALUE command the host must send one data byte equal to a 1 to enable GROUP MODE or a 0 to disable GROUP MODE 43 Installation and Operation Guide Command Reference FLOCK SYSTEM STATUS PARAMETERnumber 36 When PARAMETERnumber 36 during EXAMINE the Master BIRD returns to the host computer 14 bytes defining the physical configuration of each BIRD on the bus This command can be sent to the Master either before or after the Flock is running The response has the following format where one byte is returned for each possible sensor address BYTE 0 address 1 configuration BYTE 1 address 2 configuration
46. l drop out of synchronization To regain synchronization reissue the CRT SYNC command 2 Increasing the rate will not cause loss of synchronization nor will it result in an increased measurement rate beyond the retrace rate of the CRT To CHANGE the MEASUREMENT RATE COUNT send the miniBIRD ll one word of PARAMETERdata corresponding to XMTR TIME CNT defined above You can increase the miniBIRD II s measurement rate to a maximum of 120 measurements sec The downside of going to rates faster than 103 3 measurements sec is that the noise on your outputs may increase and any errors introduced by nearby metals will also increase You can decrease the miniBIRD II s measurement rate to no less than 20 measurements sec for 40 MHz BIRDs At this value XMTR TIME CNT reaches its maximum value of 65535 Decreasing the measurement rate is useful if you need to reduce errors resulting from highly conductive metals such as aluminum If you have low conductive highly permeable metals in your environment such as carbon steel or iron changing the measurement rate will not change the distortions For low conductive low permeability metals such as 300 series stainless steel or nickel speed changes will have minimal effect since in this case the metal is not introducing any errors into the miniBIRD II s measurements anyway The downside of decreasing the miniBIRD II s measurement rate is that dynamic performance is decreased That is if you move the miniBIRD
47. l need for talking to the miniBIRD II from your own program See the file C FILES TXT for a description of these functions Additional programming notes for the C user can be found in file CNOTES TXT Instructions for running the miniBIRD II program are located in file OPERATEC TXT Feel free to incorporate any of this software into your own application or product 11 Installation and Operation Guide ISA Interface 4 0 ISA HOST INTERFACE TO THE miniBIRD Il The ISA interface provides a 16 bit read write data port located at Base Address 0 to exchange information between the miniBIRD II and the user s host computer In addition at Base Address 2 the user can determine the status of the port s data availability set the interrupt source or reset the miniBIRD II system The user s host computer initiates all command and data transactions for the miniBIRD Il The miniBIRD II card interprets the most significant byte of the first word in a record as a command Subsequent bytes words sent to the card by the host may contain additional data or commands 4 1 PORT DEFINITION The bit definitions of the miniBIRD ll s two ISA ports as seen by the user s host computer are defined below Read Write DATA AND COMMANDS at Base Address 0 Most Significant Byte Least Significant Byte B15 B14 B13 B12 B11 B10 B9 es 87 Be es B4 83 B2 B1 BO Here BO is the least significant bit and B15 is the most significant bit of the co
48. lly cannot be eliminated unless you are going to be running with the sensor close to the transmitter or you are going to filter your own data 5 Minimize the amount of steady state filtering applied by the DC filter Use the CHANGE VALUE DC FILTER CONSTANT TABLE ALPHA_MIN command and increase ALPHA MIN until the noise level is unsatisfactory The closer the sensor Is to the transmitter the larger ALPHA MIN can be 6 Run the miniBIRD II at a higher measurement rate Use the CHANGE VALUE BIRD MEASUREMENT RATE command and increase the unit s measurement rate from its default speed of approximately 103 3 measurements second You can increase the speed up to a maximum of approximately 120 measurements seconds As you increase the speed you will note that the amount of noise in the miniBIRD II s measurements may be higher than or less than the amount of noise at the power up default speed The noise can increase or decrease rapidly with a speed change of just a few cycles sec and then increase or decrease again as you continue to change the speed 77 Installation and Operation Guide Application Notes 7 Reduce the amount of noise that the miniBIRD II thinks is in the local environment by using the CHANGE VALUE DC FILTER TABLE Vm command Set the sensor at various distances from the transmitter and reduce the Vm value for this range until the noise is unacceptable The biggest gain in dynamic performance other than elimination of the DC filter
