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Polhemus PATRIOT User Manual

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USER MANUAL
URM03PH170 Rev. B
NOVEMBER 2004

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Summary of Contents for Polhemus PATRIOT

  • Page 1 USER MANUAL URM03PH170 Rev. B NOVEMBER 2004...
  • Page 2 USER MANUAL {This page intentionally left blank.}...
  • Page 3 While every precaution has been taken in the preparation of this manual, Polhemus assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from use of the information contained herein.

  • Page 4: To Clean The Instrument

    Warnings • This instrument contains no user serviceable parts. Do not attempt to service unit. Return to Polhemus for repair. • Do not perform any unauthorized modification to the instrument. • Do not operate the instrument in the presence of flammable gas or fumes. Operation of any electrical instrument in such an environment constitutes a definite safety hazard.

  • Page 5: Table Of Contents

    USB Driver Installation ......................6 GUI...................... 6 SE THE OLHEMUS PATRIOT D ....................9 XPERIMENT WITH ......................... 10 ERMS CRONYMS PATRIOT SYSTEM COMMANDS ..............18 ............................18 VERVIEW ........................18 OMMAND YNTAX 2.2.1 Notation ..........................18 2.2.2 Command Format Notes ......................19 Station Wildcard..........................
  • Page 6 Hardware Switches..........................78 ........................79 AGNETIC OURCE ) ............................80 ENSOR ............................80 TYLUS SYSTEM OPERATION..................82 I/O C ........................82 ONSIDERATIONS PATRIOT ....................... 82 OWERING ......................82 ONFIGURATION HANGES ........................82 UTPUT PDATE ......................83 UTPUT ONSIDERATIONS ..........................83...

  • Page 7: Table Of Figures

    Figure 1-7 RS-232 Cable Connection------------------------------------------- 5 Figure 1-8 PiMgr Screen Display ----------------------------------------------- 7 Figure 1-9 RS-232 Configuration Settings ------------------------------------- 8 Figure 1-10 PATRIOT Data Record Display ---------------------------------- 8 Figure 1-11 Euler Angles------------------------------------------------------- 15 Figure 3-1 Source Diagram ---------------------------------------------------- 79 Figure 3-2 Sensor---------------------------------------------------------------- 80...
  • Page 8 USER MANUAL LIST OF TABLES Table 2-1 ASCII Response Format ---------------------------------------------------------------------20 Table 2-2 Binary Response Format---------------------------------------------------------------------21 Table 2-3 ‘A’ ASCII Response--------------------------------------------------------------------------26 Table 2-4 ‘A’ Binary Response -------------------------------------------------------------------------26 Table 2-5 ‘B’ ASCII Response--------------------------------------------------------------------------29 Table 2-6 ‘B’ Binary Response -------------------------------------------------------------------------29 Table 2-7 ‘F’...

  • Page 9: Getting Started

    As with any new system, there are two ways to get started with your PATRIOT system: you could “wing it,” which involves a great deal of assumptions based on previous experience and/or visual inspection, and hope for the best.

  • Page 10: Figure 1-2 Source Connection

    USER MANUAL Figure 1-2 Source Connection For getting started, use only one sensor. Identify the sensor and insert it into either of the sensor receptacles as shown below. Firmly engage and lock the sensor connector into place in the same manner as the source connector in step 3. See Figure 1-3.

  • Page 11: Figure 1-4 Sensor/Source Test Setup

    Ensure the power switch is in the OFF position (logic “0”, DOWN). With the separate power supply UNPLUGGED from the wall, connect the power input cable to the PATRIOT. The power supply can now be plugged into a 110/220 VAC outlet. See Figure 1-5.

  • Page 12: Figure 1-6 Usb Cable Connection

    CD-ROM. For step-by-step instructions, refer to USB Driver Installation on page NOTE: Once the USB cable is connected to PATRIOT, it cannot return to RS-232 mode without removing the USB connection and restarting (power OFF/ON). You may now use the Polhemus PiMgr GUI to exercise the system. If you have...

