Home

LIBERTY Manual

1. 82 Figure 3 4 Sensor RX1 C 83 Figure 3 5 8 StyluSs 84 Figure 3 6 3 Stylus 84 Figure 3 6 Buddy Button and Buddy Button Adaptor 85 DUE TO SOFTWARE AND HARDWARE MODIFICATIONS SCREEN OR PRODUCT EXAMPLES APPEARING IN THIS MANUAL MAY VARY SLIGHTLY FROM THE ACTUAL SCREENS OR PRODUCTS THE USER ACCESSES REV H iv AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL LIST OF TABLES Table 1 1 System Status Indicators 4 Table 2 31 Z Binary Response 48 Table 2 1 ASCII Response Format 19 Table 2 32 ME ASCII Response 50 Table 2 2 Binary Response Format 20 Table 2 33 E Binary Response 50 Table 2 3 A ASCII Response 25 Table 2 34 ASCII Baud Rate Values 51 Table 2 4 A Binary Response 25 Table 2 35 ASCII Parity Values 51 Table 2 5 B ASCII Response 27 Table 2 36 ASCII Response 52 Table 2 6 B Binary Response 27 Table 2 37 O Binary Response
2. B 1 output format eee retener ehe 29 output list aeseieser retirer 14 Output tale 87 output sync pUlSEsssisssiise isisisi 1 OVERVIEW iit siete ic ics nU e DU E 17 P amp O position and 14 nie RHET 51 physical 5 E 1 PiMgr GUI i eite eH 7 pitch inicie ne RE e e E Tec E ee en 15 Polhemus contact information F 1 port configuration esses 51 position ented aie 44 position filter 44 power requirements sese E 1 POWEE Up e 86 print output 62 37 qUaternio eoe cene centeno pete 15 icu E 1 read operational configuration 75 read clear bit 68 s de neath 24 reset alignment frame sse 53 reset COUDLETS iius ceteri E EEE pni roa ee pan 64 tesolutiQm 1 15 response format 19 return merchandise authorization RMA F 1 RMA return merchandise authorization F 1 e 15 diss enis HERR 31 RS2232 i omenti
3. 44 attitude filter parameters sss 46 ate bete ig ets 44 46 attitude matrix essen 10 factory defaults sse 12 10 FCC 1 baud rate 11 51 PD MENO 44 46 benign environment sse 11 field source ssssssssseseeeeene E 1 11 2 filter parameters sess 44 46 Binary m 19 TEE 12 bis per second 11 BEL o EA A 19 ett euius 11 FLOW ener nnns 44 46 BIT Built In Test definitions C 1 format oeste tefie Hie on rien int 12 DUG CLLOLS 68 getting 5 2 1 bitfnapz nde tede ni ed 54 hemisphere sse 12 33 34 boresight sse 11 26 hemisphere of operation 33 Lo 11 lar scr EE 12 Buffering Mode 59 host software 6 Built In Test BIT definitions C 1 A 19 centimetets etate eee entem te era 42 considerations sse 86 desse et eo ep tere bes 19 VO latency terere tenente 12 change update rate
4. 22 Table 2 7 D ASCII Response 28 Table 2 38 Binary RS 232 Codes 52 Table 2 8 D Binary Response 28 Table 2 39 AU station ASCII Response 55 Table 2 9 F ASCII Response 30 Table 2 40 00 ASCII Response 55 Table 2 10 F Binary Response 30 Table 2 41 0 Binary Output Format 55 Table 2 11 G ASCII Response 31 Table 2 42 X ASCII Response 57 Table 2 12 G Binary Response 31 Table 2 43 X Binary Response 57 Table 2 13 H ASCII Response 34 Table 2 44 B ASCII Response 60 Table 2 14 H Binary Response 34 Table 2 45 B Binary Response 60 Table 2 15 L ASCII Response 36 Table 2 46 P ASCII Response 63 Table 2 16 L Binary Response 36 Table 2 47 P Binary Response 63 Table 2 17 N ASCII Response 38 Table 2 48 D ASCII Response 65 Table 2 18 N Binary Response 38 Table 2 49 D Binary Response 66 Table 2 19 Output Data Types 39 Table 2 50 T ASCII Response 69 Table 2 20 ASCII Response 40 Table 2 51
5. Table 2 6 Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Reference 12 FL Elevation Reference 16 FL Roll Reference Examples The sensor may be mounted on a person s head to measure where it is pointing When the user s head is looking at a given object the user may want the system angular outputs to be zero The user can designate this sensor orientation as the zero orientation by sending the boresight command B1 0 0 0 0 lt gt This results in azimuth elevation and roll outputs of zero at this orientation As the user s head moves away from the boresight point the orientation angles are still measured relative to the source with the zero points shifted to the point where the boresight occurred The user may wish to set the boresight reference values to an orientation that corresponds with the application For example if the application required an output of 0 15 0 following a boresight reference angles should be included with the B command B1 0 15 0 0 lt gt The boresight command will now cause the azimuth elevation and roll data output to be 0 15 0 respectively REV H 27 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL D Compensation Description This command enables the fixed metal compensation for all stations A compensation map must be present for this command to take effect The LIBERTY has the ca
6. POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Source Mounting Frame Description This command allows the user to modify the mounting frame coordinates of the source It is basically a non physical rotation of the source and becomes the new orientation reference for each sensor s measurements Source mounting frame is not a sensor specific setting Syntax G A E R lt gt Part Description A Azimuth mounting frame angle E Elevation mounting frame angle R Roll mounting frame angle Remarks The default mounting frame is 0 0 0 Issuing a G lt gt will read the current source mounting frame Output Record Table 2 11 ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a 0 1 Second Digit of Station Number n a 0 2 A 3 Error Indicator 4 B ASCII Blank character 5 13 SXXX XxxB Azimuth Mounting Frame Angle 14 22 5 Elevation Mounting Frame Angle 23 31 5 Roll Mounting Frame Angle 32 33 AA Carriage Return Line Feed Table 2 12 G Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Azimuth Mounting Frame Angle 12 FL Elevation Mounting Frame Angle 16 FL Roll Mounting Frame Angle 31 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Examples If there was a requirement to mount the source upside down more mechanically
7. 1 LSB least significant 13 COUNCILS ich ssssnsevindahevvesssaevvertohsse vieuceiancventesters 64 LSD least significant digit 13 customer service sess F 1 65 data experiments 9 map info 65 data format E 1 MEMO oerte bed tattoo bL 42 data record output sse 63 most significant bit MSB 13 data records sese B 1 notion es 13 direction 12 mounting frame 31 DW E invasion 19 MSB most significant 13 EC Declaration of Incorporation i multiple systems cceceesceeeceeeeeseeeteenseenees E 1 REV H AUGUST 2012 POLHEMUS INNOVATION IN MOTION non continuous output mode 63 n ta c5 ies ecrit sectio eee 17 19 null modem eene 5 operational 61 operational 67 operational configuration ID 57 orientation angles seen 13 OULD Ub 29 39 62 87 B 1 output Considerations sese 87 output data list esse 39 output data records
8. T Binary Response 70 Table 2 21 Binary Response 40 Table 2 52 V ASCII Response 71 Table 2 22 R ASCII Response 41 Table 2 53 V lt gt Binary Response 71 Table 2 23 R Binary Response 41 Table 2 54 V station ASCII Response 71 Table 2 24 U ASCII Response 42 Table 2 55 V station Binary Response 71 Table 2 25 U Response 42 Table 2 56 Z ASCII Response Header 75 Table 2 26 X ASCII Response 45 Table 2 57 Z ASCII Response 76 Table 2 27 X Binary Response 45 Table 2 58 Z Binary Response 77 Table 2 28 Y ASCII Response 47 Table 3 1 External Sync Pin Outs 80 Table 2 29 Y Binary Response 47 Table 3 2 RS 232 Pin Outs 81 Table 2 30 Z ASCII Response 48 REV vi AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 1 Getting Started Congratulations on buying the latest fastest most accurate and highest resolution 3D tracking system yet This section of the user manual has been provided to help get your project under way as quickly as possible As with any new system there are two ways to get started with your LIBERTY system you could wing
9. 71 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Examples To determine the firmware version of the System Controller module in LIBERTY issue the following command V The record returned will contain the version number of the System Controller Source Controller Sensor Processor I O Processor and Boot Loader as well as the firmware package part number REV H 72 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL W Set Operational Configuration Description This command sets the system non volatile operational configuration to one of four values This new default configuration will be used upon subsequent system initializations This command does not change the current configuration of the device until the device is restarted Syntax Wslotnum lt gt Part Description slotnum 0 Default Factory configuration 1 3 Custom User defined configurations Remarks When using the W command the Y Initialize System command page 74 or system power cycle must be used to make LIBERTY use the operational configuration Output Record None Examples If the LIBERTY system s configuration had been altered by sending various other commands and saving the result to the configuration non volatile memory and the user wanted to return the system to its original factory default settings then the following commands should be sent W0 After initializa
10. Example Word 0x00000000 68 AUGUST 2012 POLHEMUS INNOVATION IN MOTION Output Record NOTE TO has no output record Table 2 50 T ASCII Response LIBERTY MANUAL Byte Index Format Description 0 A 0 1 iL 2 t 3 B Blank 4 B Blank 5 14 AAXXXXXXXX Bitmap of source and global sensor processor errors sensors 1 8 15 16 AA Carriage Return Line Feed 17 27 AAXXXXXXXXB Bitmap of sensor channel 1 errors 28 38 AAXXXXXXXXB Bitmap of sensor channel 2 errors 39 49 AAXXXXXXXXB Bitmap of sensor channel 3 errors 50 59 AAXXXXXXXX Bitmap of sensor channel 4 errors 60 61 AA Carriage Return Line Feed 62 72 AAXXXXXXXXB Bitmap of sensor channel 5 errors 73 83 Bitmap of sensor channel 6 errors 84 94 Bitmap of sensor channel 7 errors 95 104 AAXXXXXXXX Bitmap of sensor channel 8 errors 105 106 AA Carriage Return Line Feed Additional fields for LIBERTY 240 16 only 107 116 AAXXXXXXXX Bitmap of source and global sensor processor errors sensors 9 16 117 118 AA Carriage Return Line Feed 119 129 Bitmap of sensor channel 9 errors 130 140 Bitmap of sensor channel 10 errors 141 151 AAXXXXXXXXB Bitmap of sensor channel 11 errors 152 161 XXXXXXXX Bitmap of sensor channel 12 errors 162 163 AA Carriage Return Line F
11. POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL APPENDIX Built In Test BIT Initialization Results Upon startup and initialization LIBERTY automatically performs a series of Built In Tests LIBERTY initialization Built In Test BIT results are read using the T Read Clear BIT Errors command This command returns initialization BIT results in a series of bitmapped 32 bit words The LIBERTY 240 8 and 240 16 system initialization BIT results are reported in nine and eighteen words respectively When any initialization BIT errors have been detected the P amp O output frame header contains an or A G if runtime errors also exist in the header s error field See Table C 1 for more about BIT related error codes The initialization BIT result words contain sub bitmaps that represent Source Global Sensor GS1 4 and individual Sensor Channel BIT results A SET bit 1 position indicates that a BIT error occurred If no errors were detected each bit in all nine or eighteen words will be CLEARED 0 The words and their content are depicted in Table C 1 below Shaded areas represent reserved bit fields Table C 1 BIT Results DWORDs BITMAP Word 31 30 29 28 27 26 25 24 23 22 21 20119118 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 G9 Source GSI GS2 Sensor Channel 1 Sensor Channel 2 Sensor Channel 3 Sensor Channel 4 Sensor Channel 5 Sensor Chann
12. N m d N J J y T e d d N E y y T 4 F g ici y P C 4 AUGUST 2012 POLHEMUSZ INNOVATION IN MOTION LIBERTY MANUAL APPENDIX D 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 s delivery to the Buyer or two years and 30 days from t he da te ow nership of P roduct pa ssed t o t he Buyer w hichever occurs first w ith t he exception o f FastSCAN Marker and mechanical failure of a battery assembly which have a warranty period of only one year Polhemus shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at Polhemus s option This warranty shall be considered void if the Product is operated other than in accordance with the instructions in Polhemus s User Manual or is damaged by accident or mishandling Parts or material which are disposable or expendable or subject to normal wear beyond usefulness within the warranty period such as lamps fuses batteries etc are not covered by this warranty In the event any Product or portion thereof is defective Buyer shall promptly and within the warranty period notify Polhemus in writing of the nature of the defect and return the defective parts t Polhemus at
13. lt gt Part Description F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs during periods of relatively static input conditions Setting this value to 1 0 disables the filter completely Allowable range of values 0 FLow FHigh or 1 0 to disable filter FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow FHigh 1 FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by proportionately limiting REV H 44 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 When the form of the command is X0 1 0 0 lt gt the position filter is disabled Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particula
14. LIBERTY MANUAL If no bitmap is supplied the current active sensor bitmap will be returned in the default response body This bitmap will indicate the detected sensors in the upper 16 bits and the active sensors in the lower 16 bits A sensor must be detected AND enabled to be active Enabling or disabling a station number that does not exist e g station 9 on a LIBERTY 240 8 has no effect Output Record Table 2 39 U station ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A tu 3 A Error Indicator 4 B ASCII Blank character 5 X Station 1 state 1 Active 0 InActive 6 X Station 2 state 1 Active 0 InActive 7 20 x Stations 3 16 state 1 Active 0 InActive 21 22 AA Carriage Return Line Feed Table 2 40 U0 ASCII Response Byte Index Format Description A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 8 XXXX Hex bitmap of detected sensors 9 12 XXXX Hex bitmap for active sensors 13 14 AA Carriage Return Line Feed Table 2 41 U Binary Output Format Byte Index Format Description 0 7 Binary Header 8 11 I Detected and Active Station bitmap Binary output is the same for both U station lt gt and 00 lt gt Examples A user could connect four sensors to a LIBERTY and then collect a data po
15. RMA number and you may then return the system to the factory Do not return any equipment without first obtaining an RMA number Please retain and use the original shipping container if possible to avoid transportation damages for which you or your shipper would be liable 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 D of this document The proper return address is Polhemus 40 Hercules Drive Colchester VT 05446 Attention RMA From within the U S and Canada 800 357 4777 From outside the U S or Canada 802 655 3159 Fax 802 655 1439 REV H F 1 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Index active station state 54 echo mode essere 50 address for F 1 73 alignment sss 10 24 25 53 A 1 elevation esses eene nennen enne nnns 12 alignment 10 53 EMC 1 alignment reference frame 1 experiment with data esee 9 angular coverage E 1 external event marker sssesssss E 1 m 10 17 external sync 80 10 B 1 external sync 1 80 Lindner EEE 46 IP sea
16. applied each time LIBERTY is restarted Syntax Nstation Xoff L Yoff LZoff lt gt Part Description station 1 to 16 which specifies the relevant source sensor pair Xoff X direction Tip offset Yoff Y direction Tip offset Zoff Z direction Tip offset Remarks Factory default tip offsets are read from the PROM inside the stylus connector on power up As a result the N command can only override the factory defaults during the current operational session REV H 37 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Output Record Table 2 17 N ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A N 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB X offset 12 18 Sx xxxB Y offset 19 25 Sx xxxB Z offset 26 27 AA Carriage Return Line Feed Table 2 18 N Binary Response Byte Index Format Description 0 7 Binary Header 8 FL X offset 12 FL Y offset 16 FL Z offset Examples If the user created a special stylus tip attachment that extended exactly one inch from the end of the stylus an adjustment to the tip offsets would have to be made To do so the following steps should be taken 1 Verify that LIBERTY is measuring units in inches by sending the U Set Units command see page 42 2 Read the factory tip offsets from the PROM in the conne
17. feasible then the following command should be used G0 0 180 The orientation measurements for all stations will now look as if the source had not been mounted upside down REV H 32 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL H Hemisphere of Operation Description This command allows the user to set or change the hemisphere of operation vector Since the sensor s can only operate in one hemisphere at a time relative to the source it is necessary to tell LIBERTY which side of the source they will be on for each station LIBERTY also provides hemisphere tracking a feature whereby LIBERTY can continuously modify its operating hemisphere given that it is started in a known valid hemisphere Because of the symmetry of the magnetic fields generated by the source there are two mathematical solutions to each set of sensor data processed Therefore only half of the total spatial sphere surrounding the source is practically used at any one time without experiencing an ambiguity usually sign flips in the X Y Z measurements This half sphere is referred to as the current hemisphere The chosen hemisphere is defined by an LOS vector from the source through a point at the zenith of the hemisphere and is specified by the LOS direction cosines Syntax Hstation p1 p2 p3 Part Description station 1 to 16 which specifies the relevant source sensor pair pl The initial x component of a