49. mand allows you to read the value of the miniBIRD II system parameter defined by the PARAMETERnumber sent with the command Immediately after the miniBIRD II receives the command and command data it will return the parameter value as a multi word response 27 Installation and Operation Guide Command Reference Valid CHANGE VALUE and EXAMINE VALUE PARAMETERnumbers are listed in the table below Note not all PARAMETERnumbers are CHANGEable but ALL are EXAMINEable PARAMETERnumber CHANGEable Dec Hex 0 0 No 1 1 No 2 2 No 4 4 Yes 5 5 Yes 6 6 Yes 7 7 Yes 8 8 Yes 9 9 Yes 10 A No 12 C Yes 13 D Yes 14 E Yes 15 F No 17 11 Yes 20 14 Yes 22 16 Yes 23 17 Yes 24 18 Yes 25 19 No 26 1A No 27 1B No 35 23 Yes 36 24 No 50 32 Yes 28 PARAMETER DESCRIPTION Bird Status Software Revision Number Bird Computer Crystal Speed Filter On Off Status DC Filter Constant Table ALPHA_MIN Bird Measurement Rate Count Bird Measurement Rate Disable Enable Data Ready Output Character Set Data Ready Character Error Code DC Filter Constant Table Vm DC Filter Constant Table ALPHA_MAX Sudden Output Change Lock System Model Identification XYZ Reference Frame Filter Line Frequency Change Examine Hemisphere Change Examine Angle Align2 Change Examine Reference Frame2 Bird Serial Number Sensor Serial Number Xmtr Serial Number Group Mode Flock System Status Auto Configuration 1 Xmtr N Snsrs Installation and Operation Guide C
50. mat OO Wossgian geis toas Siniicant Bye ra ms a ero eva eni mo se 60 67 56 es e es ee Jer eo rofofol fololofol lol lolo monica o esmSunican yei is ea ens ez sn svo ss se 67 ss ss Tea ss e2 61 60 o o o o o o sholslolol slolol os nica SA Leas Signicant Byes eis ena ers ena en svo ss e 67 ss ss s ss s 61 60 rol t fol fol fofols lol lll mos grana D9 Least See Bye 7E s 51e ens ez sr evo ss e 67 ss es s ss se 61 60 KAINI Kaa aaa eis ea ens ena er evo ss e 67 ss es Jes ss 82 61 60 FREEK EE EE EE tofotofof Tof T To os Significant Bye A Leas Series Bye zero pad 18 8r4 e19 s12 r1 er0 ee se 67 eo es s es se Jer 60 FEES EE EE KEES ENS KEES tolo lololo Installation and Operation Guide Command Format In general if you are sending N bytes of command and command data you can format the data into a single string left justified adding an additional zero byte onto the end if required to make the string an even number of bytes The string is then sent one word at a time to the miniBIRD II 5 2 FORMAT OF COMMANDS AND DATA RECEIVED Two types of binary data are returned from the miniBIRD II 1 Position Orientation data and 2 Change Examine value data Position Orientation data are the data returned from the miniBIRD II in the ANGLES POSITION MATRIX POSITION ANGLES POSITION MATRIX POSITION QUATERNION
51. miniBIRD II POSITION AND ORIENTATION MEASUREMENT SYSTEM INSTALLATION AND OPERATION GUIDE 910013 A RevA November 22 1999 Copyright 1999 Ascension Technology Corporation PO Box 527 Burlington Vermont 05402 USA 802 893 6657 miniBIRD II POSITION AND ORIENTATION MEASUREMENT SYSTEM INSTALLATION AND OPERATION GUIDE 910013 A RevA November 22 1999 Copyright 1999 Ascension Technology Corporation PO Box 527 Burlington Vermont 05402 USA 802 893 6657 FCC Regulations Warning Changes or modifications to this unit not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment NOTE This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful 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 harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at the user s expense Canadian Regulations This digital apparatus does not exceed the Class A limits for radio noise emissions from digital apparatus se
52. mmands and data written to or read from the miniBIRD II Read only DATA STATUS at Base Address 2 B15 B14 gra B12 B11 B10 B9 B8 B7 Be B5 B4 B3 B2 B1 BO x x x x feonjror RDR Receive Data Ready TDR Transmit Data Ready When BO 1 the user can transmit a word to the miniBIRD IlI When B1 1 a word is available from miniBIRD II for reading Bits B2 to B15 may be any random value when STATUS is read 12 Installation and Operation Guide ISA Interface Write only INTERRUPT SOURCE and RESET RUN at Base Address 2 B15 B14 gra pr2 B11 B10 B9 B8 B7 Be es B4 B3 B2 B1 BO RST Reset Run INT Interrupt source Setting BO 0 holds the miniBIRD II in reset Setting BO 1 starts or continues the operation of the miniBIRD II Setting B1 0 sets the interrupt source to be the RDR status bit Setting B1 1 sets the interrupt source to be the TDR status bit The bits associated with READ operations from the port at Base Address 2 will hereafter be referred to as DATA STATUS bits The bits associated with WRITE operations to the port at Base Address 2 will hereafter be referred to as INTERRUPT RESET bits 4 2 PORT BEHAVIOR ON POWER UP On power up or immediately after a reset the DATA STATUS bits are B1 0 BO Q Approximately two seconds after power up or reset the DATA STATUS bits will change to B1 0 BO 1 indicating that there is no data available to read from
