PAN-TILT UNIT USER`S MANUAL
Contents
1. 14 4 3 8 Await Position Command Completion 15 4 49 Halt Coming z llu dite tadas 15 4 3 10 Monitor Autoscan Command 16 ASOD Post on e e ot Sa ass 16 4 4 Speed Control Commands amp Quertes 17 4 4 1 Speed Control amp Relevant Terms 17 4 4 2 Speed absolute EE 17 445 Delta Speed relative offset 18 TG AGeelErA OB uet oo dette todo itas arias 19 4 43 Base Start Up Spee d 19 AAG Speed Bound osi asuassasshaqscataqqasqajaasqaaqayayshasqaasspasayss 20 AAT Speed Control Modes 20 4 5 UNES E 21 AS Reset Pan Tilt Unit or ee het ette Teri 21 452 Default Save RES nd eten hat cid 22 4 5 3 Echo Query Enable Disable 22 45 4 Feedback Verbose Terse O ff 23 4 5 5 Controller Firmware Version Query 23 4 5 6 Outside Supply Voltage and Controller Temperature Query 23 4 6 Power Control Commands amp Querites 23 4 6 12. page 13 COMMAND REFERENCE PTU D300 User s Manual v2 19 Related Topics Position commands See Sections 4 3 1 and 4 3 2 4 3 6 Immediate Position Execution Mode Description Instructs pan tilt unit to immediately execute positional commands This is the default mode Syntax I delim Example For the below commands the pan axis will immediately execute the pan position command I PP1000 Related Topics Alternative slaved position execution mode See Section 4 3 7 4 3 7 Slaved Position Execution Mode Description Instructs pan tilt unit to execute positional commands only when an Await Position Command Completion command is executed see Section 4 3 8 or when put into Immediate Execution Mode see Section 4 3 6 This mode is useful when coordinated pan and tilt axis movements are desired Syntax S lt delim gt Example The following commands change the position execution mode instruct the axes which position to achieve and an await command causes the position commands to be executed simultaneously DR S PP1500 TP 900 PP Current Pan position is 0 TP Current Tilt position is O A PP Current Pan position is 1500 TP Current Tilt position is 900 Related Topics Alternative immediate position execution mode See Section 4 3 6 page 14 PTU D300 User s Manual v2 19 COMMAND REFERENCE 4 3 8 Await Position Command Completion Description Awaits the comp
3. 1 18 Date 11 17 2006 03 40 10p Xxx CONFIDENTIAL ses pu PK page 33 Appendix A SPECIFICATIONS PTU D300 User s Manual v2 19 uong msuuoo 1o o uuoO 0 Id SINTVA dl GALVY LV SGVOTAVd ISNA S39V333dWV NYSHL SSVA OILVH WNWIXVW G332X3 ION Od NOILOVO VI paes ae A N 1 d N H 9 3 ve payed eye S y J0joeuuoo indu ooga Woy nuuj ssed sejouep pjoq q3 C8V92 2 IIN QuO1AUd eotq s eubis sejjonuoo 00 q sejeu6isep vg epis epios wosy ne L O3GIA H ONO 1 O3GIA 9 GqT3lHS 3 dO UL D O3GIA 1 s HLO zez GHD 3 Q 90 avolAvd Xy ILL VHI A ONO Z O3glA n VINO A UNO QVOlAVd y XL ILL VHI 1 d Xy zez SHO 9 TVH3N39 TVH3N39 900Z Z 01 V Aa 3noutd L01d Peoj ed ooa AA D300 Payload Wiring PLO1 page 34 Appendix A SPECIFICATIONS PTU D300 User s Manual v2 19 uonemnsyuod 1o o uuooO ZO Td SINTVA dIHL GALVY LV SavoTAVd ISNA S39vs3dWv NYHL SSVA 031VWY WNWIXYW d332X3 ION OG MOL vL paje ale A N L d N 71M f H O A ve pajes aye S y J0j2euuoo indu ooga wo nuuj ssed sejouep pjoq UAH Z8vP9Z 2 T1IN sjeubis buet zezsy ere W a vi qgvolAvd BBE sjeuBis Jej ouoo OOET Sajeubisep 42v18 epis japos uos meta tit HHISSVd OGA Z 0 TVH3N39 r Z O3GIA 1 OaavolAvd Ww TVu3N3S y GND Z O3qIA n TVHAN3O A aN9GvOlAVd Y dO ILL a 9 NHHLSSVd NUHLSSVA zit NYHLSSWd T JVYINI9 d ZdO TLL 9 lVH3N39 TVH3N39 UNOS ZEZ 1SOH W XM ZEZ 1SOH V XL ZEZ 1
4. 3 1 Pan Tilt Mounting Appendix 1 shows the mounting pattern for the PTU D300 The basic mounting pattern is four 1 4 20 socket head cap screws in a 3 375 85 725mm square pattern All four mounting screws should be used The mount strength must be able to hold the weight of the unit plus the payload plus any additional forces exerted on the system e g wind G forces A good rule of thumb the mount must support at least four times the combined weight of the payload plus the weight of the pan tilt e g a 25 Ib payload mounted to the D300 must support at least 205 Ibs CAUTION FAILURE TO SECURE THE PAN TILT AND ITS PAYLOAD TO A SUFFICIENTLY STRONG MOUNTING CAN RESULT IN DAMAGE TO THE PAN TILT THE PAYLOAD OR POSSIBLE INJURY OR DEATH YOU MUST ENSURE THE MOUNTING IS CAPABLE OF HOLDING THE LOADS 3 2 Wiring and Connectors Figure 2 shows a back view of the D300 The D300 base connector is a MIL C 26482 compatible receptacle 19 pins Appendix A 3 shows the D300 base connector signals and wiring Basic control requires that you connect a DC power source to the D300 power input and a host computer connection to HOST 232 or HOST 485 to communicate and control the D300 Figure 2 Wiring Overview page 5 INSTALLATION amp INITIAL SETUP PTU D300 User s Manual v2 19 The easiest way to wire into the D300 is to use the factory cable with breakouts for power and other connections model PTU CAB 25BO and to use the factory
5. When using factory cable PTU CAB 25BO standard RS232 connection DB9F is provided HyperTerminal built into Windows is the most commonly used comm program Communications parameters are 9600 baud no parity no handshaking see Section 3 4 Provide DC power to the pan tilt When using factory cable PTU CAB 25BO easy plug in power is provided by AC DC power supply model PTU APS 30V Or you can obtain your own DC power source that better suits your installation Always incorporate a readily accessible power disconnect into the installation wiring Removing power by disconnecting the power cable or cable harness is not recommended and can cause damage to the system Power up the pan tilt If power is working the unit will go through a power up calibration At power up the pan tilt defaults to providing splash text on your terminal that will identify the unit configuration Pan tilt operation can then be tested by typing commands into your terminal program Section 3 6 describes some basic pan tilt commands to get you going Section 4 provides a full description of all pan tilt unit commands and queries You can now mount and wire your payload e g camera on the pan tilt unit see Section 3 8 page 4 PTU D300 User s Manual v2 19 INSTALLATION amp INITIAL SETUP 3 INSTALLATION amp INITIAL SETUP This section describes the basic installation and setup steps required to get your pan tilt operational as quickly as possible
6. 4 3 Positional Control Commands amp Queries 4 3 1 Position absolute Description Specify or query the absolute pan or tilt axis position Desired positions can be changed on the fly without waiting for previous position commands to complete Syntax Query current absolute pan position PP lt delim gt Set desired absolute pan position PP lt position gt lt delim gt Query current absolute tilt position TP lt delim gt Set desired absolute tilt position TP position delim Example The following sends the pan axis to the left waits then sends it to the right PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 page 11 COMMAND REFERENCE PTU D300 User s Manual v2 19 Related Topics Position relative offset and desired position queries See Section 4 3 2 Position resolution units See Section 4 3 3 Position limits See Section 4 3 4 Position execution modes See Sections 4 3 6 4 3 7 and 4 3 8 Position limit enforcement modes See Section 4 3 5 4 3 2 Offset Position relative offset Description Specify desired axis position as an offset from the current position or Query the current axis position Desired offset positions can be changed on the fly without waiting for previous position commands to complete Syntax Query desired pan position PO lt delim gt Set desired offset pan position PO lt position gt lt delim gt Query de