  • Page 13: Figure 1-7 Rs-232 Cable Connection

    In the “Flow control” field, select None and click OK. You should now have a serial connection opened to PATRIOT. Turn PATRIOT on. In 5 to 10 seconds, you will see “PATRIOT Ready!” in the HyperTerminal screen. Collect a single data record from PATRIOT by typing the ‘P’...

  • Page 14: Install The Host Software

    1.2.1 USB Driver Installation • When PATRIOT is connected via USB to a Windows host for the first time, the host will display a “Found New Hardware” message. The host will then launch the “Found New Hardware Wizard” to locate and install the USB drivers for PATRIOT.

  • Page 15: Figure 1-8 Pimgr Screen Display

    Once connected, the icon will change to If the PATRIOT system is already powered up and connected to the computer, the PiMgr will discover the connection immediately upon startup. If not, you will need to manually create the connection once you have powered up PATRIOT.

  • Page 16: Figure 1-9 Rs-232 Configuration Settings

    When the connection has been established, the connection icon at the lower right will change to To collect a single frame of motion data from the PATRIOT system, click the Single button on the toolbar: You can also do this by typing ‘p’ or ‘P’ anywhere on the PiMgr window. This will cause PiMgr to request a single data frame from the PATRIOT system.

  • Page 17: Experiment With Patriot Data

    Continue to experiment with the system as described in step 3 to demonstrate that it measures the position and orientation (six-degree-of-freedom) of the sensor with respect to the source. For a more “hands-on” approach to communicating with PATRIOT, an RS-232 connection is available. Rev. B...

  • Page 18: Terms/Acronyms

    USER MANUAL 1.5 Terms/Acronyms Alignment Obtaining congruence between the axes of the PATRIOT system and the axes of the application. The process whereby the PATRIOT system coordinate reference is brought into coincidence, either physically or mathematically, with other coordinates of the environment. Alignment in an active system is not the same as a boresight operation, which concerns only the sensor;...
  • Page 19 Any procedure that rotates the sensor frame so as to precisely align the sensor to the designated reference frame. In a PATRIOT system context, the term usually refers to the system software routine that, on command, performs a coordinate rotation, which effectively aligns the sensor frame to a predefined boresight reference orientation.
  • Page 20 The values assigned to certain system variables by the factory. Stored in non-volatile memory, they are used to reinitialize the variables if configuration information is lost. Firmware Term used to describe the software programmed into PATRIOT non-volatile memory. Format The interchange coding used to present data. PATRIOT outputs either ASCII or BINARY data, but accepts only ASCII inputs from the host.
  • Page 21 Other tracking systems (e.g., inertial) may produce raw data continuously or nearly continuously. PATRIOT latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer. LIBERTY...
  • Page 22 Orientation Angles The azimuth, elevation, and roll angles that define the current orientation of the sensor coordinate frame with respect to the designated reference frame. The Euler angle coordinates that are output by PATRIOT as one measure of sensor orientation are graphically defined in Figure 1-11.

  • Page 23: Figure 1-11 Euler Angles

    + j q + k q can be used to represent the sensor’s orientation without the need for trigonometric functions. The attitude matrix output from PATRIOT can be equivalently represented by the following matrix using quaternions: X Directional Cosines Y Directional Cosines Z Directional Cosines ⎡...
  • Page 24 USER MANUAL Response The interval of time between a request to the PATRIOT system to collect a data point and when that data is available for input from the PATRIOT system. Roll Coordinate of orientation tracking about the azimuth-elevation axis where an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing.
  • Page 25 USER MANUAL User Defaults The values assigned to certain system variables by the user. Stored in non-volatile memory, the system receives these variable values at power-up. XYZ or X, Y, Z The Cartesian coordinates of position tracking where normally +X is in the forward direction;...

  • Page 26: Patriot System Commands

    All commands are input on the RS-232 serial port or USB port. 2.2 Command Syntax 2.2.1 Notation The following notation is used in this manual to describe the PATRIOT command syntax: Items shown inside square brackets are optional. To include optional items, type only the information inside the brackets.