53. n E and Roll R See the REFERENCE FRAME2 command if you want to send only the angles and not the sines and cosines of the angles Although the REFERENCE FRAME1 command will cause the miniBIRD II s output angles to change it has no effect on the position outputs If you want the unit s XYZ position reference frame to also change with this command you must first use the EXAMINE CHANGE VALUE XYZ REFERENCE FRAME command If you immediately follow the REFERENCE FRAME1 command with a POINT or STREAM mode data request you may not see the effect of this command in the data returned It will take at least one measurement period i e 10 milliseconds if running the miniBIRD II at 100 measurements sec before you see the effect of the command If the command is sent to the Master then all accessible BIRDs in the Flock are updated If the command is sent to the Slave then only the Slave is updated 60 Installation and Operation Guide Command Reference The sequence of output words to the miniBIRD II takes the following form WORD Most Significant Byte Least Significant Byte 1 REF command 48 MSbyte SIN A 2 LSbyte SIN A MSbyte COS A 3 LSbyte COS A MSbyte SIN E 4 LSbyte SIN E MSbyte COS E 5 LSbyte COS E MSbyte SIN R 6 LSbyte SIN R MSbyte COS R 7 LSbyte COS R 0 The sine and cosine elements take values between the binary equivalents of 99996 and 1 0 Element scaling is 99996 7FFF Hex 0 0 Hex and 1 0 8000 Hex
54. nd Reference SYSTEM MODEL IDENTIFICATION PARAMETERnumber 15 When PARAMETERnumber 15 during EXAMINE the miniBIRD ll returns 10 bytes which will represent the device that was found Device Description String SDFOB Stand alone SRT SDERC Extended Range Controller SDBOF MotionStar old name SDMIN miniBIRD MINIBIRD2 miniBIRD 1l with 1 Xmtr and 1 Snsr MINIBIRD2R miniBIRD II with 1 Xmtr and 2 Snsrs MINIBIRD2X miniBIRD II with 2 Xmtrs and 2 Snsrs PCBIRD pcBIRD SPACEPAD opacePad MOTIONSTAR MotionStar new name NIRELESS MotionStar Wireless 39 Installation and Operation Guide Command Reference XYZ REFERENCE FRAME PARAMETERnumber 17 By default the XYZ measurement frame is the reference frame defined by the physical orientation of the transmitter s XYZ axes even when the REFERENCE FRAME command has been used to specify a new reference frame for measuring orientation angles When PARAMETERnumber 17 during CHANGE if the one byte of PARAMETER DATA sent to the miniBIRD ll is 1 the XYZ measurement frame will also correspond to the new reference frame defined by the REFERENCE FRAME command When the PARAMETER DATA sent is a zero the XYZ measurement frame reverts to the orientation of the transmitter s physical XYZ axes During EXAMINE the miniBIRD II returns a byte value of 0 or 1 to indicate that the XYZ measurement frame is either the transmitter s p
55. nd assistance at the Ascension s web site http www ascension tech com support troubleshoot index htm If you are experiencing trouble with the miniBIRD lI try the following IF YOU CANNOT TALK TO THE miniBIRD Il WITH THE ISA INTERFACE 1 With the power off to the host computer verify that the miniBIRD II card is seated into the host computer s ISA bus connectors 2 Check that the Base Address dip switch is set to the correct value 3 Verify that no other cards in your chassis use Base Address 0 1 2 or 3 4 Check that the IRQ jumpers are set correctly There should be no jumpers if you are using miniBIRD ll in a polled mode IF YOU CAN COMMUNICATE WITH THE miniBIRD Il BUT THE DATA IS BAD 1 Make sure all cables are plugged in and plugged into the correct connectors 2 If you send commands without their proper command data bytes or the wrong number of data bytes the system may hang Reset the system to return you to normal operation There are no fuse or other user serviceable parts on the miniBIRD II s circuit board For technical assistance call Ascension Technology at 802 893 6657 between the hours of 9 AM and 5 PM Eastern Standard Time or fax us at 802 893 6659 71 Installation and Operation Guide Appendix I Nomenclature FLOCK MASTER SLAVE NOISE CRT ISA BUS VO ADDRESS EULER ANGLE FLYING 72 APPENDIX NOMENCLATURE A Flock is one or more sensors and or transmitters that are
56. nd insert it vertically into the 16 bit ISA connector in your computer 5 Wiggle the card slightly while maintaining pressure on it until it seats into the connector 6 screw in the miniBIRD II card using the screw removed from the slot cover plate in Step 3 7 Install the computer s case You may not want to screw in the case until you have verified that the miniBIRD ll is working 8 Plug the miniBIRD Il s sensor 1 cable into the top Mini Din connector on the card edge shown in Figure 1 The connector is self locking Repeat for sensor 2 9 Plug the miniBIRD II s transmitter cable into the bottom 9 pin D connector on the card edge Screw in this connector Installation and Operation Guide Installation 10 Ifyou have the optional transmitter and daughter board then screw in the second transmitter into the 9 pin D connector on the daughter board Power can then be turned on and commands sent to the miniBIRD II card Figure 2 Installation In ISA Slot 10 Installation and Operation Guide Included Software 3 0 INCLUDED SOFTWARE One high density 3 25 inch DOS formatted diskette is included with your unit This diskette contains source code written in C One of the programs on this diskette called CBIRD EXE lets you send commands to the miniBIRD II from a menu and read output data onto the screen or into a file Additionally this diskette contains complete commented source code of all the C functions you l