7. of the pan tilt Autoscanning is immediately terminated upon receipt of a character from the host computer and the pan tilt is sent to its home position Syntax Initiate monitor autoscan in pan axis only M pan pos 1 gt lt pan pos 2 gt lt delim gt Initiate monitor autoscan in both pan and tilt axes M pan pos 1 gt lt pan pos 2 gt lt tilt pos 1 gt lt tilt pos 2 gt lt delim gt Initiate last defined monitor autoscan command the default at power up is pan axis only autoscan between the pan limit positions M lt delim gt Enable monitor autoscan at power up ME lt delim gt Disable monitor autoscan at power up MD lt delim gt Query monitor status at power up MO lt delim gt Example When executed at power up M the pan tilt begins scanning between the minimum and maximum pan limit positions lt delim gt terminates the scanning and homes the pan tilt Other monitoring command forms M 2500 100 M 2500 100 800 600 M0 0 300 300 Related Topics Limit Position Queries see Section 4 3 4 4 3 11 Position Presets Description Position preset functionality is provided for backward compatibility with legacy CCTV applications D300 pan tilt controller firmware version v2 12 11r2 and higher support position presets The pan tilt can be commanded to a position using any of the standard motion control commands of the D300 PTU The current pan and tilt position can be stored as a numbered preset The P
8. the Host Computer to 9600 baud 1 start bit 8 data bits 1 stop bit and no parity Hardware handshaking and XON XOFF are not used 2 You are now ready to power up the pan tilt unit and test its operation Apply power Upon power up introduction text should appear on your screen and the pan tilt unit should go through a reset cycle pan and tilt axes will cycle through their full range of motion This reset is completed when an asterisk appears If the unit did not reset properly recheck your power source and cabling If the unit went through its reset procedure but no text or garbled text appears on your screen then Check that the host RS 232 RS 485 host port settings are correct see Section 3 4 e Check that the RS 232 RS 485 cable is correct for your host see Section 3 4 3 You are now connected to the pan tilt Enter the character for a complete listing of commands The next section describes some basic commands to help you get going and a full command description may be found in Section 4 We suggest that you exercise the unit and become familiar with its operation and commands before mounting your payload e g camera as described in Section 3 8 Special attention should be paid to acceleration and speed commands and they should be set at levels appropriate to your payload weight and size 3 6 Basic Pan Tilt Unit Commands Below are some pan tilt commands that will familiarize you with the pan tilt unit and its o
9. Serial Port and Control As was described in Section 3 default host computer communications with the pan tilt controller is 9600 baud Host computer communications can be via RS 232 or as described in Section 7 it can be via the built in RS 485 Host serial port baud rates can be modified from the default Also a character delay may be specified for applications that cannot consume pan tilt output rapidly enough 4 7 1 Configuring Host Serial Port Baud and Communications Description Syntax Example Command specifies the baud rate for the host serial port RS232 RS485 communications with the pan tilt controller Only baud rate can be modified The pan tilt controller RS232 485 communications always use 1 start and stop bit 8 data bits and no handshaking The command also allows a transmission delay to be placed between bytes output by the pan tilt controller The host serial port command in this Section 4 7 1 is only available when the controller is not networked Ge the unit ID is the default of 0 When the controller is networked i e unit ID is greater than 0 the host serial port communications rate is automatically set to the default and it cannot be modified by this command the default is 9600 baud 8 data bits 1 start and stop bit no parity no handshaking and no byte transmission delay This ensures that networked controllers will always communicate at the same baud rate and that higher data rates will not unduly burden
10. controller should be the only PTU controller attached to the host computer or terminal otherwise other page 29 NETWORKING Syntax Example PTU D300 User s Manual v2 19 controllers may be set to the same unit ID number A unit ID of zero may be used to put a PTU controller back in interactive non networked mode Query current PTU network unit ID U delim Set PTU to interactive mode non networked U0 lt delim gt Set PTU network unit ID U lt unit ID gt lt delim gt where 1 lt unit ID lt 127 The following queries a PTU unit ID then sets and stores the unit ID configuration so that upon power up the new unit ID will be used U Unit ID is O Ul U Unit ID is 1 Ul DS Related Topics Unit Select Deselect See Section 7 3 2 7 3 2 Unit Select Deselect Description Syntax Example Command is used to select the PTU to be controlled A PTU will execute incoming host computer commands only when the preceding unit ID selected by the host is a equal to the PTU s assign unit ID or b equal to 0 A host computer can broadcast instructions to be executed by all PTUs using unit ID 0 Only one PTU can provide feedback to the host computer at a time A PTU provides feedback to the host computer only when the host computer has selected its unit ID A PTU buffers its outgoing data until the host computer polls it the current PTU buffer size is about 100 bytes Select a PTU for bi
11. directional data unit ID gt lt delim gt Broadcast to all networked PTUs O delim where 0 lt unit ID lt 127 i pp300 _0 pp300 1 Related Topics Unit Network ID See Section 7 3 1 page 30 Appendix A SPECIFICATIONS PTU D300 User s Manual v2 19 A SPECIFICATIONS imensions A 1 D300 Mechanical D SNOI3QW3o z y S 9 L 8 VEE ooga ez fas Sumeap ieuosususp 0000 ugang 37408 LON OQ L col a nm SIHONI 1 oNIMvua TyNoISNaWia ooca GREEN EO xo Mans a NOLLO3POYd STONY QYIHL vonda gp Y e EA oie el Xv e L 131v2S xp a DEE Jetzen ETE AVMN IND 31OH 3ONV3V3T5 v 3 V 11130 0z p 1 oss f sz9 00 0 0 X x 0000 p s J4O8 O SV hu L GLEE XC 8 3 B 8 gt gt Zz Zz x x n c erg OLE F GH Ny i 1 E 9 9 z 086 ADIHL SLE NOILISOd 3QIS EN LL 1 NI Deag GVOTAVd T SN E SE F Lt SIXV MIL STEE 1 a a NOILISOd AVIHIJAO 088 HNI1332V3g GVOT
12. power supply model PTU APS 30V This allows you to plug in and run the D300 in minutes Or you can use the wiring diagram in Appendix A 3 to make your own cables that better suit your installation Connect an RS 232 or RS 485 cable between the D300 and a host computer When using the factory cable PTU CAB 25BO standard RS232 connection DB9F is provided HyperTerminal built into Windows is the most commonly used communications program Communications parameters are 9600 baud no parity no handshaking see Section 3 4 The D300 provides payload pass thru signals that connect between pins in the base connector to corresponding pins in the payload connector Additional pins in the payload connector provide other payload controls auxiliary RS232 ports and TTL control Figure 2 shows this payload connector which is also a MIL C 26482 compatible receptacle 19 pins Appendix A 4 details the payload connector pin out Appendix A 4 shows the payload connector wiring Pins highlighted in red indicate payload pass thru signals connected to corresponding pins in the base connector When attaching payload signals to the system care must be taken to adhere to all specifications for the pass thru signals such as maximum voltage and current levels 3 3 Power Sources The PTU D300 requires a 12 30VDC unregulated power source capable of 2 25A peak Less peak current is required if you do not use the higher motor current controls available see Se
13. speed and acceleration of a mechanical system depends upon the inertial properties of your load The ability of the pan tilt unit to successfully move your load without losing synchrony depends upon the inertial load factors and their relationship to power supply voltage unit speed acceleration position motor torque etc Section 5 2 discusses how to configure pan tilt parameters to achieve more optimal pan tilt unit performance for your load If you have questions about your payload mounting or load handling please contact Technical Support for further assistance If your load passes the above pan and tilt axis load handling tests you are ready to begin controlling your load using the commands described in Section 4 3 8 Payload Wiring Connections The D300 provides payload pass thru signals that connect between pins in the base connector to corresponding pins in the payload connector Additional pins in the payload connector provide other payload controls auxiliary RS232 ports and TTL control Figure 2 shows this payload connector which is also a MIL C 26482 compatible receptacle 19 pins Appendix A 4 details the payload connector pin out Your payload connects to the payload connector via a male MIL C 26482 compatible plug te e PTO6A14 19P Appendix A 4 shows the payload connector wiring Pins highlighted in red indicate payload pass thru signals connected to corresponding pins in the base connector specifications for the pass thru
