D48 E Series User Manual

______________________________________________________________________________

HighPerformance

PanTiltUnitMODEL:PTUD48ESeries VERSION:4.20 REVISIONDATE:January,2011

UserManual

PTUD48ESeries

DOCUMENTCONTROLDate 09/2010 09/2010 01/2011 Author A.Hernandez A.Hernandez A.Hernandez Rev.# 4.00 4.10 4.20 Changes InitialESeriesdocrelease Addedcablediagram,minorfixes AddedISMinformation

Note:ThismanualdescribestheESeriesPTUD48only.Ifyouhaveanyotherseriesof PTUD48,pleaserefertotheappropriatedocumentationforthatseries.

COPYRIGHTNOTICEPanTiltUnit(ModelPTUD48ESeries)UsersManual 1991,2010byFLIRMotionControlSystems,Inc.,890CCowanRoad,Burlingame,California 94010,(650)6923900,FAX:(650)6923930,www.FLIR.com./MCS Allrightsreserved.ProtectedundernumerousU.S.patents,including5463432and5802412 withotherpatentspending.Nopartofthisbookmaybereproduced,storedinaretrieval system,ortranscribedinanyformorbyanymeansincludingbutnotlimitedtoelectronic, mechanical,photocopying,recording,orotherwise,withoutthepriorwrittenpermissionof FLIRMotionControlSystems,Inc. Theinformationinthismanualissubjecttochangewithoutnoticeand,exceptforthe warranty,doesnotrepresentacommitmentonthepartofFLIRMotionControlSystems,Inc. FLIRMotionControlSystems,Inc.cannotbeheldliableforanymistakesinthismanualand reservestherighttomakechanges.

PTUD48ESeriesUserManual

TableofContents1 Introduction...............................................................................................11.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 GeneralPTUD48Features........................................................................................1 ESeriesFeatures........................................................................................................2 Applications...............................................................................................................2 AboutThisManual ....................................................................................................3 .1.4.1 FormattingConventions ....................................................................................................3 . Models.......................................................................................................................4 PTUD48PackageContents.......................................................................................4 RelatedDocumentation ............................................................................................5 . AdditionalResources.................................................................................................5 TechnicalSupport......................................................................................................5

2 3

Safety........................................................................................................72.1 3.1 3.2 3.3 3.4 3.5 SafetyWarningsandCautions...................................................................................7 SystemOverview.......................................................................................................9 InstallationComponents.........................................................................................10 BasicSetup...............................................................................................................10 EthernetConnection ...............................................................................................11 . SerialConnection.....................................................................................................13 MountingtheUnit...................................................................................................15 WiringandConnectors............................................................................................16

QuickStart.................................................................................................9

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InstallationandSetup..............................................................................154.1 4.24.2.1 MechanicalOverview.......................................................................................................16 4.2.2 WiringOptions.................................................................................................................17 4.3 PowerSources.........................................................................................................17 4.4 Fusing.......................................................................................................................18 4.5 Shielding...................................................................................................................18 4.6 InterfaceandHostSettings.....................................................................................18 4.6.1 EthernetConnection........................................................................................................18 4.6.2 RS232ElectricalConnection...........................................................................................19 4.6.3 RS485ElectricalConnection...........................................................................................19 4.7 InitialPowerUpandTest........................................................................................20 4.7.1 WebInterface..................................................................................................................20 4.7.2 TerminalInterface............................................................................................................20 4.8 PayloadMounting ...................................................................................................21 . 4.8.1 SideBracketAttachment.................................................................................................21 4.8.2 PayloadAttachment.........................................................................................................22 4.9 PayloadWiringConnector(Optional).....................................................................24

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Configuring&Programming....................................................................255.1 RangeofMotion......................................................................................................25 5.1.1 DefaultLimits...................................................................................................................26 5.2 ResolutionandStepModes.....................................................................................27 5.3 UserProgrammableSettings ..................................................................................27 . 5.3.1 HighSpeedOperation......................................................................................................27 5.3.2 HeavyPayloadOperation................................................................................................28 5.3.3 BatteryPoweredOperation.............................................................................................29

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WebInterface..........................................................................................316.1 6.2 6.3 PTUConfigurationPage...........................................................................................31 NetworkPage..........................................................................................................34 PTUControlPage.....................................................................................................35

A. ElectricalSpecifications...........................................................................37A.132PinBaseConnector ..................................................................................................38 . A.219PinPayloadConnector.............................................................................................39 A.3PL01WiringDiagram.....................................................................................................40 A.4PL02WiringDiagram.....................................................................................................41 A.532PinBreakoutCable...................................................................................................42

B. MechanicalDrawings ..............................................................................43 .B.1PayloadMountingPattern.............................................................................................44 B.2PTUD48Dimensions(Standard)...................................................................................46 B.2PTUD48Dimensions(ISM)............................................................................................47

C. Networking .............................................................................................49 .C.1Ethernet.........................................................................................................................49 C.2Serial ..............................................................................................................................49 .C.2.1SerialNetworkingConnections..........................................................................................50 C.2.2ASCIICommandSyntax......................................................................................................51 C.2.3SerialCommandList...........................................................................................................52

D. Troubleshooting.......................................................................................53D.1Mechanical ....................................................................................................................53 . D.2Power.............................................................................................................................53 D.3Networking....................................................................................................................53 D.4TechnicalSupport..........................................................................................................54

E. RegulatoryInformation...........................................................................57ClassA.....................................................................................................................................57 FCCNotice...............................................................................................................................57 CENotice.................................................................................................................................57


TableofFiguresFigure1:PanTiltSystemOverview.....................................................................9 Figure2:HoleMountingPattern.......................................................................15 Figure3:BracketingOptions.............................................................................21 Figure4:PanTiltDefaultFactoryLimits............................................................26 Figure5:PTUNetworkConfiguration................................................................50

Thispageintentionallyleftblank.

1IntroductionThePTUD48ESeriesPanTiltUnit(PTUD48)fromFLIRMotionControlSystemsprovidesfast, accurate,anddurablepositioningofcameras,antennas,lasers,andotherpayloads.ThisUser Manualcontainssetup,generalconfiguration,wiring,andmechanicalinterfaceinformation thatisintendedforusebydesignengineersandintegratorswhoareconfiguring,installing,and programmingthePTUD48.Pleasesee1.7foralistofotherdocumentsrelatedtothePTUD48.Note:ThismanualdescribessettingupandusingthePTUD48ESeriesunit.Optional modulesarenotincludedintheseinstructions.IfyourPTUD48includesanyoptional modules,pleaserefertothedocumentationincludedwiththosemodulesforhelpwith theirsetupanduse.