  • Page 27: Command Format Notes

    When using a command that requires a station number as the parameter, the user may wish to apply the command to both stations of the PATRIOT system. In such situations a ‘*’ character may be used in place of the station number to apply the settings to both stations in the PATRIOT system.

  • Page 28: Response Format Notes

    Depending on the ‘F’ – Output Format configuration setting (see page 30), frames received from PATRIOT in response to the commands detailed in this document will conform to one of the following format definitions. ASCII ASCII response frames are described in this document using the following notation: A....

  • Page 29: Error Responses

    Binary response frames are composed of an 8 byte frame header followed by a variable- length frame body as follows: Table 2-2 Binary Response Format Byte Index TYPE Description Frame Tag, always ‘PA’ or 0x5041 for PATRIOT HST Station Number Initiating command Error Indicator Reserved Response size; number of bytes in the response body...

  • Page 30: Patriot User Command Set Summary

    USER MANUAL 2.3 PATRIOT User Command Set Summary Command Description Decimal Hexadecimal Notes Page Alignment Reference Frame 0x41 Boresight 0x42 Continuous Print Output 0x43 Output Format 0x46 0=asc, 1=bin Source Mounting Frame 0x47 Hemisphere of Operation 0x48 Stylus Button Function...

  • Page 31: Patriot Error Code Summary

    Source Fail XZ ‘f’ 0x66 Source Fail YZ ‘g’ 0x67 Source Fail XYZ ‘u’ 0x75 Position outside of mapped area (N/A for PATRIOT) ‘A’ 0x41 Source Fail X + BIT Errors ‘B’ 0x42 Source Fail Y + BIT Errors ‘C’ 0x43 Source Fail X + BIT Errors ‘D’...

  • Page 32: Command Reference

    PATRIOT system. Once a configuration has been established, PATRIOT will operate in that configuration until power is removed, a reset is issued, or the configuration is changed again through a command. The current configuration may be saved and used at initialization time by commands discussed in this section.

  • Page 33: A' - Alignment Reference Frame

    (0,0,0) if the sensor were placed there. An example of where this command would be useful is a sloped test surface that the user wanted referenced to the surface. This would obtain congruence between the PATRIOT source and the source frame axes of the sloped surface. Syntax: Astation[ ,[Ox],[Oy],[Oz],[Xx],[Xy],[Xz],[Yx],[Yy],[Yz] ]<>...

  • Page 34: Table 2-3 'A' Ascii Response

    USER MANUAL Output Record: Table 2-3 ‘A’ ASCII Response Byte Index Format Description First Digit of Station Number Second Digit of Station Number ‘A’ Error Indicator ASCII Blank character 5-25 3(Sxxx.xx) Origin Coordinates 26-27 Carriage Return/Line Feed 28-48 3(Sxxx.xx) Positive X-Axis Coordinates 49-50 Carriage Return/Line Feed 51-71...
  • Page 35 USER MANUAL Press P and write down the X, Y, Z measurements (these will be Xx, Xy, Xz) Move the sensor along the proposed Y-axis from the origin defined in step 2 and place it about 24 inches from the source Press P and write down the X, Y, Z measurements (These will be Yx, Yy, Yz) Using all of the data that has been written down in steps 1-7, send...

  • Page 36: B' - Boresight

    If the “Reset Origin” switch is set, X, Y and Z outputs will equal 0,0,0 at the boresight location. PATRIOT then produces outputs relative to this (these) reference(s). Any sensor orientation can be designated as the zero orientation point.

  • Page 37: Table 2-5 'B' Ascii Response

    USER MANUAL Output Record: Table 2-5 ‘B’ ASCII Response Byte Index Format Description First Digit of Station Number Second Digit of Station Number ‘B’ Error Indicator ASCII Blank character 5-12 Sxxx.xxB Azimuth Reference 13-20 Sxxx.xxB Elevation Reference 21-28 Sxxx.xxB Roll Reference 29-30 Carriage Return/Line Feed Table 2-6 ‘B’...