57. nting holes Do not mount the transmitter on the floor concrete included ceiling or walls because these all contain metal or may have large metal objects directly on their opposite side Because the transmitter generates magnetic fields it may interfere with the computer s display causing image bending jitter or color distortion With an unshielded commercial CRT type display the transmitter usually must be at least 12 inches away With a shielded CRT the transmitter can be closer 2 1 2 SENSOR LOCATION The sensor should also be mounted on a non metallic surface such as wood or plastic using non metallic bolts or 300 series stainless steel bolts It should not be located near power cords power supplies or other low frequency current generating devices Their emanations will be picked up by the sensor and converted into noise on the output position and orientation measurements The sensor will pick up noise when it is operated near a CRT type display The amount of noise will vary depending on the operating frequency of the CRT and the amount of shielding built into the CRT Installation and Operation Guide Installation 2 2 SENSOR INSERTION Care must be taken when inserting or removing the sensor Mini Din A connector from the board If the sensor connector is inserted or removed improperly then permanent damage can occur to the mating board connector The result is premature wear and failure of the locking ability allowing the sen
58. o allow users to examine the values which were previously inaccessible Note he values can only be EXAMINED with this command if they were previously CHANGED by this command CHANGE EXAMINE ANGLE ALIGN2 PARAMETERnumber 23 When PARAMETERnumber 23 during EXAMINE the miniBIRD II will return 3 words of data corresponding to the Azimuth Elevation and Roll angles used in the ANGLE ALIGN2 command This command differs from the ANGLE ALIGN2 command only in that it allows both reading and writing of the angles See ANGLE ALIGN for a full explanation of it use To CHANGE the angles send 6 bytes of PARAMETERdata after the 2 command bytes Note The angles can only be read back with this command if they were previously written with this command i e if the ANGLE ALIGN or the ANGLE ALIGN was used to set the angles those angles will not be accessible with the EXAMINE ANGLE ALIGN2 command 41 Installation and Operation Guide Command Reference CHANGE EXAMINE REFERENCE FRAME2 PARAMETERnumber 24 When PARAMETERnumber 24 during EXAMINE the miniBIRD II will return 3 words of data corresponding to the Azimuth Elevation and Roll angles used in the REFERENCE FRAME2 command see REFERENCE FRAME2 command for further explanation To CHANGE the angles send 6 bytes of PARAMETERdata after the 2 command bytes Note These angles are only accessible with this command if they were previously written with this command BIRD SERIAL NUMBER
59. ommand Reference To send the CHANGE VALUE command positionthe CHANGE VALUE command in the most significant byte of the first word to be output and the PARAMETERnumber in the least significant byte Any PARAMETERvalues required fill up additional output words The N 1 words sent to the miniBIRD II are packed as follows WORD Most Significant Byte Least Significant Byte 1 CHANGE command 50 Hex PARAMETERnumber 2 MSbyte of PARAMETERvalue 1 LSbyte of PARAMETER value 1 3 MSbyte of PARAMETERvalue 2 LSbyte of PARAMETERvalue 2 N 1 MSbyte of PARAMETERvalue N LSbyte of PARAMETERvalue N If the PARAMETERdata is numeric it must be in 2 s complement format You do not shift and add phasing bits to the data The EXAMINE VALUE command must be issued to the miniBIRD II in the following one word sequence WORD Most Significant Byte Least Significant Byte 1 EXAMINE command 4F Hex PARAMETERnumber The PARAMETERdata is returned as words If the PARAMETERdata is numeric it is in 2 s complement format The PARAMETERdata received does not contain phasing bits The PARAMETERdata value content and scaling depend on the particular parameter requested For further explanation see the following discussion of each parameter 29 Installation and Operation Guide Command Reference BIRD STATUS PARAMETERnumber 0 When PARAMETERnumber 0 during EXAMINE the miniBIRD II returns a status word to tell the user in what mode the unit is