1.1 GeneralPTUD48FeaturesThePTUD48seriesoffersthefollowinggeneralfeatures: Serialcommunicationcapabilityviaterminalorcomputer Payloadcapacityof10lbs(topmount)or15lbs(sidemount) Panresolutionof0.006 Tiltresolutionof0.003 Preciseposition,speed&accelerationcontrol Ontheflypositionandspeedchanges Selfcalibrationonresetwithreducedmotion Hostcontrollablepowerconsumption SimpleASCIIcommandmode Highspeedbinarycommandinterface Constantcurrentmotordrivesforincreasedperformanceandcontrol Unregulated1230VDCpowerinput Flexibleconnectivityoptions Sealedforoutdooroperation(IP67) Slipringforcontinuous360panoperation(optional).

PleaserefertothePTUD48ESeriesProductDatasheetforcompletespecifications.

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1.2 ESeriesFeaturesThePTUD48ESeriesincludesthefollowingnewfeatures: BuiltinEthernet/WebIPinterfaceforeasyconfiguration,control,anddiagnostics Improvedpowerprotectioncircuitry 32pinbaseconnectorforsimplifiedwiring Integrateddigitalencoderformorerobustpositioning Programmablerangesofmotion Highercommandrateswithlowerlatencyandjitter Reducedcalibrationmovement FullbackwardcompatibilitywithpreviousPTUD48modelsthatincludes: Mountingpattern Payloadconnector/pinouts(PL01,PL02) ASCIIandbinaryapplicationcommandinterface Optional19to32pinadaptercable(32pinbreakoutcablealsoavailable) OverlappedcapabilitieswithpreviousPTUD48models.

1.3 ApplicationsThePTUD48ESeriesiswellsuitedforthefollowingapplications: Midandshortrangesurveillancesystems Automateddetectionandtracking Multisensorperimetermonitoringsystems ThermalandIRcameras Marine/shipboardsensorsystems Harborandportsecurity Bordersecurity&lawenforcement Highway&transportationmonitoring Militaryspecialoperations Satellitecommunicationssystems Microwaveantennasystems(passive,active) Robotics&computervision.

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Introduction

1.4 AboutThisManualThissectiondescribestheformattingconventionsandinformationcontainedinthismanual.

1.4.1FormattingConventionsThismanualusesseveralformattingconventionstopresentinformationofspecialimportance. Listsofitems,pointstoconsider,orproceduresthatdonotneedtobeperformedinaspecific orderappearinbulletformat: Item1 Item2

Proceduresthatmustbefollowedinaspecificorderappearinnumberedsteps: 1. Performthisstepfirst. 2. Performthisstepsecond. Specifickeyboardkeysaredepictedinsquarebracketsandarecapitalized,forexample:[ESC].If morethanonekeyshouldbepressedsimultaneously,thenotationwillappearas[KEY1]+[KEY 2],forexample[ALT]+[F4]. Interfaceelementssuchasdocumenttitles,fields,windows,tabs,buttons,commands,options, andiconsappearinboldtext. MenusandsubmenushavethenotationMenu>Submenu.Forexample,SelectFile>Save meansthatyoushouldfirstopentheFilemenu,andthenselecttheSaveoption. SpecificcommandsappearinstandardCourierfont.Sequencesofcommandsappearinthe orderinwhichyoushouldexecutethemandincludehorizontalorverticalspacesbetween commands. Thismanualalsocontainsimportantsafetyinformationandinstructionsinspeciallyformatted calloutswithaccompanyinggraphicsymbols:WARNING:WARNINGSALERTYOUTOTHEPOSSIBILITYOFPERSONALINJURYOR DEATHIFTHESEINSTRUCTIONSARENOTFOLLOWED. CAUTION:CAUTIONSALERTYOUTOTHEPOSSIBILITYOFEQUIPMENTORPROPERTY DAMAGEIFTHESEINSTRUCTIONSARENOTFOLLOWED.

Note:Notesprovidehelpfulinformation.

ISM

ISM:ISMcalloutsalertyoutodifferencesbetweenstandardPTUsandPTUsequipped withtheoptionalInertialStabilizationModule(ISM)andreferyoutotheappropriate documentation.

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1.5 ModelsEachPTUD48Eseriesunitincludesamodelnumberthatislocatedonthebaseoftheunit.This numberliststheoptionspresentonthatparticularunit.Differentoptionsmayrequire specializedinstructions,andthismanualwillrefertothissectionwherenecessarytoensure thatyouarefollowingtheappropriatedirections. ThePTUD48Eseriesmodelnumberappearsasfollows:

D48E S S S S 000 S SBracket Mount S = Top bracket Slip Ring S = Standard C = Continuous pan with slip ring Wiring S = None 1 = PL01 2 = PL02

ISM

ISM:ISMequippedPTUshaveadditionalmodelnumberoptions.Pleaserefertothe PTUD48ISMConfigurationGuideforadditionalinformation.

1.6 PTUD48PackageContentsYourPTUD48ESeriespackageincludesthefollowingitems: PTUD48ESeriesunit Payloadmatingconnectorkit(withvariouspayloadpassthroughconfigurations) PayloadmountingbracketsOptional PanTiltbreakoutcable(PTUCABE25BO)Optional AC/DCpowersupply(PTUACAPS30V)Optional RS232toRS485converter(PTUCONVRS485C)Optional PTUD48ESeriesUsersManual(thisdocument) PanTiltESeriesCommandReferenceManual CDcontainingthePTUFinderutilityandotherdocumentation.

4

Introduction

1.7 RelatedDocumentationThefollowingadditionaldocumentationisavailableforyourPTUD48ESeriesunit: PTUD48ESeriesConfigurationGuide:optionsandaccessoriesorderingguide PTUD48ESeriesProductDatasheet:productspecifications PanTiltESeriesCommandReferenceManual:commandinstructions

1.8 AdditionalResourcesFLIRMotionControlSystems,Inc.alsomaintainsatechnicalsupportWebsitewithadditional resourcesforcustomersintheSupportsectionatwww.FLIR.com/MCS.Resourcesinclude electroniccopiesofusermanuals,firmwaredownloads,3DCADmodels,technicalnotes,and otherinformation.

1.9 TechnicalSupportFLIRMotionControlSystems,Inc.providesarangeoftechnicalsupportoptions: Email:[email protected] Web:www.FLIR.com/MCS Phone:(650)6923900,thenselectTechnicalSupport

ThepreferredmethodofcontactingTechnicalSupportisviaemail,whichhelpsensureproper dispatchingandtrackingtoaddressyourquestionspromptly. WhencontactingTechnicalSupport,pleaseprovidethefollowinginformation: PTUmodelandconfiguration Payload(Pleaseincludephotos,ifpossible.) Parametersettings Descriptionofissue/symptoms

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PTUD48ESeriesUserManual Thispageintentionallyleftblank.

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2SafetyThischaptercontainsimportantsafetyinstructions.Youmustread,understand,andcomply withallofthesesafetyinstructionsinordertoprotectbothpersonsandproperty.Thebenefits ofasafeinstallationincludeincreasedusability,reliability,andreduceddamagetothePTU, payload,and/orotherproperty.