18. 232 serial port or USB port Additionally format notations and conventions for commands and outputs are presented first 2 2 Command Syntax 2 2 1 Notation The following notations are used in this manual to describe LIBERTY command syntax Items shown inside square brackets are optional To include optional items type only the information inside the brackets Do not type the brackets lt gt Represents an ASCII carriage return or enter M 0x0d Whenever shown this value must be present to terminate the command sequence An ellipsis indicates that you can repeat an item A comma represents a delimiter in a list of optional parameters The comma must be present for those parameters which are omitted except for the case of trailing commas For example Qs p1 p4 lt gt is the proper command format when omitting parameters p2 and p3 Commas following the parameter p4 are not required if parameters p5 and p6 are omitted A vertical bar means either or Choose one of the separated items and type it as part of the command For example ON OFF indicates that you should enter either ON or OFF but not both Do not enter the vertical bar A caret in front of a command letter indicates that the control key should be held down while typing the command letter Control commands produce ASCII values between 0x00 and Ox1F For discussion purposes all examples assume only one sensor is used in the Sensor 1 position R
19. CE regulations pertaining to the development and sale of medical devices and all other regulatory requirements FCC Statement This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designated to provide reasonable protection against interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause interference to radio communications Operation of this equipment in a residential area is likely to cause interference in which case the user will be required to correct the interference at the user s own expense EC Declaration of Incorporation This Product Complies with the following European Community Directives 89 336 EEC as amended by 92 31 EEC 73 23 EEC Low Voltage as amended by 93 68 EEC The following standards were used to verify compliance with the directives EMC IEC 61326 1 1997 A1 1998 EN 61326 1 1997 A1 1998 CISPR 11 1990 EN 55011 1991 Group 1 Class A 6100 4 2 1995 A1 1998 EN 61000 4 2 1995 ESD 4kV CD 8kV AD 6100 4 3 1995 EN 61000 4 3 1995 3V m 80 AM 6100 4 4 1995 EN 61000 4 4 1995 0 5kV line line 1kV line earth 6100 4 6 1995 EN 61000 4 6 1995 3V 80 AM power line Australia New Zealand AS NZS 2064 1 Safety IEC 61010
20. Figure 1 2 LIBERTY 240 16 Rear Panel 2 Figure 1 3 Source and Source Connection 2 Figure 1 4 Sensor and Sensor Connection 3 Figure 1 5 Sensor Source Test Setup 3 Figure 1 6 Power Connector 3 Figure 1 7 USB Cable Connection 4 Figure 1 8 RS 232 Cable Connection 5 Figure 1 9 PiMgr Screen Display 7 Figure 1 10 RS 232 Display 8 Figure 1 11 LIBERTY Data Record Display 8 Figure 1 12 Euler Angles 14 Figure 3 1 External Sync 80 Figure 3 2 Source Diagram 82 Figure 3 3 Sensor RX2
21. Figure 1 4 REV H 2 AUGUST 2012 POLHEMUS LIBERTY MANUAL Figure 1 4 Sensor and Sensor Connection 6 For testing purposes it is convenient to mount both the source and the sensor on a single block of wood 2 x4 or equivalent about 16 inches apart Exact placement of the source and sensor is not important for this test just make sure the cables of both devices are not routed tightly together and that they come off opposite ends of the wood mount See Figure 1 5 Figure 1 5 Sensor Source Test Setup 7 Identify the power entry module with the ON OFF rocker switch on the rear panel Ensure that this switch is in the OFF position logic 0 RIGHT before inserting the AC power cord and applying 110 220 VAC See Figure 1 6 Figure 1 6 Power Connector REV 3 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL USB or RS 232 Communications Only one I O port USB or RS 232 can be active at a time e For USB continue with step 8 e For RS 232 skip to step 12 For USB Communications 8 Identify the USB cable and insert it into the receptacle as shown in Figure 1 7 Connect the other end of the USB cable to the host computer Figure 1 7 USB Cable Connection 9 At this point you may turn on the LIBERTY system using the power switch located on the back panel of the SEU A system status indicator located on the front and rear panel of the electronics unit should flash red for 5 to 10 seconds i
22. ISOMETRIC VIEW FOR REFERENCE ONLY THEORETICAL ELECTRICAL CENTER POSITION SHOWN Figure 3 4 Sensor RX1 C REV 83 AUGUST 2012 POLHEMUS LIBERTY MANUAL INNOVATION IN MOTION 3 4 Stylus The stylus is a pen shaped device with a sensor 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 8 stylus is shown in Figure 3 5 7 Lx 0 5 W x 0 75 0 75 oz and Figure 3 6 shows the 3 stylus 3 5 L x 0 5 W x 0 75 H 0 45 oz either stylus may be used in any of the sensor ports The stylus functions as a sensor with the electrical center offset from the tip of the stylus via software Single or continuous output records may be obtained as a function of the integrated switch See the L Stylus Button Function command on page 35 and the N Tip Offsets command on page 37 for stylus configuration details Figure 3 5 8 Stylus Figure 3 6 3 Stylus REV H 84 AUGUST 2012 POLHEMUS LIBERTY MANUAL 3 5 Buddy Button The Buddy Button see Figure 3 7 is an optional component to accompany the stylus Some users may experience motion of the stylus tip while attempting to capture data due to the position of the push button switch on the stylus Users may find it difficult to hold the stylus tip in place while operating the switch The Buddy Button allows the u
23. MOTION LIBERTY MANUAL ep Single Data Record Output Description In non continuous output mode this command polls LIBERTY for a single data record If more than one station 1s enabled then data from each active station will be sent in numerical order station 1 first station 2 second etc that is a complete cycle of active stations will be output Output mode refers to whether the system automatically transmits data records to the host continuous output mode or the host must request data records by polling the system each time non continuous mode Syntax P NOTE This is the only LIBERTY command that does NOT require a lt gt Remarks The system default enables single data record output mode Output Record Table 2 46 P ASCH Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A Error Indicator 3 B Blank 4 m See Table 2 19 page 39 Data Item 1 1 See Table 2 19 page 39 See Table 2 19 page 39 Data Item n Table 2 47 P Binary Response ByteIndex Format Description 0 7 Binary Header 8 n See Table 2 19 page 39 Data Output Item 1 configured by Output Data List command see page 39 n m See Table 2 19 page 39 Data Output Item 2 See Table 2 19 page 39 Data Output Item n Examples If the system is being used in an application
24. OXFFFFFFFF Examples The user may decide to use X Y Z direction cosines instead of the default output format In order to do so the following command should be sent O1 6 1 The output data for Station 1 will now be displayed as X Y Z direction cosines plus carriage return line feed 0 2 The output for all stations will be position only REV H 40 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL R Change Update Rate Description This command sets the data output update of the LIBERTY system The command parameter is defined as Syntax R rate Part Description rate Defines the update rate The choices are 3 120 Hz 4 240 Hz Remarks The system default is 240 Hz If rate is omitted from the command parameter list the current setting is returned in the default response frame Output Record Table 2 22 R ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A R 3 A Error Indicator 4 B ASCII Blank character 5 A 3 120 Hz 4 240 Hz 6 7 AA Carriage Return Line Feed Table 2 23 R Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x03 120 Hz 0x04 240 Hz Examples R3 lt gt R4 lt gt Default is 240 Hz 4 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL U Set Units Description This comm
25. Since the LIBERTY is a free running system it can not be triggered to collect data at the user s request Two lines are provided however to synchronize the LIBERTY and the user s equipment A sync in pin when grounded will cause a mark in the output frame provided the feature is enabled see Z Set Sync Mode command page 48 and provided the output record is set up to display this mark see Output Data List page 39 The sync out pin provides a 3 3 volt pulse that is 1 2 msec long which occurs at the beginning of a data collection cycle This pulse will occur at a frequency of 240 Hz or 120 Hz depending on the setting for the LIBERTY update rate see R Change Update Rate command page 41 An external sync cable can easily be fabricated using a mini din 8 pin connector Use a plug type connector to mate into the LIBERTY receptacle connector User connector Mini Din plug LIBERTY connector Mini Din Receptacle Figure 3 1 External Sync Table 3 1 External Sync Pin Outs Pin Function Notes 1 Sync Out 3 3 volt pulse 1 2 msec 240 Hz or 120 Hz 2 Sync In Ground input to trigger 3 5V 0 3 amp maximum 4 GND 5 Do Not Use DO NOT connect anything to this pin 6 Do Not Use DO NOT connect anything to this pin 7 Not used 8 Not used 3 1 5 RS 232 I O The RS 232 I O serial connector is a standard 9 pin plug D type connector located on the rear panel of the
26. a fixed position to a non metallic surface or stand which is located in close proximity to the sensors The standard source is the 2 cube and the specifications in this manual are based on the 2 source see Figure 3 2 Other source sizes are available Review the Polhemus web site at www polhemus com or contact Polhemus customer service for more information REV H 81 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 407 104 0mm HEIGHT TX2 2 3 56 0mm TX4 4 04 102 6m m mm 0 38 E e L 4 SOURCE M 1 40 35 560mmj 2 SOURCE 4 07 104 0mm 5e CABLE EXIT Figure 3 2 Source Diagram 3 3 Sensor s The sensor is the smaller device whose position and orientation is measured relative to the source The sensor is dimensionally shown in Figure 3 3 including the position of the electrical center The sensor package provides two mounting holes for 4 nylon screws supplied in the event that sensor mounting is required NOTE Nylon hardware is only required when the hardware will be in direct contact with the source or sensor A testing surface where the devices will be used a table for example could have small metal hardware like screws nuts and bolts which probably would not affect the accuracy of the LIBERTY system Figure 3 3 Sensor RX2 REV H 82 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL
27. button function Syntax Lstation fbutton lt gt Part Description station 1 to 16 which specifies the relevant source sensor pair fbutton Defines the function of the Stylus Button The choices are 0 Marker Mode 1 Point or Track Mode Remarks System default is Marker Mode An entry of fbutton 0 defines the output interaction as marker mode The pushing of the stylus switch has no effect on system output other than setting an event marker in the output record when the button is pressed In this case a 1 is reported in the output record when the switch is pressed and a 0 when it is not pressed NOTE Output of this marker must be enabled through the O command An entry of fbutton defines a pseudo point track mode interaction with the switch In non continuous mode of output pressing the stylus switch has the same effect as sending a command to the system point mode In point mode every time the button 15 pressed a data record is sent to the host NOTE The host must be aware of this mode If the stylus button is pressed the host must be polling for the data frame or monitoring RS232 output in order to capture the output data In continuous output mode pressing the stylus switch serves as a toggle for continuous output track mode The first time the button is pressed continuous output mode is turned off The next time the button is pressed continuous output mode is turned back on ag
28. data when an incoming sync is received and a sync pulse is output for each frame NOTE Output of the event marker must be enabled through the O Output Data List command As with other configuration commands if mode is omitted from the command parameter list the current setting 1s returned in the default response frame Output Record Table 2 30 Z ASCII Response Byte Index Format Description A First Digit of Station Number 1 Second Digit of Station Number 2 A Z 3 A Error Indicator 4 B ASCII Blank character 5 A 0 Off 1 On 6 7 AA Carriage Return Line Feed Table 2 31 Z Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 OFF 0x01 ON REV H 48 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL CAP UN Boresight Description This command causes the sensor boresight rotation matrix to be reset to the identity matrix for the specified station If the origin of the station was previously reset using the B Boresight command see page 26 the origin will revert back to the source origin Syntax Bstation lt gt Part Description station 1 to 16 which specifies the relevant source sensor pair Remarks None Output Record None Examples B1 lt gt Resets Station 1 49 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL CAR Set Echo Mode Description T
29. gt A sample response for two maps stored would be 00d 2 The command to print out the map ID s of the maps stored in LIBERTY D0 lt gt The returned record might display the following 00d 1 Sample Mapl 2 Sample Map2 3 In this case two unique compensation maps are stored in LIBERTY s memory The third map slot is vacant REV H 66 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Save Operational Configuration Description This command allows the user to save an operational configuration to one of three configuration records stored in LIBERTY non volatile configuration memory The configuration saved is the configuration currently defined Syntax Kslotnum lt gt Part Description slotnum 1 3 One of three user definable operational configurations that are stored within LIBERTY Remarks Configuration slot number 0 is reserved for the factory default configuration A 15 character null terminated ID string should be assigned to the user defined configuration before a R is issued See the X Operational Configuration ID command on page 57 Output Record None Examples Assume a user wants to save the current custom operational configuration for use later The user also wants to make this configuration the default power up configuration for the user s LIBERTY system The following commands should be issued XNewlIDstring Assigns an ID string to cu
30. is as follows Table 2 1 ASCII Response Format Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number Q 2 A Command Letter 3 A Error Indicator 4 B ASCII Blank character 5 thru n A Response Body n l n 2 lt gt A amp response frame may not contain a Carriage Return Line Feed as specified by the user with the command If the Station Number is not applicable to the command the first two fields will be ASCII zeros 0 Error codes presented in the Error Indicator field are detailed in LIBERTY Error Code Summary on page 22 No Error is represented by an ASCII blank character Binary Binary response frames are described in this document using the following notation unsigned short 16 bits SH signed short 16 bits unsigned char 8 bits CH ies char 8 bits Perec signed integer 32 bits unsigned double word 32 bits BL uos 32 bit single precision floating point in IEEE format consisting of sign bit 8 bit exponent and 23 bit mantissa SXXX XXXX XMMM MMMM MMMM MMMM MMMM MMMM of size of type preceding square brackets eg FL 3 REV H 19 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Binary response frames are composed of an 8 byte frame header followed by a variable length frame body as follows Table 2 2 Binary Respo
31. it which involves a great deal of assumptions based on previous experience and or visual inspection and hope for the best Alternatively you could sit down and read the whole manual line by line and then start What we provide here is a middle ground to cover the basics to get you going quickly However this approach does not preclude using the manual as a precise guide reference and final arbiter 1 1 LIBERTY Models This user manual covers all LIBERTY tracker models and configurations e The LIBERTY 240 8 base system supports four sensors and is scalable to support up to eight sensors each operating at up to 240 Hz e The LIBERTY 240 16 base system also supports four sensors but is scalable to support up to 16 sensors each operating at up to 240 Hz All LIBERTY trackers are managed and configured similarly However in the very few circumstances where tracker commands or operations differ those differences are clearly noted in this manual Figure 1 1 LIBERTY 240 8 on right and 240 16 on left 1 2 Set Up the LIBERTY NOTE This approach assumes the use of either a LIBERTY 240 8 or a LIBERTY 240 16 tracker system a single sensor availability of a USB or COM port on a computer with either Windows XP Vista Win 7 and that the Polhemus PiMgr GUI is installed on the computer See Install the LIBERTY Host Software on page 6 for instructions REV H 1 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 1 Unpack