60. on and orientation data has been computed Typically you would issue a POINT data request as soon as you receive the DATA READY command If you are running in STREAM mode you should not use the DATA READY character since the position and orientation is sent to you automatically as soon as it is ready When PARAMETERnumber 8 during EXAMINE the miniBIRD II outputs one word of data equal to 1 if Data Ready Output is enabled or a 0 if disabled Caution When using the EXAMINE command if DATA READY is enabled you may receive the DATA READY character itself followed by another word containing the 1 depending on when in the miniBIRD Il s computation cycle you issued the EXAMINE request If you receive the DATA READY character first then read the next word containing the 1 to clear the output buffer To CHANGE DATA READY send the miniBIRD II one byte of PARAMETERdata 1 if the miniBIRD II is to output the Data Ready Character every measurement cycle as soon as a new measurement is ready for output The default Data Ready Character is a comma 2C Hex 44 Dec 35 Installation and Operation Guide Command Reference SET DATA READY CHARACTER PARAMETERnumber 9 When PARAMETERnumber 9 during EXAMINE the miniBIRD II returns one word the current ASCII value of the Data Ready Character in the LSbyte To CHANGE the DATA READY CHARACTER send the miniBIRD II one word of PARAMETERdata equal to the character value that the unit should use as th
61. operating The bit assignments for the two byte response are B15 1 if BIRD is a Master BIRD O if BIRD is a Slave BIRD B14 1 if BIRD has been initialized AUTO CONFIGURED 0 if BIRD has not been initialized B13 1 if an error has been detected 0 if no error is detected B12 1 if BIRD is RUNNING 0 if BIRD is not RUNNING B11 B6 NOT USED B5 1 if BIRD is in SLEEP mode Same as B12 0 if BIRD is in RUN mode B4 B3 B2 B1 0001 if POSITION outputs selected 0010 if ANGLE outputs selected 0011 if MATRIX outputs selected 0100 if POSITION ANGLE outputs selected 0101 if POSITION MATRIX outputs selected 0110 factory use only 0111 if QUATERNION outputs selected 1000 if POSITION QUATERNION outputs selected BO 0 if POINT mode selected 1 if STREAM mode selected 30 Installation and Operation Guide Command Reference SOFTWARE REVISION NUMBER PARAMETERnumber 1 When PARAMETERnumber 1 during EXAMINE the miniBIRD II returns the revision number of the software located in the miniBIRD II s PROM memory The revision number in base 10 is expressed as INT FRA where INT is the integer part of the revision number and FRA is the fractional part For example if the revision number is 2 13 then INT 2 and FRA 13 The value of the most significant byte returned is INT The value of the least significant byte returned is FRA Thus in the above example the value returned in the most significant byte would have been 02 Hex and the value of the le
62. s fix Ascension Technology should be called CODE ERROR DESCRIPTION TYPE 1 RAM Failure FATAL Cause System RAM Test did not PASS Action Check for shorts or opens to the RAM chips and if OK replace system RAM 2 Non Volatile Storage Write Failure FATAL Cause Occurs when trying to write a transmitter sensor or PCB EEPROM but the device does not acknowledge either because it is not there or there is a circuit failure Action Check the target EEPROM via a read command to verify that it is present prior to writing the device 3 PCB Configuration Data Corrupt WARNING Cause The system was not able to read the PCB EEPROM Initialized Code Action Verify that the error persists after removing the transmitter and the sensor 4 Transmitter Configuration Data Corrupt WARNING Cause The system was not able to read the Transmitter EEPROM Initialized Code or the Transmitter is not plugged in Action Insure that the Transmitter is present calibrate the transmitter and set the Initialized Code in the EEPROM 5 Sensor Configuration Data Corrupt WARNING Cause The system was not able to read the Sensor EEPROM Initialized Code or the Sensor is not plugged in Action Insure that the Sensor is present calibrate the sensor and set the Initialized Code in the EEPROM 6 Invalid Command WARNING Cause The system has received an invalid command which can occur if the user sends down a command character that is not defined or i