2.1 SafetyWarningsandCautions PTUD48installationandsetupshouldbeonlybeperformedbyqualifiedpersonnel. Theinstallationmustcomplywithallapplicablecodes(suchasbuildingcodes,marinesafety codes,etc.). Theinstallationmustbefreeofobstructionsthroughouttheentirerangeofpantiltmotion. Whenplanningtheinstallation,makesuretotakethepayloadintoaccounttoensurethat thePTUD48andpayloadremainunobstructedatalltimes. Allmountingmethodsandmaterialsmustbecapableofsupportingatleastfourtimesthe combinedweightofthePTUD48,mountedpayloads,andcabling. Corrosionresistanthardware(suchasstainlesssteelscrews)mustbeusedforalloutdoor installations. DonotinstallthePTUD48inanylocationthatexceedsthePTUD48senvironmental specifications. Alwaysincorporateareadilyaccessiblepowerdisconnectintotheinstallationwiring.(See Sections3.4and3.5.) Removingpowerbydisconnectingthepowercableorcableharnessisnotrecommended andcanresultindamagetothesystem. Allserviceproceduresmustbeperformedbyqualifiedservicepersonnelinaccordancewith allapplicableinstructions. IfthePTUD48isdamaged,immediatelyremovepowerandcontactFLIRMotionControl Systems,Inc. OnlyusereplacementpartsrecommendedbyFLIRMotionControlSystems,Inc. UsecautionwhenliftingthePTUD48and/orpayload. KeepallpersonsandobjectswellawayfromthePTUD48spanningandtiltingradiuswith payloadinstalled. DonottouchorotherwisehandlethePTUD48whileinmotionorifthereisapossibilityof motion.AlwaysremovepowerbeforeservicingthePTUD48and/orpayload.

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8

3QuickStartThePTUD48providesdirectEthernetandserialcontrolforallmotions.Youmayalsousea joystickorproprietarycontroller. ThischapterhelpsyoupowerupyourPTUD48andtestdirectcommunicationsfromahost computer.

3.1 SystemOverviewThePTUD48includesanintegratedcontrollerthatcanbeaccessedusingaWeb/Ethernet interface.Thecontrollerwillalsoacceptcontrolcommandsfromanyhostcomputerovera serial(RS232orRS485)connection.Thebasicconnectionsare: DCpower PantiltcontrolviaeitherEthernetorRS232/485serialconnection

ThePTUD48alsoallowspayloadpassthroughwiringthatinternallyroutespayloadsignals (payloadpower,video,etc.)fromasinglestationaryconnectorinthePTUD48basetoasingle payloadconnectorthatmoveswithyourpayload.Basic Ptu-D48 Connections Pan-Tilt Control (RS485/RS232) 7C D300-Power 2C Ethernet 4C Host Payload Pass-Through Video 1 2C Video 2 2C General Pass Through Lines 6C Payload Power 2C Optional Controls CHA RS232 CHB RS232

Figure1:PanTiltSystemOverview YoumaycontrolthePTUD48fromanyhostcomputerusingeitherthebuiltinWebinterfaceor theASCIIprotocoldescribedintheincludedPanTiltCommandReferenceManual.ThePTUD48 alsosupportsabinaryprotocolviaaCProgrammersInterface(PTUCPI)forhighspeed,hard realtimecontrolssuchastracking.Driversarealsoavailableusingthirdpartysoftware packagessuchasLabVIEWanddigitalvideocontrolsystems.

ISM

ISM:ISMequippedPTUsusethesameconnectionsdescribedinthischapter.

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3.2 InstallationComponentsAcompletePTUD48systemconfigurationrequiresthefollowingcomponents: PTUD48unit(1) Payloadmatingconnectorkitfor passthroughmodelsonly(2) PTUD48UsersManual(this document;notshown) PanTiltCommandReference Manual(notshown) Payloadmountingbrackets (D48ACBKTLSTD)Optional(3) Breakoutcable(PTUCABE25BO) Optional(4) RS232toRS485converter(PTU CONVRS485C)Optional(5) AC/DCpowersupply(PTUACAPS 30V)Optional(6)

3 1 2 5

6

4 3

3.3 BasicSetupToperformabasicPTUD48setupand installation:

1. MountthePTUD48securelytoalabbench, tripod,orotherstableplatform.Verifythat thereisenoughclearancearoundtheunit. SeeSection4.1fordetailedmounting instructions. 2. Attacheithertheoptionalbreakoutcableor customersuppliedcabletothe32pin connectoratthebaseofthePTUD48by insertingtheconnectoraskeyedandthen twistingtosecuretheconnection.CAUTION:DISCONNECTINGTHECABLEWHILETHEPTUD48ISPOWEREDONCAN DAMAGETHEUNIT.ALWAYSPOWERDOWNTHEPTUD48BEFOREDISCONNECTING THECABLE.

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QuickStart

3. EstablishEthernetorserialwiringtothePTUD48asappropriateforyourneeds. PleaseseeSection3.4forEthernet/Webinstructions. PleaseseeSection3.5forserial/ASCIIinstructions.

4. PoweronandtestthePTUD48.

3.4 EthernetConnectionThePTUD48containsaWebbasedinterfacethatallowsyoutotestandprogramvarious functions.ThisinterfaceisaccessibleviatheEthernetconnectiononthebreakoutcable.Note:YoumayusesimultaneousEthernetandserialconnections.

Toconnect,poweron,andtestthePTUD48usingtheEthernetconnectionandWebinterface: 1. ConnecttheRJ45Ethernetjackonthebreakoutcabletothehostcomputereitherdirectly orthrougharouter/hub. 2. ConnectapowersourcetothePTUD48,makingsuretoincorporateareadilyaccessible powerdisconnect(suchasapowerstrip)toallowsafepowerremovalfromthesystem.CAUTION:REMOVINGPOWERBYPULLINGTHEPLUGCANDAMAGETHEPTUD48.

3. EnsurethatthePTUD48iscleartomoveinbothaxes(panandtilt)withouthittingany obstructionsbeforeapplyingpower.WARNING:HITTINGANOBSTACLEWHILETHEPTUD48ISINMOTIONCOULDCAUSE AMOUNTINGOROTHERSTRUCTURALFAILURETHATCOULDRESULTININJURYOR DEATH.

4. PoweronthePTUD48.Bydefault,thePTUD48willbeginacalibrationsequencethatwill causeittomovefromitscurrentpositiontothecenter(0)positionsinbothaxes. 5. LaunchaWebbrowser.ThePTUD48supportsmodernversionsoftheMicrosoftInternet Explorer,MozillaFirefox,andGoogleChromebrowserswithJavaScriptenabled. 6. RunthePTUFinderutilityfromtheCDincludedwithyourPTUD48package.Alistofthe individualPTUD48unitscurrentlyconnectedtothenetworkandtheircorrespondingIP addresseswillappearintheapplicationwindow.Note:IfyouhavesimultaneousEthernetandserialconnectionstoaPTUD48unit,you mayenterNIintheterminaltoretrievetheIPaddressofthePTUD48unit.