32. number of sensor processor boards installed 240 16 12 2 in 31 cm L x 7 in 17 8 cm W x 11 in 28 cm H Weight between 10 11 5 Ibs 4 5 5 25 kg depending on number of sensor processor boards installed Field Source 2 3 in 5 8 cm L x 2 2 in 5 6 cm W x 2 2 in 5 6 cm H weight 8 8 oz 250 gm Sensor 0 9 in 22 9 mm L x 1 1 in 27 9 mm W x 0 6 in 15 2 mm H weight 0 8 oz 23 gm Power Requirements 100 240VAC 50 60 Hz Nominal 85 264 VAC 47 440 Hz max rating single phase 50 W REV E 1 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL APPENDIX F Customer Service If problems are encountered with the LIBERTY system or if you are having difficulty understanding how the commands work help is just a telephone call away Call Polhemus at the numbers listed below and select 2 for Customer Service and then 1 for Technical Support Polhemus is open Monday through Friday 8 00 AM to 5 00 PM Eastern Standard Time For the most part our customer service representatives are usually able to solve problems over the telephone and get you back into the fast lane right away Help is also available on our web page at www polhemus com Simply double click Technical Support and then click techsupport polhemus com to send us an email describing the problem or question If a problem requires repair of your system the customer service representative will issue a Return Merchandise Authorization
33. sss 41 1 clean the instrument sse li 57 COIT e ir ER eme ES 23 M 42 command format notes 18 ecd eie e repe eren 74 command reference sssssssseeeee 23 initialize system sess 74 command set summary seen 21 install host software 6 command 17 E 12 commands nite eet e iie 23 latency istis rote 13 E 1 compensatiOn iiee neret reete ib 28 least significant bit LSB 13 compensation 11 least significant digit LSD 13 component 79 LED rer eren 79 configuration 23 51 57 67 73 75 86 liability EERE D 1 configuration 86 LIBERTY eter eR Rs 13 configuration commands 23 limited warranty limitation of liability D 1 contacting Polhemus sss F 1 line of sight 0 13 continuous print output 62 LOS line of sight sess 13 33 tete eerte rere
34. term often substituted for elevation especially as it concerns flight is pitch The values assigned to certain system variables by the factory Stored in non volatile memory they are used to reinitialize the variables if configuration information is lost Term used to describe the software programmed into LIBERTY non volatile memory The interchange coding used to present data LIBERTY outputs either ASCII or BINARY data but accepts only ASCII inputs from the host Because of the inversion symmetry of the magnetic fields generated by the source there are two possible mathematical solutions for the X Y Z position coordinates for each set of sensor data processed and LIBERTY is unable to determine which solution is the correct one without additional information Therefore only half of the total spatial sphere surrounding the source can be utilized at any one time for unambiguous position measurement The selected hemisphere is referred to as the current hemisphere It is defined by an LOS line of sight vector from the source through a point at the zenith of the hemisphere and is specified by the direction cosines of the chosen LOS vector The orientation coordinates do not have a two solution spherical ambiguity and are therefore valid throughout the operating sphere centered at the source Any device capable of supporting an RS 232C interface or the high speed USB interface and capable of bi directional data transmissio
35. the LIBERTY system electronics unit SEU source sensor s USB and RS 232 cables LIBERTY Host Software CD power cord and cables See Figure 1 1 2 Setup LIBERTY system close to your host computer and away from large metal objects like file cabinets metal desks etc and away from the floor and walls 3 Examine the rear panel of the LIBERTY and review the locations of the source sensor power RS 232 USB and external sync ports The layout of the rear panel is similar for LIBERTY 240 8 and 240 16 The only difference is the number of sensor ports See Figure Source a a ra ma 5855555559955 RS 232 vs 00 wal uai um m um as es ama External Sync smee eune at a o cccocccoC mimm USB pachastsse 225569 ee Sensors pem Nem Sensors Power Figure 1 2 LIBERTY 240 16 Rear Panel 4 Identify the source device with DB 15 connector and insert the source connector into the source receptacle being careful to firmly engage it Using your fingers tighten the two retaining screws to secure the connector See Figure 1 3 Figure 1 3 Source and Source Connection 5 For getting started use only one sensor Identify the sensor and insert it into any of the sensor receptacles as shown below Firmly engage and lock the sensor connector into place in the same manner as the source connector in step 3 See
36. user Stored in non volatile memory the system receives these variable values at power up XYZ or X Y Z The Cartesian coordinates of position tracking where normally X is in the forward direction Y is in the right hand direction and Z is downward XYZAER The output string of data reporting the position XYZ and orientation AER azimuth elevation and roll of the tracking sensor Yaw Same as azimuth lt gt Used text to indicate the Enter key Used in text to indicate the Ctrl key 16 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 LIBERTY System Commands 2 1 Overview This section of the document specifies the LIBERTY Command Interface It provides the basis for Interface development The LIBERTY Command Interface defines the structure and function of commands LIBERTY will respond to and the messages LIBERTY will provide to an external device or Host The Command Interface is comprised of ASCII commands The interface is designed to work in a dumb terminal mode thus keeping the communications protocol simple and easy to use These commands provided the building blocks for the Polhemus LIBERTY SDK Additional information is provided in this document to give the reader some background in the terminology and general science behind the Polhemus tracking technology Key factors that influence the design of the interface are also discussed All commands are input on the RS
37. vector pointing in the direction of the operational hemisphere s zenith p2 The initial y component of a vector pointing in the direction of the operational hemisphere s zenith p3 The initial z component of a vector pointing in the direction of the operational hemisphere s zenith Remarks The arguments p p3 above are the vector components of the operational hemisphere s zenith The default hemisphere values are 1 0 0 which is positive X or forward hemisphere Hemisphere Tracking is enabled by sending Hstation 0 0 0 lt gt It is not enabled by default LIBERTY modifies the operating hemisphere automatically When turning on Hemisphere Tracking the sensor of the specified station must be initially located in the currently set hemisphere 33 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL NOTE If Hemisphere Tracking is turned ON when the X Operational Configuration ID command page 57 is sent LIBERTY will save the default hemisphere Issuing an Hstation lt gt returns a record of structure as shown below Output Record Table 2 13 H ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A H 3 Error Indicator 4 B ASCII Blank character 5 11 SXX XXX Current Vector X component 12 18 SXX XXX Current Vector Y component 19 25 SXX XXX Current Vector Z component 26 27 AA Carriage Ret
38. 00000000 0x00000000 0x00000000 0x00000000 Words 2 9 0x00000000 0x00000000 0x00000000 0x00000000 LIBERTY 240 16 00t 0 00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0 lt gt Clear BIT errors gives no response 70 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL AV WhoAml Description This command returns the basic identification and firmware version of LIBERTY system Syntax V station lt gt Remarks None Output Record Table 2 52 V ASCII Response Description 5 char ASCII header string Number of stations supported lt gt Boot Loader Version System Controller Version Source Controller Version Sensor Processor Version Processor Version ee _ Firmware Package Part Number Table 2 53 lt gt Binary Response Byte Index Format Description 0 7 Binary Header 8 UC Sensor count 9 UC Tracker Type 0 LIBERTY 10 UC Reserved 11 Same as ASCII response minus ASCII header Table 2 54 V station ASCII Response Description Station n Serial Number sernum string Station num serial number Table 2 55 V station Binary Response Byte Index Format Description 0 7 Binary Header 8 I ID 12 Serial Number REV
39. 1 1990 A1 1992 A2 1995 EN 61010 1 1993 A2 1995 REV H 1 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Safety Notices This apparatus has been designed and tested in accordance with IEC Publication 1010 Safety Requirements for Measuring Apparatus and has been supplied in a safe condition This is a Safety Class I instrument provided with terminal for protective grounding Before applying power verify that the correct safety precautions are taken see the following warnings Warnings Before turning on the instrument you must connect the protective ground terminal of the instrument to the protective conductor of the mains power cord The mains plug shall only be inserted in a socket outlet provided with a protective ground contact You must not negate the protective action by using an extension cord power cable without a protective conductor grounding Grounding one conductor of a two conductor outlet is not sufficient protection Whenever it is likely that the ground protection is impaired you must make the instrument inoperative and secure it against any unintended operation This instrument contains no user serviceable parts Do not attempt to service unit Return to Polhemus for repair Do not perform any unauthorized modification to the instrument Do not operate the instrument in the presence of flammable gasses or fumes Operation of any electrical instrument in such an environment constitutes a defini
40. 1 for LIBERTY HST 2 UC Station Number a 3 UC Initiating command 4 UC Error Indicator m5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body Deus x y z position Cartesian coordinates FL 3 az el roll Euler orientation angles FL 3 as direction cosines of the sensor s x y z axes FL 3 9 The system data record contents are specified by the user using the command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined The notation FL 3 refers to ANSI IEEE Standard for Binary Floating Point Arithmetic 754 1985 format of data This is defined in the standard as MSB LSB Bit 31 Bit 30 23 Bit 22 0 Sign Exponent Fraction Byte 3 Byte 2 Byte 1 Byte 0 The IEEE floating point format uses sign magnitude notation for the mantissa and an exponent offset by 127 In a 32 bit word representing a floating point number the first bit is the sign bit The next 8 bits are the exponent offset by 127 i e the actual exponent is e 127 The last 23 bits are the absolute value of the mantissa with the most significant 1 implied The decimal point is after the implied 1 or in other words the mantissa is actually expressed in 24 bits In the normal case an IEEE value is expressed as CDS 2 e 127 01 9 If0 lt e lt 255 B 2 AUGUST 2012
41. Bits Meaning 0 2 Baud rate Table 2 34 on page 51 3 4 Parity Table 2 35 on page 51 4 31 Reserved 28 1 Bits Meaning 0 Continuous Mode 0 Off 1 On 1 Binary Mode 0 1 2 Units Mode 0 Inches I CM 3 4 Sync Mode 0 Off 1 On 5 7 Reserved 8 9 Compensation 0 Off 1 3 Map 10 25 Station Bitmap 1 Active 26 Echo Mode 0 Off 1 On 27 Buffering Mode 0 Off 1 On 28 31 Reserved 32 FL Attitude Filter Sensitivity 36 FL Attitude Filter FLow 40 FL Attitude Filter FHigh 44 FL Attitude Filter FACTOR 48 FL Position Filter Sensitivity 52 FL Position Filter FLow 56 FL Position Filter FHigh 60 FL Position Filter FACTOR 64 FL Source Mounting Frame Az 68 FL Source Mounting Frame El 72 FL Source Mounting Frame Roll 76 I Frame Rate 2 60 Hz The following 64 bytes will be repeated 16 times for each possible station on LIBERTY Byte Index Format Description 80 64 station 1 FL Alignment Origin X 84 64 station 1 FL Alignment Origin Y 88 64 station 1 FL Alignment Origin Z 92 64 station 1 FL Alignment X Axis X 96 64 station 1 FL Alignment X Axis Y 100 64 station 1 FL Alignment X Axis Z 104 64 station 1 FL Alignment Y Axis X 108 64 station 1 FL Alignment Y Axis Y 112 64 station 1 FL Alignment Y Axis Z 116 64 station 1 FL Hemisphere X 120 64 station 1 FL Hemisphere Y 124 64 station 1 FL Hemisphere Z 128 64 statio
42. EV H 17 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 2 2 Command Format Notes e Commands and alphabetic parameters are NOT case sensitive e Commands that use optional parameters use current system retained values for parameters omitted from the command See Station Wildcard below e The term station is a source sensor pair For example eight sensors paired with the one available source are assigned station numbers one through eight 1 8 e Unless otherwise noted commands do not take any punctuation immediately following the command letter However if an optional first parameter is to be omitted a comma is necessary between the command letter and the next argument e A numeric floating point value will be accepted by the machine if any of the following formats are used for example 3 0 may be specified as 3 3 3 0 or 3 0E 00 Station Wildcard When using a command that requires a station number as the parameter the user may wish to apply the command to all stations of the LIBERTY system In such situations a character may be used in place of the station number to apply the settings to every station in the LIBERTY system e g H 0 0 1 would change the hemisphere for every station to the positive Z hemisphere e g H1 0 0 1 would change the hemisphere for station I only to the positive Z hemisphere Default Parameters Commands that take multiple parameters can be used to change a subset
43. HE P RICE OF THE GOO DS UP ON WHICH SUCH LIABILITY IS BASED The Products are not certified for medical or bio medical use Any references to medical or bio medical u se ar e ex amples o f w hat m edical co mpanies h ave d one w ith t he P roducts af ter obtaining a ll ne cessary or a ppropriate m edical certifications T he e nd user OEM VAR m ust comply with all pertinent FDA CE and all other regulatory requirements REV H D 2 AUGUST 2012 POLHEMUSZ INNOVATION IN MOTION LIBERTY MANUAL APPENDIX E Specifications Update Rate 240 Hz per sensor simultaneous samples Latency 3 5 milliseconds Number of Sensors 240 8 has 1 to 8 240 16 has 1 to 16 T O Ports USB RS232 to 115 200 Baud both standard Static Accuracy 0 03 in RMS for X Y or Z position 0 15 RMS for sensor orientation Resolution 0 00005 in 0 0012 mm at 12 in 30 cm range 0 00040 orientation Range 36 in 90 cm at above specifications useful operation in excess of 72 in 180 cm Multiple Systems Provision available to operate two separate systems in same environment Angular Coverage All attitude Data Format Operator selectable ASCII or IEEE 754 binary English Metric Units External Event Marker User input flag and output marker Output Sync Pulse TTL frame sync output Physical Characteristics SEU w power supply 240 8 12 2 in 31 cm Lx 7 in 17 8 cm W x 8 5 in 21 6 cm H Weight between 8 75 9 25 165 4 4 25 kg depending on
44. I format Syntax Fi fmt lt gt Part Description fmt Defines the type of output from LIBERTY The choices are 0 ASCII output 1 Binary output Remarks The default output data format is ASCII The Polhemus SDK uses binary output exclusively As with other configuration commands if no fmt argument is provided the current value of the setting is returned in the default response frame If a software application is written to receive binary data from LIBERTY and there is a requirement to take it off line temporarily to do visual checks the user would enable the ASCII output data format in order to be able to easily read LIBERTY data on the PC monitor The user may wish to write a software application for LIBERTY where a fast update rate is crucial In order to reduce data throughput size LIBERTY could be set to output in binary instead of ASCII REV H 29 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Output Record Table 2 9 F ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A F 3 A Error Indicator 4 B ASCII Blank character 5 A 0 6 7 AA Carriage Return Line Feed Table 2 10 F Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00000001 Examples The command to enable binary output mode for the system is 1 lt gt 30 AUGUST 2012