  • Page 38: F' - Output Format

    ASCII output data format in order to be able to easily read PATRIOT data on the PC monitor. The user may wish to write a software application for PATRIOT where a fast update rate is crucial. In order to reduce data throughput size, PATRIOT could be set to output in binary instead of ASCII.

  • Page 39: Table 2-7 'F' Ascii Response

    USER MANUAL Output Record: Table 2-7 ‘F’ ASCII Response Byte Index Format Description First Digit of Station Number Second Digit of Station Number ‘F’ Error Indicator ASCII Blank character ‘0’ Carriage Return/Line Feed Table 2-8 ‘F’ Binary Response Byte Index Format Description Binary Header...

  • Page 40: G' - Source Mounting Frame

    USER MANUAL ‘G’ – Source Mounting Frame Description: This command allows the user to modify the mounting frame coordinates of the source. It is basically a non-physical rotation of the source and becomes the new orientation reference for each sensor’s measurements. Source mounting frame is not a sensor-specific setting.
  • Page 41 USER MANUAL Examples: If there was a requirement to mount the source upside down (more mechanically feasible), then the following command should be used: G0,0,180<> The orientation measurements for all stations will now look as if the source had not been mounted upside down. Rev.

  • Page 42: H' - Hemisphere Of Operation

    Since the sensor(s) can only operate in one hemisphere at a time relative to the source, it is necessary to tell PATRIOT which side of the source they will be on, for each station. PATRIOT also provides hemisphere tracking, a feature whereby PATRIOT can continuously modify its operating hemisphere, given that it is started in a known, valid hemisphere.

  • Page 43: Table 2-11 'H' Ascii Response

    USER MANUAL Hemisphere Tracking is enabled by sending Hstation,0,0,0<>. It is not enabled by default. When enabled, PATRIOT modifies the operating hemisphere automatically. When turning on Hemisphere Tracking, the sensor of the specified station must be initially located in the currently set hemisphere.
  • Page 44 USER MANUAL Station 1 of PATRIOT will now be set for the positive Z or “lower” hemisphere. Although the hemisphere vector is not limited to 1s and 0s, the following table of hemisphere commands may be useful: Forward Hemisphere (+X) H1,1,0,0<>...

  • Page 45: L' - Stylus Button Function

    USER MANUAL ‘L’ – Stylus Button Function Description: This command allows the user to put the PATRIOT stylus into different output modes by controlling the button function. Syntax: Lstation[,fbutton]<> Part Description station 1 or 2, which specifies the relevant source/sensor pair fbutton Defines the function of the Stylus Button.

  • Page 46: Table 2-13 'L' Ascii Response

    USER MANUAL Output Record: Table 2-13 ‘L’ ASCII Response Byte Index Format Description First Digit of Station Number Second Digit of Station Number ‘L’ Error Indicator ASCII Blank character 0 for Marker, 1 for Point/Track Carriage Return/Line Feed Table 2-14 ‘L’ Binary Response Byte Index Format Description...

  • Page 47: N' - Tip Offsets

    The tip offsets allow the tip to act as the measurement reference instead of the sensor coil inside the handle. Tip Offset settings are not saved in the PATRIOT configuration. They must be re-applied each time PATRIOT is restarted. Syntax: Nstation[ ,[Xoff],[Yoff],[Zoff] ]<>...

  • Page 48: Table 2-15 'N' Ascii Response

    To do so, the following steps should be taken. 1. Verify that PATRIOT is measuring units in “inches” by sending the command (see page 43).

  • Page 49: O' - Output Data List

    P&O response frame of less than or equal to 1000 bytes is permissible. NOTE: Due to the high output rate of PATRIOT, caution should be used when defining large output records to prevent overwhelming the host communications’...

  • Page 50: Table 2-18 'O' Ascii Response

    USER MANUAL Output Record: Table 2-18 ‘O’ ASCII Response Byte Index Format Description First Digit of Station Number Second Digit of Station Number ‘O’ Error Indicator ASCII Blank character Data Item #1 7- . xB.. Remaining data items separated by blanks Table 2-19 ‘O’...

