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Polhemus 3SPACE FASTRAK User Manual

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3SPACE
®
FASTRAK
USER MANUAL
OPM00PI002
REV. G
JUNE 2012

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Summary of Contents for Polhemus 3SPACE FASTRAK

  • Page 1 ® 3SPACE ® FASTRAK USER MANUAL OPM00PI002 REV. G JUNE 2012...
  • Page 2 Polhemus. No patent liability is assumed with respect to the use of the information contained herein. While every precaution has been taken in the preparation of this book, Polhemus assumes no responsibility for errors or omissions.

  • Page 3: Table Of Contents

    FASTRAK MANUAL Table of Contents LIST OF FIGURES ............................V GETTING STARTED ........................1 CONTACTING POLHEMUS CUSTOMER SERVICE ..............8 CURRENT FASTRAK VS. PREVIOUS VERSIONS ..............9 FASTRAK COMMANDS INDEX ....................10 TECHNICAL OVERVIEW ......................11 SPECIFICATION ..........................12 Position Coverage ..........................12 Angular Coverage ..........................
  • Page 4 FASTRAK MANUAL 8.8 E ..........................31 XTERNAL 8.9 V ..........................32 IDEO 8.10 M – FASTRAKS 2012 ..... 32 ULTIPLE YSTEMS PERATION PRODUCED AS OF ANUARY 8.11 O ......................32 UTPUT ONSIDERATIONS SYSTEM COMMANDS ........................34 9.1 C ............... 34 OMMAND ORMAT OTATION AND...

  • Page 5: List Of Figures

    FASTRAK MANUAL List of Figures Figure 1-1 Complete FASTRAK System ..................1 Figure 1-2 Transmitter Connection ....................2 Figure 1-3 Receiver Connection ....................2 Figure 1-4 Mounting Transmitter and Receiver on 2x4 ..............2 Figure 1-5 Power Connector ......................3 Figure 1-6 DC Power Cable Installation ..................

  • Page 6: Getting Started

    FASTRAK MANUAL 1. Getting Started Congratulations on buying the finest 3D tracker system yet! This section of the user manual has been provided to help get your project under way as quickly as possible. There are two ways to get started with your FASTRAK system, as with any new system. You could “wing it,”...

  • Page 7: Figure 1-2 Transmitter Connection

    FASTRAK MANUAL Figure 1-2 Transmitter Connection For getting started, use only one receiver. Identify the receiver and insert it into the receiver receptacle labeled “one” as shown below. Firmly engage and lock the receiver connector into place in the same manner as the transmitter connector in Step 2. Figure 1-3 Receiver Connection For testing purposes, it is convenient to mount both the transmitter and the receiver on a single block of wood (2X4 or equivalent) about 16 inches apart.

  • Page 8: Figure 1-5 Power Connector

    FASTRAK MANUAL Identify the five pin “DIN” type power input connector on the back panel of the electronics unit. Figure 1-5 Power Connector With the separate Power Supply (“brick”) UNPLUGGED from the outlet of the wall, plug the “brick’s” DIN connector into the power-input connector on the rear panel of the electronics unit and firmly seat.

  • Page 9: Figure 1-7 Dc Usb Cable Installation

    • The wizard will install the FASTRAK Loader. When it has completed, select “Finish.” • The same process will be launched again automatically to install the Polhemus FASTRAK USB Driver. Repeat the same selections and the process will be complete.

  • Page 10: Figure 1-8 Pimgr Screen Display

    FASTRAK MANUAL Use the Polhemus PiMgr GUI If you selected the default settings when you installed the FASTRAK Host Software on your computer, you will find a shortcut to the PiMgr application on your Windows XP/Vista/Win 7 desktop. It looks like this: Otherwise, navigate to the program through the windows Start menu: StartAll ProgramsPolhemusPiMgr...

  • Page 11: Figure 1-9 Rs-232 Configuration Settings

    FASTRAK MANUAL Figure 1-9 RS-232 Configuration Settings d. To create a connection, select the Connect button on the PiMgr toolbar: When the connection has been established, the connection icon at the lower right will change to e. To collect a single frame of motion data from the FASTRAK system, select the Single button on the toolbar: f.
  • Page 12 FASTRAK MANUAL up. When these routines are completed (after the flashing), the indicator will turn to a steady-on state thereby indicating that the system is ready to operate. You may now use the PiMgr to exercise the system. After clicking a single button or sending a ‘P’...

  • Page 13: Contacting Polhemus Customer Service

    Please do not return any equipment without first obtaining an RMA number. If your system is still under warranty, Polhemus will repair it free of charge according to the provisions of the warranty as stated in APPENDIX A of this document.

  • Page 14: Current Fastrak Vs. Previous Versions

    FASTRAK MANUAL 3. Current FASTRAK vs. Previous Versions Congratulations on purchasing our FASTRAK system! For our customers who presently own one or more of our tracker products, there are some minor differences which should be noted for all FASTRAKs produced as of January 2012: •...

  • Page 15: Fastrak Commands Index

    FASTRAK MANUAL 4. FASTRAK Commands Index Cmnd. FASTRAK Command Title Brief Description Page Alignment Reference Frame Defines reference frame and origin Boresight Sets AER to zero or the value set by G Unboresight Removes new reference set by B Continuous Output Mode Enables continuous data output Disable Continuous Output Disables continuous data output...