45. NDS reor onera errorae erra Pa aea HE a sape Pose Io H e 17 DV OVERVIEW Peseee 17 2 2 COMMAND SYNTAX Poses 17 D2 SPIN OLGULON 17 2 2 2 Command Format NO e3 e a CREE ER d 16 2 2 3 Response Format NOLES usse ced c o ri RE Gee Ee EORUM 19 2 3 LIBERTY USER COMMAND SET SUMMARY sese enne 21 2 4 LIBERTY ERROR CODE SUMMARY isssseeseseeeeener ener 22 2 5 COMMAND tinc eiat esseri veli ev miles 23 2 3 1 Configuration Commou nds ue ciere ti citi ree e Ente RI LU EEEE VARY Yo Vae de eoe Eua edge pu 23 2 3 2 Operational Commands pedit ttr RE 61 3 COMPONENT DESCRIPTION sissssccssscsssssecossenvesssnsssssssensnesnsessnngssnnssonosssssseeosessessonsesonesosoassenesesness 79 33 SYSTEM ELECTRONICS UNIT SEU 5 ve E XR eva e YR Nee eite 79 3 IT Source Pott as ie 79 SOUTCE QE 27 1112 1T ea EET 79 3 4 2 Sensor Ports 47 87 127 itae E eine bru v EN e SON cee 79 BI
46. ON IN MOTION LIBERTY MANUAL 15 Collect a single data record from LIBERTY by typing the P Single Data Record Output command in the HyperTerminal screen LIBERTY will respond with a single frame of position and orientation data The data displayed in the HyperTerminal screen consists of a station number and six columns of data as follows these values represent an arbitrary placement of the sensor and source 1 2 3 4 5 6 7 16 Continue experimenting with the position and orientation data See Experiment with LIBERTY Data on page 9 If the system fails to produce position and orientation data carefully go over the above procedure in a systematic fashion checking connections and switch settings especially If you still need assistance call customer service 1 3 Install the LIBERTY Host Software NOTE LIBERTY Host Software is intended to be installed on a computer running Windows XP Vista Win 7 only e Insert the LIBERTY Host Software CD ROM into your computer s CD ROM drive e Ifthe LIBERTY Host Software Installation Panel does not run automatically then navigate to the CD ROM drive using Windows Explorer Run Setup exe The Host Software Installation Panel will appear Click on Install Host Software The installation wizard will walk you through the installation e For simplicity it is recommended that you use the default installation settings suggested by the installation wizard e When the in
47. POLHEMUS INNOVATION IN MOTION LIBERTY M LIBERTY USER MANUAL 240 8 240 16 URMO03PHI56 Rev AUGUST 2012 INNOVATION IN MOTION LIBERTY MANUAL Copyright 2003 2012 by Alken Inc dba Polhemus Colchester Vermont U S A All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical photocopying recording or otherwise without the prior written permission of 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 manual Polhemus assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from use of the information contained herein 3SPACE is a registered trademark of Polhemus LIBERTY is a trademark of Polhemus Windows is a registered trademark of Windows Corporation Medical Device Use Polhemus is a Good Manufacturing Practices GMP Contract Manufacturer under U S FDA Regulations We are not a manufacturer of Medical Devices Polhemus systems are not certified for medical or bio medical use Any references to medical or bio medical use are examples of what medical companies have done with the Products after they have obtained all necessary or appropriate medical certifications The end user OEM VAR Distributor must comply with all pertinent FDA
48. RS 232 C USB Figure 1 10 RS 232 Display 4 To create a connection click the Connect button on the PiMgr toolbar When the connection has been established the connection icon at the lower right will change to 5 To collect a single frame of motion data from the LIBERTY system click the Single button on the toolbar 6 Youcan also do this by typing or anywhere on the PiMgr window This will cause PiMgr to request a single data frame from the LIBERTY system The contents of the frame will be displayed in the text window at the top of the PiMgr display The airplane image s in the graphics portion of the screen will move to the retrieved position and orientation File View Device Motion Graphics Tools Help B lt m M 1 0 389 34 603 0 000 1 000 0 000 88 000 4 Figure 1 11 LIBERTY Data Record Display REV 8 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL The text portion of the screen will display the retrieved position and orientation Position in inches Euler Orientation in degrees Station Number X Y Z Azimuth Elevation Roll 1 0 389 34 603 0 000 1 000 0 000 88 000 1 5 Experiment with LIBERTY Data 1 Take some initial samples of data using P Single Data Record Output command see page 63 Because you have locked the sensor in one position relative to the
49. S LED Indicato EE 79 ILA FEXVCTHGL SVC O E E A 80 BAD RS 232 VO cs a 80 ILO USB o TEE 81 81 IL Video 81 3 2 MAGNETIC SOUROE IEEE ee FIM IE 81 J2 BT DUNS 54 9 ee 82 FJA STYLUS A ERS 84 3 3 BUDDY BUTTON ERE REC d Rie eade iere ed t sux yeso e 85 4 SYSTEM OPERATION P M 86 4 1 VO CONSIDERATIONS Em 86 4 2 POWERING UP EIBER TY AEEA 86 4 3 CONFIGURATION CHANGES cccssccecssscesesssececseseeeecseeecessaeeecsesaeeecsuaeessesaeeecsesaeescaeeeeessaeeecseaaeeeeseeeeenses 86 44 OUTPUT RATE ainan tette E tir aE ERE E E apenas E ERE EE 87 4 5 OUTPUT CONSIDERATIONS 87 ASCIMPOR m B 1 JN VSdJS UP B 2 RUNTIME RESULTS ertt triente ie esitare dos YER E Ded eue redet e esee dd cQ dat ea dn C 4 REV H iii AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL LIST OF FIGURES Figure 1 1 LIBERTY 240 8 on right and 240 16 on left 1
50. SEU as shown in Figure 1 8 The pinout identification for this connector is as follows REV H 80 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Table 3 2 RS 232 Pin Outs Pin LIBERTY Host 1 Not used Not used 2 RD gs TxD 3 TxD gt RxD 4 Not used Not used 5 GND LO GND 6 Not used Not used 7 Not used Not used 8 Not used Not used 9 Not used Not used The LIBERTY is set to 115k baud as the default speed This setting can be changed with the O RS 232 Port Configuration command on page 51 3 1 6 USB I O The USB connection is made with a standard Series A receptacle connector 3 1 7 RS 422 I O The LIBERTY does not come with an RS 422 option If RS 422 is needed standard conversion modules are available from several sources Contact Polhemus customer service if help is needed 3 1 8 Video Sync There is no dedicated video sync on the LIBERTY A detection circuit can be constructed to generate a voltage pulse and the External Sync I O Port see page 80 can be used together with the Z Set Sync Mode command page 48 to mark the frames where there could be questionable data Contact Polhemus customer service for assistance if help is needed with video interference 3 2 Magnetic Source The source is the device which produces the electro magnetic field and is normally the reference for the position and orientation measurements of the sensors It is usually mounted in
51. ain and so on 35 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Output Record Table 2 15 L ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A T 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for Marker 1 for Point Track 6 7 AA Carriage Return Line Feed Table 2 16 L Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 for Marker 0x01 for Point Track Examples The command to enable Stylus Track mode on station 2 is L2 1 lt gt REV H 36 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL N Tip Offsets Description This command allows the user to override the factory defaults for the stylus tip offsets Although changing the tip offsets is not recommended the ability to do so is available Each stylus has been factory calibrated with custom tip offsets This is the offset of the stylus tip from the sensor coil relative to the sensor axis The tip offsets allow the tip to act as the measurement reference instead of the sensor coil inside the handle B Boresight command page 26 should NOT BE used with tip offsets since the offsets will be relative to the new sensor axis alignment and erroneous position readings will be reported Tip Offset settings are not saved in the LIBERTY configuration They must be re
52. ain 2 11 Z Amplifier Gain 2 12 X Amplifier Gain 3 13 Y Amplifier Gain 3 14 Z Amplifier Gain 3 15 Reserved 16 X Noise No Attenuation 17 Y Noise No Attenuation 18 Z Noise No Attenuation 19 X Noise Gain 0 20 Y Noise Gain 0 21 Z Noise Gain 0 22 X Noise Gain 1 23 Y Noise Gain 1 24 Z Noise Gain 1 25 X Noise Gain 2 26 Y Noise Gain 2 27 Z Noise Gain 2 28 X Noise Gain 3 29 Y Noise Gain 3 30 Z Noise Gain 3 C 3 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Runtime Results There are only 3 runtime BIT errors defined These are Source Failure X Source Failure Y Source Failure Z Runtime errors are indicated in the error field of the output P amp O frame header An error code of a g or A G will indicate a combination of runtime and initialization BIT errors as indicated in Table C 5 Note that upper case error codes indicate that uncleared initialization errors also exist Lower case errors indicate that only runtime errors are present NOTE Because they are updated on a frame by frame basis runtime errors cannot be cleared with the command Table C 5 Runtime BIT Error Codes Error Code Source Source Source Initialization Failure Failure Failure BIT Errors ASCII HEX x Y Z Occurred d
53. and sets the distance unit to either metric centimeters or English inches Subsequent input and output lengths will be interpreted as centimeters or inches respectively Syntax U units lt gt Part Description units Defines the type of input and output Units The choices are 0 English Inches 1 Metric Centimeters Remarks The system default unit format is inches As with all other configuration commands if the units parameter is not stated in this command the current units setting will be returned in the default response body Output Record Table 2 24 U ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A y 3 A Error Indicator 4 B ASCII Blank character 5 A 0 for inches 1 centimeters 6 7 AA Carriage Return Line Feed Table 2 25 U Response Byte Index Format Description 1 8 Binary Header 9 12 I 0x00 for inches 0x01 for centimeters Examples Assuming the system units had already been changed to centimeters the following command could be sent to change back to inches U0 lt gt The system will now output data in inches and interpret input data in inches REV 42 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL If the operator wanted the system to output its measurements in centimeters the following command should be sent Ute The system will no
54. ctor by sending the command N1 lt gt A typical factory tip offset might be 2 523 0 004 0 03 3 To add one inch in X to the factory calibration type N1 3 523 0 004 0 03 lt gt To verify that the tip offset was entered correctly type 1 lt gt to read it back REV H 38 AUGUST 2012 POLHEMUS INNOVATION IN MOTION Output Data List Description LIBERTY MANUAL This command allows the user to define the list of variables to be output to the host computer for the specified station Any combination of items that produces a P amp O response frame of less than or equal to 1000 bytes is permissible NOTE Due to the high output rate of LIBERTY caution should be used when defining large output records to prevent overwhelming the host communications channel The output list refers to the subset of data items to be included in a data record Syntax O station p p2 pn lt Part Description station 1 to 16 which specifies the relevant source sensor pair pl pn Parameters that define the list of variables output to the host The possible parameters are listed below Table 2 19 Output Data Types ID Description ASCII Data Format Binary Data 0 ASCII space character 1 1 1 ASCII carriage return linefeed A2 A2 2 X Y Z Cartesian coordinates of position 3 Sxxx xxxB float 3 X Y Z Cartesian coordinates extended precision 3 Sx
55. default data output rate for the LIBERTY is 240 Hz The R Change Update Rate command on page 41 can be used to set the update rate to 120 Hz or 240 Hz Since the 120 Hz rate has twice the data collection time of the 240 Hz rate the slower rate will have slightly improved noise performance Reduction of the update rate may be of assistance in host computers burdened with a heavy computation load and not needing the higher update rate 4 5 Output Considerations Most applications of the LIBERTY system involve using its data output to manipulate some type of computer graphics in real time In this condition it is extremely important to allow the data to be utilized as quickly as possible and to avoid latency or lag Lag is defined as the interval of time between requesting a LIBERTY data point and receiving it into the host computer Factors that could increase this lag are Output Record Length e Data Format binary is more efficient than ASCII e Filtering data are produced at normal times but will show effects of filter lag e Background software and applications running on the host computer e USB Buffering Mode Enabled see B USB Buffering Mode on page 59 In general the RS 232 will have the lowest lag but the port is too slow to get more than one sensor worth of data without missing data frames The USB port can deliver 16 sensors worth of data at 240 Hz but due to the polled nature of USB I O may be more prone to
56. ed or blocked from view such as a clear line of sight for optical uses Least significant bit Least significant digit Most significant bit The volume in which motion tracking is specified to perform as prescribed Although this 3D volume usually is cubical in nature many of the tracking technologies known as active are dependent on a source of stimulation e g magnetic field light source which actually performs equally well at a constant radius from the source so that the box actually might be better described as spherical or hemispherical The azimuth elevation and roll angles that define the current orientation of the sensor coordinate frame with respect to the designated reference frame The Euler angle coordinates that are output by LIBERTY as one measure of sensor orientation are graphically defined in Figure 1 12 In Figure 1 12 the x y z and X Y Z tri axis arrays represent independent three dimensional orthogonal coordinate frames The x y z triad represents the sensor frame in its current orientation state The X Y Z triad represents the reference frame against which the relative orientation of the sensor frame is measured By definition the X Y Z frame also represents the zero orientation reference state of the sensor frame 13 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL The Euler angles azimuth elevation and roll are designated y and in Figure 1 12 These angles repre
57. eed 164 174 Bitmap of sensor channel 13 errors 175 185 AAXXXXXXXXB Bitmap of sensor channel 14 errors 186 196 Bitmap of sensor channel 15 errors 197 206 AAXXXXXXXX Bitmap of sensor channel 16 errors 207 208 AA Carriage Return Line Feed 69 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Table 2 51 T Binary Response Byte Index Format Description 0 7 Binary Header 8 DW Bitmap of source and global sensor processor errors sensors 1 8 12 DW Bitmap of sensor channel 1 errors 16 DW Bitmap of sensor channel 2 errors 20 DW Bitmap of sensor channel 3 errors 24 DW Bitmap of sensor channel 4 errors 28 DW Bitmap of sensor channel 5 errors 32 DW Bitmap of sensor channel 6 errors 36 DW Bitmap of sensor channel 7 errors 40 DW Bitmap of sensor channel 8 errors Additional fields for LIBERTY 240 16 only 44 DW Bitmap of source and global sensor processor errors sensors 9 16 48 DW Bitmap of sensor channel 9 errors 52 DW Bitmap of sensor channel 10 errors 56 DW Bitmap of sensor channel 11 errors 60 DW Bitmap of sensor channel 12 errors 64 DW Bitmap of sensor channel 13 errors 68 DW Bitmap of sensor channel 14 errors 72 DW Bitmap of sensor channel 15 errors 76 DW Bitmap of sensor channel 16 errors Examples T Read BIT Errors Yields the results below when no error LIBERTY 240 8 00t 0x00000000 0x
58. el 6 Sensor Channel 7 8 Sensor Channel 8 Words 9 17 are reported by LIBERTY 240 16 only 9 GS3 GS4 SID Na BR WY NM 10 Sensor Channel 9 11 Sensor Channel 10 12 Sensor Channel 11 13 Sensor Channel 12 14 Sensor Channel 13 15 Sensor Channel 14 16 Sensor Channel 15 17 Sensor Channel 16 REV C 1 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Global BIT Results The value in Word 0 can be used as a global indicator of BIT errors If Word 0 is NULL then there are no detected BIT errors For LIBERTY 240 16 bit 31 of Word 0 G9 is an indicator of the presence of errors mapped in Word 9 Source BIT Results The sub bitmap representing source BIT results is defined in Table C 2 below Table C 2 Source BIT Results Bit Definition 0 Magnitude X Error 1 Magnitude Y Error 2 Magnitude Z Error 3 Linearity X Error 4 Linearity Y Error 5 Linearity Z Error 6 Source PROM Read Error 7 Calibration PROM Read Error 8 Source BIT Read Error Global Sensor GS BIT Results Global Sensor BIT results sub bitmaps appear once for each sensor processor unit hosted by the LIBERTY tracker LIBERTY 240 8 hosts two sensor processor units supporting 4 sensors each LIBERTY 240 16 hosts four sensor processor units Table C 3 defines the sensor processor global BIT results The Sensor n notation in this table