14. to a network of PTUS controlled by a single host computer This section describes the basic installation and setup steps required to network your pan tilt units 7 1 Basic Networking Setup Steps The steps in networking your PTUs to your host computer are Sketch out the physical placement of your PTUs and host computer Assign a unique network ID number to each PTU Connect the PTUs and host computer to the PTU network Test the configuration by addressing each PTU by its unit ID and commanding and querying its attached pan tilt unit Teu e page 28 PTU D300 User s Manual v2 19 NETWORKING 7 2 PTU Network Connections Figure 6 illustrates how PTUS can be networked and connected to a host computer via its RS 232 port Each PTU has a built in RS 232 to RS 485 converter and the host computer can be connected to the RS 485 controller network by simply connecting to the RS 232 connector on a PTU The PTUs are then connected together via an RS 485 multi drop network full duplex RS 485 Multi Drop Network 1200 1 terminator full duplex 1200 1 terminator HOST net termin network net termin network network net termin COMPUTER PTU NCONN PTU NCONN PTU NCONN AV Figure 6 Making PTU Network Connections Several issues are important to note when you make your own data cables First use a good quality cable Though a good quality telephone cord cable can be used use of a twisted pair cable is highly recom
15. to the hub e g Loctite 242 4 Reset the pan tilt and ensure that the bracket moves properly through its range of motion 9 2 int z Figure 4 Payload Bracket Mounting 3 7 2 Side Mount Bracket Mountin 1 Ensure the pan tilt has been through its calibration at power up so that the mounting hub is in a known home position 2 Orient the bracket so the horizontal part of the bracket is bottommost 3 Attach the bracket using 6pcs screws It is vital that thread lock is used for the bracket mounting screws The thread N holes in the hub have thread lock applied to them If the bracket is removed you should apply medium strength thread lock to the hub e g Loctite 242 4 Reset the pan tilt and ensure that the bracket moves properly through its range of motion page 9 INSTALLATION amp INITIAL SETUP PTU D300 User s Manual v2 19 Payloads should be mounted as close to the Pan tilt housing as possible so as to position the center of gravity as close to the pan axis as possible In all cases care must be taken to ensure that the payload will clear the Pan tilt housing and surrounding objects throughout the full range of motion of the unit Though the PTU D300 unit is rated to a maximum load of 70 Ibs the distribution of the load affects the actual load capable of being moved by the pan tilt unit The steps to determine whether your load and its positioning e g center of gravity are within the maximum loa
16. AWd kosavez ONISNOH 30123805 avouva aav oe ru SOYVWZO 35Y3138 1VILINI O8 tl OBA0Ndd alva NOULdIWOS30 Ag 3NOZ 438 br Gate X3 LONGO ANY NI GALVU ORICON SNOISIA3H 103rens 3830831 SI ONY 384054 SNIVLNOO 1N3Q200 SIHL L 4 v S 9 D 8 page 31 PTU D300 User s Manual v2 19 Appendix A SPECIFICATIONS A 2 D300 Payload Bracket Dimensions p 375 THICK i 8 000 Y 7 131 1 5 631 Y 3 250 257 l 3 325 Y page 32 PTU D300 User s Manual v2 19 Appendix A SPECIFICATIONS A 3 D300 Base Connector Wiring D3800 INTERFACE MS3126F14 19P YELLOW 18G D38B 9 384DC D308 POMER DINS female cable receptacle n n ATEN IC 485S ORANGE 186G D388 6ND RED 286 AS485_TX H q BLACK 28G RS4B5_TX YELLOW 28G RS485_Rx aa P Connect Tx to your host Tx etc ORANGE 28G RS485 RX BLUE 286 ear RS232 IN VIDEO 2 GND ORANGE COAX n x RCA viaf tran Aal ciae des M YELLOH CORX en ono gt c LT T VIOLET 28G_crnrraL passTHRU 3 n BLUE 2 G ceneral PASSTHRU 1 a WHITE 18G___ GENERAL PASSTHRU 2 a RED 166 PRYLORD 8 50UDC E o BLACK 166 PAYLORD GND gt GREEN 186 SHIELD s COLOR CODING FOR TecNec PN TN CCQAM DIRECTED PERCEPTION INC 1485 Rollins Road Burlingame CA 94010 x 650 342 9399 F 650 342 9199 TITLE D389AC CAB 25B0 wiring diagram Document Number REU
17. Computer Controlled PAN TILT UNIT Model PTU D300 UseEr s MANUAL Version 2 19 SFLIR Motion Control Systems www flir com mcs Pan Tilt Unit Model PTU D300 User s Manual Version 2 19 June 25 2012 91991 2006 by FLIR Commercial Systems Inc 890C Cowan Road Burlingame California 94010 650 692 3900 FAX 650 692 3930 www flir com mcs All rights reserved Protected under numerous U S Patents including 5463432 and 5802412 and patents pending No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of FLIR Commercial Systems Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of FLIR Commercial Systems Inc FLIR Commercial Systems Inc cannot be held liable for any mistakes in this manual and reserves the right to make changes INTRODUCTION E 1 1 1 IMPORTANT SAFEGUARDS AND WARNINGS eese 2 25 Mod M EE 2 QUICKSTART 4 aa 3 2 1 GQ cac AM Q Sasa ILU Sua TEN Ee 3 22 Installation Componheblts eege iqu a o Een 9 2 3 Basic SED SLED eee oe et tenu t ea 4 INSTALLATION amp INITIAL SETUP 5 3 1 Pan Tilt Mounting roeren terende tbe aided 5 3 2 is A ecu s
18. N delim Query maximum tilt position TX delim Example R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 004 LE PP3200 Maximum allowable Pan position is 3090 Related Topics Position resolution units See Section 4 3 3 Achieving larger axis bounds See Section 4 3 5 4 3 5 Position Limit Enforcement Description Syntax Example Determines whether position commands beyond the detected pan axis limits are allowable The default is pan position limits are enabled i e enforced When limits are enabled commands outside of the limits return an error message and are not executed In enabled limit mode limits are only reached when the unit has lost synchrony and this error condition requires a unit reset see Section 4 5 1 When a limit is reached a P is printed to the host serial port to indicate that the pan axis limit was hit When larger operational pan ranges are required the limits may be disabled Positional pan commands outside the limits are not rejected when limits are disabled Query current pan position limit mode L lt delim gt Enable pan position limits LE delim Disable pan position limits LD lt delim gt L Limit bounds are ENABLED soft limits enabled PX Maximum Pan position is 3090 PP3200 Maximum allowable Pan position is 3090 LD PP3200 A PP Current Pan position is 3200
19. SOH 8 900Z Z 01 VV Aaa 3noutd ZO 1d peojAed 00 G A 5 D300 Payload Wiring PL02 page 35 Appendix A SPECIFICATIONS o a A 6 D300 Payload Mounting PTU D300 User s Manual v2 19 sosawao y S 9 Z 8 En ooa e ez Whe oaren ora ova VOS LON OO S3HONI m EE H wenig oe en mam JD E SNHNTON GvOTAVd EC e 3584 EES zm wasay No1O3rotiq BONY QH vondessegpenauia GQ a el mn ava wavuo Gaaosus ISMO SINA EE d NouvoLaosasriwirsivie Nouatuos30 nd oom so on L Cd1vOS NAIL vd 31OH ONIINNOW AVOTAVd I gvi3d Dd 00 26 layovag QVOTAVd ON HIIM LINA x ES N HSU TODMIH SST YZ 0 14 X9 AO ADR JONV3V31O NVd Mab een SONJVSC pZ OL OLG3ONVHO ODM NOJavizegs OF UU soxavez ONISNOH 3OID3NNOO AVOIAVd Gav oa fru 06 94 OVO 3svagalvu 98 IL L e v S 9 D 8 page 36 REGULATORY INFORMATION Electromagnetic Interference EMT is any signal or emission radiated in free space or conducted along power or sig nal leads that endangers the function of a radio navigation or other safety service or seriously degrades obstructs or repeatedly interrupts a licensed radio
20. Stationary Power Mode 24 462 n Moti n Power Mode 24 4 7 Host Serial Port and Control 25 4 7 Configuring Host Serial Port Baud and Communications 25 4 8 Ste p MOES net no Means dn atu unread ein Pe 26 4 8 1 Configuring Step Mode 26 SPECIAL CONFIGURATIONS 27 5 1 High Speed Operation ausa did deed edi eee ale dedica 27 52 High Payload Operation istos t i et ede eed a EE 27 5 3 Battery Powered Operation eise ise teen eee eR Dp eese e Ege ev 27 FTU OPTIONS tddi 28 6 1 EIO Option Expansion Serial Ports and Control se 28 NEEWORKING mtt dte abies ssas osote iaeoe s taasisi Sse 28 7 1 Basic Networking Setup Steps eee ttis tee estet desata e 28 a2 PTU Network Gonneehans ca codex testor tere Gail aes 29 7 3 PTU Network Software Commands cooococcnoccconocccnonanononcnnnnncnnnnnnconanan nnannnns 29 7 3 1 Unit Network ID escis et ade nies nace Rede e ee anie 29 Ta Zo Umit EE 30 SPECIFICATIONS sciscecstniestecsgationccassssceacescsenecoaacacavecessnsetasensfetneunensesaasoncessscacsense 31 Al D300 Mechanical Dimensions 31 A 2 D300 Payload Br
