Directed Perception PTU-D46 Series User Manual
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Directed Perception PTU-D46 Series User Manual

Pan-tilt unit
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Directed Perception PTU-D46 Series User Manual

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Summary of Contents for Directed Perception PTU-D46 Series

  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 omputer ontrolled AN-TILT Model PTU-D46 SER’S ANUAL Version 2.14.0 www.DPerception.com...
  • Page 4 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 Directed Perception. Directed Perception cannot be held liable for any mistakes in this manual and reserves the right to make...

  • Page 5: Table Of Contents

    Table of Contents Pan-Tilt User’s Manual Version 2.14.0 INTRODUCTION ....................1 QUICK START......................2 Overview......................2 Installation Components ................2 Basic Setup Steps..................3 INSTALLATION & INITIAL SETUP ..............4 Power Source ....................4 RS-232 Cable and Host Settings..............5 Initial Installation and Connections .............6 Basic Pan-Tilt Unit Commands ..............6 Mounting Your Camera or Other Payload ...........7 COMMAND REFERENCE ..................8 Binary Command Format ................8...
  • Page 6 Table of Contents Pan-Tilt User’s Manual Version 2.14.0 Host Serial Port and Control ..............22 4.7.1 Configuring Host Serial Port Baud and Communications.....22 Step Modes....................23 4.8.1 Configuring Step Mode..............23 SPECIAL CONFIGURATIONS................24 High-Speed Operation ................24 High-Payload Operation ................24 Battery-Powered Operation ...............24 PTU OPTIONS.......................25 EIO Option: Expansion Serial Ports and Control ........25 6.1.1 Select Serial Communications Target ..........25 6.1.2 Configuring Expanded Serial Port Communications.....26...

  • Page 7: Introduction

    • DC power input from an unregulated source The PTU-D46 series is electrically and software compatible with the earlier PTU-46 series. The PTU-D46 provides a smaller controller, higher payload capacity, greater power control, smoother movement, flash reprogrammability, and cooler operation for hot or more hostile environments.

  • Page 8: Quick Start

    QUICK START PTU-D46 User’s Manual (v2.14.0) 2 QUICK START 2.1 Overview As shown in Figure 1, the pan-tilt unit is connected to the pan-tilt controller. Power for the controller can be supplied from an optional AC/DC power supply or a battery power source. The pan-tilt controller accepts commands via RS-232 from a host computer, and it drives the position of the pan-tilt unit.

  • Page 9: Basic Setup Steps

    PTU-D46 User’s Manual (v2.14.0) QUICK START 2.3 Basic Setup Steps The following outlines the basic pan-tilt set-up and installation steps. Section 3 details each of these steps. 1. Obtain a DC power source. The optional Pan-Tilt Power Supply (model PT-PS-INT30V) or an alternate power source may be used (see Sections 3.1 and 7).

  • Page 10: Installation & Initial Setup

    INSTALLATION & INITIAL SETUP PTU-D46 User’s Manual (v2.14.0) 3 INSTALLATION & INITIAL SETUP This section describes the basic installation and setup steps required to get your pan-tilt operational as quickly as possible. 3.1 Power Source A DC power source connects to the 2.1mm coaxial connector on the Pan-Tilt Controller. Two DC power source options are available: •...

  • Page 11: Rs-232 Cable And Host Settings

    PTU-D46 User’s Manual (v2.14.0) INSTALLATION & INITIAL SETUP 3.2 RS-232 Cable and Host Settings An RS-232 terminal or host computer connects to the female DB-9 connector on the Pan-Tilt Unit Controller (PTU-C). The host terminal or computer should be set to 9600 baud, 1 start bit, 8 data bits, 1 stop bit, and no parity.

  • Page 12: Initial Installation And Connections

    INSTALLATION & INITIAL SETUP PTU-D46 User’s Manual (v2.14.0) 3.3 Initial Installation and Connections If you have the power source and RS-232 cables described in Sections 3.1 and 3.2, you are ready to connect the pan-tilt unit components together and test its operation. We suggest that you do not mount your payload (e.g., camera) until the initial installation is completed and tested.

  • Page 13: Mounting Your Camera Or Other Payload

    “rrrr” sound from the pan-tilt unit motors. • If your load fails the above pan or tilt axis load handling tests, contact Directed Perception for further assistance. • If your load passes the above pan and tilt axis load handling tests, you are ready to begin controlling you load using the commands describe in Section 4.

  • Page 14: Command Reference

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) 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 “?”.

  • Page 15: Offset Position (Relative Offset)

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE 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 •...

  • Page 16: Limit Position Queries

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) 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>...

  • Page 17: Immediate Position Execution Mode

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE Example L * Limit bounds are ENABLED (soft limits enabled) PX * Maximum Pan position is 3090 PP3200 ! Maximum allowable Pan position is 3090 LD * PP3200 * PP * Current Pan position is 3200 Related Topics •...

  • Page 18: Await Position Command Completion

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) 4.3.8 Await Position Command Completion Description Awaits the completion of the last issued pan and tilt axis position commands. Used to coordinate axis motions. Syntax A<delim> Example The following commands instruct the pan axis to move to a position, then move to another position: PP * Current Pan position is 0 PP2000 *...

  • Page 19: Monitor (Autoscan) Command

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE 4.3.10 Monitor (Autoscan) Command Description Command defines and initiates repetitive monitoring (scanning) 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>,<pan pos 2><delim>...

  • Page 20: Speed (Absolute)

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) 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 changes LOWER SPEED LIMIT time...

  • Page 21: Delta Speed (Relative Offset)

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE 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.

  • Page 22: Base (Start-Up) Speed

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) 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.