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PTUD48ESeriesUserManual 7. InyourWebbrowser,navigate totheappropriateIPaddress (suchas http://192.168.1.101).AWeb pageappearswhenyouare connectedtotheselected PTUD48unit.ThePTUD48 Webinterfaceallowsyouto configurethenetwork interface,configurevarious parameters,andcontrolthe PTUD48. 8. NavigatetothePTUControl page. 9. Clickthearrowstopanandtilt thePTUD48andverifythatit isworkingproperly. PleaserefertoSection6forinstructionsonusingtheWebinterface.

ISM

ISM:TheISMWebinterfaceincludesadditionalcommandandconfigurationoptions tosupportthestabilizationfunction.PleaserefertotheISMUserManualfor instructionsonusingtheISMWebinterface.

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QuickStart

3.5 SerialConnectionNote:YoumayusesimultaneousEthernetandserialconnections.

Toconnect,poweron,andtestthePTUD48usingtheserialinterface: 1. CheckwhichwiringoptionyourPTUD48isconfiguredwith. IfitisPL01,thePTUD48providesdirectRS232support.SkiptoStep3. IfitisPL02,youmayhavetoconnecttothePTUD48throughanRS485converter. ProceedtoStep2. AttachtheDB25toDB9converteron onesideoftheRS232toRS485 converter. AttachoneendofthefourpinRJ11 phonecabletotheothersideoftheRS 232toRS485adapter. SettheswitchesontheRS232toRS485 convertertoTRxONandDCE.

2. ConnectthePTUD48asfollows: RS-232

RS-232 to RS-485 adapter DB9 to DB25 adapter

Phone cord AttachthefourpinRJ11femaleto femaleadaptertotheotherendofthe phonecable.Thisisimportantbecausetheadapterrearrangesthepins;thePTUD48 willnotfunctioniftheadapterisnotattachedcorrectly.

F-F adapter

ConnecttheRS485connectorfromthebreakoutcableintotheadapter. Providepowertotheconverterthroughtheincludedpowersupply.

3. AttachastandardRS232cablebetweenahostPCandtheDB9FconnectoronthePTUD48 labeledRS232. 4. OpenaterminalprogramsuchasHyperTerminalorTeraTerm.Note:HyperTerminalisavailablewithMicrosoftWindowsXPandpreviousversions. YoumaydownloadTeraTermfromhttp://ttssh2.sourceforge.jp/.

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PTUD48ESeriesUserManual 5. Createanewconnectionwiththefollowing communicationsparameters: 9600baud 8databits 1stopbit noparity nohandshaking

6. ProvideDCpowertothePTUD48.Thefactorycable(part numberPTUCABE25BO)allowseasypluginpowerfrom thefactoryAC/DCpowersupplymodelPTUACAPS30V. Alternatively,youmayprovideyourownDCpowersourceif appropriate,asdescribedinSection4.3.CAUTION:USEANAPPROPRIATELYRATEDPOWERSTRIPWITHSURGEPROTECTION TOALLOWSAFEPOWERREMOVALWHENYOUAREREADYTOPOWERDOWN.

7. PoweronthePTUD48byturningontheswitchonthepowerstrip.Ifpowerisworking,the unitwillbeginaselfcalibrationandtextwillappearonyourterminalidentifyingtheunits configuration. 8. Testpantiltoperationbytypingcommandsintoyourterminalprogram.Thefollowing commandsequencewillfamiliarizeyouwithbasicPTUD48operation: pp2500 * Thissequence: setsthepanaxistoposition2500 setsthetiltaxistoposition900 setsthepanspeedto1900positionspersecond,and setsthepanpositionbackhome. tp-900 * PS1900 * pp0 *

9. PowerdownthePTUD48byturningofftheswitchonthepowerstrip. 10. Mountandwireyourpayload(e.g.camera)onthePTUD48,asdescribedinSections4.8 and4.9. PleaseseeAppendixC.2.2foranoverviewoftheASCIIcommandsyntaxandalistofcommonly usedcommands.ThePanTiltESeriesCommandReferenceManualcontainscomplete commandinterfaceinstructions.

ISM

ISM:TheISMserialinterfaceincludesadditionalcommandstosupportthe stabilizationfunction.Somestandardserialcommandsmayalsofunctiondifferently whenthePTUisinstabilizedmode.PleaserefertotheESeriesCommandReference ManualandtheISMUserManualforinstructionsonusingserialcommandswithISM equippedPTUs.

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4InstallationandSetupThissectiondescribespropermechanicalandelectricalPTUD48installation.

4.1 MountingtheUnitThebasicmountingpatternusesfour#1/420socketheadcapscrewsina3.375(85.725mm) squarepattern.Allfourmountingscrewsmustbeused,andmountmustbestrongenoughto supportthecombinedloadofthePTUD48unit,payload,andadditionalforcesexertedonthe system(suchaswind,Gforces,etc.).Agoodruleofthumbisthatthemountmustbecapable ofsupportingatleastfourtimesthecombinedweightofthePTUD48andpayload.For example,amountforaPTUD48witha15lb.payloadmustbeabletosupportatleast104lbs.WARNING:FAILURETOUSEALLFOURMOUNTINGSCREWSAND/ORTOSECURETHE PTUD48ANDITSPAYLOADTOASUFFICIENTLYSTRONGMOUNTINGCANCAUSE THEINSTALLATIONTOFAIL.THISCANRESULTINPERSONALINJURYORDEATH, AND/ORDAMAGETOTHEPTUD48UNITAND/ORPAYLOAD.

4.300"3.375"

R=0.750"

4.300"

3.375" 4x 0.257"

Figure2:HoleMountingPattern

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4.2 WiringandConnectorsThestandardPTUD48hasabaseconnectorandmayalsohaveanoptionalpayloadconnector forcustomerattachment.DifferentPTUD48wiringoptionsmayrequiredifferentconnectors. PleaseverifyyourwiringconfigurationandthenrefertoAppendixAfordetailedpinoutand connectorrequirements.

4.2.1MechanicalOverviewThePTUD48containsoneortworeceptacles. BaseReceptacle:ThebaseofthePTUD48housesthe32pinbasereceptaclethatcomplies withMILstandardMILC26482. PayloadReceptacle(Optional):Ifequipped,thepayloadconnectorisa19pincircular receptaclethatcomplieswithMILstandardMILC26402.Theappropriatemaleconnector complieswithMS3126F1419P.EachPTUD48withpassthroughoptionincludesonemale connector.YoumayorderadditionalconnectorsfromFLIRMotionControlSystems,Inc.