21. TU can then be commanded to a previously stored preset using a new go to preset command Currently set motion parameters acceleration base rate etc apply during go to preset commands Preset positions are remembered when the controller is repowered Syntax XS index delim where index 0 32 Set Preset XG index delim where index 0 32 Goto Preset XC index delim where index 0 32 Clear Preset Example The following commands set the Pan Tilt to position 500 400 store as preset 0 move the unit to position 600 800 and then goes back to previously stored preset O position page 16 PTU D300 User s Manual v2 19 COMMAND REFERENCE PP500 TP400 XS0 PP600 TP800 XG0 4 4 Speed Control Commands amp Queries 4 4 1 Speed Control amp Relevant Terms The Pan Tilt Unit provides for precise control of axis speed and acceleration This subsection briefly describes how speed control is performed and it introduces relevant terms As shown in Figure 5 upper and lower speed limits determine the bounds on nonstationary pan tilt velocities The base start up speed specifies the velocity at which the pan tilt axis can be started from a full stop without losing synchrony as described in Section 3 8 and it is more a function of the motors rather than load characteristics Due to base speed requirements and the property that motors lose torque as speed increases acceleration is re
22. acket Dimensions eere 32 A 3 D300 Base Connector Wiring en eene nnne nne 33 AA D300 Payload Wiring PLO1 A 34 AS D300Payload Wiring PLU sidering a fatu eed 35 Ap D300 Payload Mounting Poetas eee ee pee ie ehre 36 REGULATORY INFORMATIONNN 37 LIMITED WARRANTY 38 PTU D300 User s Manual v2 19 INTRODUCTION 1 INTRODUCTION The PTU D300 Pan Tilt Unit from FLIR Commercial Systems Inc provides fast accurate and durable positioning of cameras antennas lasers and other large payloads Some general features Simple to command from any RS 232 or RS 485 terminal or computer Payload capacity up to 35 70 Ibs Resolution of 0 02 degrees Precise control of position speed amp acceleration On the fly position and speed changes Self calibration upon reset Power consumption can be controlled from host ASCII command mode for simplicity binary commands available for efficient program control Constant current DMOS motor drives for increased performance and control DC power input from an unregulated source Flexible connectivity options Applications of the PTU D300 include Mid and Long range Surveillance systems Automated detection and tracking Multi sensor perimeter monitoring systems Thermal a
23. an Tilt Control pe s giae RS 232 RS 485 nC ui Ss ayload Power PTU Power Supply 300 Power Payload Pass Thru Other Payload Signals Other Payload Signals Payload Powe Payload Power CHA RS 232 CHB RS 232 D300 CABLE Figure 1 Pan Tilt System Overview The PTU D300 can be controlled from any host computer using the built in ASCII protocol described in this manual For high speed hard real time controls such as tracking a binary protocol is supported via a C Programmers Interface PTU CPI Drivers are also available in 3rd party software packages such as LabView and digital video control systems 2 2 Installation Components Components supplied with this manual are Pan Tilt Unit Standard Payload Mounting Bracket Pan Tilt Cable Harness Optional e AC DC Power Supply Optional page 3 QUICK START PTU D300 User s Manual v2 19 2 3 Basic Setup Steps The following outlines the basic pan tilt set up and installation steps Section 3 details each of these steps l Unpack the D300 pan tilt Mount the pan tilt securely See section 3 1 for details on mounting Establish wiring to the pan tilt Factory cable with breakouts for power and other connections makes this easy model PTU CAB 25BO Or you can make your own cables that better suit your installation Connect an RS 232 or RS 485 cable between Pan Tilt Control input and a host computer
24. an tilt controller includes sensors for the internal temperature and the input voltage supplied to the pan tilt This query measures and prints the controller temperature and input supply voltage Syntax O lt delim gt Example O Input 30 VDC 86 degF 4 6 Power Control Commands amp Queries A key advantage of the constant current motor control drivers used in the Pan Tilt Controller is that it allows the current consumed by the pan tilt unit to be controlled via simple unit commands These capabilities are useful for battery powered operation see Section 7 reducing unit heat generation and extending the rated life of the motor driver circuitry page 23 COMMAND REFERENCE PTU D300 User s Manual v2 19 4 6 1 Stationary Power Mode Description Set and query the current level applied to axis motors when not in transit Syntax Query pan hold power mode PH delim Regular pan hold power mode PHR lt delim gt Low pan hold power mode PHL lt delim gt Off pan hold power mode PHO lt delim gt Query tilt hold power mode TH lt delim gt Regular tilt hold power mode THR lt delim gt Low tilt hold power mode THL lt delim gt Off tilt hold power mode THO lt delim gt Example PH Pan in REGULAR hold power mode PHL PH Pan in LOW hold power mode Related Topics Because holding torque for steppers is significantly greater than generated dynamic torque it is highly recommended that Low Hold Power Mode be used when
25. appropriate for your load Regular hold power is intended to be used for brief periods when very high holding torque may be required this requirement is rare Regular hold power mode should be avoided or used sparingly as its use for long periods of time can lead to significant motor and controller heating depending on ambient temperature When using Off Hold Power Mode fully test that your load does not backdrive the unit when stationary Backdriving will cause the controller to lose track of pan tilt position and this requires that the unit be reset see Section 4 5 1 Backdriving is more likely on the tilt axis which has higher torque applied to it by the load 4 6 2 In Motion Power Mode Description Set and query the current level applied to axis motors when in motion in transit Syntax Query pan move power mode PM delim High pan move power mode PMH lt del im gt Regular move hold power mode PMR lt delim gt Low pan move power mode PML lt delim gt Query tilt move power mode TM lt delim gt High tilt move power mode TMH delim Regular tilt move power mode TMR delim Low tilt move power mode TML lt delim gt page 24 PTU D300 User s Manual v2 19 COMMAND REFERENCE Example PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Related Topics t is not recommended that an axis be in transit more than 20 of the time when in High Move Power Mode i e a 20 duty cycle 4 7 Host
26. ative the axis is automatically commanded to the minimum axis position Conversely if the speed command is positive the axis is automatically commanded to the maximum axis position A speed of zero is applied by halting the axis motion t is important to note that in pure velocity control mode a speed command for a given axis effectively overrides currently executing position commands As a result the speed control mode at power up is always set to independent control mode the speed control mode is not saved as defaults that are preserved when the unit is powered back up These commands are available in PTU firmware versions 1 09 7 and higher Syntax Query the current speed control mode C delim Set to independent control mode default CI delim Set to pure velocity control mode CV lt delim gt Example Put into the default independent control mode the pan tilt will finish at position 3000 Put in the pure velocity control mode the pan tilt will finish on the opposite pan side Note that the default restore also executed upon unit power up restores the unit to independent control mode CL PP 3000 PS1000 A CV PP 3000 PS1000 DR PP 3000 PS1000 Related Topics Position commands See Section 4 3 1 4 3 2 Speed commands See Section 4 4 2 4 4 3 4 5 Unit Commands 4 5 1 Reset Pan Tilt Unit Description This command controls how and when the pan tilt unit is calibrated By def