  • Page 16: Technical Overview

    FASTRAK MANUAL 5. Technical Overview The FASTRAK tracking system uses electro-magnetic fields to determine the position and orientation of a remote object. The technology is based on generating near field, low frequency magnetic field vectors from a single assembly of three concentric, stationary antennas called a transmitter, and detecting the field vectors with a single assembly of three concentric, remote sensing antennas called a receiver.

  • Page 17: Specification

    FASTRAK MANUAL 6. Specification Position Coverage The system will provide the specified accuracy when standard* receivers are located within 30 inches (76 cm.) of the standard transmitter. Operation with separations up to 120 inches (305 cm.) is possible with reduced accuracy. *NOTE: Alternative devices of larger/smaller size are available as options and operate to longer/shorter ranges.

  • Page 18: Carrier Frequency

    FASTRAK MANUAL Three receivers 40 updates/second Four receivers 30 updates/second Carrier Frequency The FASTRAK may be configured with any one of four discrete carrier frequencies to allow simultaneous operation of up to four systems in close proximity. Carrier frequencies are selected via color coded Frequency Select Modules (FSM).

  • Page 19: Power Requirements

    FASTRAK MANUAL • Transmitter: Width 2.2” (5.6 cm.), length 2.2” (5.6 cm.), height 2.3” (5.8 cm.), weight 0.6 lb. (0.27 Kg.) excluding attached cable. The Transmitter may be purchased with either 10’ or 20’ cables. • Receiver: Width 1.1” (2.83 cm.), length 0.90” (2.29 cm.), height 0.60” (1.52 cm.), weight 0.6 oz.

  • Page 20: Component Description

    FASTRAK MANUAL 7. Component Description 7.1 SEU The System Electronics Unit (SEU) is a stand-alone unit that may be located anywhere that is convenient to the work area, AC power and the host computer. It contains the required input and output connectors and controls to support up to four receivers, a single transmitter and the RS-232 and USB output ports.

  • Page 21: Receiver Ports (4)

    FASTRAK MANUAL 7.3 Receiver Ports (4) The four Receiver receptacle ports are 15 pin, female “D” type connectors located on the front of the SEU as shown in Figure 7-1. The receiver(s) should be connected to the SEU before the unit is powered on and disconnected after the unit is powered off.

  • Page 22: External Sync I/O

    FASTRAK MANUAL ‘o’ – Set Output Port command (page 62) may be used to override the switch settings during operation and select other baud rates. Although it is possible to save the new baud rate with the ‘^K’ – *Save Operational Configuration command (see page 85, the next time you power up (or re-initialize the system with the ‘^Y’...

  • Page 23: Frequency Select Module

    FASTRAK MANUAL Figure 7-4 Sync Connector Identification (Input and Output) NOTE: If a ground is required, use a shielded cable and use the shield as the ground reference. 7.7 Frequency Select Module The Frequency Select Module is used to select the operating carrier frequency of the FASTRAK system.

  • Page 24: Usb I/O

    F-1, refer to Contacting Polhemus Customer Service on page FAX a copy of your host computer’s pin out identification from its user’s manual. Polhemus will respond with advice on how to make the serial connection between your FASTRAK and your host computer.

  • Page 25: Video Sync Input

    FASTRAK MANUAL or RS-232 communication, but not both. Once ordered, a system can be returned to the factory to have its interface configuration changed for a nominal fee. RS-422 is a differential transmit and receive I/O standard with a maximum error-free speed of 10 Megabits/second (technical specifications for RS-422, not FASTRAK) with operation possible at a distance of 1200 meters with a speed of 100Kbits/second.

  • Page 26: Figure 7-6 Transmitter Diagram

    FASTRAK MANUAL position to a non-metallic surface or stand, which is located in close proximity to the receivers. The Transmitter is dimensionally shown in Figure 7-6 including the position of the electrical center. There are four ¼” - 20 NC tapped holes provided on the bottom surface for mounting. Nylon hardware (supplied) should be used when locating the Transmitter in a fixed position.

  • Page 27: Receiver(S)

    FASTRAK MANUAL 7.14 Receiver(s) The receiver is the smaller device whose position and orientation is measured relative to the Transmitter. The Receiver is dimensionally shown in Figure 7-8 including the position of the electrical center. The Receiver package provides two mounting holes for #4 nylon screws (supplied) in the event that Receiver mounting is required.

  • Page 28: Figure 7-9 Rx1-D Receiver (In Inches)

    FASTRAK MANUAL Figure 7-9 RX1-D Receiver (in inches) Figure 7-10 Receiver Rev. G JUNE 2012...

  • Page 29: Stylus

    FASTRAK MANUAL 7.15 Stylus The stylus is a pen shaped device with a receiver coil assembly built inside and a push button switch mounted on the handle to effect data output. The Position measurements are relative to the tip of the stylus, due to a precise factory calibration. The Stylus is dimensionally shown in Figure 7-11 and may be used as a receiver in any of the receiver ports.

  • Page 30: Video Sync Detector

    FASTRAK MANUAL Figure 7-11 Stylus Dimensions Figure 7-12 Stylus 7.16 Video Sync Detector The Video Sync Detector consists of a suction cup pickup coil with a 3’ cable terminated with a subminiature telephone plug. The Video Sync is used when the system’s data exhibits objectionable noise when operating a receiver in close proximity to any CRT monitor.

  • Page 31: Long Ranger Transmitter

    FASTRAK MANUAL displayed. If this condition exists, move the pickup coil to another part of the Monitor case. This procedure should be repeated until the message “no video sync available” ceases to occur. The video synchronization mode may be exited at any time by selecting another type of synchronization mode using the ‘y’...