BasiccontrolrequiresconnectingaDC powersourceandahostPCtothePTU D48.Thesuppliedbreakoutcableand powersupplyallowyoutohaveyourPTU D48pluggedinandrunningwithin minutes.AppendixAcontainsspecificpin outsandwiringdiagramsfortheavailable PTUD48wiringconfigurations;ifneeded, youmayusethisinformationtomake customcablestosuityourspecific installationrequirements.Pleasereferto Section3forbasicconnectionandpower oninstructions. ThePTUD48alsoprovidespayloadpass throughsignalsthatconnectbetween pinsinthebasereceptacleto correspondingpinsinthepayload receptacle.Additionalpinsinthepayload receptacleprovideotherpayloadcontrols tothePTUD48controllerboard, includingauxiliaryRS232ports.

Payload Receptacle

Base Receptacle

16

InstallationandSetup

CAUTION:ALWAYSFOLLOWALLAPPLICABLESPECIFICATIONS(INCLUDINGBUTNOT LIMITEDTOMAXIMUMVOLTAGEANDCURRENT)WHENATTACHINGPAYLOAD SIGNALSTOTHESYSTEM.

4.2.2WiringOptionsThePTUD48isofferedwiththefollowingwiringoptions: PL01:ThisoptionprovidesanalternateRS232communicationoptionforcommunicating withthePTUD48inadditiontotheRS485lines,andincludesatotalof10payloadpass throughlinesthatprovide: 2videochannels(4C) 1powercircuit(3C) 3generalI/Olines(3C).

ThePTUD48alsoprovidestwoauxiliaryserialportstothepayloadconnectorthatcanbe controlledusingspecialcommandsforusecontrollingcamerasorotherperipheralswithout anadditionalserialport.PleaserefertoAppendixA.3formoreinformationaboutthePL01 wiringoption. PL02:Thestandardwiringoptionprovidesthemaximumavailablepassthroughlinesfrom thePTUD48tothepayload,including: 2videochannels(4C) 1setofpowerlines(3C) 6generalI/Olines(6C)

ThePTUD48alsoprovidesRS232controltothepayload,whichallowsthePTUD48tobe controlledbyamoduleonthepayloadside.PleaserefertoAppendixA.4formore informationaboutthePL02wiringoption. Witheitheroption,thestandardslipringandconnectorsoffer32terminationpinsatthebase and19pinsatthepayload(includingthroughaslipring,ifequipped).ThePTUD48requiresa minimumofsevenconnectionsatthebaseforpower,RS485communications,andshielding.

4.3 PowerSourcesThePTUD48requiresanunregulated1230VDCpowersourcecapableof48continuouspeak watts. FormaximumPTUD48performance,usethehighestmotorvoltagewithintheallowable range. ForthequietestandsmoothestPTUD48operation,youcanusealowermotorvoltage, suchas24VDC.

ThePTUD48pantiltmaximumspeeddependsontheinputvoltage.30VDCprovidesthe highestmaximumspeed;lowervoltageswillreducethemaximumachievablespeed.

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PTUD48ESeriesUserManualCAUTION:THEPTUD48CONTAINSOVERVOLTAGEANDOVERCURRENT PROTECTION;HOWEVER,SUSTAINEDOVERLOADCANDAMAGETHEUNIT.

4.4 FusingIfyouareusingaDCpowersourcethatiscapableofsupplyingcurrentbeyondthePTUD48 ratedmaximums,youmustaddanappropriatefuseinserieswiththeDCpowersource.For example,youmustfuseaconnectionmadetoavehiclebatteryorlighterplug.WARNING:FAILURETOPROPERLYFUSETHEPTUD48POWERSOURCECOULD OVERLOADINTERNALPROTECTIONDEVICESANDCAUSEDEATH,PERSONALINJURY, AND/ORDAMAGETOTHEUNIT.

4.5 ShieldingShieldingprotectsthePTUD48fromexternalElectromagneticInterference(EMI)andprevents radiationemissionfrominternalandexternalcabling.Propershieldingmustbeusedtomeet theregulatoryrequirementsdescribedinAppendixE.AllPTUD48wiringconfigurationsprovide ashieldpinatboththebaseandthepayload,asdescribedinAppendixA.Thisshieldisalso attachedtothePTUD48housing.Theshieldpinisnotconnectedtogroundinternally.The shieldpotentialwillvaryfromgroundandmustnotbeconfusedwithagroundpin. Ideally,eitherthePTUD48chassisortheshieldpinatthebaseconnectorshouldberoutedtoa longgroundingrodthatisembeddedintheground.Ifneeded,itisalsoacceptabletoroutethe shieldpintothepowergroundthroughasurgeprotectiondevice.CAUTION:THEPTUD48WILLNOTBEPROPERLYSHIELDEDUNTILTHESHIELDPINIS PROPERLYCONNECTED.

4.6 InterfaceandHostSettingsThePTUD48includesbothanEthernetconnectionandeitherRS232orRS485 communications.YoumayconnecttoyourPTUD48usingeitherorbothofthesemethods;the WebinterfaceisonlyavailablewhenusinganEthernetconnection,andtheterminalinterface isonlyavailablewhenusingaserialconnection.

4.6.1EthernetConnectionThePTUD48EthernetconnectionusesastandardCat5(RJ45)networkcable. YoumayconnectthePTUD48directlytoahostcomputerorindirectlythrougharouter, hub,etc. ThePTUD48willeitheracceptIPaddressesfromaDHCPserverorselectitsownIPaddress ifconnecteddirectlytothehostcomputer. Youdonotneedacrossovercable.

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Ifneeded,youmayuseacouplingtoextendtheEthernetconnectiononthebreakoutcable.Note:TheEthernetandserialinterfacesmaybeconnectedsimultaneously;however, youshouldonlyuseoneinterfaceatatimeforcommandandcontrolofthePTUD48.

Connect,poweron,andtestthePTUD48usingtheEthernetconnectionandWebinterfaceas describedinSection3.4.

4.6.2RS232ElectricalConnectionPTUD48unitswithRS232communicationshavethefollowingconnections: TxD:Pin2(carriesdatafromthePTUD48) RxD:Pin3(carriesdatatothePTUD48) GND:Pin5Note:TxDandRxDassignmentscanvarydependingonyourhostcomputer.Ifyour initialconnectiondoesnotwork,tryusinganullmodem.

SerialcommunicationbetweenthePTUD48andyourhostcomputershouldbesetasfollows: Baudrate:9600.Youmayadjustthebaudrateusingsoftwarecommands.Pleasereferto thePanTiltESeriesCommandReferenceManualforinstructions. Startbit:1 Databits:8 Stopbit:1 Handshaking:off XON/XOFF:notused

4.6.3RS485ElectricalConnectionPTUD48unitswithRS485communicationshavethefollowingconnections: Duplex:full Connections:Tx+,Tx,Rx+,andRx Voltage:RS422orRS485levels Baudrate:9600.Youmayadjustthebaudrateusingsoftwarecommands.Pleasereferto thePanTiltESeriesCommandReferenceManualforinstructions. Startbit:1 Databits:8

SerialcommunicationbetweenthePTUD48andyourhostcomputershouldbesetasfollows:

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PTUD48ESeriesUserManual Stopbit:1 Handshaking:off XON/XOFF:notused

4.7 InitialPowerUpandTestThissectiondescribeshowtopowerupandtestyourPTUD48usingeithertheWeborserial interface.Testandverifyallcableconnectionsandconnectorwiringbeforepowerup.Note:Completetheinitialinstallationandtesting,thenexercisethePTUD48and familiarizeyourselfwithitsoperationsandcommandsbeforemountingyourpayload (suchasacamera).