27. ault the pan tilt unit is configured to reset both the pan and tilt axes automatically upon power up and by issuing the reset command The reset mode commands are used to control the reset performed at pan tilt power up and to allow reset of an individual pan tilt axis The reset calibration allows the pan tilt unit to determine axis coordinates hence a pan tilt axis should be reset prior to issuing any axis position commands A pan tilt axis that has not been calibrated has a minimum and maximum axis page 21 COMMAND REFERENCE PTU D300 User s Manual v2 19 position of 0 see Section 4 3 4 hence position commands in limit enabled mode see Section 4 3 5 will return an illegal position command feedback Syntax Performs Reset calibration R delim Reset modes saved in internal EEPROM for power up reset control Disable reset upon power up RD delim Reset tilt axis only RT delim Reset pan axis only RP delim Reset both pan and tilt axes upon power up RE delim Example RT R RP R RD R RE R Related Topics A load beyond the handling capacity of the pan tilt unit may cause the reset to fail so load handling capability should be tested as described in Section 3 7 4 5 2 Default Save Restore Description Allows current axis settings to be saved as defaults that are preserved when the unit is powered back up Also allows the factory defaults to be restored Syntax Save current settings as d
28. communications service Class A Class A 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 in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation Operation of this equipment in a resi dential area is likely to cause harmful interference in which case the user will be required to correct the interference at his her own expense Class B Class B equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a res idential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interfer ence to radio or television reception which can be determined by turning the equipment off and on the user is en
29. couraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Establish good grounding to the base connector e Consult the dealer or an experienced radio TV technician for help Caution Changes or modifications of this equipment not expressly approved by manufacturer could result in viola tion of Part 15 of the Federal Communication Commission s rules The FCC has prepared the following booklet How to Identify and Resolve Radio TV Interference Problems It is available from the US Government Printing Office Washington DC 20402 Stock Number 004 00 00345 4 FCC Notice According to 47CFR Parts 2 and 15 Subpart B Class A This device complies with FCC Part 15 Subpart B Class A of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference 2 This device must accept any interference received including interference that may cause undesired operations page 37 LIMITED WARRANTY FLIR Commercial Systems Inc warrants this product against defects in material or workmanship as follows For a period of one year from date of purchase FLIR Commercial Systems Inc will repair the defective product and provide new or rebuilt replacem
30. ctions 4 6 1 and 4 6 2 To achieve the highest pan tilt unit performance use the highest motor voltage within the allowable range To achieve the quietest and smoothest pan tilt operation you can use a lower motor voltage e g 12VDC When wiring your own power source failure to comply with wiring and power source requirements described in this manual can result in decreased unit performance or damage not covered under the limited warranty If you are providing your own DC power source the power source must never supply more than rated current and if so you must add a fuse in series with your DC power source For example when connecting to a vehicle battery or lighter plug you must fuse the incoming DC source Failure to properly fuse your input power source could cause overloading of internal protection devices pose a safety hazard or void product warranties page 6 PTU D300 User s Manual v2 19 INSTALLATION amp INITIAL SETUP 3 4 RS 222 Interface and Host Settings An RS 232 terminal or host computer connects to the RS 232 Host Interface on the Pan Tilt Unit The host terminal or computer should be set to 9600 baud 1 start bit 8 data bits 1 stop bit and no parity Hardware handshaking and XON XOFF are not used The RS 232 connections to the Pan Tilt are TxD pin 2 RxD pin 3 and GND pin 5 Figure 3 shows cable configurations for some common computer hosts Since TxD and RxD assignments to pins 2 and 3 can vary
31. d capacity and dynamics are Mount your payload Side mount is preferred for heavier loads as it keeps the payload center of gravity closer to the tilt axis of rotation thereby minimizing torque requirements Ensure that the load is securely attached to the payload bracket First move the pan axis through its range to test whether the pan tilt can handle the load e g enter dr pp2700 a pp 2700 a ppO A load that is too heavy or moved too quickly will cause the unit to lose synchrony and this will be accompanied by an audible rrrr sound from the pan tilt unit motors See section 5 2 on page 27 for further information on configuration of the Pan Tilt for heavier payloads If your load passed the pan axis load test you can then test the tilt axis load handling capability The center of gravity for top mounted payloads is further from the tilt axis of rotation and this may require more torque to move the load Move the tilt axis through its range of motion to test whether the pan tilt can handle the load e g enter DR TP 900 A TP600 A TPpO A load that is too heavy or moved too quickly will cause the unit to lose synchrony and this will be accompanied by an audible rrrr sound from the pan tilt unit motors f your load fails the above pan or tilt axis load handling tests check Section 5 2 for further information Significantly faster or lower power control can be obtained via commands to the pan tilt unit The
32. ec PS1985 PL Minimum Pan speed is 31 positions sec PL20 Motor speed cannot be less than 31 pos sec PL40 Related Topics Position resolution units See Section 4 3 3 Changes in the upper speed limit cannot be made on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping 4 4 7 Speed Control Modes Description By default position control commands are independent from the speed control commands In this independent control mode the commanded speed is an unsigned magnitude that determines the speed at which independently commanded positions are effected and the execution of these speed commands do not affect the commanded desired positions themselves This mode is appropriate for pure position control methods when pan tilt control is effected solely by commanding pan tilt position and hybrid position velocity control methods when pan tilt positions and the rate at which they are achieved are both controlled An alternative pan tilt control method uses a pure velocity control mode in which all pan tilt control is effected by signed changes in command axis page 20 PTU D300 User s Manual v2 19 COMMAND REFERENCE speed In this mode the speed command specifies a signed velocity in which the sign determines the direction of axis movement and the ordinal value specifies the speed of movement in this direction In this mode if the commanded speed is neg
33. efaults DS delim Restore stored defaults DR lt delim gt Restore factory defaults DF lt delim gt Related Topics Defaults are saved in EEPROM which have a lifetime limit on the number of writes before memory failure Though it is unlikely that these failure limits will be reached excessive saving of current defaults should be avoided when possible 4 5 3 Echo Query Enable Disable Description Sets of queries whether the pan tilt controller echoes incoming commands from the host Syntax Query current echo mode E delim Enable host command echoing EE delim Disable host command echoing ED lt delim gt page 22 PTU D300 User s Manual v2 19 COMMAND REFERENCE Example PP 22 ED lt pp entered again but not echoed gt 22 4 5 4 Feedback Verbose Terse Off Description Command and query the ASCII feedback returned by PTU commands Syntax Enable verbose ASCII feedback FV lt delim gt Enable terse ASCII feedback FT delim Query ASCII feedback mode F delim Example FV PP Current pan position is 0 FT PP 0 F ASC terse mode 4 5 5 Controller Firmware Version Query Description Query specifies the version and copyrights for the pan tilt controller firmware Syntax V lt delim gt Example V Pan Tilt Controller v2 12 1d1 C14 E C 2003 FLIR Commercial Systems Inc All Rights Reserved 4 5 6 Outside Supply Voltage and Controller Temperature Query Description The p