63. sors to fall out Strain Relief Outer Casing Sensor Connector When inserting the sensor Mini Din connector the user must first pull back on the Outer Casing while holding on to the Strain Relief Then push the sensor connector into the mating board connector The sensor should easily slide into the board connector If an audible click is heard when pushing the sensor in the user did not pull back far enough on the Outer Casing When removing the sensor from the board the user must pull back firmly on the Outer Casing Then the sensor should easily slide out of the board connector Installation and Operation Guide Installation 2 3 SYSTEM ELECTRONICS CARD 2 3 1 CONFIGURING THE CARD Before installing the miniBIRD II card into the chassis the user must configure the miniBIRD II card To configure the card do the following 1 Set the ISA bus Base Address dip switch 2 Set the IRQ number jumper block 3 Set the configuration dip switch The location of these switches and jumpers on the card are shown in Figure 1 The switch and jumper settings can be found in sections 2 3 1 1 through 2 3 1 3 WARNING The system electronics card contains static electricity sensitive components that may be damaged if you touch the card Asa precaution always touch the metal chassis of the PC before touching any part of the card Installation and Operation Guide Installation Base Address Configuration Dip Switch Dip Switch LI
64. st so this should never occur Check to make sure the ERROR signal on the CPU is tied to 5VD Transmitter Not accessible Error Cause This error occurs when the host starts the system FLYing via the Auto Configuration command and a BIRD which should have a transmitter does not have a transmitter Action Assure that the specified BIRD has a transmitter Error Messages TYPE FATAL FATAL FATAL FATAL FATAL FATAL FATAL FATAL FATAL WARNING 69 Installation and Operation Guide Error Messages CODE ERROR DESCRIPTION TYPE 3i CPU Time Overflow Error WARNING Cause This error occurs if the CPU in the miniBIRD II runs out of CPU time This can occur if the host overburdens the miniBIRD II with multiple commands in a measurement cycle Action The host can either slow down the measurement rate or decrease the number of commands sent to the miniBIRD II 32 Sensor Saturated Error WARNING Cause This error occurs if the sensor is saturated during power up This will occur if the sensor is not connected the sensor or cable is damaged a large magnetic field is present or the sensor is sitting on a steel table Action The User should check that the sensor is attached to the miniBIRD II screw in the connector and that none of the other above mentioned conditions exist 70 Installation and Operation Guide Trouble Shooting 9 0 TROUBLE SHOOTING In addition to this manual you can now receive on line support a
65. t is compatible with PC s and other computers with an ISA bus slot A single transmitter and up to two sensors can plug into the miniBIRD II circuit card An additional transmitter may be added by the addition of a daughter board In addition to this manual the user can now receive on line support and assistance at Ascension s web site http www ascension tech com support troubleshoot index htm Installation and Operation Guide Installation 2 0 INSTALLATION The miniBIRD II is shipped in one box containing One electronics unit One or two transmitters One or two sensors Optional preassembled daughter board One Installation and Operation Guide This Manual Og el es If there are any discrepancies or the shipment is damaged call Ascension Technology at 802 893 6657 between the hours of 9 AM and 5 PM Eastern Standard Time or fax us at 802 893 6659 Installation and Operation Guide Installation 2 1 COMPONENT LOCATION 2 1 1 miniBIRD II TRANSMITTER LOCATION The transmitter should be mounted on a non metallic surface such as wood or plastic using non metallic bolts or 300 series stainless steel bolts If the transmitter is going to be mounted upside down note that the two mounting holes are not strong enough to support the weight of the transmitter Instead the transmitter should be mounted using hardware or grooves to capture the flanges along both sides of the transmitter in addition to bolting through the two mou
66. t out in the Radio Interference Regulation of the Canadian Department of Communications Le present appareil numerique n emet pas de bruits radioelectriques depassant les limites applicables aux appareils numeriques de la class A prescrites dans le Reglement sur le brouillage radioelectrique edicte par le ministere des Communications du Canada Equipment Description Tested With Year of Manufacture Applicable Directives Applicable Standards Authorized by EC Declaration of Conformity Issued by Ascension Technology Corporation PO Box 527 Burlington VT 05402 USA 802 893 6657 miniBIRD ll Model miniBIRD II Tracking System 5V O 1 54 12V O 1 54 No 5V or 12V The miniBIRD ll passed all CE directives when using a P166 Gateway computer S N 0009029505 1999 73 23 EEC Low Voltage Directive 89 336 EEC EMC Directive EN 61010 1 1993 Safety Requirements for Electrical Equipment for Measurement Control and Laboratory Use General Requirements EN 50081 1 1992 Electromagnetic Compatibility Generic Emission Standard Residential Commercial and Light Industry EN 50082 1 1997 Electromagnetic Compatibility Generic Immunity Standard Residential Commercial and Light Industry Date Ernie Blood President Ascension Technology Corporation CE Specifications There are no fuse or user serviceable parts on the miniBIRD II Modification or use of the equipment in any way that is not specified by Ascension