4.7.1WebInterfaceTotestthePTUD48usingtheWebinterface,followtheprocedureinSection3.4toconnect thePTUD48,powerontheunit,andaccesstheWebinterface. TheWebinterfacehasthefollowingpages: PTUConfig:Allowsyoutoconfigurespeed,acceleration,andpoweroptions. Network:AllowsyoutoconfigurethePTUD48unitsIPandMACaddresses. PTUControl:AllowsyoutocontrolthePTUD48.

PleaseseeSection6formoreinformationabouttheWebinterface.UsethePTUControlpage (seeSection6.3)totestPTUD48motionandexercisetheunit.

4.7.2TerminalInterfaceTotestthePTUD48usingtheserialinterface: 1. ConfiguretheRS232orRS485portonthehostcomputerasdescribedinSection3.5. 2. PowerupthePTUD48.Abootmessagewillappearonyourterminalscreenandtheunit willbeginaresetcycle.Anasterisk(*)appearsonyourscreenwhentheresetcycleis finished.IfthePTUD48didnotresetproperly,pleaserefertothetroubleshooting instructionsbelow. 3. PleaseseeAppendixC.2.3foralistofbasiccommands,andthePanTiltESeriesCommand ReferenceManualforacompletelistofcommandsandassociatedparametersandother usageinstructions.

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4.8 PayloadMountingThePTUD48payloadbracketsystemcanbeconfiguredinanumberofwaystosupporta varietyofpayloadsincludingcameras,lasers,antennas,andotherequipment.Figure3shows allbracketconfigurationsavailableforthePTUD48.WARNING:FAILURETOFOLLOWALLPAYLOADMOUNTINGINSTRUCTIONSCOULD RESULTINASTRUCTURALFAILURETHATMAYRESULTINDEATH,PERSONAL INJURY,AND/ORDAMAGETOTHEUNIT.

Thefollowingguidelinesapplytoallpayloadmounts: Themaximumpayloadmountingscrewsizeis. Alwaysusewashers,lockwashers,etc.asappropriate. IfthePTUD48isbeingmountedinanoutdoorlocation,usecorrosionresistanthardware (suchasstainlesssteel). Applythreadlockingcompoundtoallscrews,suchasLoctite242,whichissuitablefor applicationsthatarefieldserviceablesinceitiseasilyremovablewithcommonhandtools andworkswithbothstainlessandplatedmetals.Considerothercompoundsforhigh shock/vibrationapplicationswherefieldserviceisnotaconcern.

ThePTUD48allowsthefollowingbracketmountingoptions:TOP ONLY SIDE ONLY TOP & SIDE

Figure3:BracketingOptions

4.8.1SideBracketAttachmentToattachsidemountingbrackets: 1. VerifythatthePTUD48hasbeenpoweredonandallowedtoreset,whichplacesthe mountinghubinitshomeposition. 2. PoweroffthePTUD48. 3. Orientthebracketsothehorizontalmountingarmisonthebottom. 4. Attachthebracketusing4screwstorqueto12inchpounds.Thethreadholesinthehub comewiththreadlockingcompoundappliedtothem.Reapplythreadlocktothehub wheneveryouremovethebracket. 5. ResetthePTUD48andensurethatthebracketmovesproperlythroughouttheentirerange ofmotion.

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Note:IfyouorderedyourPTUD48withatopbracket,theunitwillarrivewiththe bracketalreadyattached.

4.8.2PayloadAttachmentThefollowingguidelinesapplytoallpayloadattachments: MountallpayloadsasclosetothePTUD48aspossible.Thisminimizesthedistance betweenthepayloadCenterofGravity(CG)andthecenterofrotationoftheaxes,which reducesstressonthePTUD48unitandmounting.Italsoimprovesperformanceby reducingtheamountoftorquerequiredtomovethepayload. VerifythatthepayloadwillclearthePTUD48housingandallsurroundingobjects throughouttheentirerangeofmotion. ThePTUD48isratedforamaximumloadof15lbs;however,loaddistributionaffectsthe actualweightthatthePTUD48cansafelymove.Theamountoftorqueneededtomovea payloaddependsonanumberoffactorssuchaspayloadweight,distancefromthepayload CGtothecenterofrotation,accelerationandspeedsettings,powerlevels,environmental factors,etc. ThePTUD48allowsfullcontroloveracceleration,speed,andpowerlevels.Mountyour payloadandconfiguretheseparametersappropriatelytoensurereliableoperation.

Toattachandtestyourpayload: 1. Mountyour payload.Side mountingis preferablefor heavyloads becausethiskeeps thepayloadCG closertothetilt axis,thereby minimizingtorque requirements. 2. Verifythatthe payloadissecurely attachedtothe payloadbracket. 3. MovethePTUD48tiltaxisthroughitsentirerangetotestitsabilitytocarrytheload.CAUTION:THECGOFTOPMOUNTEDPAYLOADSISFURTHERFROMTHETILTAXIS ANDMAYREQUIREMORETORQUETHANASIMILARSIDEMOUNTEDPAYLOAD.

Top-mounted payload CG is above the tilt axis center of rotation and requires more torque.

Side-mounted payload CG is closer to the tilt axis center of rotation and requires less torque.

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IfyouareusingtheWebinterface,openthePTUControlpageandclickthearrowsto movethePTUD48throughitsfullrangeoftiltmotion,asdescribedinSection6.3.If needed,clickHalttostopthePTUD48immediately. Ifyouareusingtheterminalinterface,enterTN TX toquerythetiltminimumand maximumlimits,thenenterTP A TPtocyclethePTUD48throughits entiretiltrange(whereisthenumberreturnedbytheTNqueryandis thenumberreturnedbytheTXquery).Ifneeded,enterHtostopthePTUD48 immediately.WARNING:STOPTHEPTUD48IMMEDIATELYBYEITHERCLICKINGHALT(WEB INTERFACE)ORISSUINGANHCOMMAND(SERIALINTERFACE)IFTHEPAYLOADIS ABOUTTOCOLLIDEWITHTHEPTUD48AND/ORANOTHEROBSTACLE.ACOLLISION COULDCAUSEASTRUCTURALFAILURETHATMAYRESULTININJURYORDEATH. ISM:VerifythatthepayloadwillclearallobstacleswhenthePTUisinbothnormal andstabilizedmodes.