  • Page 51: U' - Set Units

    USER MANUAL ‘U’ – Set Units Description: This command sets the distance unit to either metric (centimeters) or English (inches). Subsequent input and output lengths will be interpreted as centimeters or inches respectively. Syntax: U[units] <> Part Description units Defines the type of input and output Units. The choices are: 0 ….
  • Page 52 USER MANUAL Examples: Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches: U0<> The system will now output data in inches and interpret input data in inches. If the operator wanted the system to output its measurements in centimeters, the following command should be sent: U1<>...

  • Page 53: X' - Position Filter Parameters

    This command establishes the sensitivity, boundary, and transition control parameters for the adaptive filter that operates on the position outputs of the PATRIOT system. The user can adjust the parameters of this command to fine-tune the overall dynamic response of PATRIOT.

  • Page 54: Table 2-22 'X' Ascii Response

    USER MANUAL FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions. Allowable range of values: FLow < FHigh < 1 FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering (for highly dynamic input conditions) to maximum filtering (for relatively static input conditions) by proportionately limiting the decay to the low...

  • Page 55: Table 2-23 'X' Binary Response

    USER MANUAL Table 2-23 ‘X’ Binary Response Byte Index Format Description Binary Header Filter Sensitivity Filter High Value Filter Low Value Transition Rate Maximum Value Examples: To select the above filtering, send the following command to the system: X .2,.2,.8,.95<> All active stations will now have filtering applied to the position measurements.

  • Page 56: Y' - Attitude Filter Parameters

    This command establishes the sensitivity, boundary, and transition control parameters for the adaptive filter that operates on the attitude outputs of the PATRIOT system. The user can adjust the parameters of this command to fine-tune the overall dynamic response of PATRIOT.

  • Page 57: Table 2-24 'Y' Ascii Response

    USER MANUAL FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions. Allowable range of values: FLow < FHigh < 1 FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering (for highly dynamic input conditions) to maximum filtering (for relatively static input conditions) by proportionately limiting the decay to the low...

  • Page 58: Table 2-25 'Y' Binary Response

    USER MANUAL Table 2-25 ‘Y’ Binary Response Byte Index Format Description Binary Header Filter Sensitivity Value Filter Low Value Filter High Value Transition Rate Maximum Value Examples: To select the above filtering, send the following command to the system: Y.2,.2,.8,.95<> All active stations will now have filtering applied to the attitude measurements.

  • Page 59: B' - Un-Boresight

    USER MANUAL ‘^B’ – Un-Boresight Description: This command causes the sensor boresight rotation matrix to be reset to the identity matrix for the specified station. If the origin of the station was previously reset using the ‘B’ – Boresight command (see page 28), the origin will revert back to the source origin.

  • Page 60: E' - Set Echo Mode

    ‘^E’ – Set Echo Mode Description: This command enables and disables the communications “echo” mode. In echo mode, Patriot responds to configuration-modifying commands by “echoing” back the command that was received. (Recall that without echo mode, configuration-modifying commands generate no response message from the tracker.

  • Page 61: O' - Rs-232 Port Configuration

    PATRIOT. By default, the baud rate and parity RS-232 parameters are determined by the state of the RS-232 CONFIG switches (located on the back panel of PATRIOT) upon PATRIOT startup or initialization. See Hardware Switches on page 78 for switch values.

  • Page 62: Table 2-30 '^O' Ascii Response

    The system serial communication parameters will now be 19200-baud, no parity, 8 data bits, and 1 stop bit. The host communication software may have to be reset to the new baud rate (19,200) in order for communication with PATRIOT to continue. Table 2-32 Binary RS-232 Codes Code...

  • Page 63: R' - Reset Alignment Frame

    USER MANUAL ‘^R’ – Reset Alignment Frame Description: This command resets the alignment reference frame for the specified station to the station reference frame. It provides an easy way to re-align the reference frame to the factory default values. The command parameter is defined as: Syntax: ^Rstation<>...