59. eloper s Kit Software development toolset available for LIBERTY based trackers Consists of programming libraries help files and sample code Sometimes referred to as API although API refers specifically to the programming libraries used to interface with the instrument The sensor measures the low frequency magnetic field generated by the source The sensor is used to track both the position and orientation of the object to which it is attached relative to the measurement reference frame The source generates the low frequency magnetic field measured by the sensor The source s X Y and Z axes are the default measurement reference frame The source sensor port pair Up to 8 240 8 or 16 240 16 sensors are permitted yielding a possible 8 or 16 stations depending on configuration A pencil shaped housing for the sensor with an integral switch and used by the operator to indicate and or select points to be digitized 15 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Sync Shorthand for synchronization For example sync signal Units The unit of assumed distance LIBERTY allows measurement in either inches or centimeters Update Rate The rate at which motion tracking data can be made available from the LIBERTY system Useful Range The maximum distance at which the resolution and noise performance of the LIBERTY system can be realized User Defaults The values assigned to certain system variables by the
60. ents include Table 2 34 ASCII Baud Rate Values Rate Baud Rate 384 38 400 576 57 600 1152 115200 parity Table 2 35 ASCII Parity Values Parity Meaning 0 1 Odd P Even Remarks See RS 232 I O on page 80 for reference on the use of RS 232 for communicating with LIBERTY The default RS 232 communications parameters are 115 200 baud no parity In addition The number of data bits is always eight 8 The number of stop bits is always one 1 Hardware Handshake is always disabled REV H 51 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Output Record Table 2 36 O ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A o 3 A Error Indicator 4 B ASCII Blank character 5 10 A Baud Rate see Table 2 34 on page 51 11 B Blank 12 A Parity see Table 2 35 page 51 13 14 A Carriage Return Line Feed Table 2 37 0 Binary Response Byte Index Format Description 0 7 Binary Header 8 I Baud Rate see Table 2 38 below 12 I Parity see Table 2 38 below Examples Suppose there is a requirement to change the baud rate in software to 38400 baud after startup It can be accomplished with the following command without turning off and restarting the system 0384 1 8 0 lt gt The sy
61. er screen will look like this Tracker conte File View Device Motion Graphics Tools Help Configuration a Default Modified Active S ensors Recording None Frames 00 00 00 az For Help press 1 Na tracker connection Figure 1 9 PiMgr Screen Display 1 With no LIBERTY system connected notice that the icon appears in the lower right corner Once connected the icon will change to 2 Ifthe LIBERTY system is already connected to the computer the PiMgr will discover the connection immediately upon startup If not you will need to manually create the connection once you have powered up LIBERTY To do this first you must select the type of connection you wish to create 3 If you want to create a USB connection skip to Step 4 PIMgr defaults to a USB connection If you want to create an RS 232 connection first configure the serial port settings by opening the Device Configuration dialog Open this dialog off the Device menu Device Device Configuration and select the Connection tab Select the RS 232 Connection Type on the left and the appropriate RS 232 Properties on the right Then Click OK REV H 7 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Cunning Source Mounting Frame Active Sensors General Connection Filters r Connection Type RS 232 Properties Com Port possi Baud Rate 115200 Parity None
62. erational commands are typically executed during normal system operation They do not affect the configuration of LIBERTY system REV H 61 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL C Continuous Print Output Description This command enables the continuous print output mode When the system is in continuous mode the data points from all stations are requested automatically and are streamed to the host continuously If more than one station is enabled then the data from each station will be sent in numerical order station first station 2 second etc Output mode refers to whether the system automatically transmits data records to the host continuous mode or the host must request data records by polling the system each time non continuous mode Syntax C lt gt Remarks The system default disables Continuous print output mode If the system is being used in an application where a fast update rate is critical then the continuous print output configuration should be enabled Issuing a P Single Data Record Output command see page 63 disables continuous print output mode Output Record Continuous print output frame data See P Single Data Record Output on page 63 Examples To enable continuous output mode send the command as follows C lt gt Data from LIBERTY will now flow continuously to the host computer REV H 62 AUGUST 2012 POLHEMUS INNOVATION IN
63. ere the host computer does not have continuously available CPU and memory resources to capture every frame over USB LIBERTY can buffer up to 2 300 bytes of data A consequence of enabling USB buffering mode is that the FIFO operation may result in data latency When the buffer is full P amp O frames delivered to the host computer are not real time As such they may not reflect the P amp O of the stations at that instant in time The P amp O reported may be several frames behind real time depending on the frame rate frame size and buffer size With USB Buffering Mode disabled the FIFO buffer does not fill up with motion data Each time the host computer requests a new frame the frame delivered is guaranteed to be as close to real time as possible thus avoiding data latency REV H 59 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Output Record Table 2 44 B ASCII Response Byte Index Format Description 0 A 0 1 0 2 3 A Error Indicator 4 B ASCII Blank character 5 A 0 Disabled 1 Enabled 6 7 AA Carriage Return Line Feed Table 2 45 B Binary Response Byte Index Format Description 0 7 Binary Header 8 I 0x00 Disabled 0x01 Enabled Examples The command to disable USB buffering mode is B0 lt gt 60 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 5 2 Operational Commands Op
64. esfemes 4 8 12 21 51 80 81 RSA M 81 RS 422 optional I O sees 81 runtime results eese C 4 VW M 1 safety notices 0 0 eescececesecseeesseeseeeeeeeeeeeeeeeeenseens li save operational configuration 67 SDK 15 17 15 82 83 1 Sensot DOFIS cute ere er 79 sensor number Of sseeeeeee E 1 LIBERTY MANUAL set echo mode sse 50 set operational configuration 73 set sync mode 2 48 merece ee 42 set up the LIBERTY seeeeeee 1 Hn H 1 SEU system electronics unit 79 E 1 JE 19 shipping address sss F 1 single data record output sus 63 Software Developer s 15 Seite EET 15 31 81 source FLEQUCNCY eeceeceeseeesecseecseeeeeeseeeneeees 79 source mounting frame 31 Source POT seringe 79 1 standard alignment procedure 25 Startup results inei eme eei C 1 static ACCULACY iacere eren E 1 d DEP 15 54 station Wildcard seseeeee 18 SLY TUS e ree eee egets 15 35 84 sty
65. esight reference values at the current orientation If the Reset Origin switch is set X Y and Z outputs will equal 0 0 0 at the boresight location LIBERTY then produces outputs relative to the reference s Any sensor orientation can be designated as the zero orientation point If all the optional parameters are omitted the system returns the boresight reference angles for the specified station A station may be unboresighted by issuing a B UN Boresight command as described on page 49 Syntax Bstation Azref Elref Rlref ResetOrigin lt gt Part Description station 1 to 16 which specifies the relevant source sensor pair Azref The azimuth reference angle Elref The elevation reference angle Rlref The roll reference angle ResetOrigin A switch to enable disable setting the X Y and Z origin values to 0 0 0 upon boresight 0 disable the origin reset 1 reset origin upon boresight Default is 0 Remarks The system default boresight reference values are 0 0 0 REV H 26 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Output Record Table 2 5 ASCH Response Byte Index Format Description A First Digit of Station Number 1 Second Digit of Station Number 2 A B 3 A Error Indicator 4 B ASCII Blank character 5 12 Sxxx xxB Azimuth Reference 13 20 Sxxx xxB Elevation Reference 21 28 Sxxx xxB Roll Reference 29 30 AA Carriage Return Line Feed
66. g periods of relatively static input conditions setting this value to 1 0 disables the filter completely Allowable range of values 0 lt FLow lt FHigh or 1 0 to disable filter FHigh a scalar value that specifies the minimum allowable filtering to be applied to the outputs during periods of highly dynamic input conditions Allowable range of values FLow lt FHigh lt 1 FACTOR a scalar value that specifies the maximum allowable transition rate from minimum filtering for highly dynamic input conditions to maximum filtering for relatively static input conditions by proportionately limiting REV H 46 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL the decay to the low filter limit whenever the input conditions effect a transition to a narrower bandwidth Allowable range of values 0 lt FACTOR lt 1 When the form of the command is Y0 1 0 0 the attitude filter is disabled Remarks The default mode for all filter parameters is shown below Although these parameters are a function of the user s particular environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 28 Y ASCII Response Byte Index Format Description 1 First Digit of Station Number n a 2 A Second Digit of Station Numbe
67. he remaining end of the cable into the COMI port of the host PC engage and lock as before If your host computer has a 25 pin D connector for the RS 232 port you will need a 9 to 25 pin D connector adapter with the proper genders Note that this adapter must not compromise the NULL MODEM sense of your cable Figure 1 8 RS 232 Cable Connection You may now exercise the system To use the Polhemus PiMgr GUI return to step 10 With the RS 232 connection you may also use LIBERTY s ASCII interface through the Windows HyperTerminal program Next start the HyperTerminal program and create a serial connection using these switch settings The steps are as follows e Navigate to HyperTerminal from the Windows Start menu Start gt All Programs gt Accessories gt Communications gt HyperTerminal In HyperTerminal enter a session name choose an icon and click OK In the Connect using field select the desired COM port COM1 and click OK In the Bits per second field select 115200 In the Data bits field select 8 default In the Parity field select None default In the Stop bits field select 1 default In the Flow control field select None and click OK You should now have a serial connection opened to LIBERTY Turn LIBERTY on In 5 to 10 seconds you will see LIBERTY Ready in the HyperTerminal screen Refer also to Table 1 1 on page 4 REV H 5 AUGUST 2012 POLHEMUS INNOVATI
68. his command enables and disables the communications echo mode In echo mode LIBERTY responds to configuration modifying commands by echoing back the command that was received Recall that without echo mode configuration modifying commands generate no response message from the tracker See Configuration Commands on page 23 This allows feedback to the user when modifying configuration settings In binary mode the echo is prefixed by the standard 8 byte binary header Syntax E echo lt gt Part Description echo Defines the echo mode The choices are 0 No echo mode Echo mode Remarks The system default for echo mode is OFF Output Record Table 2 32 E ASCII Response Byte Index Format Description First Digit of Station Number 1 A Second Digit of Station Number 2 A te 3 A Error Indicator 4 B ASCII Blank character 5 A 1 on 0 off 6 7 AA Carriage Return Line Feed Table 2 33 E Binary Response Byte Index Format Description 0 7 Binary Header 8 I 1 on 0 off Examples 1 lt gt 0 lt gt Default is off 50 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL O RS 232 Port Configuration Description This command sets the RS 232 port configuration The system output port settings include RS 232 BAUD rate and parity only Syntax O rate parity lt gt Part Description rate bits per second Valid argum
69. iage Return Line Feed as specified by the user with the command Original Precision x y z position Cartesian Coordinates 3 Sxxx xxx az el roll Euler orientation angles 3 Sxxx xxx direction cosines of the sensor s x y z axis 3 Sx xxxxx Orientation Quaternion Q0 Q3 4 Sx xxxxx Stylus Switch x where x 0orl Extended precision position Cartesian coordinates 3 Sx xxxxxESxxb az elroll Euler orientation angles 3 Sx xxxxxESxxb system data record contents are specified by the user using the command and may vary from configuration to configuration Therefore the specific location of a data item in the output record is not determined until the record contents are defined NOTE Original precision is retained for compatibility with previous Polhemus 3SPACE systems Also note that some item values are repeated as extended precision items although no output difference is made 1 space cr lf gt 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 REV H B 1 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL BINARY FORMAT INITIATING COMMANDS or continuous mode Byte Index TYPE Description 0 1 US Frame Tag always LY or 0x504
70. il power is removed a reset is issued or the configuration is changed again through a command The current configuration may be saved and used at initialization time by commands discussed in this section Unless otherwise indicated the default behavior of the configuration commands will be as follows e When no arguments except station number where applicable are supplied with the command LIBERTY will respond with the current value of the setting in the response frame body e When arguments are supplied the command modifies the setting and the tracker sends no response to the command If the AE Set Echo Mode is enabled LIBERTY echoes back the command as verification that the command was received and executed e Station specific commands have an option to apply the setting to all stations See Station Wildcard on page 18 REV H 23 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL A Alignment Reference Frame Description 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 sensor were placed there An example of where this command would be useful is a sloped test surface that the user wanted referenced to the surface This would obtain congruence between LIBERTY source and the axes of the sloped surface Syntax Astati
71. int from two sensors at a time after disabling the other two To do so the following commands would be sent Send the command U3 0 lt gt to turn station 3 off Send the command U4 0 lt gt to turn station 4 off Press P to collect a data point from stations 1 and 2 Send the command U3 1 lt gt to turn station 3 on ETA PT 55 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 5 Send the command U4 1 lt gt to turn station 4 on 6 Send the command U1 0 lt gt to turn station off 7 Send the command U2 0 lt gt to turn station 2 off 8 Press P to collect a data point from stations 3 and 4 9 Repeat steps 1 through 8 as necessary To turn on stations 1 3 and 5 while turning off stations 2 4 6 7 8 send U0 15 lt gt where 15 corresponds to 0x15 00010101 Bits corresponding to stations 1 3 and 5 are set and those corresponding to 2 4 6 7 and 8 are cleared See bitmap description on page 54 56 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL X Operational Configuration ID Description This command allows a 16 character ID to be assigned to the current operational system configuration This command also allows the user to view the IDs of all valid stored configurations within LIBERTY non volatile configuration memory Syntax X string lt gt Part Description string A 15 character ASCII string ID that describes the current configuration Re
72. latency lag and or data loss when the host is under load Latency may be reduced in this case by disabling USB Buffering Mode The LIBERTY also contains an adaptive filter that is designed to control noise in the data output The filter can be applied to Position or Orientation or both It should be noted that the effect that is seen in the data may have or appear to have a slower dynamic response with medium or heavy filtering selected Although data is transferred at normal time the filtering gives it the appearance of lag See Y Attitude Filter Parameters command on page 46 and X Position Filter Parameters command on page 44 for more information on setting the filters REV H 87 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL APPENDIX A Alignment Reference Frame Z X X Y Z Alignment Reference Frame X y Z Rotated Stylus or Sensor Coordinate Frame Azimuth Elevation Roll REV AUGUST 2012 POLHEMUSZ INNOVATION IN MoTION LIBERTY MANUAL APPENDIX B System Output Data Records ASCII FORMAT INITIATING COMMANDS P C continuous mode Byte Index Format Description A First Digit of Station Number s 1 Second Digit of Station Number E 2 A Command Letter E 3 A Error Indicator 4 B ASCII Blank character 5 thrun A See Possible Formats below ntl 2 lt gt A amp response frame may not contain a Carr