ISM

Iftheloadistooheavyormovingtooquickly,thePTUD48willlosesynchronization,which willbeaudibleasagrindingsoundfromthePTUD48motors.Stopthetestimmediatelyif thisoccurs,andrefertoSections5.3.2and5.3.3.ThisdoesnotdamagethePTUD48but doesindicatethatthepayloadisnotmountedand/orthePTUD48isnotconfigured correctlytomovethepayload.Note:PleaserefertoSection5.3.2formoreinformationonconfiguringthePTUD48 forheavierpayloads. CAUTION:DONOTPROCEEDBEYONDTHISSTEPUNLESSANDUNTILTHEPTUD48 PASSESTHETILTAXISMOTIONTEST.

4. MovethePTUD48panaxisthroughitsentirerangetotestitsabilitytocarrytheload. IfyouareusingtheWebinterface,openthePTUControlpageandclickthearrowsto movethePTUD48throughitsfullrangeofpanmotion,asdescribedinSection6.3.If needed,clickHalttostopthePTUD48immediately. Ifyouareusingtheterminalinterface,enterPN PX toquerythepanminimumand maximumlimits,thenenterPP A PPtocyclethePTUD48throughits entiretiltrange(whereisthenumberreturnedbythePNqueryandis thenumberreturnedbythePXquery).Ifneeded,enterHtostopthePTUD48 immediately.

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PTUD48ESeriesUserManualWARNING:STOPTHEPTUD48IMMEDIATELYBYEITHERCLICKINGHALT(WEB INTERFACE)ORISSUINGANHCOMMAND(SERIALINTERFACE)IFTHEPAYLOADIS ABOUTTOCOLLIDEWITHTHEPTUD48AND/ORANOTHEROBSTACLE.ACOLLISION COULDCAUSEASTRUCTURALFAILURETHATMAYRESULTININJURYORDEATH.

Iftheloadistooheavyormovingtooquickly,thePTUD48willlosesynchronization,which willbeaudibleasagrindingsoundfromthePTUD48motors.Stopthetestimmediatelyif thisoccurs,andrefertoSections5.3.2and5.3.3. 5. IfthePTUD48passestheabovepanandtiltaxisloadhandlingtests,youarereadytobegin controllingyourpayloadusingthecommandsdescribedinthePanTiltESeriesCommand ReferenceManual.

4.9 PayloadWiringConnector (Optional)ThePTUD48providespayloadpassthroughsignalsthatconnectbetweenpinsinthebase receptacletocorrespondingpinsinthepayloadreceptacle.Additionalpinsinthepayload receptacleprovideotherpayloadcontrols,includingauxiliaryRS232portsandTTLcontrol.The payloadconnectstothereceptacleviaamaleMS3126F1419Pplug.AppendixA.2displaysthis connectorandcorrespondingpinout.CAUTION:FOLLOWALLAPPLICABLESPECIFICATIONSFORPASSTHROUGHSIGNALS, SUCHASMAXIMUMVOLTAGEANDCURRENTLEVELS.

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5Configuring& ProgrammingThischapterdescribeshowtoconfigureandprogramyourPTUD48.Note:YoumayalsohaveasimultaneousEthernetconnectiontotheWebinterface,as describedinSection3.4.

FollowtheappropriateinstructionstoconnectthePTUD48tothehostcomputer,poweriton, andaccessitvia: Web:Section3.4. Serial:Section3.5.

5.1 RangeofMotionThePTUD48range ofmotioncanbe limitedinthe followingways: Origin User Range + Hard:Ahard Factory Range limitphysically Hard Range cannotbe exceeded.For example,PTU Negative max. D48units Positive max. withoutaslip ringphysically Non-Overlapping, Overlapping cannotpan Non-Continuous Range of Motion acrossall360, Range of Motion andunitswith topmountedpayloadsmayhavesmallertiltlimitsthanunitswithsidemountedpayloads. AphysicalpinonthePTUimpedesmovement.

Factory:FactorylimitsaresmallerthanhardlimitstopreventphysicaldamagetothePTU D48and/orpayload.Theselimitsmaybeexceededincertaincircumstances,suchas disablingpanlimitsonaPTUD48withaslipring. User:Userlimitsareprogrammablelimitsthataresmallerthanhardlimitsandcanbeas largeasfactorylimits.

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PTUD48ESeriesUserManual ThePTUD48useshighprecisionopticallimitsensorsthatallowfasterresetsequencesand userprogrammableranges.Itcanalsobeequippedwithoptionalmechanicalstopsthatwill limitpan/tiltmotiontopresetlimits.Itispossibletosetthesestopstoallowoverlappinglimits, asshownintheimageonthepreviouspage.Note:Ifneededforyourapplication,orderoptionalmechanicalstopswithyourPTU D48becausetheyareinstalledduringmanufacturing.

5.1.1DefaultLimitsInthefollowingimage: ThepositivepanaxisdirectionisclockwisewhenlookingdownatthetopofthePTUD48. ThepositivetiltaxisdirectionisclockwisewhenlookingsidewaysatthePTUD48withthe motorsandconnectorsfacingtotheright.

Figure4:PanTiltDefaultFactoryLimitsNote:Thedefaultpanaxisuserlimitsare+/168.Thedefaulttiltaxislimitsare+30 and90.

26

ConfigurationandProgramming

5.2 ResolutionandStepModesThePTUD48usessteppermotorsthatdrivetheunitthroughagearreductionsystem.The internalcontrollerallowssteppermotorcontrolinmanual(,,and1/8)orautomaticstep modes.Thefollowingtableliststhepanandtiltaxisresolutionindegrees. PANAXIS TILTAXIS STEP 0.026 0.013 STEP 0.013 0.006 1/8STEP 0.006 0.003

Note:Largerstepmodesincreasetorqueandmaximumspeedvs.smallerstepmodes. ThePTUD48includesanautomaticsteppingmode(autostep)thatoptimizesthis tradeoffformanyapplications.YoumaycommandthePTUD48in1/8stepswhenin automaticsteppingmode.

5.3 UserProgrammableSettingsThePTUD48hasanumberofuserprogrammableparametersthatcansignificantlyaffect performanceforagivenpayloadandapplication.Theseparametersshouldbesettovaluesthat areappropriateforyourpayloadandapplicationneeds.Thissectionprovidesanoverviewof howtooptimizeyourPTUD48forhighpowerand/orhighspeedoperation.Pleaserefertothe PanTiltESeriesCommandReferenceManualforcompleteinstructions.CAUTION:USEHIGHSPEEDAND/ORHIGHPOWERSETTINGSWITHCARE, PARTICULARLYWHENMOUNTINGAHEAVYAND/ORBULKYPAYLOAD.