67. tch filter applied to signals measured by the miniBIRD Il s sensor to eliminate a narrow band of noise with sinusoidal characteristics Use this filter in place of the AC WIDE notch filter when you want to minimize the transport delay between the miniBIRD II s measurement of the sensor s position orientation and the output of these measurements The transport delay of the AC NARROW notch filter is approximately one third the delay of the AC WIDE notch filter The AC WIDE notch filter refers to a six tap FIR notch filter applied to the sensor data to eliminate sinusoidal signals with a frequency between 30 and 72 hertz If your application requires minimum transport delay between measurement of the sensor s position orientation and the output of these measurements you may want to evaluate the effect on your application of having this filter shut off and the AC NARROW notch filter on If you are running the miniBIRD II synchronized to a CRT you can usually shut this filter off without experiencing an increase in noise Note For optimal notch filter performance make sure the miniBIRD Il is set for the proper Line Frequency by checking it with the FILTER LINE FREQUENCY command The DC filter refers to an adaptive infinite impulse response IIR low pass filter applied to the sensor data to eliminate high frequency noise Generally this filter is always required in the system unless your application can work with noisy outputs When the DC filter is
68. that will be used in the 1 transmitter multiple sensor mode For example if the one word 2 then the BIRD at address 1 the default Master will assume that there is also a BIRD at address 2 The two BIRD units will then start running The AUTO CONFIGURATION command sequence would look like in Hex WORD Most Significant Byte Least Significant Byte 1 90 32 2 0 2 Once the Flock is running the AUTO CONFIGURATION command can also be used to reconfigure the Flock For example if the Flock is currently AUTO CONFIGURED with 2 BIRD units you can reconfigure it with 1 BIRD unit by sending the AUTO CONFIGURATION command with 1 as the data while the Flock is in operation Resending AUTO CONFIGURATION to the Master after an error develops in the Flock will many times clear the error and restart the system lf you have GROUP STREAM mode running you must first terminate STREAM mode before sending another AUTO CONFIGURATION command Before sending the AUTO CONFIGURATION command you must wait at least 600 milliseconds to allow any previous commands to complete After sending the AUTO CONFIGURATION command you must also wait at least 600 milliseconds before sending another command 45 Installation and Operation Guide Command Reference HEMISPHERE HEMISPHERE HEX DECIMAL BINARY Command Byte 4C 76 01001100 Command Data HEMI AXIS HEMI SIGN The shape of the magnetic field transmitted by the miniBIRD II is symmetrical about each o
69. the Y 0 Z 0 axes simultaneously without having crossed the X 0 axes into the other hemisphere 47 Installation and Operation Guide Command Reference MATRIX MATRIX HEX DECIMAL BINARY Command Byte 58 88 01011000 The MATRIX mode outputs the 9 elements of the rotation matrix that define the orientation of the sensor s X Y and Z axes with respect to the transmitter s X Y and Z axes If you want a three dimensional image to follow the rotation of the sensor you must multiply your image coordinates by this output matrix The nine elements of the output matrix are defined generically by the following ML Le MILI M 1 3 i xk i MZ M Z 2 M 2 3 j i Mog Morpa M 922 i Or in terms of the rotation angles about each axis where Z Zang Y Yang and X Xang P X OST COS TZ COS VASTE SIN Y xk COS X SIN Z COS 4X COS 2 SIN X SIN Y COS Z SIN X SIN Y SIN Z SIN xX COS Y xk xk GINX SINIZ SIN X COS 7 1 COS X SIN Y COS Z COS X SIN Y SIN Z COS x COST N 00 Installation and Operation Guide Command Reference Or in Euler angle notation where R Roll E Elevation A Azimuth COS E COS A COS E SIN A SIN E COS R SIN A COS R COS A SIN R SIN E COS A SIN R SIN E SIN A SIN R COS E SIN R SIN A SIN R COS A
70. the miniBIRD II will output to the host computer 21 Installation and Operation Guide Command Reference ANGLES ANGLES HEX DECIMAL BINARY Command Byte 57 87 01010111 In the ANGLES mode the miniBIRD II outputs the orientation angles of the sensor with respect to the transmitter The orientation angles are defined as rotations about the Z Y and X axes of the sensor These angles are called Zang Yang and Xang or in Euler angle nomenclature Azimuth Elevation and Roll The output record is in the following format for the three transmitted words MSB LSB To 14 ES Z LI 10 9 8 7 6 gt 4 9 2 al 0 ALO LA Nue fod ALL ALO 49 ber al A00 Lor VA Do 342 Al 1 Zang Llo YAA AS AL FLE TLO CM eee IX NG NS TA Io o yl 0 Yang XES KIA Elo CLA ALL XALO XJ XO AT AO S200 Xo RZ XXL 0 Xang Zang Azimuth takes on values between the binary equivalent of 180 degrees Yang Elevation takes on values between 90 degrees and Xang Roll takes on values between 180 degrees As Yang Elevation approaches 90 degrees the Zang Azimuth and Xang Roll become very noisy and exhibit large errors At 90 degrees the Zang Azimuth and Xang Roll become undefined This behavior is not a limitation of the miniBIRD II it is an inherent characteristic of these Euler angles If you need a stable representation of the sensor orientation at high Elevation angles use the MATRIX output mode The scaling of all angles is full scale