73. lotnum lt gt Part Description slotnum 0 factory default configuration 1 3 One of three user definable operational configurations that are stored within LIBERTY Remarks If no slotnum is supplied the current operational configuration will be returned Output Record The ASCII response to Z will be prepended by only the first 3 characters of the normal 5 byte ASCII header Table 2 56 Z ASCII Response Header Byte Index Format Description 0 A First Digit of Station Number n a 0 1 Second Digit of Station Number n a 0 2 A ue The body of the response will be a variable length block of text in the format below Data in italics will vary according to the configuration settings being reported Table 2 57 describes the text block line by line The binary response frame is described by Table 2 58 REV H 75 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Table 2 57 7 ASCII Response Format Description 00z Configuration name lt gt 3 char ASCII Header Config ID string lt gt Binary lt gt Metric Yes No lt gt Sync Mode 0 1 lt gt Frame Rate 3 4 lt gt 3 120 Hz 4 240 Hz Verbosity Level 1 lt gt Echo Mode OnlOff lt gt RS 232 Baud Rate baudrate lt gt See Table 2 34 on page 51 RS 232 Parity parity See Table 2 35 on page 51 lt gt Position Filter Sensitivity
74. lt gt Position Filter Low Value Sx xxx lt gt Position Filter High Value Sx xxx lt gt Position Transition Rate Maximum Value lt gt lt Attitude Filter Sensitivity Sx xxx lt gt Attitude Filter Low Value Sx xxx lt gt Attitude Filter High Value 5 lt gt Attitude Transition Rate Maximum Value Sx xxx lt gt lt gt Mounting Frame Angle 3 5 lt gt Az El Roll lt gt Compensation 0 1 2 3 lt gt 0 OFF 1 3 Map Number lt gt Buffering OfAOn lt The following text data will be repeated 16 times for each possible station on LIBERTY Format Description Station x lt gt Station number Output List xB lt gt List of Output Data Items See Table 2 19 on page 39 Hemisphere 3 Sxx xxxB lt gt Az El Roll Boresight Reference Angles 3 xxx xxB lt gt Az El Roll Stylus Function Marker Point Track Mode lt gt Alignment Coordinates lt gt Origin Coordinates 3 Sxxx xxB lt gt Ox Oy Oz Pos X Axis 3 Sxxx xxB lt gt Xx Pos Y Axis 3 Sxxx xxB lt gt Yx Yy Yz REV H 76 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Table 2 58 Z Binary Response Byte Index Format Description 0 7 Binary Header 8 A Config ID 24 I
75. lus button function 35 SCylus rre RC RE E 37 stylus tip Offsets 37 Qe E 16 80 SYNC mode usan ce ete als 48 system 5 17 system electronics unit SEU 79 System Operation 86 technical support sse 1 terms acronyiMS scssi 10 37 1 UC 19 un boresight 2 49 DUI MEM 16 42 units of measure essere 42 update 16 41 E 1 c 19 USB toner 1 4 6 12 USB Buffering 59 useful range sess 16 User defaults rie 16 using PiMgr 7 video sync input 81 Warnings li WAIT ANDY RM D 1 web address eene 81 WhoAwml sseseseeeeereneeenns 71 Wildcard 18 XYZ or X Y Z 16 XYZAER 16 YAW 16 AUGUST 2012
76. marks A valid configuration ID 15 up to 15 characters plus a null terminator If no string argument is supplied with this command LIBERTY will respond with a list of the currently saved configuration IDs A string of 15 asterisks followed by the null character indicates an undefined configuration LLLLLLLLLLLLII 0 Output Record Table 2 42 X ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 21 16 A B Current Configuration Record ID 22 37 16 A B Configuration Record ID 1 38 53 16 A B Configuration Record ID 2 54 69 16 Configuration Record ID 3 70 71 AA Carriage Return Line Feed Table 2 43 X Binary Response Byte Index Format Description 0 7 Binary Header 8 Char 16 Current Config ID 24 Char 16 Default Config ID 40 Char 16 Config slot 1 ID 56 Char 16 Config slot 2 ID 72 Char 16 Config slot 3 ID 88 Char 16 Startup Config ID 57 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Examples To determine what configurations are available in the LIBERTY system issue the following command lt gt The returned record could display the following Current Configuration 1 0 Default 1 Configuration 1 2 Configuration 2 3 S tartup Configuration 1 In this case two unique configura
77. n Devices may range from a dumb terminal to a mainframe computer The interval of time needed by the host computer to transfer data from the LIBERTY system into the host application The interval of time between requesting a LIBERTY system data point and receiving it into the host computer 12 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Latency LIBERTY Line of Sight LOS LSB LSD MSB Motion Box Orientation Angles The interval of time between when measurement data were collected and when the P amp O result is formatted ready for transfer to the host computer In some systems namely active LIBERTY systems there is a time interval between when the data is collected and when the P amp O computation can be done Hence this definition is intended to correspond to the center point of data collection time so that latency is straightforward and understandable as stated Other tracking systems e g inertial may produce raw data continuously or nearly continuously LIBERTY latency in this case reduces to the computation time for producing the answer ready for transfer to the host computer A new generation of flexible and expandable motion tracking tools The LIBERTY 240 8 allows up to eight 8 sensors while the LIBERTY 240 16 allows up to 16 sensors 1 The orientation angle of the source sensor pair 2 in active tracking systems the angle between the source of stimulation and the sensor 3 not obscur
78. n 1 FL Boresight Az 132 64 station 1 FL Boresight El 136 64 station 1 FL Boresight Roll 140 64 station 1 I Stylus Mode 0O Marker 1 PointTrack The following 80 bytes will be repeated 16 times for each possible station on LIBERTY Byte Index Format Description 144 64 station count 1 20 Output Data List See Table 2 19 on page 39 REV H 77 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Examples To view the configuration settings for the current configuration issue the following command AT lt gt To view the configuration settings for the factory default configuration issue the following command Z0c REV H 78 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 3 Component Description 3 1 System Electronics Unit SEU The 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 4 to 16 sensors a single magnetic source the USB port the RS 232 port and the external sync port See Figure 1 2 for a picture of the SEU The LIBERTY 240 8 SEU supports either four or eight sensors The LIBERTY 240 16 supports 4 8 12 or 16 sensors 3 1 1 Source Port The single source port is a 15 pin plug D type connector located on the rear of the SEU as shown in Figure 1 2 The source should be connected to the SEU before the unit is powe
79. ndicating self test and set up When these routines are completed the indicator will display system status as follows Table 1 1 System Status Indicators e Steady green System operational with a good quality magnetic signal No distortion e Flashing red green System operational with a marginal magnetic signal Minor distortion e Solid red System operational with a poor magnetic signal Significant distortion e Flashing red Failed self test and set up 10 The host should respond with a Found New Hardware message Follow the hardware wizard to install the required drivers from the LIBERTY Host Software CD ROM For step by step instructions refer to USB Driver Installation on page 7 NOTE Once the USB cable is connected to LIBERTY it cannot return to RS 232 mode without removing the USB connection and restarting power OFF ON 11 You may now use the Polhemus PiMgr GUI to exercise the system If you have not yet installed the Host Software continue to Install the LIBERTY Host Software on page 6 Otherwise continue to Using the Polhemus PiMgr GUI on page 7 and Experiment with LIBERTY Data on page 9 For RS 232 Communications 12 Locate the RS 232 cable and insert it into the receptacle as shown in Figure 1 8 REV H 4 AUGUST 2012 POLHEMUS 13 14 INNOVATION IN MOTION LIBERTY MANUAL Most PC hosts have a 9 pin male D type connector for COM1 If you are using COM1 plug t
80. nds to indicate the system s performance of an initialization and self test routine During this time system operation is not possible At the completion of this routine the power indicator will change from a flashing red state to a steady green state See LED Indicator on page 79 for a description of the LED status If LIBERTY is connected via RS 232 it will send a LIBERTY Ready text message to the RS 232 port when initialization is complete If LIBERTY is connected via USB no message appears after initialization After the front panel light indicates initialization is complete the host computer must initiate communication with the LIBERTY before any message will appear Initial Power Up Procedure e Verify LIBERTY power switch is off e Plug LIBERTY SEU into AC wall outlet e Plug in source sensors and desired communication cable USB or RS 232 e Turn on power switch 4 3 Configuration Changes LIBERTY will start up with a default configuration unless set to a different start up configuration Up to three user defined configurations can be stored in the LIBERTY system Any one of these configurations can be set as the startup configuration See Save REV H 86 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Operational Configuration command on page 67 and W Set Operational Configuration command on page 73 for instructions on how to set and store configurations 4 4 Output Rate The
81. nse Format Byte Index TYPE Description 0 1 US Frame Tag always LY or 0x5041 for LIBERTY HST e 2 UC Station Number 3 UC Initiating command d 4 UC Error Indicator m5 UC Reserved 6 7 SH Response size number of bytes in the response body 8 n Binary Response body Error codes presented in the Error Indicator field are detailed in LIBERTY Error Code Summary on page 22 Error is represented by NULL 0x00 Error Responses When in binary mode error responses are always prepended by the binary frame header followed by the ASCII error string In ASCII mode error responses have no header See LIBERTY Error Code Summary on page 22 for a complete listing of error responses REV H 20 AUGUST 2012 POLHEMUS INNOVATION IN MOTION 2 3 LIBERTY User Command Set Summary Command Description A CAH VO Ar gt Sguaduza2d g8 gkddg Alignment Reference Frame Boresight Continuous Print Output Compensation Output Format Source Mounting Frame Hemisphere of Operation Stylus Button Function Tip Offsets Output Data List Single Data Record Output FrameCount Timestamp Reset Set Output Frame Rate Set Units Position Filter Parameters Attitude Filter Parameters Set Sync Mode UN Boresight Set Echo Mode Save Operational Configuration RS 232 Port Configuration Reset Alignment Frame Built in Test Information Active Station Sta
82. of the parameters and leave the remaining parameter values unchanged For example The command Gaz el roll changes the source mounting frame to az el roll e The command G0 180 0 changes the source mounting frame to 0 180 0 By omitting the el parameter from the command 0 80 lt gt the source mounting frame would then change to 0 180 180 The el setting remains unchanged e Similarly the az parameter can be defaulted by G el roll lt gt and the roll parameter can be defaulted by Gaz el The trailing comma is not required when the last parameter s are omitted REV H 18 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 2 3 Response Format Notes Depending on the F Output Format configuration setting see page 24 frames received from LIBERTY in response to the commands detailed in this document will conform to one of the following format definitions ASCII ASCII response frames are described in this document using the following notation Is an ASCII Character em Is a Blank or Space v MN Is the Sign byte or a space for Is a decimal digit 0 9 Carriage Return Line Feed i e M J 0x0d 0x0a OT Repeat contents of parentheses n times Example A format 3 Sx xxxxB would be output as 1 1111 2 2222 3 3333 Except where noted ASCII mode response includes a standard 5 character response header The default ASCII response frame format
83. on Ox Oy Oz Xx Xy Xz LYx Yy Yz lt The Alignment Reference Frame Syntax has these parts Part Description station 1 to 16 which specifies the relevant source sensor pair Ox Oy Oz the Cartesian coordinates of the origin of the new reference frame Xx Xy Xz the coordinates of the point defining the positive direction of the X axis of the new reference frame Yx Yy Yz the coordinates of a third point that is in the positive Y direction from the X axis Remarks The source reference frame is the default alignment reference frame 0 0 0 1 0 0 0 1 0 in inches NOTE Each time this command is applied to a station the effect is cumulative That is each successive applied alignment coordinates are relative to the current frame of reference If this is not the desired behavior reset the alignment reference frame between successive A commands Refer to the Reset Alignment Frame command page 53 to do this REV H 24 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Output Record Table 2 3 A ASCII Response Byte Index Format Description A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 25 3 Sxxx xx Origin Coordinates 26 27 AA Carriage Return Line Feed 28 48 3 Sxxx xx Positive X Axis Coordinates 49 50 AA Carriage Return Line Feed 51 71 3 Sxxx xx Positive Y Axi
84. ormal ope rating procedures or improperly m aintained and w here s uch a ctivities i n Polhemus s s olej udgment ha ve adversely affected t he P roducts N either s hall warranties apply in the case of damage through accidents or acts of nature such as flood earthquake lightning tornado typhoon power surge s or failure s environmental extremes or other external causes Warranties shall not apply to any Products if the Products are defective because of normal wear and tear or REV H D 1 AUGUST 2012 INNOVATION IN MOTION LIBERTY MANUAL used for any purpose without obtaining any applicable regulatory approvals POLHEMUS DOES ARRANTA NDS PECIFICALLY D ISCLAIMS T HE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE POLHEMUS MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN INNO EVENT SHALL POLHEMUS BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR C ONSEQUENTIAL D AMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE WITHOUT LIMITING THE FOREGOING POLHEMUS S M AXIMUM LIABILITY FORDAM AGESF ORANYC AUSE WHATSOEVER E XCLUSIVE OF C LAIMSF ORP ATENT INFRINGEMENT AND REGARDLESS OF THE FORM OF THE ACTION INCLUDING BUT NOT LIMITED TO CONTRACT NEGLIGENCE OR STRICT LIABILITY SHALL BE LIMITED TO BUYER S ACTUAL DIRECT DA MAGES NOT TO EXCEED T
85. pacity to store three different compensation maps The quantity and ID s of these maps may be obtained via the D Map Info command see page 65 Syntax D map lt gt Part Description map Defines the compensation map to enable The choices are D iu Turns Compensation Off Default 1 3 The map number to enable Remarks By default compensation is off As with other configuration commands if no map argument is provided the current value of the setting is returned in the default response frame Output Record Table 2 7 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 D 3 A Error Indicator 4 B ASCII Blank character 5 A Map No 0 Off 6 7 AA Carriage Return Line Feed Table 2 8 D Binary Response Byte Index Format Description 0 7 Binary Header 8 I No 0 Compensation Off Examples The command to enable the map in location 1 1 lt gt turn off compensation D0 lt REV H 28 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL F Output Format Description This command selects the Binary or 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 LIBERTY must be in ASCI
86. r n a 3 A 4 Error Indicator 5 B ASCII Blank character 6 12 Sx xxxB Filter Sensitivity 13 19 Sx xxxB Filter Low Value 20 26 Sx xxxB Filter High Value 27 33 Sx xxxB Transition Rate Maximum Value 34 35 AA Carriage Return Line Feed Table 2 29 Y Binary Response ByteIndex Format Description 1 8 Binary Header 9 12 FL Filter Sensitivity Value 13 16 FL Filter Low Value 17 20 FL Filter High Value 21 24 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system Y 2 2 8 95 lt gt All active stations will now have filtering applied to the attitude measurements To turn off attitude filters Y0 1 0 0 lt gt 47 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Z Set Sync Mode Description This command sets the LIBERTY response to an active signal on the external event marker input This input is a physical input connection on the LIBERTY chassis See External Sync I O on page 80 NOTE LIBERTY has no CRT sync mode The user can detect a CRT pulse by connecting the CRT to the external sync jack and monitoring the external sync flag in the output record Syntax Z mode lt gt Part Description mode Defines the mode of operation during the reception of an external event marker The choices are 0 OFF ON Remarks The system default for the sync mode is OFF When mode is ON an event marker is placed in output frame