  • Page 32: System Operation

    FASTRAK and the host are anticipated. If high baud rate operation over a long communication cable is required but the host computer does not have an RS-422, inexpensive RS-422/RS-232 conversion modules are available commercially. Please contact Polhemus Customer Service (see Contacting Polhemus Customer Service on page 8) should you need suggestions on where to locate these modules.

  • Page 33: Configuration Changes

    FASTRAK MANUAL outlet. Then connect the power cable from the power supply to the DIN power connector on the rear panel of the FASTRAK. Connect the power cord to the power supply brick and plug it into the AC wall outlet. Configure the dip switch settings on the I/O select switch. Plug in transmitter, receivers and RS-232 cable and turn the power switch to the ON position.

  • Page 34: Installing Usb Device Drivers

    FASTRAK MANUAL Figure 8-1 Connection of USB Cable to Switch to USB Mode 8.5 Installing USB Device Drivers NOTE: The following USB Device Driver was designed to run on Windows 2000 and Windows XP. The first time the FASTRAK is connected to a new host computer (via USB), a device driver must be installed on that computer before USB communication can be established.
  • Page 35 FASTRAK over the USB port with the user’s application software. To verify USB communication using the Polhemus GUI, double-click on the FASTRAK GUI icon (FT GUI). In the ‘Data Output’ field, the message “USB Communications with FASTRAK established”...

  • Page 36: Synchronization

    FASTRAK MANUAL Select the “Request Data” button to get data from the FASTRAK over the USB port. Receiving data from the FASTRAK using the GUI confirms that the USB device drivers have been successfully installed on the host computer and the FASTRAK should now be able to communicate with the host application over the USB port.

  • Page 37: Video Sync

    FASTRAK MANUAL signal as detailed in External Sync I/O on page must be input to the SYNC IN port and the ‘y1’ command issued. 8.9 Video Sync The Video Sync mode should be used when a receiver will be operating in close proximity to a CRT monitor and the FASTRAK measurements appear noisy.
  • Page 38 FASTRAK MANUAL • Data Format (binary is more efficient than ASCII) • Filtering The FASTRAK baud rate should be set to the highest setting that is compatible with the host computer and the communication software. Although the FASTRAK system runs at 120 Hz, it may appear that it is running slower if the output is constrained by a slow baud rate.

  • Page 39: System Commands

    FASTRAK MANUAL 9. System Commands There are two classes of system commands: one class for configuring the state of the system, and the other for controlling its operation. The commands are presented in functional, alphabetical order. Where applicable, examples of the command in use will be given. All commands are input on the RS-232 serial port and consist of ASCII characters.

  • Page 40: Command Format Notes

    FASTRAK MANUAL 9.2 Command Format Notes • All commands and alphabetic parameters are case sensitive. They must be entered in upper or lower case as defined in the syntax. • Any command with a * next to it means that it cannot be stored in EEPROM; i.e., if a ‘^K’...

  • Page 41: Command/Output Listing

    FASTRAK MANUAL 9.3 Command/Output Listing See pages that follow. NOTE: Any command with a * next to it means that it cannot be stored in EEPROM; i.e., if a ‘^K’ – *Save Operational Configuration command (see page 85) is executed, the information will not be saved after the system power is turned off.

  • Page 42: A' - Alignment Reference Frame

    FASTRAK MANUAL ‘A’ – Alignment Reference Frame Syntax: Astation,[Ox],[Oy],[Oz],[Xx],[Xy],[Xz],[Yx],[Yy],[Yz]<> Astation<> to read back the current alignment Purpose: The alignment command does two things. It defines a reference frame to which all position and orientation output data is referred. In addition, it creates a new origin point where the X, Y, Z measurements would equal 0,0,0 if the receiver were placed there.
  • Page 43 FASTRAK MANUAL 6. Move the receiver along the proposed Y-axis from the origin defined in step 2 and place it about 24 inches from the transmitter. 7. Press P and write down the X,Y,Z measurements (These will be Yx,Yy,Yz) 8. Using all of the data that has been written down in steps 1-7, send the command A1,Ox,Oy,Oz,Xx,Xy,Xz,Yx,Yy,Yz<>...

  • Page 44: B' - *Boresight

    FASTRAK MANUAL ‘B’ – *Boresight Syntax: Bstation<> Purpose: This command causes the tracking receiver to be electronically aligned in orientation with the user system coordinates. This results in azimuth, elevation and roll outputs equal to the boresight reference values (usually 0,0,0 which is the system default) at the current orientation.

  • Page 45: B' - *Unboresight

    FASTRAK MANUAL ‘b’ – *Unboresight Syntax: bstation<> Purpose: This command removes the current boresight. The system boresight rotation matrix is reset to the identity matrix for the specified station. The command parameter is defined as: station the number of the station to be boresighted. Relatives: B, G Example:...

  • Page 46: C' - Continuous Output Mode

    FASTRAK MANUAL ‘C’ – Continuous Output Mode Syntax: Description: Output transmit mode refers to whether the system automatically transmits data records to the host (continuous mode), or the host must request data records by sending a command to the system each time (non-continuous mode). Purpose: This command enables the continuous print output mode.

  • Page 47: C' - Disable Continuous Printing

    FASTRAK MANUAL ‘c’ – Disable Continuous Printing Syntax: Purpose: This command disables the continuous print output mode. After sending this command, the continuous data stream from the FASTRAK to the host computer will stop. Relatives: C, P Default: Continuous output mode is disabled Example: If the system is set to continuous output mode with the ‘C’...