WARNING:FAILURETOADEQUATELYSECURETHEPTUD48TOAMOUNTINGTHAT CANWITHSTANDTHEFORCESAPPLIEDBYBOTHHIGHSPEED,HIGHPOWER MOVEMENTANDENVIRONMENTALFASCTORSSUCHASVEHICLEMOVEMENTOR WINDCANCAUSEASTRUCTURALFAILURERESULTINGININJURYORDEATH

5.3.1HighSpeedOperationThefollowingfactorsshouldbeconsideredwhenplanninghighspeedoperation: Loadweight,weightdistribution,anddynamics. Movethepayloadasclosetotheaxiscentersofrotationaspossible.Doingthiswill reducethetorquerequiredtomovethepayloadandallowahighertopspeed. Balancingtheload,suchasbyusingacounterweightorsplittingthepayloadintotwo piecescanalsohelpsignificantly.

Desiredupperspeedlimit. Rateofacceleration. Thebase(startup)speed.

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PTUD48ESeriesUserManual Powersupplyvoltage.Highervoltageswithinthepermissiblerangesignificantlyimprove axisspeedandaccelerationperformance. Inmotionpowermodes.Ifthedutycycleislessthan20%,youmayusehighmovepowerto increasethetopspeed. Multiaxisdynamics.Simultaneouslymovingthetiltandpanaxesaffectstheforcesexerted onthePTUD48. Alwaysbeginhighspeedtestsoneachaxisinisolation.Onlyperformsimultaneouspantilt movementsonceeachindividualaxisisoptimized. ThebasespeedisthePTUD48minimumspeed.Inpractice,theunitwillinstantly acceleratetothisspeed.Settingabasespeedcanhelpspeedupmovementbyeliminatinga segmentofaccelerationtime. AggressiveaccelerationsettingswithheavypayloadscancauseincreasedwearonthePTU D48.

5.3.2HeavyPayloadOperationIfthePTUD48failstheinitialloadhandlingtests,youmaybeabletoprogramitforhigher poweroperations.Thespeedandaccelerationofamechanicalsystemdependontheinertial propertiesofthepayload.TheabilityofthePTUD48tosuccessfullymovethepayloadwithout losingsynchronizationdependsupontheinertialpayloadfactorsandtheirrelationshipto powersupplyvoltage,unitspeed,acceleration,position,motortorque,etc. Toincreasepayloadcapacity: ConfigurethePTUD48forincreasedmotorcurrentandtorque.Ifyourmovedutycycleisless than20%,youcansettheMovePowertoHigh(Web)orusethefollowingserialcommands: PMH TMH PHR THR. Youmayalso: MovethepayloadCGclosertothePTUD48tiltaxis.SeeSection4.8.2. Useahighervoltagepowersourceinthepermissiblerange Determineifthepayloadcanbemodifiedtolightenit. Setthebasespeedto0. IfthePTUD48ishavingtroubleresettingthetiltaxis,tryusinguserlimitstoreducethetilt axisrangeofmotion. Reducespeedand/oracceleration.

PleaserefertothePanTiltESeriesCommandReferenceManualformoreinformation.

28

ConfigurationandProgramming

5.3.3BatteryPoweredOperationThePTUD48canbebatterypowered.Batterypoweredapplicationsmustconserveasmuch poweraspossible.ThePTUD48includescommandsthatcontrolpantiltmotorpower consumptionbothwhilemovingandwhenstopped.PleaserefertothePanTiltESeries CommandReferenceManualformoreinformation.CAUTION:ALWAYSUSEAFUSEWHENCONNECTINGTHEPTUD48TOABATTERY.

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30

6WebInterfaceThischapterdescribeshowtoconfigureandprogramyourPTUD48usingtheWebinterface.Note:Youmayalsohaveasimultaneousserialconnectiontoaterminal,asdescribed inSection3.4.

ISM

ISM:TheISMWebinterfaceincludesadditionalcommandandconfigurationoptions tosupportthestabilizationfunction.PleaserefertotheISMUserManualfor instructionsonusingtheISMWebinterface.

FollowtheinstructionsinSection3.4toconnectthePTUD48tothehostcomputerandpower iton,obtaintheIPaddress,andlaunchtheWebinterfaceinabrowserwindow.IfyourPTU D48includestheoptionalISMmodule,pleaserefertotheISMdocumentation.Note:CommandsissuedviatheWebinterfacecorrespondtocommandsissuedviathe serialinterface.PleaserefertothePanTiltESeriesCommandReferenceManualfora completelistofserialcommands.

6.1 PTUConfigurationPageThePTUConfigpageappearswhenyouclickthePTUConfiglinkinthetopmenu.Tousethis page: 1. Makeyourdesiredchanges. 2. ClicktheappropriateApplybuttontoapplycertainchanges(seebelow). 3. Clicktheappropriateactionbuttonatthebottomofthepage. ThispageallowsyoutoviewandconfigurethefollowingoptionsforyourPTUD48: General:TheGeneralsectionofthePTUConfigpagedisplaysthefollowinginformation: Firmware:ThePTUD48installedfirmwarerevision. Model:ThePTUD48modelnumber. PanResolution:Horizontalmotionresolution,indegrees.Thisnumbervariesdepending onyourselectedstepmode(seebelow).Eachunitofresolutionequalsoneposition. TiltResolution:Verticalmotionresolution,indegrees.Thisnumbervariesdependingon yourselectedstepmode(seebelow).Eachunitofresolutionequalsoneposition.

MotionConfiguration:TheMotionConfigurationsectionofthePTUConfigpageallows youtospecifythefollowingmotionoptionsforbothpanandtiltinpositions.Oneposition equalsoneunitofresolution:

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PTUD48ESeriesUserManual Speed:Panandtiltspeed, inpositionspersecond. Acceleration:Panandtilt accelerationand decelerationinpositions persecondpersecond. ThePTUD48will accelerateatthisrateto theselectedspeed, maintainthisspeedaslong asnecessary,andthen slowbackdownatthe samerate. BaseSpeed:Speedthe PTUD48instantly acceleratesto. UpperSpeed:Maximum PTUD48speedthatcanbe commanded. LowerSpeed:Minimum PTUD48speedthatcanbe commanded.

ClickApplytomakeyour desiredspeed/accelerationchangesonthePTUD48. PowerMode:ThePowerModesectionofthePTUConfigpageallowsyoutospecifythe followingpoweroptionsforeachaxis: MovePower:AmountofpowerthePTUD48useswhenmovingthepayload. HoldPower:AmountofpowerthePTUD48usesinordertoholdthepayloadinafixed position. Off:SettingtheholdpowertoOffmeansthatthePTUD48motor(s)arecompletelyoff whenthepayloadisnotmovingintheselectedaxisoraxes. Low:Settingtheholdand/ormovepowertoLowmeansthatthePTUD48motorsdraw lowerpowerwhilemovingand/orholding. Reg:Settingtheholdand/ormovepowertoRegmeansthatthePTUD48motorsdraw normalpowerwhilemovingand/orholding.

Thefollowingpowersettingsareavailableforpanand/ortiltpower:

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WebInterface

High:SettingthemovepowertoHighmeansthatthePTUD48motorsdrawmaximum powerwhilemovingthepayloadinthepanand/ortiltaxis.Thispowersettingshouldbe usedforintermittent(

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