87. r environment the following settings may be used as a starting point for determining optimum filtering in your particular environment F Set to 0 2 FLow Set to 0 2 FHigh Set to 0 8 FACTOR Set to 0 95 Output Record Table 2 26 X ASCII Response Byte Index Format Description 0 A First Digit of Station Number n a A Second Digit of Station Number n a 2 A x 3 A Error Indicator 4 B ASCII Blank character 5 11 Sx xxxB Filter Sensitivity 12 18 Sx xxxB Filter Low Value 19 25 Sx xxxB Filter High Value 26 32 Sx xxxB Transition Rate Maximum Value 33 34 AA Carriage Return Line Feed Table 2 27 X Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Filter Sensitivity 12 FL Filter High Value 16 FL Filter Low Value 20 FL Transition Rate Maximum Value Examples To select the above filtering send the following command to the system X 2 2 8 95 lt gt All active stations will now have filtering applied to the position measurements To turn off position filters X0 1 0 0 lt gt 45 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Y Attitude Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the attitude outputs of the LIBERTY system The user can adjust the parameters of this command to fine tune the overall dynamic
88. red on and disconnected after the unit is powered off Caution Do not disconnect or connect the source while the LIBERTY SEU is powered on Be sure the source cable is routed separately from the sensor cables Source Frequency The LIBERTY is shipped with a source designed to operate at a standard frequency It is possible to operate multiple LIBERTY units in close proximity by using sources designed to operate at an alternate frequency The source frequency is automatically detected and no operator action is needed Contact Polhemus customer service for more information 3 1 2 Sensor Ports 4 8 12 16 The sensor ports are 15 pin high density receptacle D type connectors located on the rear of the SEU as shown in Figure 1 2 The LIBERTY 240 8SEU can be configured to accept up to 4 or up to 8 sensors The LIBERTY 240 16 SEU can be configured to support up to 4 8 12 or 16 sensors The sensor s can be connected or disconnected from the SEU at any time The sensors are automatically detected and will begin sending data about one second after being connected Again route the sensor cables separately from the source cable 3 1 3 LED Indicator An LED power on indicator is located on the front of the SEU Upon power up the indicator will blink red for 5 10 seconds while the system performs its initialization and self test routines When these routines are completed the indicator changes from blink mode to steady on mode or alterna
89. refers to the sensor index of the sensor processor The actual sensor number referred to in the BIT results depends upon which sensor processor bitmap is being parsed Table C 3 Global Sensor BIT Results Bit Definition GS n Sensors 0 Sensor Errors GSI 1 4 1 Sensor PROM Read Error GS2 5 8 2 Sensor n PROM Read Error GS3 9 12 3 Sensor 2 PROM Read Error GS4 13 16 4 Sensor n 3 PROM Read Error 5 Sampling Error 6 Calibration Attenuation Error REV C 2 AUGUST 2012 POLHEMUS INNOVATION IN MOTION Sensor Channel BIT Results LIBERTY MANUAL If Bit 0 of a global sensor BIT result map is SET then sensor channel BIT results should be parsed to determine BIT errors for individual sensor channels If a failed sensor channel is not in use the initialization BIT errors can be cleared using the 0 command refer to T Read Clear BIT Errors on page 68 for clarification Table C 4 below defines sensor channel BIT results Table C 4 Sensor Channel BIT Results Bit Definition 0 X Amplifier No Attenuation 1 Y Amplifier No Attenuation 2 Z Amplifier No Attenuation 3 X Amplifier Gain 0 4 Y Amplifier Gain 0 5 Z Amplifier Gain 0 6 X Amplifier Gain 1 7 Y Amplifier Gain 1 8 Z Amplifier Gain 1 9 X Amplifier Gain 2 10 Y Amplifier G
90. response of LIBERTY The filter is a single pole low pass type with an adaptive pole location 1 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 rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type Y Syntax Y F FLow FHigh Factor lt gt Part Description F a scalar value that establishes the sensitivity of the filter to dynamic input conditions by specifying the proportion of new input data to recent average data that is to be used in updating the floating filter parameter variable Allowable range of values 0 lt F lt 1 FLow a scalar value that specifies the maximum allowable filtering to be applied to the outputs durin
91. rocessor 15 OxOf Memory Allocation Error 16 0x10 Excessive Command Characters Entered 17 0x11 You must exit UTH mode to send this command 18 0x12 Error reading source prom Using Defaults 19 0x13 This is a read only command 20 0x14 Non fatal text message 21 0x15 Error loading map 22 0x16 Error Synchronizing Sensors 23 0x17 FW incompat with IO Proc Code UPGRADE REQUIRED 24 0x18 Outdated IO Processor Code Upgrade Recommended The remaining error codes may appear in ASCII and binary frame headers Error Hexadecimal ASCII Text Meaning 0 20 No Error ASCII mode only a 0x61 Source Fail X b 0x62 Source Fail Y o 0x63 Source Fail XY 0 64 Source Fail Z e 0x65 Source Fail XZ T 0x66 Source Fail YZ g 0x67 Source Fail XYZ y 0x75 Position outside of mapped area 0 41 Source Fail BIT Errors B 0x42 Source Fail Y BIT Errors C 0x43 Source Fail X BIT Errors D 0x44 Source Fail Z BIT Errors E 0x45 Source Fail XZ BIT Errors e 0x46 Source Fail YZ BIT Errors 0 47 Source Fail XYZ BIT Errors T 0x49 BIT Errors REV 22 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 5 Command Reference 2 5 1 Configuration Commands Configuration Commands are typically issued during system setup They affect the overall operation of the LIBERTY system Once a configuration has been established LIBERTY will operate in that configuration unt
92. rrent configuration K1 Saves current configuration to first config slot W Sets Config Slot 1 to startup config REV H 67 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL T Read Clear BIT Errors Description This command allows the user or technician to read and clear any start up Built In Test BIT errors that occur during system initialization This command will return 9 integer values that can be decoded as described in Built In Test BIT on page C 1 Syntax T clear lt gt Part Description clear 0 clears all start up BIT errors Remarks If no clear command is supplied this command will display the current start up errors This is a diagnostic command that allows the user or technician to determine the cause of any start up test failures and to clear those errors If a start up test fails LIBERTY will display a message to the host and an error code of I or A Q if run time errors also exist will be placed in any P amp O frame output header Once a user clears the errors the P amp O frame output header error will disappear The user can determine at a glance which sensor channel failed initialization by looking at words 2 9 Any word that does not contain all zeros indicates a failure for that sensor channel If further information is needed Built In Test BIT on page C 1 can be used to further decode these BIT results This command will not clear run time BIT errors
93. rtical axis The term yaw is often substituted for azimuth especially in the context of flight 10 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 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 For example such an arrangement implies for a 115200 baud rate conveyance of data at a 115200 8 10 92160 bit rate Benign Environment A tracking environment free of the need for special calibration or Binary BIT Boresight bps Compensation Data compensation brought on by the unique features of a particular installation and its environment e g high light levels for optical tracking high sound levels for sonic tracking or high metallic distortion for magnetic tracking If not otherwise noted all measurements and statements pertaining to LIBERTY performance shall be regarded as occurring in such a benign environment Mathematical system based on two digits 0 and 1 Built In Test features monitoring the status and health of the LIBERTY system as well as flagging certain preset conditions monitored by the LIBERTY system software Not to be confused with bit a contraction of binary digit Any procedure that rotates the sensor frame so as to precisely align the sensor to the designated reference frame Ina LIBERTY
94. s Output List P amp O A list of the data items included in a data record Acronym for position and orientation the six pieces of data needed to fully describe tracking of an object in 3D space Some tracking devices by virtue of their principle of operation can produce only position or only orientation whereas others can produce both P amp O although the user usually can opt for only those parameters desired 14 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL Pitch Quaternion Response Roll SDK Sensor Source Station Stylus Same as elevation A four parameter quantity representing a vector and a scalar The quaternion q qo I qi j q2 qs can be used to represent the sensor s orientation without the need for trigonometric functions The attitude matrix output from LIBERTY can be equivalently represented by the following matrix using quaternions X Directional Cosines Y Directional Cosines Z Directional Cosines G d d q 2 9192 1093 2 9193 042 2 4 192 4 4 d d 2 q545 4 1 2 4 4 4 4 2 4 45 9392 d d d The interval of time between a request to the LIBERTY system to collect a data point and when that data is available for input from the LIBERTY system Coordinate of orientation tracking about the azimuth elevation axis where an increase of the angle is clockwise as viewed from behind or in the same direction as the object is facing Software Dev
95. s Coordinates 72 13 AA Carriage Return Line Feed Table 2 4 A Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Ox 12 FL Oy 16 FL Oz 20 FL Xx 24 FL 28 Xz 32 FL Yx 36 FL Yy 40 FL Yz Examples To perform an alignment on station 1 follow the steps listed below Standard Alignment Procedure Send R1 lt gt Place the sensor at the proposed origin location Press P and write down the X Y Z measurements these will be Ox Oy Oz Move the sensor along the proposed X axis from the origin defined in step 2 and place it about 24 inches in front of this origin Press P and write down the X Y Z measurements these will be Xx Xy Xz 6 Move the sensor along the proposed Y axis from the origin defined in step 2 and place it about 24 inches from the source 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 Al Ox Oy Oz Xx Xy Xz Yx Yy YZ lt 25 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL B Boresight Description This command causes the sensor to be electronically aligned in orientation and optionally position with the user system coordinates and establishes the boresight reference angles for the station Azimuth elevation and roll outputs will equal the bor
96. sent an azimuth primary sequence of frame rotations that define the current orientation of the sensor with respect to its zero orientation state The defining rotation sequence is an azimuth rotation followed by an elevation rotation followed by a roll rotation The azimuth angle w is defined in Figure 1 12 as a rotation of the X and Y reference axes about the Z reference axis Note that the transition axes labeled X and Y represent the orientation of the X and Y axes after the azimuth rotation The elevation angle 0 is defined as a rotation of the Z reference axis and the X transition axis about the Y transition axis Note that the transition axis labeled Z represents the orientation of the Z reference axis after the elevation rotation Note also that the current x axis of the current sensor frame represents the orientation of the X transition axis after the elevation rotation Lastly the roll angle is defined as a rotation of the Y and Z transition axes about the x axis of the sensor frame Note that the y and z axes of the current sensor frame represent the orientation of the Y and Z transition axes after the roll rotation Note also that in the example of Figure 1 12 the azimuth elevation and roll rotations are positive negative and positive respectively X Y Z Alignment Reference Frame x y z Rotated Stylus or Sensor Coordinate Frame Y Azimuth Elevation Roll Figure 1 12 Euler Angle
97. ser to operate the switch separately with a free hand The Buddy Button and stylus connect to the SEU via an adaptor containing a 3 5mm phono jack and 15 contact female high density D sub connector Both of these converge to a 15 pin male high density D sub connector that attaches to the sensor inputs on the SEU Figure 3 7 Buddy Button and Buddy Button Adaptor REV H 85 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 4 SYSTEM OPERATION 4 1 I O Considerations There are two possible interface configuration options available on the LIBERTY system USB or RS 232 Each configuration supports either Binary or ASCII formats Upon power up or system initialization if the USB cable is not plugged into the SEU the LIBERTY will automatically send data to the RS 232 interface The USB cable can be plugged in at any time and the LIBERTY will shift to USB operation If the USB is unplugged the LIBERTY system s power must be recycled to shift back to RS 232 operation 4 2 Powering Up LIBERTY To power up the LIBERTY system first ensure that the power switch on the back panel of LIBERTY is in the OFF logic 0 RIGHT position Connect the power cord to the SEU and plug it into the AC wall outlet Plug in the source and the desired number of sensors Plug in the desired I O cable USB or RS 232 Turn the power switch to the ON logic 1 LEFT position On power up the power indicator will blink red for 5 to 10 seco
98. ser to query the LIBERTY to determine the number of maps that are presently stored in the LIBERTY and the ASCII string ID for each Map compensation can be enabled or disabled with the D Compensation command on page 28 Syntax D value lt gt Part Description value Defines the query type The choices are 0 Returns the ASCII string ID of each map stored in LIBERTY 1 Returns the number of maps stored in LIBERTY 0 3 Remarks This command makes no configuration changes to LIBERTY It is a read only command Output Record Table 2 48 D ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 A Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 6 AA Carriage Return Line Feed 7 8 BB ASCII Blanks 9 10 AA 1 11 26 Char 16 Map ID 1 27 28 AA Carriage Return Line Feed 29 30 BB Blanks 31 32 AA ae 33 48 Char 16 Map ID 2 49 50 AA Carriage Return Line Feed 51 52 BB Blanks 53 54 AA 55 70 Char 16 Map ID 3 71 72 AA Carriage Return Line Feed 65 AUGUST 2012 POLHEMUS INNOVATION IN moTION LIBERTY MANUAL Table 2 49 D Binary Response Byte Index Format Description 0 7 Binary Header 8 Char 16 Map ID 71 24 Char 16 Map ID 2 40 Char 16 Map ID 3 Examples The command to determine the number of maps stored in LIBERTY 1 lt
99. sically or mathematically with other coordinates of the environment Alignment in an active system is not the same as a boresight operation which concerns only the sensor in passive systems alignment and boresight can be identical The reference frame in which the position and orientation of the sensor is measured The default alignment frame is the source frame Application Programming Interface Programming library used to develop custom host software for driving the instrument Sometimes used interchangeably with SDK American national Standard Code for Information Interchange defines a certain 8 bit code for display and control characters A three by three matrix containing the direction cosines of the sensor s X axis in column one the direction cosines of the sensor s Y axis in column two and the direction cosines of the sensor s Z axis in column three The order of the Euler angle rotation sequence is azimuth elevation and roll where X Direction Cosines Y Direction Cosines Z Direction Cosines CA CE CA SE SR SA CR CA SE CR SA SR SA CE CA CR SA SE SR SA SE CR CA SR SE CE SR CE CR CA Cos azimuth CE Cos elevation CR Cos roll SA Sin azimuth SE Sin elevation SR Sin roll The coordinate of orientation tracking in the horizontal plane where an increase in the angle is clockwise when viewed from above Azimuth is a rotation around the Z or ve
100. source refer to Set Up the LIBERTY on page 1 the data output will not change regardless of the number of data samples you take Remove the sensor move it approximately six inches toward the source secure it in place and take another single data frame The value of the X position data will decrease by approximately six inches The Y and Z values will remain roughly the same as the original data If you left the attitude of the sensor approximately the same as it was when you started then the attitude data also will be approximately the same Again remove the sensor and without moving its position try twisting it in azimuth in the same plane as the wood support approximately 45 degrees and lock it down with tape Now collect another data frame The first four columns will be approximately as they were in step 1 but the Azimuth data in column 5 will have changed by approximately 45 degrees Continue to experiment with the system as described in step 3 to demonstrate that it measures the position and orientation six degrees of freedom of the sensor with respect to the source REV H 9 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 1 6 Terms Acronyms Alignment Alignment Frame API ASCII Attitude Matrix Azimuth Obtaining congruence between the axes of the LIBERTY system and the axes ofthe application The process whereby the LIBERTY system coordinate reference is brought into coincidence either phy