  • Page 48: D' - Enable Fixed Metal Compensation

    In most cases, the user is able to locate a test set up where compensation is not required. If it is required and Polhemus is contracted to perform a calibration, then the system will be left with compensation enabled. The command to enable...

  • Page 49: D' - Disable Fixed Metal Compensation

    The default condition is compensation disabled. Example: A system could be calibrated (by Polhemus) at a particular user location and then later moved to a different location where the calibration is no longer required. The user should then disable the calibration that is no longer applicable. This could be accomplished with the command: System measurements would no longer contain the compensation offset.

  • Page 50: E' - Define Stylus Button Function

    FASTRAK MANUAL ‘e’ – Define Stylus Button Function Syntax: e[station],fbutton<> Purpose: This command allows the user to put the FASTRAK stylus into different output modes by controlling the button function. The command parameters are defined station the number of a station. fbutton defines the function of the stylus button.

  • Page 51: F' - Enable Ascii Output Format

    FASTRAK MANUAL ‘F’ – Enable ASCII Output Format Syntax: Purpose: This command enables the ASCII output data format. ASCII format means that the data is generally human readable, while binary format is generally computer readable. Regardless of output data format selected, all input data (commands) to the FASTRAK system must be in ASCII format.

  • Page 52: F' - Enable Binary Output Format

    If e = 255 and f = 0 (infinity) NaN (not a number) If e = 255 and f <>0 The actual I/O byte sequence is system specific. For the greatest compatibility, Polhemus has adopted for output the following Intel 80X86 byte ordering: Rev. G JUNE 2012...
  • Page 53 FASTRAK MANUAL The lowest physical address for a byte is a0, a1 has address a0+1, etc. The least significant byte of data is b0, with b3 the most significant byte. For IEEE FP output from the Tracker/Digitizer, the byte output sequence is b0, b1, b2, & b3. 80X86 DEC PDP-11 Z8000 / M680XX...

  • Page 54: G' - Boresight Reference Angles

    FASTRAK MANUAL ‘G’ – Boresight Reference Angles Syntax: Gstation,[Azref],[Elref],[Rlref]<> Gstation<> to read back the current boresight reference angles Purpose: This command establishes the bore-sight reference angles for a particular station. When the system is boresighted with the ‘B’ – *Boresight command (see page 39), the line-of-sight vector (Azimuth, Elevation, and Roll angles) will assume these values.

  • Page 55: H' - Hemisphere Of Operation

    FASTRAK MANUAL ‘H’ – Hemisphere of Operation Syntax: Hstation,[p1],[p2],[p3]<> Hstation<> to read back the current hemisphere selection Description: Because of the symmetry of the magnetic fields generated by the transmitter, there are two mathematical solutions to each set of receiver data processed. Therefore, only half of the total spatial sphere surrounding the transmitter is practically used at any one time without experiencing an ambiguity (usually sign flips) in the X, Y, Z measurements.
  • Page 56 FASTRAK MANUAL computed hemisphere will be saved (not the hemisphere tracking feature) to the EEPROM. Therefore, sending ‘^K’ during hemisphere tracking is not advised. Relatives: None. Default: The default hemisphere value is: 1,0,0 which is positive X or “forward” hemisphere. In addition, the hemisphere tracking feature is disabled in the default condition.

  • Page 57: Figure 9-2 Hemisphere Vector

    FASTRAK MANUAL “normal” hemisphere selection, e.g. H1,1,0,0<> to go back to the “forward” hemisphere selection. Figure 9-2 Hemisphere Vector (Zenith represents the hemisphere vector) RECORD IDENTIFIER ..H INITIATING COMMAND ..H byte(s) Identification Format 1 ..Record type, “2” 2 ..

  • Page 58: I' - Define Increment

    FASTRAK MANUAL ‘I’ – Define Increment Syntax: Istation,[distance]<> Istation<> to read back the current increment selection. Purpose: This command allows the user to control when data records will be sent to the host, based on receiver movement. The “distance” selection allows the user to specify exactly how much movement will be required before data is produced.

  • Page 59: L' - Active Station State

    FASTRAK MANUAL ‘l’ – Active Station State Syntax: lstation,[state]<> lstation<> to read back the current station state Description: A station is defined as a transmitter/receiver pair. The four receivers paired with the one transmitter are assigned station numbers one through four (1-4). Although stations are enabled simply by plugging the receivers into the ports on the FASTRAK SEU, the stations can then be disabled (or enabled again) by using a software command.
  • Page 60 FASTRAK MANUAL RECORD IDENTIFIER ..l INITIATING COMMAND ..l byte(s) Identification Format 1 ..Record type, “2” 2 ..Station number 3 ..Sub-record type ‘l’ 4 ..Station 1 = 1 if active, else 0 A1 5 ..Station 2 = 1 if active, else 0 A1 6 ..

  • Page 61: N' - *Define Tip Offsets

    FASTRAK MANUAL ‘N’ – *Define Tip Offsets Syntax: Nstation,[xoff,yoff,zoff]<> Nstation<> to read back the current tip offsets Description: Each stylus has been factory calibrated with custom tip offsets. This is the offset of the receiver from the tip of the stylus. The tip offsets allow the tip to act as the measurement reference instead of the receiver coil inside the handle.

  • Page 62: O' - Output Data List

    FASTRAK MANUAL ‘O’ – Output Data List Syntax: Ostation,[p1],[p2],...,[pn]<> Description: The output list refers to the subset of data items to be included in a data record. Any combination of up to 32 data items that total less than or equal to 254 bytes is permissible.
  • Page 63 FASTRAK MANUAL y direction cosines of the receiver’s x, y, z axes - See Note 1. z direction cosines of the receiver’s x, y, z axes - See Note 1. not used not used not used orientation quaternion not used not used not used not used...