  • Page 64: U' - Active Station State

    (1,2). Although stations are enabled simply by plugging the sensors into the ports on PATRIOT, the stations can then be disabled (or enabled again) by using a software command. When a station exists and is enabled, data records for that sensor will be transmitted from that station.

  • Page 65: Table 2-33 '^U[Station]' Ascii Response

    Binary output is the same for both ^U[station]<> and ^U0<> Examples: A user could connect two sensors to a PATRIOT and then collect a data point from one sensor at a time, after disabling the other one. To do so, the following commands would be sent: 1.
  • Page 66 USER MANUAL 3. Send the command ^U2,1<> to turn station 2 on. 4. Send the command ^U1,0<> to turn station 1 off. 5. Press P to collect a data point from station 2. 6. Repeat steps 1 through 6 as necessary. To turn on station 1 while turning off station 2, send: ^U0,1<>...

  • Page 67: X' - Operational Configuration Id

    Description: This command allows a 16 character “ID” to be assigned to the current operational system configuration. This command also allows the user to view the IDs of all valid stored configurations within PATRIOT non- volatile configuration memory. Syntax: ^Xstring<>...

  • Page 68: Table 2-37 '^X' Binary Response

    Config Slot 2 10 CH[16] Config Slot 3 10 CH[16] Startup Config ID Examples: To determine what configurations are available in the PATRIOT system issue the following command: ^X<> The returned record could display the following: Current: Configuration 1 Default...

  • Page 69: Operational Commands

    USER MANUAL 2.5.2 Operational Commands Operational commands are typically executed during normal system operation. They do not affect the current configuration of the PATRIOT system. Rev. B November 2004...

  • Page 70: C' - Continuous Print Output

    To enable continuous output mode, send the command as follows: C<> Data from PATRIOT will now flow continuously to the host computer. To disable, send a ‘P’. Continuous data will stop and the response to the terminating ‘P’ will be returned.

  • Page 71: P' - Single Data Record Output

    ‘P’ – Single Data Record Output Description: In non-continuous output mode, this command polls PATRIOT for a single data record. If more than one station is enabled, then data from each active station will be sent in numerical order (station 1 first, station 2 second;...

  • Page 72: Table 2-39 'P' Binary Response

    To poll the system for a single data record, send the command as follows: One data record from PATRIOT will be sent to the host computer. Rev. B November 2004...

  • Page 73: Q' - Reset Counters

    USER MANUAL ‘Q’ – Reset Counters Description: This command allows the user to zero the frame counting and the frame timestamp feature. The frame counting feature is always enabled; however, it is only output when specified through the ‘O’ – Output Data List command (see page 41).

  • Page 74: K' - Save Operational Configuration

    Examples: Assume a user wants to save the current custom operational configuration for use later. The user also wants to make this configuration the default ‘power up’ configuration for the user’s PATRIOT system. The following commands should be issued: ^XNewIDstring<>...

  • Page 75: T' - Read/Clear Bit Errors

    If a start-up test fails, PATRIOT will display a message to the host, and an error code of ‘I’ (or ‘A’ – ‘G’ if run-time errors also exist) will be placed in any P&O frame output header.

  • Page 76: Table 2-40 '^T' Ascii Response

    USER MANUAL Output Record: NOTE: ^T0 has no output record. Table 2-40 ‘^T’ ASCII Response Byte Index Format Description ‘0’ ‘0’ ‘t’ Blank Blank 5-14 AAxxxxxxxx Bitmap of source and global sensor processor errors, sensors 1-8 15,16 Carriage Return / Line Feed 17-27 AAxxxxxxxxB Bitmap of sensor channel 1 errors...

  • Page 77: V' - Whoami

    Carriage Return/Line Feed 25-26 Carriage Return/Line Feed 27-45 “Boot Loader Version:” 46-52 Boot Version # 53-54 Carriage Return/Line Feed 55-79 “PATRIOT Firmware Version:” 80-86 System Controller Version # 87-88 Carriage Return/Line Feed 89-110 “I/O Processor Version:” 111-117 I/O Processor Version # 118-119 Carriage Return/Line Feed Rev.