34. ents at no charge Warranty repairs require the issuance of a repair authorization number from FLIR Commercial Systems Inc prior to the return of merchandise and the buyer assumes responsibility for freight charges After the one year period the purchaser must pay for all parts labor and freight This warranty does not cover any damage due to accident misuse abuse or negligence You should retain your original bill of sale as evidence of the date of purchase REPAIR OR REPLACEMENT AS PROVIDED UNDER THIS WARRANTY IS THE EXCLUSIVE REMEDY OF THE PURCHASER FLIR Commercial Systems Inc SHALL NOT BE LIABLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR BREACH OF ANY EXPRESS OR IMPLIED WARRANTY ON THIS PRODUCT EXCEPT TO THE EXTENT PROHIBITED BY APPLICABLE LAW ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ON THIS PRODUCT IS LIMITED IN DURATION TO THE DURATION OF THIS WARRANTY Some states do not allow the exclusion or limitation of incidental or consequential damages or allow limitations on how long an implied warranty lasts so the above limitations or exclusion may not apply to you This warranty gives you specific legal rights and you may also have other rights which vary from state to state page 38
35. hat affect high speed operation are Load weight weight distribution and dynamics Desired upper speed limit see Section 4 4 6 Rate of acceleration see Section 4 4 4 e The base start up speed see Section 4 4 5 The voltage of the source power supply Use of the highest available voltage in the range 9 30VDC significantly improves axis speed and acceleration performance The in motion power mode see Section 4 6 2 and stationary power mode see Section 4 6 1 Multi axis dynamics Simultaneously moving the tilt and pan axes affects the forces exerted on the pan axis High speed operation tests should always begin on each axis in isolation When the best performance for each axis in isolation is understood high speed operation of simultaneous pan tilt axis movements can be performed An example configuration string for high speed operations is PA9000 TA9000 DS 5 2 High Payload Operation This section discusses how to improve high payload weight operation of the pan tilt The primary factors affecting payload capacity is the tilt axis as it forms a mechanical lever which is an efficient force multiplier The primary means to increase payload capacity are Configure the pan tilt controller for increased motor current and torque An example configuration string to increase payload capacity is DF PA1000 TA1000 PB57 TB57 PMR TMR DS If your move duty cycle is less than 20 you can alternatively use the highest mo
36. letion of the last issued pan and tilt axis position commands Used to coordinate axis motions Syntax A lt delim gt Example The following commands instruct the pan axis to move to a position then move to another position I PP Current Pan position is O PP2000 A PP Current Pan position is 2000 PPO A PP Current Pan position is O In contrast the following commands would begin to move to the first position and before that position is reached the next position would be moved towards this is often called an on the fly position change I PP Current Pan position is 0 PP2000 PPO Related Topics This command can be used for both the Immediate Position Execution Mode see Section 4 3 6 and Slaved Position Execution Mode see Section 4 3 7 4 3 9 Halt Command Description Immediately decelerates and halts pan tilt movement Syntax Halt all pan tilt movement H delim Halt pan axis movement HP delim Halt tilt axis movement HT delim Example PP2500 A PP 2500 Then while the pan tilt is moving the host decides to stop immediately H Related Topics This command can be used for both the Immediate Position Execution Mode see Section 4 3 6 and Slaved Position Execution Mode see Section 4 3 7 page 15 COMMAND REFERENCE PTU D300 User s Manual v2 19 4 3 10 Monitor Autoscan Command Description Command defines and initiates repetitive monitoring scanning
37. mended A twisted pair whose impedance is about 1009 is typically used for longer RS 485 runs The twisted pair provides good noise immunity owing to the relative signals used by the RS 485 standard For some applications the host computer may directly provide RS 485 full duplex I O In this case you may directly connect your host computer to the PTU network For computers with only RS 232 RS 485 connections may be simply made using an external RS 232 to RS 485 converter FLIR Commercial Systems Inc has tested qualified two converters ATEN IC 4855 and Moxa A50 which both require a flipped RJ 12 connector such as a standard phone cord It is important to note that the network should be terminated using 120 2 1 resistors to protect against signal ringing on the network Termination is achieved by placing the resistors between the RS 485 Transmit Transmit and Receive Receive wires at each end of the multidrop wiring network 7 3 PTU Network Software Commands This section describes the pan tilt command set used to configure set and query the network configuration of your PTU controllers 7 3 1 Unit Network ID Description Specify or query the PTU controller network unit ID number By default the PTU unit ID is set to zero which indicates the PTU controller is not networked and the PTU controller is in the default interactive communications mode When assigning a unit ID number to a controller the unit ID number should be unique the
38. nd IR cameras Marine shipboard sensor systems Harbor and Port Security Border Security amp Law Enforcement Highway amp Transportation Monitoring Military special operations Satellite communications systems Microwave antenna systems passive active Robotics amp computer vision This User s Manual provides information needed to set up and operate the PTU D300 unit The next section provides a brief overview to allow you to get started as quickly as possible More detailed technical information is provided in the remaining sections page 1 INTRODUCTION PTU D300 User s Manual v2 19 1 1 IMPORTANT SAFEGUARDS AND WARNINGS IMPORTANT SAFEGUARDS AND WARNINGS 1 ie E Please read these instructions prior to use Please keep these instructions accessible Please heed all warnings Please follow all instructions Installation should be done only by qualified personnel and conform to all local codes CAUTION These servicing instructions are for use by qualified service personnel only To reduce the risk of electric shock do not perform any servicing other than that contained in the operating instructions unless you are qualified to do so Use only mounting methods and materials capable of supporting at least four times the combined weight of the D300 pan tilt mounted payloads and cabling For outdoor use use only corrosion resistant hardware to fasten the mount and payloads e g stainless steel screws The unit sh
39. oe vas seqcuis aces se sheaeute esas aesantseaces bake ce sie 5 3 3 Power Fett gegen REA RSEN TRIER SIS E DIR Dx ERE anes 6 Sw RS 232 Interface and Host Settings 7 3 5 mal Powerupand Testseite eau O 8 3 6 Basic Pan Tilt Unit Commands AA 8 3 7 Moun ng Your alogge eege ei ge tede va bad 8 3 7 Over the Top Bracket Mounting eee 9 3 7 2 Side Mount Bracket Mounting 9 3 8 Payload Wiring te 10 COMMAND REEERENCE svarsorsensorsnsvensernssensssenenabsseenuseastonsschbeesiebdhesoiwerdes 11 4 1 Binary Command Format aa Po lesdacranestactone 11 4 2 General ASCII Command Formal 11 4 3 Positional Control Commands amp Querites 11 4 3 1 Position absolute eese esee E noster eatis 11 4 3 2 Offset Position relative offset 12 4 33 Resolution per Position ei eese erento th ie ener enano ENEE 12 4 3 4 Limit Position Queries nnn neer enenennenene seer ener 13 4 3 5 Position Limit Enforcement 13 4 3 6 Immediate Position Execution Mode 14 4 3 7 Slaved Position Execution Mode