  • Page 23: Speed Control Modes

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE Query upper tilt speed limit: TU<delim> Set upper tilt speed limit: TU<positions/sec><delim> Query lower tilt speed limit: TL<delim> Set lower tilt speed limit: TL<positions/sec><delim> Example PU * Maximum Pan speed is 2902 positions/sec PS3300 ! Pan speed cannot exceed 2902 positions/sec PS2900 * PL * Minimum Pan speed is 31 positions/sec PL20 ! Motor speed cannot be less than 31 pos/sec...

  • Page 24: Unit Commands

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) 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: CI * PP-3000 *...

  • Page 25: Default Save/Restore

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE Example RT * RP * RD * RE * 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 3.5.

  • Page 26: Controller Firmware Version Query

    Query specifies the version and copyrights for the pan-tilt controller firmware. Syntax V<delim> Example * Pan-Tilt Controller v2.12.1d1(C14/E), (C)2003 Directed Perception, Inc., All Rights Reserved 4.5.6 Outside Supply Voltage and Controller Temperature Query Description The D46 hardware includes sensors for the internal case temperature and the input voltage supplied to the controller power receptacle.

  • Page 27: Stationary Power Mode

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE 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<delim> Low pan hold power mode: PHL<delim>...

  • Page 28: Host Serial Port And Control

    COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0) Example PM * Pan in REGULAR move power mode PML * PM * Pan in LOW move power mode Related Topics • It is not recommended that an axis be in transit more than half the time when in High Move Power Mode (i.e., a 50% duty cycle).

  • Page 29: Step Modes

    PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE Example 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.

  • Page 30: Special Configurations

    SPECIAL CONFIGURATIONS PTU-D46 User’s Manual (v2.14.0) 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 that affect high speed operation are: • Load weight, weight distribution and dynamics •...

  • Page 31: Ptu Options

    PTU-D46 User’s Manual (v2.14.0) PTU OPTIONS 6 PTU OPTIONS 6.1 EIO Option: Expansion Serial Ports and Control In many cases, other serial devices are attached or proximal to the pan-tilt. In these cases, you can directly connect these other devices to your host computer serial ports. Doing this requires more serial ports on your host computer, and additional serial cabling is required.

  • Page 32: Configuring Expanded Serial Port Communications

    PTU OPTIONS PTU-D46 User’s Manual (v2.14.0) Establish communications with CHA: @A<# raw bytes><delim> Establish communications with CHB: @B<# raw bytes><delim> where is the number of bytes to follow that will be received <# raw bytes> from the host computer which will not be scanned for changes in the serial communications target.

  • Page 33: Attaching A Mouse/Trackball To An Expanded Serial Port

    6.1.4 Expansion Analog Joystick Control Port and Pin-Out The PTUC-EIO provides an analog joystick control port using a DB15 female receptacle. Directed Perception offers an analog joystick for use with this EIO port (model PT-EIO-JOY- DB). A digital mouse/trackball using the EIO serial ports, described above, is superior to analog voltage controls, though an analog voltage control option is provided for those applications in which voltage control is required.

  • Page 34: Expansion Analog Joystick Commands

    PTU OPTIONS PTU-D46 User’s Manual (v2.14.0) maximum tilt up. For both axes, about 2-3VDC is a deadband in which no axis movement occurs; this accomodates for slight inaccuracies in the joystick, its home position, and internal A/D conversion. If you wire your own analog joystick port input, use the 5VDC supplied by the controller. Do not supply your own 5VDC.
  • Page 35 PTU-D46 User’s Manual (v2.14.0) PTU OPTIONS joystick is centered even when joystick values vary over time or movement. This deadband is about 20% of each joystick axis range. Outside the deadband, the joystick position is linearly related to speed of the pan and tilt axes.

  • Page 36: Networking

    NETWORKING PTU-D46 User’s Manual (v2.14.0) 7 NETWORKING The PTU controller 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 controller attached to the host.

  • Page 37: Ptu Network Software Commands

    PTU controller network. For computers with only RS-232, RS-485 connections may be simply made using an external RS-232 to RS-485 converter. Directed Perception has tested/qualified two coverters: ATEN IC-485S and Moxa A50 which both require a flipped RJ-12 connector (such as a standard phone cord).

  • Page 38: Unit Select/Deselect

    NETWORKING PTU-D46 User’s Manual (v2.14.0) Example 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 0 U1 * U * Unit ID is 1 U1 * DS *...
  • Page 39 PTU-46 User’s Manual (v2.13.3) Appendix A.: SPECIFICATIONS A. SPECIFICATIONS A.1 Pan-Tilt Mechanical Dimensions .250 1.540 1.800 1.000 5.150 .365 .475 .750 .250 .500 .850 page 33...
  • Page 40 PTU-46 User’s Manual (v2.13.3) Appendix A.: SPECIFICATIONS A.2 D46 Controller Dimensions page 34...

  • Page 41: Regulatory Information

    Consult the dealer or an experienced radio/TV technician for help. Directed Perception pan-tilt devices using a cable length of 7’ or less, either with or without the EIO option, and using the PT-PS-INT30V power supply (including PT-PS-FERRITE) have been tested to comply with FCC Class B requirements.

  • Page 42: Limited Warranty

    Directed Perception, Inc. warrants this product against defects in material or workmanship, as follows: For a period of one year from date of purchase, Directed Perception, Inc. will repair the defective product and provide new or rebuilt replacements at no charge. Warranty repairs require the issuance of an repair authorization number from Directed Perception prior to the return of merchandise, and the buyer assumes responsibility for freight charges.
  • Page 43 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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