  • Page 64: System Data Record: Ascii Format

    FASTRAK MANUAL System Data Record: ASCII Format RECORD IDENTIFIER ..none INITIATING COMMANDS ..P or in continuous mode Item byte(s) Identification Format 1 .. Record type, “0” 2 .. Station Number 3 .. System Error Code (See note 2) Original Precision: 0 or 50 ?* ..
  • Page 65 FASTRAK MANUAL Note 1. 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>. Original and extended precision may be freely mixed in an output record, but it is recommended that extended precision be used if compatibility is not required, as the original precision may be deleted in future systems.

  • Page 66: System Data Record: Ieee Floating-Point Format

    FASTRAK MANUAL System Data Record: IEEE Floating-Point Format RECORD IDENTIFIER ..none INITIATING COMMANDS ..P or in continuous mode byte(s) Identification Format 1 ..Record type, “0” 2 ..Station Number 3 ..System error code (See Note 2 on previous page.) ?* ..

  • Page 67: O' - Set Output Port

    FASTRAK MANUAL ‘o’ – Set Output Port Syntax: orate,parity,bits,HHS<> Description: The system output port settings including RS-232 BAUD rate, parity, and number of bits per character may be established to specified values. Purpose: Sets the output BAUD rate for RS-232 port to a specified rate. The parameters are: rate is specified as follows: 2,400...

  • Page 68: P' - Single Data Record Output

    FASTRAK MANUAL ‘P’ – Single Data Record Output Syntax: Description: Output transmit mode refers to whether the system automatically transmits data records to the host (continuous output mode), or the host must request data records by sending a command to the system each time (non-continuous output mode).

  • Page 69: Q' - Angular Operational Envelope

    FASTRAK MANUAL ‘Q’ – Angular Operational Envelope Syntax: Qs,[azmax],[elmax],[rlmax],[azmin],[elmin],[rlmin]<> Qs<> to read back the current orientation limits Purpose: This command allows the user to set maximum and minimum limits for the azimuth, elevation, and roll outputs. If the orientation outputs are outside of the limits defined by this command, the system will output an error ‘y’.
  • Page 70 FASTRAK MANUAL byte(s) Identification Format 1 ..Record type, “2” 2 ..Station number 3 ..Sub-record type ‘Q’ 4-12 ..Maximum azimuth value Sxxx.xxxb 13-21 ..Maximum elevation value Sxxx.xxxb 22-30 ..Maximum roll value Sxxx.xxxb 31-39 ..Minimum azimuth value Sxxx.xxxb 40-48 ..

  • Page 71: R' - *Reset Alignment Reference Frame

    FASTRAK MANUAL ‘R’ – *Reset Alignment Reference Frame Syntax: Rstation<> Purpose: 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: station the number of the station to be reset.

  • Page 72: R' - Transmitter Mounting Frame

    FASTRAK MANUAL ‘r’ – Transmitter Mounting Frame Syntax: rstation,[A],[E],[R]<> rstation<> to read back the current transmitter mounting frame Purpose: This command allows the user to modify the mounting frame coordinates of the transmitter relative to a particular receiver. It is basically a non-physical rotation of the transmitter and becomes the new orientation reference for the specified receiver’s measurements.

  • Page 73: S' - System Status Record

    FASTRAK MANUAL ‘S’ – System Status Record Syntax: Description: Status refers to the capability to determine information about the system that is not available from other commands. This command allows the operator to verify communication, determine system configuration, check for BIT errors, determine the firmware version number and read system identification information.
  • Page 74 FASTRAK MANUAL INITIATING COMMAND ..S byte(s) Identification Format Record type, “2” Station number Sub-record type ‘S’ System flags LSBit Output Format (0=ASCII,1=Binary) Units (0=Inches, =Centimeters) Compensation (0=Off, 1=On) Transmit Mode (0=Non-Continuous, =Continuous) Configuration (1=Tracker) Always 1 (Reserved for future use) Reserved 10-23 Reserved for future use MSBit...

  • Page 75: T' - Built-In-Test Information

    FASTRAK MANUAL ‘T’ – Built-In-Test Information Syntax: TBITnumber[,0]<> Purpose: This command allows the user to obtain additional information about a particular BIT and clear a BIT error. The additional information is meaningful only to factory personnel. The ‘T’ command is useful to attempt to clear a problem; however, if an error re-occurs, and after you have verified your setup configuration, consultation with the factory is recommended.
  • Page 76 FASTRAK MANUAL BIT number Code Self Calibration Error Codes X Driver Limits Self-Calibration Y Driver Limits Self-Calibration Z Driver Limits Self-Calibration x Gain Limits Self-Calibration y Gain Limits Self-Calibration z Gain Limits Self-Calibration Coil Limits Self-Calibration Not Used in FASTRAK BIT number Code Signal Matrix Error Codes...

  • Page 77: U' - English Conversion Units

    FASTRAK MANUAL ‘U’ – English Conversion Units Syntax: Description: Input/output unit is a reference to the distance unit assumed by the system when interpreting input and generating output data. Purpose: This command sets the distance unit to English (or inches.) Subsequent input and output lengths will be interpreted as inches.