40. on host computers try using a null modem if your initial connection does not work D300 Base Connector 19 pins PTU CAB 25BO MIL C 26482 compatible receptacle female DB 9 pin L RxD pin 3 pin K lt W _____ _ _ TxD pin 2 PinJ GND pin 5 IBM PC PTU CAB 25BO DB 25S female DB 9 TxD pin 2 RxD pin 3 RxD pin 3t TxD pin2 Null modem may GND pin 7 GND pin5 be required DTR pin 20 Za pin 4 DSR pin 6 lt pin 6 IBM PC PTU CAB 25BO DB 9S female DB 9 RxD pin 2 TxD pin 2 TxD pin 3 RxD pin 3 GND pin 5 GND pin 5 DTR pin 4 pin 4 DSR pin el pin 6 Apple Macintosh PTU CAB 25BO 8 Pin Mini DIN female DB 9 TxD pin 3 TxD pin 2 RxD pin 5 RxD pin 3 GND pin 4 GND pin 5 DTR pin 1 pin 4 DSR pin 2 lt JEE m 6 Figure 3 RS 232 Pan Tilt Controller Connection to Common Hosts page 7 INSTALLATION amp INITIAL SETUP PTU D300 User s Manual v2 19 3 5 Initial Power up and Test If you have the power source and Host computer connected described in Sections 3 3 and 3 4 you are ready to power up and test its operation Test and verify all cable connections and connector wiring before power up We suggest that you do not mount your payload e g camera until this initial installation is completed and tested 1 Using HyperTerminal or a similar terminal program configure the RS 232 485 serial port of
41. onfiguring Step Mode Description The default motion resolution of the D300 controller is half step mode Firmware versions 2 12 8 and higher added microstepping in quarter and eighth steps Microstepping provides much quieter operation and smoother motion at slow speeds In addition the microstepping increases the effective resolution of the pan tilt unit Firmware versions 2 13 0 and higher added autostep electronic gearing The controller will automatically select the correct step mode based on the pan tilt s current speed and process all units as though the unit were in eighth step mode while allowing the unit to move at the higher speeds of half step Syntax W lt axis gt lt resolution gt where axis T P resolution H Q E A for Full Half Quarter Eighth and Auto step resolution Example The following command puts the tilt axis into eighth step resolution and recalibrates the tilt axis which returns success WTE Known Issues Autostep mode is only supported in firmware versions v2 13 0 and higher This firmware supports querying the microstep mode with the W lt axis gt lt delimiter gt command Microstepping decreases the pull out torque of the motor page 26 PTU D300 User s Manual v2 19 SPECIAL CONFIGURATIONS 5 SPECIAL CONFIGURATIONS 5 1 High Speed Operation This section discusses how to improve high speed pan tilt unit performance for your load The primary factors t
42. ould not be installed in environments that present conditions beyond the environmental specification of the D300 Installation near heat sources such as radiators heat registers stoves or other apparatus including amplifiers can exceed the unit s temperature ratings Refer all servicing to qualified service personnel If the unit is damaged remove power immediately and contact FLIR Commercial Systems Inc 10 A readily accessible power disconnect shall be incorporated into the installation wiring 11 Only use replacement parts recommended by FLIR Commercial Systems Inc 1 2 Models PTU D300 Standard base configuration Includes basic slip ring integral controller stan dard convertible L bracket page 2 PTU D300 User s Manual v2 19 QUICK START 2 QUICK START 2 1 Overview Figure 1 shows a system overview The PTU D300 includes an integral controller and it accepts control commands from any host computer over RS 232 or RS 485 The basic D300 connections are D300 power from a DC power source and Pan Tilt Control via RS232 485 In addition to pan tilt control connections Payload Pass Thru internally routes payload signals such as video payload power and other payload connections from a single stationary connector in the PTU base to a single payload connector that moves with your payload PC gt Video Server DVR e lt gt Payload Pass Thru Basic D300 Connections E Video 1 P
43. pan tilt controller processors Q lt baud gt lt byte delay in msec gt lt startup default gt lt delim gt where baud may be 600 1200 2400 4800 9600 19200 or 38400 bits sec byte delay in msec gt is the time in milliseconds the pan tilt controller waits between transmitting output data If no delay is desired use a parameter of 0 otherwise the delay may vary from 10 ms to 1000 ms startup default If T baud and byte delay in msec gt are applied at power up otherwise the power up default is 9600 baud with no byte transmission delay The following command sets the host serial port RS232 RS485 to a baud rate of 38 400 bits second 8 data bits per byte no parity no handshaking no delay in controller outbound byte transmission and the power up baud rate is the system default of 9600 baud 38400 0 F page 25 COMMAND REFERENCE PTU D300 User s Manual v2 19 The following command sets the host serial port RS232 RS485 to a baud rate of 19 200 bits second 8 data bits per byte no parity no handshaking a 30ms delay between bytes output from the pan tilt controller and the power up baud rate overrides the default and is set at 19 200 baud 19200 30 T Related Topics To wire the host port serial RS232 communications See Section 3 4 To wire the host port serial RS485 communications See Section 7 2 To set the pan tilt controller unit ID See Section 7 3 1 4 8 Step Modes 4 8 1 C
44. peration pp2500 tp 900 PS1900 ppo This sets the pan axis to position 2500 the tilt axis to position 900 the pan speed to 2500 positions a second and sets the pan position back home When operating the pan tilt unit the available command menu is printed when you enter the character A detailed description of pan tilt commands and queries may be found in Section 4 3 7 Mounting Your Payload The PTU D300 sports a flexible payload bracket system that can be configured in a number of ways to support a variety of payloads including cameras lasers antennas and other equipment Because of the heavy payload weights and high potential speeds supported by the PTU D300 it is very important that all guidance and instructions regarding payload mounting be followed carefully page 8 PTU D300 User s Manual v2 19 INSTALLATION amp INITIAL SETUP 3 7 1 Over the Top Bracket Mountin 1 Ensure the pan tilt has been through its calibration at power up so that the mounting hub is in a known home position 2 Orient the bracket so the horizontal part of the bracket is topmost When in the proper orientation a peg in the bracket will locate into a hole in the D300 mounting hub 3 Attach the bracket using 6pcs screws It is vital that thread lock is used for the bracket mounting screws The thread N holes in the hub have thread lock applied to them If the bracket is removed you should apply medium strength thread lock
45. quired to achieve axis speeds above the base rate The pan tilt controller uses trapezoidal acceleration and deceleration for speeds above the base rate and less than the maximum allowed speed Figure 5 shows two acceleration cases In the first an axis accelerates up to a desired constant speed slew rate then decelerates The second case shows the case when the unit does not have sufficient time to accelerate up to the desired slew speed before the need to decelerate to the desired position The pan tilt controller provides for on the fly position and speed changes If the direction is changed on the fly the controller manages all deceleration direction reversal and acceleration to achieve the most recently specified target pan tilt speed and acceleration rates Because speed acceleration and position are precisely controlled you can accurately and simply predict the position attained by the pan tilt unit in time UPPER SPEED LIMIT speeds requiring acceleration BASE start up SPEED instantaneous speed LOWER SPEED LIMIT changes time Figure 5 Axis Speed Instantaneous Speeds Trapezoidal Acceleration and On The Fly Speed and Position Changes 4 4 2 Speed absolute Description Specify or query desired axis speed Desired speed is specified in positions second and it can be changed on the fly The speed specifies the rate at which the pan tilt moves to achieve position movement commands Desired speed commands outside the