  • Page 78: Table 2-43 '^V' Binary Response

    Serial Number Examples: To determine the firmware version of the System Controller module in PATRIOT issue the following command: ^V<> The record returned will contain the version number of the PATRIOT Firmware, I/O Processor, and Boot Loader. Rev. B November 2004...

  • Page 79: W' - Set Default Operational Configuration

    1-3 = User-defined configurations Remarks: When using the ‘^W’ command, the ‘^Y’ – Initialize System command (page 72) or system power cycle must be used to make PATRIOT use the operational configuration. Output Record: None Examples: If the PATRIOT system’s configuration had been altered (by sending...

  • Page 80: Y' - Initialize System

    USER MANUAL ‘^Y’ – Initialize System Description: This command reinitializes the entire system to an advanced power up state. The user should allow sufficient time for the system to run through its self test and initialization (as signified by completion of LED flashing explained in step 8 of Getting Started) before attempting to send the...

  • Page 81: Z' - Read Operational Configuration

    Part Description slotnum 0 = factory default configuration 1 - 3 = One of three User-definable operational configurations that are stored within PATRIOT. Remarks: If no slotnum is supplied, the current operational configuration will be returned. Output Record: The ASCII response to ‘^Z’ will be prepended by only the first 3 characters of the normal 5-byte ASCII header: Table 2-46 ‘^Z’...

  • Page 82: Table 2-47 '^Z' Ascii Response

    Attitude Transition Rate Maximum Value: Sx.xxx<> <> Mounting Frame Angle: 3(Sxxx.xxx)B<> Az El Roll <> Compensation: Off<> <> The following text data will be repeated once for each station on PATRIOT: Format Description Station x<> Station number Output List: (xB)..<> List of Output Data Items Table 2-17 on page Hemisphere: 3(Sxx.xxxB)<>...

  • Page 83: Table 2-48 '^Z' Binary Response

    Source Mounting Frame: Az Source Mounting Frame: El Source Mounting Frame: Roll Frame Rate (2 = 60 Hz) The following 64 bytes will be repeated once for each station on PATRIOT: Byte Index Format Description 80 + (64 * (station-1))
  • Page 84 USER MANUAL Examples: To view the configuration settings for the current configuration issue the following command: ^Z<> To view the configuration settings for the factory default configuration issue the following command: ^Z0<> Rev. B November 2004...

  • Page 85: Component Description

    Be sure the source cable is routed separately from the sensor cables. Source Frequency The PATRIOT is shipped with a source designed to operate at a standard frequency. It is possible to operate multiple PATRIOT units in close proximity by using sources designed to operate at alternate frequencies.

  • Page 86: I/O

    5. PATRIOT reads baud rate and parity RS-232 connection settings from these switches only on power up. If you change the switches to obtain a different setting, you must restart PATRIOT either by using the ‘^Y’ – Initialize System command (page 72) or by cycling the power.

  • Page 87: Magnetic Source

    The standard source is the 2” cube and the specifications in this manual are based on the 2” source, shown in Figure 3-1. Other source sizes are available. Review the Polhemus web site at www.Polhemus.com or contact Polhemus Customer...

  • Page 88: Sensor(S)

    A testing surface where the devices will be used (a table for example), could have small metal hardware like screws, nuts, and bolts, which probably would not affect the accuracy of the PATRIOT system. Figure 3-2 Sensor 3.4 Stylus...

  • Page 89: Figure 3-3 Stylus

    USER MANUAL Figure 3-3 Stylus Rev. B November 2004...

  • Page 90: System Operation

    PATRIOT will automatically send data to the RS-232 interface. The USB cable can be plugged in at any time and the PATRIOT will shift to USB operation. If the USB is unplugged, the PATRIOT system’s power must be recycled to shift back to RS-232 operation.

  • Page 91: Output Considerations

    • Background software and applications running on the host computer. The PATRIOT also contains an adaptive filter that is designed to control noise in the data output. The filter can be applied to Position or Orientation or both. It should be noted that the effect that is seen in the data may have (or appear to have) a slower dynamic response with medium or heavy filtering selected.