  • Page 78: U' - Metric Conversion Units

    FASTRAK MANUAL ‘u’ – Metric Conversion Units Syntax: Purpose: This command sets the distance unit to metric (or centimeters.) Subsequent input and output lengths will be interpreted as centimeters. Relatives: Default: The system default unit is centimeters. Example: If the operator wanted the system to output its measurements in centimeters, the following command should be sent: The system will now output data in centimeters.

  • Page 79: V' - Position Operational Envelope

    FASTRAK MANUAL ‘V’ – Position Operational Envelope Syntax: Vs,[xmax],[ymax],[zmax],[xmin],[ymin],[zmin]<> Vs<> to read back the current limits Description: The position operational envelope is an area defined by X, Y, Z minimum and maximum limits. It provides the user with a means of specifying the location of the limits and notifies the user when the limits have been exceeded.
  • Page 80 FASTRAK MANUAL byte(s) Identification Format 1 ..Record type, “2” 2 ..Station number 3 ..Sub-record type ‘V’ 4-11 ..Maximum x-coordinate value Sxxx.xxx 12-19 ..Maximum y-coordinate value Sxxx.xxx 20-27 ..Maximum z-coordinate value Sxxx.xxx 28-35 ..Minimum x-coordinate value Sxxx.xxx 36-43 ..

  • Page 81: V' - Attitude Filter Parameters

    FASTRAK MANUAL ‘v’ – Attitude Filter Parameters Syntax: v[F],[FLOW],[FHIGH],[FACTOR]<> v[n]<> Macro filter command v<> to return the current filter values selected Purpose: This command establishes the sensitivity, boundary, and transition control parameters for the adaptive filter that operates on the attitude outputs of the tracking system.
  • Page 82 FASTRAK MANUAL n Macro filter is enabled when n>=2 as defined below: (Note this also sets the macro filter setting for position. See ‘x’ command.) n=2 No Filter (This macro has the same effect as v,1<> above) n=3 Low Filter n=4 Medium Filter n=5 Heavy Filter Example:...
  • Page 83 FASTRAK MANUAL RECORD IDENTIFIER ..v INITIATING COMMAND ..v byte(s) Identification Format 1 ..Record type, “2” 2 ..Blank 3 ..Sub-record type ‘v’ 4-10 ..Filter sensitivity bSx.xxx 11-17 ..Floating filter low value bSx.xxx 18-24 ..Floating filter high value bSx.xxx 25-31 ..

  • Page 84: W' - Reset System To Defaults

    However, care should be taken because all custom settings will be lost as a result of the reset. NOTE: This command should only be used after consultation with Polhemus. Rev. G JUNE 2012...

  • Page 85: X' - Configuration Control Data

    ^K, ^Y, W Default: The default configuration control data retrieved with the ‘X’ command is as follows: OutputCompensat CPG2030-003-10 (This is a Polhemus configuration code.) Example: A user could enter project specific information with the ‘X’ command as follows: XF18 Simulator05 Saint Louis<>...

  • Page 86: X' - Position Filter Parameters

    FASTRAK MANUAL ‘x’ – Position Filter Parameters Syntax: x[F],[FLOW],[FHIGH],[FACTOR]<> x[n]<> Macro filter command Purpose: This command establishes the sensitivity, boundary, and transition control parameters for the adaptive filter that operates on the position outputs of the tracking system. The user can adjust these parameters to fine-tune the overall dynamic response of the system.
  • Page 87 FASTRAK MANUAL Example: To select medium filtering, type x4<> The filter is a single-pole low-pass type with an adaptive pole location (i.e., a floating filter “parameter/variable”). The pole location is constrained within the boundary values FLOW and FHIGH but is continuously self-adaptive between these limits as a function of the sensitivity parameter F and the sensed (ambient noise plus translational rate) input conditions.

  • Page 88: Y' - Set Synchronization Mode

    FASTRAK MANUAL ‘y’ – Set Synchronization Mode Syntax: y[smode]<> y<> to read back the current synchronization mode Description: Synchronization allows for any one of four conditions: 1. The FASTRAK system can operate in its default condition with the data cycle time set to 8.3 milliseconds.
  • Page 89 FASTRAK MANUAL 1. Designate one FASTRAK system as the master and the other as the slave. NOTE: Make sure that the two FASTRAKs have different colored dots on them so you will know that they are operating at different frequencies. 2.

  • Page 90: K' - *Save Operational Configuration

    FASTRAK MANUAL ‘^K’ – *Save Operational Configuration Syntax: Definition: EEPROM (Electronically Erasable Programmable Read Only Memory) is memory that can be altered by the system, but is not lost when the power is turned off. System variables are stored in the EEPROM. All of these variables are assigned default values.

  • Page 91: Q' - *Resume Data Transmission

    FASTRAK MANUAL ‘^Q’ – *Resume Data Transmission Syntax: Purpose: Resumes data transmission to the host device following suspension of transmission by a ^S command. If a previous ^Q command has been issued, without an intervening ^S, this command will have no effect. Relatives: Default: Example:...

  • Page 92: S' - *Suspend Data Transmission

    FASTRAK MANUAL ‘^S’ – *Suspend Data Transmission Syntax: Purpose: This command suspends data transmission to the host device until a subsequent ‘^Q’ – *Resume Data Transmission (page 86) is received. If a previous ‘^S’ command has been issued, without an intervening ‘^Q’, this command will have no effect.

  • Page 93: Y' - *Reinitialize System

    FASTRAK MANUAL ‘^Y’ – *Reinitialize System Syntax: Purpose: Reinitializes the entire system to the power up state. The user should allow sufficient time for the system to run through its self test and initialization (wait for the green light to stop flashing) before attempting to send the system additional commands.