71. the standalone BIRD to restart normal system operation after it has been put to sleep with the SLEEP command RUN does not reinitialize the system RAM memory so any configuration or alignment data entered before the system went to SLEEP will be retained 64 Installation and Operation Guide Command Reference SLEEP SLEEP HEX DECIMAL BINARY Command Byte 47 71 01000111 The SLEEP command turns the transmitter off and halts the system The command is issued to the Master BIRD or the standalone BIRD but not to the Slave BIRD While asleep the BIRD will respond to data requests and mode changes but the data output will not change To resume normal system operation issue the RUN command 65 Installation and Operation Guide Command Reference STREAM STREAM HEX DECIMAL BINARY Command Byte 40 64 01000000 In the STREAM mode the miniBIRD II starts sending continuous data records to the host computer as soon as the Command Byte is received Data records will continue to be sent until the host sends the POINT or OUTPUT BUFFER CLEAR commands If you use the POINT command to stop the streaming you will receive an additional data record in response to the POINT command It is the user s responsibility to clear the BIRD s output port of any unread words after issuing the POINT command see REPORT RATE to change the rate at which records are transmitted during STREAM 66 Installation and Operation Guide Error Messages 8 0
72. tter Next Transmitter command data format MSB LSB 7 6 D 4 D 2 l O A3 A2 Al AO 0 0 0 0 where A1 A0 is the address of the Next Transmitter A3 A2 A1 AO O 0 0 1 Address 1 O 0 1 O Address 2 Therefore to turn on transmitter 2 the command byte is 30H followed by a command data byte of 20H 90 Installation and Operation Guide Command Reference Notes 1 With multiple transmitters the measurement reference frame is defined with respect to the location and orientation of the transmitter that is currently turned on Thus unless each transmitter is aligned perfectly to each other you will get a jump in the measured orientation of the sensor when the next transmitter is turned on To overcome the angular misalignments you can use the REFERENCE FRAME command directed to each transmitter after you power up the Flock but before you do the transmitter switching 2 If you select a transmitter that is not available the Master will indicate error 29 transmitter not accessible 91 Installation and Operation Guide Command Reference OUTPUT BUFFER CLEAR OUTPUT BUFFER CLEAR HEX DECIMAL BINARY Command Byte 66 102 01100110 The OUTPUT BUFFER CLEAR command stops any data that is in the process of being output and clears any data in the output buffers If STREAM mode is enabled OUTPUT BUFFER CLEAR disables STREAM mode To use the OUTPUT BUFFER CLEAR command do the following 1 Send the command 2 Wait for the
73. ue to noise The miniBIRD ll gets this knowledge by the user specifying what the expected noise levels are in the operating environment as a function of distance from the transmitter These noise levels are the 7 words that form the Vm table The Vm values can range from 1 for almost no noise to 32767 for a lot of noise 36 Installation and Operation Guide Command Reference The default values as a function of transmitter to sensor separation range for the miniBIRD II transmitter are as follows Std Range Xmtr Range Vm inches integer 0 to 17 2 17 to 22 4 22 to 27 8 2 to 34 32 34 to 42 64 42 to 54 256 54 512 As Vm increases with range so does the amount of filter lag To reduce the amount of lag reduce the larger Vm values until the noise in the miniBIRD Il s output is too large for your application DC FILTER CONSTANT TABLE ALPHA MAX PARAMETERnumber 13 When PARAMETERnumber 13 during EXAMINE the miniBIRD ll returns 7 words which define the upper end of the adaptive range that filter constant ALPHA_MAX can assume in the DC filter as a function of sensor to transmitter separation When there is a fast motion of the sensor the adaptive filter reduces the amount of filtering by increasing the ALPHA used in the filter It will increase ALPHA only up to the limiting ALPHA_MAX value By doing this the lag in the filter is reduced during fast movements When ALPHA_MAX 0 99996 7FFF Hex the DC filter will provide no filt

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