46. signals such as maximum voltage and current When attaching payload signals to the system care must be taken to adhere to all AN levels page 10 PTU D300 User s Manual v2 19 COMMAND REFERENCE 4 COMMAND REFERENCE This section describes the pan tilt unit command set Each command has a section that provides a brief functional description a format syntax description examples and related topics When controlling the pan tilt unit from a terminal a complete menu of pan tilt commands can be obtained by entering the character 4 1 Binary Command Format A C Programmer s Interface model PTU CPI is available for higher bandwidth binary communications between a host computer and the PTU controller 4 2 General ASCII Command Format When describing the format syntax of pan tilt commands the following conventions are adopted Commands issued to the pan tilt unit e g typed in by you are shown in bold Input characters may be in upper or lower case we show them in upper case for presentational consistency A delimiter lt del im gt can be either a space or a carriage return CR A successfully executed command returns CR Successful query execution returns x lt QueryResult gt lt CR gt Command execution failure returns lt ErrorMessage gt lt CR gt A pan axis limit hit asynchronously returns P and a tilt axis limit hit asynchronously returns T 66 99
47. sired tilt position TO lt delim gt Set desired offset tilt position TO position delim Example The following sends the pan axis to position 500 then sends it 1500 positions to the left PP 500 A PO Current Pan position is 500 PO1500 A PP Current Pan position is 1000 Related Topics Position resolution units See Section 4 3 3 Position limits See Section 4 3 4 Position execution modes See Sections 4 3 6 4 3 7 and 4 3 8 Position limit enforcement modes See Section 4 3 5 4 3 3 Resolution per Position Description Syntax Example Query returns the axis resolution per position moved in seconds arc Query pan resolution PR delim Query tilt resolution TR lt delim gt Resolution can be determined by PR 92 5714 seconds arc per position 1 sec arc 1 60 min arc 60 sec arc 0002778 So 92 5714 seconds arc equals 92 5714 sec arc 002778 0 025716335 Thus to pan 21 3 left requires a relative move of 21 3 0 025716 828 positions yielding the following command PO828 page 12 PTU D300 User s Manual v2 19 COMMAND REFERENCE Related Topics Factory options are available to achieve higher resolution or accuracy 4 3 4 Limit Position Queries Description Queries return the axis position bounds determined upon unit reset Syntax Query minimum pan position PN delim Query maximum pan position PX delim Query minimum tilt position T
48. speed bounds return an error and are not executed page 17 COMMAND REFERENCE PTU D300 User s Manual v2 19 Syntax Query desired pan speed PS lt delim gt Set desired pan speed PS lt positions sec gt lt delim gt Query desired tilt speed TS lt delim gt Set desired tilt speed TS lt positions sec gt lt delim gt Example The following commands instruct the pan axis to move to the far left then slowly move right and then on the fly it speeds up I PS1900 PP2600 A PS600 PP 2600 PS1900 Related Topics Position commands See Section 4 3 1 4 3 2 Position resolution units See Section 4 3 3 Speed bounds See Section 4 4 6 4 4 3 Delta Speed relative offset Description Specify desired axis speed as an offset from the current speed or Query the current axis speed Desired delta offset speed is specified in positions second and it can be changed on the fly A desired delta speed command that results in a speed outside the legal speed bounds returns an error and it is not executed Syntax Query current pan speed PD lt delim gt Set desired delta offset pan speed PD lt positions sec gt lt delim gt Query current tilt speed TD lt delim gt Set desired delta offset tilt speed TD positions sec delim Example The following commands instruct the pan axis to move to the far left then slowly move right and then on the fly it decreases speed by 150 positions second then queries the curren
49. t speed I PS1900 PP2600 A PS600 PP 2600 PD 150 PD Current Pan speed is 450 positions sec Related Topics Position commands See Section 4 3 1 4 3 2 Position resolution units See Section 4 3 3 page 18 PTU D300 User s Manual v2 19 COMMAND REFERENCE Speed bounds See Section 4 4 6 4 4 4 Acceleration Description Specify or query axis acceleration and deceleration for speeds above the base speed Acceleration is specified in positions second Syntax Query desired pan acceleration PA delim Set desired pan acceleration PA positions sec delim Query desired tilt acceleration TA delim Set desired tilt acceleration TA positions sec delim Example The following illustrate different rates of acceleration PA Pan acceleration is 2000 positions sec 2 PB Current Pan base speed is 1000 positions sec PU Maximum Pan speed is 2902 positions sec PPO PS1900 PP2600 PA1500 PPO Related Topics Position resolution units See Section 4 3 3 Symmetric trapezoidal acceleration is used so the rate of deceleration is equivalent to the rate of acceleration Acceleration cannot be changed on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping 4 4 5 Base Start Up Speed Description Syntax Example Specify or query axis base start up speed Base speed is specified in positions second Defa
50. ults to 57 positions sec Query desired pan base speed PB delim Set desired pan base speed PB lt positions sec gt lt delim gt Query desired tilt base speed TB delim Set desired tilt base speed TB lt positions sec gt lt delim gt The following commands home the pan axis moves it far left changes the base rate then moves back to home I PPO A PP2600 PB Current Pan base speed is 1000 positions sec PB1000 PPO page 19 COMMAND REFERENCE PTU D300 User s Manual v2 19 Related Topics Position resolution units See Section 4 3 3 Acceleration See Sections 4 4 1 and 4 4 4 Speed bounds See Section 4 4 6 Changes in the base rate cannot be made on the fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping 4 4 6 Speed Bounds Description Set and query the upper and lower speed bounds for desired speed commands Syntax Query upper pan speed limit PU delim Set upper pan speed limit PU positions sec delim Query lower pan speed limit PL delim Set lower pan speed limit PL lt positions sec gt lt delim gt Query upper tilt speed limit TU lt delim gt Set upper tilt speed limit TU lt positions sec gt lt delim gt Query lower tilt speed limit TL delim Set lower tilt speed limit TL positions sec delim Example PU Maximum Pan speed is 1985 positions sec PS3300 Pan speed cannot exceed 1985 positions s
51. ve current settings and regular hold power settings of PMH TMH PHR THR Move the payload center of gravity closer to the tilt axis e Use a higher voltage power source in the range 9 30VDC Determine if the payload can be modified to lighten it 5 3 Battery Powered Operation The Pan Tilt Unit has been designed for battery powered operation Battery powered applications need to conserve power when possible The pan tilt unit has commands to control pan tilt motor power consumption while in transit and when stationary see Sections 4 6 1 and 4 6 2 Careful testing can be used to determine the lowest power modes that assure your load can be moved and held without losing synchrony see Section 3 8 page 27 PTU OPTIONS PTU D300 User s Manual v2 19 6 PTU OPTIONS 6 1 EIO Option Expansion Serial Ports and Control For OEM applications internal D300 wiring can be brought out on FFC flat flex connectors to provide for additional control signals For example other serial devices attached or proximal to the pan tilt may require other RS232 serial ports Please contact FLIR Commercial Systems Inc for additional information on these custom configurations 7 NETWORKING The PTU lets you connect up to 127 PTUS to a single host computer port Your host computer can then address each PTU on the network as though the PTU were the only unit attached to the host In this way it is simple to migrate existing code developed for a single PTU
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