  • Page 94: Command Error

    FASTRAK MANUAL 10. Command Error Command errors are defined as follows: COMMAND ERROR RECORD IDENTIFIER ..* INITIATING COMMAND ..all invalid commands byte(s) Identification Format 1 ... Record Type, “2” 2 ... Blank 3 ... Sub-record type ‘E’ 4-10 ... “*ERROR*”...

  • Page 95: Default Operation With A Stylus

    FASTRAK MANUAL 11. Default Operation with a Stylus The stylus may be used as a receiver in any of the receiver ports. However, the button on the stylus will only work when the stylus is connected to Station 1. The stylus functions as a receiver with the electrical center offset from the tip of the stylus via software.

  • Page 96: Appendix A. Limited Warranty And Limitation Of Liability

    Polhemus warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Polhemus’ delivery to the Buyer, or two years and 30 days from the date ownership of Product passed to the Buyer, whichever occurs first, with the exception of FastSCAN, Marker, and mechanical failure of a battery assembly which have a warranty period of only one year.
  • Page 97 NO WARRANTIES, EXPRESS OR IMPLIED, EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT, OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN. IN NO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING, BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE. WITHOUT LIMITING THE FOREGOING POLHEMUS’S...

  • Page 98: Appendix B. Trouble Shooting

    FASTRAK MANUAL APPENDIX B. Trouble Shooting Symptom Possible Solution FASTRAK Won’t Communicate Check Dipswitch Settings Check RS-232 Cable Check Communication Program Settings Check PC COM Port Return SEU for Repair Green Light Won’t Stop Flashing Download New Firmware Return SEU for Repair Solid Light Without Flashing First Return SEU for Repair Return Transmitter for Repair BIT Error A-C, G-I...

  • Page 99: Appendix C. Glossary

    FASTRAK MANUAL APPENDIX C. Glossary 6DOF The 6 Degrees Of Freedom (XYZAER) needed to define the position and orientation of an object in 3D space. Alignment Obtaining congruence between the axes of the tracker and the axes of the application. For active technologies, this is often the same as aligning the active element from which all measurements are referenced.
  • Page 100 FASTRAK MANUAL rotation around the ‘Z’ or vertical axis. The term “yaw” is often substituted for azimuth, especially in the context of flight. Baud Rate The signaling rate on a serial line. For example, to convey an 8-bit byte normally requires at least two additional bit times, a start bit and a stop bit so that synchronization is possible without a separate clocking line.
  • Page 101 FASTRAK MANUAL Direction Cosines The cosines of the angles between the receiver’s x, y, z-axes and the X, Y, Z axes of the measurement reference (alignment) frame. EEPROM Electronically Erasable Programmable Read Only Memory. Memory that can be altered by the 3SPACE, but is not lost when the power is OFF. User default data is stored here, as well as the system identification data.
  • Page 102 FASTRAK MANUAL I/O latency The interval of time needed by the host computer to transfer tracker data from the tracking system into the host application. The total time from motion data sample capture to host inputting where the data are ready for application use. Line of Sight (LOS) 1) The orientation angle of the tracker receiver.
  • Page 103 FASTRAK MANUAL X, Y, Z = Alignment (Reference) Frame x, y, z = Rotated Stylus or Sensor Coordinate Frame Ψ = Azimuth θ = Elevation φ = Roll Figure C-1 Euler Angles The 3SPACE Euler angles, azimuth, elevation and roll, are designated ψ, θ, and φ...
  • Page 104 FASTRAK MANUAL virtue of their principle of operation, can produce only position or only orientation whereas others can produce both P&O (although the user usually can opt for only those parameters desired). Pitch Same as elevation. Quaternion A four-parameter quantity representing a vector and a scalar. The quaternion q = q + i q + j q...
  • Page 105 FASTRAK MANUAL System ID Data Thirty-two characters of ASCII data (hardware serial number, etc.) stored in EEPROM containing information identifying the system. See ‘X’ command. Tracker Alignment The process whereby the tracking system coordinate reference is brought into coincidence, either physically or mathematically, with other coordinates of the environment.
  • Page 106 FASTRAK MANUAL User Defaults The values assigned to certain system variables by the user. Stored in EEPROM, 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; +Y is in the right hand direction and +Z is upward. XYZAER The output string of date reporting the position, XYZ, and orientation, AER - azimuth, elevation and roll, of the tracking receiver.

  • Page 107: Appendix D. 'Accuracy And Resolution' White Paper

    (yaw), elevation (pitch), and roll. A typical Polhemus system consists of a fixed magnetic-dipole transmitting antenna called a transmitter; a freely movable magnetic-dipole receiving antenna called a receiver; and...
  • Page 108 FASTRAK MANUAL Figure D-1 Position and Orientation Measurements System Block Diagram In the system shown in Figure D-1, each loop of the transmitter antenna is in turn excited with a driving signal identical in frequency and phase. Each excitation produces a single axis transmitter dipole.
  • Page 109 FASTRAK MANUAL Figure D-2 Black Box System There are three sensing coils and three magnetic moments with the resultant matrix = M m m expressed by M = [m ]. Position and orientation are described by the voltages induced in the three receiver loops according to their sensitivity and orientation and given by the matrix s s quantity S = [s...
  • Page 110 FASTRAK MANUAL orientation. Therefore, determining the S/N ratio from a “black box” perspective involves the use of a precise mechanical positioning instrument with a precision gimbal. Using surveyed (precisely known) attitude coordinates (azimuth, elevation and roll), a statistically valid number of measurement samples are taken at each attitude.
  • Page 111 FASTRAK MANUAL ACCURACY The accuracy of electromagnetic 6DOF measurement instruments is a function of the error involved in making measurements and is therefore expressed in statistical error terminology. It should be noted here that the use of statistical error terminology is the reason the accuracy of such instruments is generally specified in degrees RMS for attitude (orientation) and in inches or centimeters RMS for position.
  • Page 112 FASTRAK MANUAL reference axis. Elevation is a rotation of the receiver’s x axis about the Y reference axis. Roll is a rotation of the receiver’s y (or z) axis about its x axis. In order to measure the orientation Static Accuracy in the same manner that the positional accuracy was obtained, the aforementioned precise gimbal test fixture is required to allow input of precise and simultaneously different attitudes.