  • Page 92: Appendix A. Alignment Reference Frame

    USER MANUAL APPENDIX A. Alignment Reference Frame Legend X, Y, Z = Alignment (Reference) Frame x, y, z = Rotated Stylus or Sensor Coordinate Frame Ψ = Azimuth θ = Elevation φ = Roll Figure 4-1 Alignment Reference Frame Rev. B November 2004...

  • Page 93: Appendix B. System Output Data Records

    NOTE: Original precision is retained for compatibility with previous Polhemus 3SPACE systems. Also, note that some item values are repeated as extended precision items, although no output difference is made (i.e., space, <cr lf>).

  • Page 94: Binary Format

    BINARY FORMAT INITIATING COMMANDS ..P or C (continuous mode) Byte # Type Description Frame Tag, always ‘PA’ or 0x5041 for PATRIOT HST Station Number Initiating command Error Indicator Reserved Response size – number of bytes in the response body.

  • Page 95: Appendix C. Built In Test (Bit

    USER MANUAL APPENDIX C. Built In Test (BIT) Initialization Results Upon startup and initialization, PATRIOT automatically performs a series of Built-In Tests. PATRIOT initialization Built-In Test (BIT) results are read using the ‘^T’ – Read/Clear BIT Errors command on page 67. This command returns initialization BIT results in a series of three bitmapped 32-bit words.

  • Page 96: Runtime Results

    USER MANUAL Global Sensor (GS) BIT Results The sub-bitmap representing global sensor BIT results is defined in Table 4-3 below. Table 4-3 Global Sensor BIT Results Bit Definition Sensor Errors Sensor 1 PROM Read Error Sensor 2 PROM Read Error Reserved Reserved Reserved...

  • Page 97: Table 4-5 Runtime Bit Error Codes

    USER MANUAL NOTE: Because they are updated on a frame-by-frame basis, runtime errors cannot be cleared with the ‘^T’ – Read/Clear BIT Errors command on page 67. Table 4-5 Runtime BIT Error Codes Source Source Source Initialization Error Code Failure Failure Failure BIT Errors...

  • Page 98: Appendix D. Limited Warranty And Limitation Of Liability

    In the event any System or portion thereof is defective, Buyer shall promptly, and within the warranty period, notify Polhemus in writing of the nature of the defect, and return the defective parts at the direction of Polhemus Customer Service to Polhemus. Upon...
  • Page 99 EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT, OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN. IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING, BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE OR FOR INJURY TO PERSON.

  • Page 100: Appendix E. Specifications

    USER MANUAL APPENDIX E. Specifications Update Rate 60 Hz. per sensor, simultaneous samples Latency Less than 20 milliseconds Number of Sensors 1 or 2 I/O Ports USB; RS232 to 115,200 Baud, both standard Static Accuracy 0.1 in. RMS for X, Y or Z position; 0.75° RMS for sensor orientation Resolution 0.0015 in.

  • Page 101: Appendix F. Customer Service

    USER MANUAL APPENDIX F. Customer Service If problems are encountered with the PATRIOT system or if you are having difficulty understanding how the commands work, help is just a telephone call away. Call Polhemus at the numbers listed below and follow the prompts (select “2” for Customer Service and then “1”...
  • Page 102 ......... 9 <> ("Enter" key) ..........17 F (filter parameter scalar value)....45, 48 active station state ..........56 Factor............46, 49 address for Polhemus........F-1 factory defaults ..........12 alignment ........10, 25, 26, 55, A-1 FHigh............46, 49 alignment frame (reset)........55 field source .............E-1...
  • Page 103 P&O (position and orientation) ......15 source mounting frame ........32 parity..............53 source port ............77 PATRIOT ............15 Specifications ..........E-1 PATRIOT System Commands ......18 standard alignment procedure......26 physical characteristics........E-1 static accuracy ..........E-1 pitch ..............15 station ............16, 56 Polhemus contact information ......F-1 station state ............

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