  • Page 113: Appendix E. 'Latency' White Paper

    (e.g. RS-232, MIL-STD-1553, IEEE-488, etc). Polhemus 3SPACE FASTRAK magnetic 6DOF measurement systems emanate low frequency magnetic fields from a stationary transmitting antenna and sense them with a movable receiving antenna. The received magnetic field samples are subjected to analog and digital processes, and are ultimately solved for the receiver’s position and orientation coordinates.
  • Page 114 FASTRAK MANUAL This period is important to helmet display or virtual reality applications since dynamic errors between the actual and computed coordinates can be very noticeable to the eye. To discuss effective latent period let the beginning of the magnetic field sampling be at t=0;...
  • Page 115 FASTRAK MANUAL FILTER RESPONSE (LAG) FASTRAK has optional filters that are intended to smooth the receiver’s calculated position and orientation in mechanically or magnetically noisy environments. The degree of filtering is user selectable from very heavy to none at all, or the degree of filtering can be automatically selected in real time by the tracker as it adapts to “noise”.
  • Page 116 RECAPPING This technical note has discussed the latency in the application of a Polhemus 3SPACE™ FASTRAK product. As pointed out, sync-to-output and effective latencies are measures of tracker throughput and cannot be changed, while apparent latency and filter response are controlled to a degree by the interface and application environment.

  • Page 117: Appendix F. Cable Diagrams

    FASTRAK MANUAL APPENDIX F. Cable Diagrams RS-232 Cable Diagram • IBM (PC) Compatible Computer • SGI O2, Onyx 2, or Octane To PC To FASTRAK D-Type Connector D-Type Conn. 9-Pin Female 9-Pin Female Pin # Identification Pin # 2 --Receive Data -------------------------------------------------------Transmit Data--- 3 3 --Transmit Data --------------------------------------------------------Receive Data-- 2 5 ------------------------------------Signal Ground---------------------------------------- 5 Rev.
  • Page 118 FASTRAK MANUAL RS-232 Cable Diagram • IBM (PC) Compatible Computer To PC To FASTRAK D-Type Connector D-Type Conn. 25-Pin Female 9-Pin Female Pin # Identification Pin # 2 --Transmit Data -------------------------------------------------------Receive Data-- 2 3 --Receive Data -------------------------------------------------------Transmit Data-- 3 7 -----------------------------------Signal Ground---------------------------------------- 5 Rev.
  • Page 119 FASTRAK MANUAL RS-232 Cable Diagram • SGI Indigo2, Indigo, Onyx, Iris To PC To FASTRAK Circular Connector D-Type Conn. DIN-8 9-Pin Female Pin # Identification Pin # 3 --Transmit Data --------------------------------------------------------Receive Data-- 2 4 ------------------------------------Signal Ground---------------------------------------- 5 5 --Receive Data --------------------------------------------------------Transmit Data-- 3 Rev.
  • Page 120 FASTRAK MANUAL RS-232 Cable Diagram • SGI VTX, Onyx, Personal Iris To PC To FASTRAK Circular Connector D-Type Conn. DIN-8 9-Pin Female Pin # Identification Pin # 2 --Transmit Data--------------------------------------------------------Receive Data-- 2 3 --Receive Data----------------------------------------------------------Transmit Data- 3 7 ------------------------------------Ground------------------------------------------------ 5 Rev.

  • Page 121: Index

    Configuration Changes ............. 28 Accuracy and Resolution White Paper ......D-1 Configuration Control Data ..........80 Active Station State ............54 Contacting Polhemus............8 Alignment ................ C-1 continuous output mode ......... 41, 86, 87, 90 alignment command ............37 copyright ................ii Alignment Frame ............
  • Page 122 FASTRAK MANUAL F 76, 81 hemisphere ............... 50 FACTOR ..............76, 81 Hemisphere ..............C-3 factory defaults ..............79 Hemisphere of Operation ..........50 Factory Defaults.............. C-3 hemisphere tracking ............50 FASTRAK Commands Index ........... 10 Hemisphere Vector ............52 FASTRAK Data Record .............
  • Page 123 FASTRAK MANUAL RS-232 ..........11, 13, 16, 18, 27, 90 RS-232 Cable Connections ..........27 Operating Environment ............. 13 RS-232 Cable Diagram IBM (PC) Compatible Computer ....... F-1, F-2 Operating Temperature ............. 13 SGI 02, Onyx 2, or Octane ......... F-1 Optional RS-422 I/O ............
  • Page 124 FASTRAK MANUAL USB operation ..............28 Useful Range ..............C-7 Table of Contents .............. iii User Defaults ..............C-8 User's application software ..........30 Technical Overview ............11 Using the USB Interface........... 28 theory of operation ............D-1 tip 56 tip offsets ................

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