101. stallation is complete if you are planning to use your computer s USB port to connect to the LIBERTY System leave the CD ROM in the drive It will be needed when the initial USB connection is made e If you are not planning to use the USB port you may remove the CD ROM from the drive now 1 3 1 USB Driver Installation e When LIBERTY is connected via USB to a Windows host for the first time the host will display a Found New Hardware message The host will then launch the Found New Hardware Wizard to locate and install the USB drivers for LIBERTY e Ifthe CD ROM is not already in the drive load it now e When the Found New Hardware Wizard displays select the Install software automatically option and click Next e The wizard will install the LIBERTY Loader When it has completed click Finish REV H 6 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL e The same process will be launched again automatically to install the Polhemus LIBERTY USB Driver Repeat the same selections and the process will be complete 1 4 Using the Polhemus PiMgr GUI If you selected the default settings when you installed the LIBERTY Host Software on your computer you will find a shortcut to the PiMgr application on your Windows XP Vista Win 7 desktop The icon looks like this Otherwise navigate to the program through the Windows Start menu Start All Programs gt Polhemus gt PiMgr The initial PiM
102. stem serial communication parameters will now be 38400 baud no parity 8 data bits and 1 stop bit NOTE The host communication software may have to be re set to the new baud rate 38 400 in order for communication with LIBERTY to continue Table 2 38 Binary RS 232 Codes Code Baud Rate Code Parity 5 38400 0 None 6 57600 1 Odd 7 115200 2 Even REV H 52 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL R Reset Alignment Frame Description This command resets the alignment reference frame for the specified station to the source reference frame It provides an easy way to re align the reference frame to the factory default values The command parameter is defined as Syntax Rstation lt gt Part Description station 1 to 16 which specifies the relevant source sensor pair Remarks None Output Record None Examples To reset the alignment reference frame for station 2 to the default source reference frame execute the following AR2 lt gt 53 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL AU Active Station State Description The purpose of this command is to allow the host to turn a station on or off in software A station 1s defined as a source sensor port pair Depending on configuration up to 16 stations are available The 16 sensors paired with the one source are assigned station numbers one through six
103. system context the term usually refers to the system software routine that on command performs a coordinate rotation which effectively aligns the sensor frame to a predefined boresight reference orientation Note that the boresight routine accomplishes the boresight orientation of the sensor regardless of the sensor s physical orientation at the instant of boresight initiation So for applications that require the orientation tracking of the body or body member to which the sensor is attached a prerequisite to initiating the boresight function is a physical orientation of the body to be tracked to the boresight reference orientation Bits per second Not to be confused with the signaling or baud rate which is always equal to or higher than the bit rate See baud rate A set of invariable data that allows LIBERTY to compensate for fixed distortions of the magnetic field due to the surrounding environment The compensation data generally results from an application specific distortion mapping procedure 11 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Direction Cosines Elevation Factory Defaults Firmware Format Hemisphere Host TO latency Lag The cosines of the angles between the sensor s x y z axes and the X Y Z axes of the measurement reference alignment frame Coordinate of orientation tracking in the vertical plane where an increase in the angle is upward from the horizontal A
104. t he di rection of Polhemus s C ustomer S ervice epresentative U pon determination by Polhemus that the parts or Products are defective and covered by the warranty set forth above Polhemus at its option shall repair or replace the same without cost to Buyer Buyers hall be esponsible f nyi mport export duties tariffs an d p ay al 1 ch arges f or transportation and delivery costs to Polhemus s factory for defective parts where directed to be sentto Polhemus and Polhemus shall pay for transportation costs to B uyer s facility onl y for warranty replacement parts and Products Removed parts covered by claims under this warranty shall become the property of Polhemus In the event t hat a llegedly d efective parts are found not to b e de fective or not covered b y warranty Buyer agrees that Polhemus may invoice Buyer for all reasonable expenses incurred in inspecting testing repairing and returning the Products and that Buyer will pay such costs on being invoiced therefor Buyer shall bear the risk of loss or damage during transit in all cases Any repaired or replaced part or P roduct s hall be w arranted for t he remaining pe riod of t he original warranty or thirty 30 days whichever is longer Warranties shall not apply to any Products which have been repaired or a Itered ot her t han b y Polhemus e xcept w hen s o a uthorized in w riting b y Polhemus or used i na n una uthorized or 1 mproper m anner or w ithout f ollowing n
105. te WhoAml Software versions Set Operational Configuration Operational Configuration ID Initialize System Read Operational Configuration USB Buffering Mode 21 Decimal Hexadecimal 65 66 67 68 70 71 72 76 78 79 80 81 82 85 88 89 90 2 11 15 18 20 21 22 23 24 25 26 64 66 LIBERTY MANUAL 41 42 43 44 46 47 48 4 4E 50 51 52 55 58 59 5 02 05 0B OF 12 14 15 16 17 18 19 1A 40 41 Notes Page 1 bin O0 both 1 FC 2 TS 0 in 12cm ON IP N Iie IR IW BO NI I I IS I8 8 BE 48 O off 1 ks M 6 JI 5 I amp O off 1 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 4 LIBERTY Error Code Summary The following error codes may appear as binary values in binary mode frame headers In ASCII mode only the text meaning appears Error Hexadecimal ASCII Text Meaning 0 0x00 No Error 1 0x01 Invalid Command 2 0x02 Invalid Station 3 0x03 Invalid Parameter 4 0x04 Too Few Parameters 5 0x05 Too Many Parameters 6 0x06 Parameter Below Limit 7 0x07 Parameter Above Limit 8 0x08 Communication Failure with Sensor Processor Board 9 0x09 Error Initiating Sensor Processor 1 10 0x0a Error Initiating Sensor Processor 2 11 0x0b Error Initiating Sensor Processor 3 12 0x0c Error Initiating Sensor Processor 4 13 0x0d No Sensor Processors Detected 14 0x0e Error Initiating Source P
106. te safety hazard Do not use the instrument in a manner not specified by the manufacturer To clean the instrument If the instrument requires cleaning 1 Remove power from the instrument 2 Clean the external surfaces of the instrument with a soft cloth dampened with a mixture of mild detergent and water 3 Make sure that the instrument is completely dry before reconnecting it to a power source REV ii AUGUST 2012 POLHEMUSZ INNOVATION IN MOTION LIBERTY MANUAL Table of Contents SAFETY NOTICES naes EErEE SVECE rea OKEE ANVE ESTE trina a as II E VWIt meP TO XGEEAN THE INSTRUMENT et Te GREETING eroe EE TEEN EEEE TERNE 1 1 1 LIBERTY o nip 1 1 2 SET UP THE LIBERT Ye E Hee te eere RU ee LE nes 1 1 3 INSTALL THE LIBERTY HOST SOFTWARE Fe dee va e Rea deus 6 1 3 1 USB Driver Installation te V EE 6 1 4 USING THE POEHEMOS PIMGR GUI ER E 7 1 5 EXPERIMENT WITH LIBERTY terrere nere tees sede cee adenine 9 126 TERMS ACRONYMS c ciere tette e IRR ENT seats AR Ses ERR rre iet en 10 2 LIBERTY SYSTEM COMMA
107. teen 1 16 Although stations are enabled simply by plugging the sensors into the ports on LIBERTY the stations can then be disabled or enabled again by using a software command When a station exists and is enabled data records for that sensor will be transmitted from that station If the station is disabled no data records from that station will be transmitted Syntax UL station state lt gt Or UO bitmap Part Description station 1 to 16 which specifies the relevant source sensor pair 0 causes active station bitmap to be retrieved or set state 0 Off 1 On n a if station 0 bitmap 16 bit bitmap reflecting state of each sensor represented as a hexadecimal number Remarks If a station is supplied without a state then the current states of all stations are returned See Output Data List on page 39 The default condition depends on the number of sensors that are currently connected to LIBERTY The default condition of a station that has a sensor connected to it is a 1 or station The default condition of a station that does not have a sensor connected to it is a 0 or station off If zero 0 is supplied as the station number this command will take a hexadecimal bitmap to identify ALL the enabled stations E g UO ffff enables all sensors NOTE Do not place Ox in front of the input hex bitmap REV H 54 AUGUST 2012 POLHEMUS INNOVATION IN MOTION
108. ting green red blink indicating that the system is ready for operation At this point the LED gives the status of the quality of the magnetic signal If the LED continues to flash red for 20 seconds then becomes solid red the self test has failed The following table summarizes the LED condition e Steady green System operational with a good quality magnetic signal No distortion e Flashing red green System operational with a marginal magnetic signal Minor distortion e Solid red System operational with a poor magnetic signal Significant distortion e Flashing red Failed self test and set up The primary purpose of the LED indication is to warn users of distortion detected in the magnetic signal However a malfunctioning sensor or source can cause a poor quality signal that REV H 79 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL will trigger a solid red LED This condition should be accompanied by a Built In Test BIT error See Built In Test BIT on page C 1 for a description of BIT errors Any sensor detecting distortion will trigger the distortion alarm For a multi sensor system the O Output Data List command page 39 can be used to output a data flag for each sensor to determine which sensor is causing the alarm to trigger Also note that if no sensors are plugged into the SEU and the initialization test passes the LED will be a solid green 3 1 4 External Sync I O
109. tion the system non volatile configuration memory will be set with all of the factory default parameters This exercise is especially useful when the system has been modified to the point where the user is not sure how to get back to factory defaults However care should be taken because all non saved custom settings will be lost as a result of the reset REV H 73 AUGUST 2012 POLHEMUS INNOVATION IN MoTION LIBERTY MANUAL V Initialize System Description This command reinitializes the entire system to an advanced power up state The user should allow sufficient time for the system to run through its self test and initialization as signified by completion of LED flashing explained in Step 8 of Getting Started before attempting to send the system additional commands Syntax AY lt gt Remarks None Output Record None Examples If the user wanted to set the system configuration back to its original factory default condition the following commands should be sent W0 AY lt gt The system will now be in its original factory default condition The Y simulates turning the system power off then back on again 74 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 7 Read Operational Configuration Description This command allows the user to view the operational configuration settings for the current factory default and saved custom configurations Syntax Z s
110. tions are stored in LIBERTY configuration memory The third configuration is not defined To set an ID for the third configuration do the following XConfiguration 3 lt gt K3 lt gt To make this configuration the startup configuration W3 lt gt 58 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL B USB Buffering Mode Description This command enables or disables USB output buffering before USB transmission to the host When USB buffering is disabled LIBERTY operates in a real time mode in which only the most current frame of motion data is transmitted When enabled buffering mode allows host delays in requests for data without frame loss but with possible latency introduced Syntax B mode lt gt Part Description mode Defines the status of USB Buffering Mode The choices are O0 Disabled Enabled default Remarks By default USB buffering mode is enabled As with other configuration commands if no mode argument is provided the current value of the setting is returned in the default response frame Buffering Mode applies to USB data I O only RS 232 data buffering is controlled by the host computer With USB buffering enabled a First In First Out FIFO buffer collects motion data in scenarios where the host computer is not able to capture it at the rate that it is generated This does not guarantee that data is not lost but it helps in transient conditions wh
111. urn Line Feed Table 2 14 H Binary Response Byte Index Format Description 0 7 Binary Header 8 FL Vector X component 12 FL Vector Y component 16 FL Vector Z component Examples The user may decide to mount the source above the test area in order to be able to move the sensor to the positive and negative sides of X and the positive and negative sides of Y NOTE since the default hemisphere value is forward the user cannot move the sensor to the negative X side of the source because the signs will flip and it will appear as if the X measurement never goes negative If the source is positioned above the test area the positive Z or lower hemisphere should be selected This can be accomplished with the following command H1 0 0 1 Station 1 of LIBERTY will now be set for the positive Z or lower hemisphere Although the hemisphere vector is not limited to 1s and Os the following table of hemisphere commands may be useful Forward Hemisphere X H1 1 0 0 lt gt Back Hemisphere X H1 1 0 0 lt gt Right Hemisphere Y H1 0 1 0 lt gt Left Hemisphere Y H1 0 1 0 lt gt Lower Hemisphere Z H1 0 0 1 lt gt Upper Hemisphere Z 1 0 0 1 lt gt 34 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL 2 Stylus Button Function Description This command allows the user to put the LIBERTY stylus into different output modes by controlling the
112. w output data in centimeters REV H 43 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL X Position Filter Parameters Description This command establishes the sensitivity boundary and transition control parameters for the adaptive filter that operates on the position outputs of the LIBERTY system The user can adjust the parameters of this command to fine tune the overall dynamic response of LIBERTY The filter is a single pole low pass type with an adaptive pole location 1 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 rotational rate input conditions For input rate conditions that fall within the adaptive range the adaptive feature varies the pole location between the FLow and FHigh limits so as to maximize the output resolution for static inputs while minimizing the output lag for dynamic inputs Whenever the input conditions cause the filter to make a transition to a narrower bandwidth 1 increased filtering the transition rate of the pole location is constrained to a maximum allowable rate by the parameter FACTOR If all of the optional parameters are omitted the current value of each parameter is returned to the user as an output record of type X Syntax X F FLow FHigh Factor
113. where data is only needed a certain number of times or on command then the single data record output should be used To poll the system for a single data record send the command as follows P One data record from LIBERTY will be sent to the host computer 63 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Q Reset Counters Description This command allows the user to zero the frame counting and the frame timestamp feature The frame counting feature is always enabled however it is only output when specified through the Output Data List command on page 39 The framecount is a positive integer value indicating the relative frame number since system start or the last reset Rollover occurs after 2 frames The timestamp feature is always enabled however the timestamp is only output 1f it has been specified in the Output O command The timestamp is a positive integer value indicating the number of milliseconds since the last reset operation or system start Rollover occurs after 2 milliseconds Syntax Qcounter lt gt Part Description counter 0 Reset both framecount and timestamp 1 Reset framecount only 2 Reset timestamp only Remarks None Output Record None Examples To zero the framecount execute the following 1 lt gt 64 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL D Map Info Description This command allows the u
114. xxxxxxESxxxB float 4 Az El Ro Euler orientation angles 3 Sxxx xxxB float 5 Az El Ro Euler angles extended precision 3 Sx xxxxxxESxxxB float 6 Direction Cosine Matrix 3 3 Sx xxxxxB CRLF 3 float 7 Orientation Quaternion 4 Sx xxxxxB 4 float 8 Timestamp Al AIO DWORD 9 Frame Count Al AIO DWORD 10 Stylus Flag 0 or 1 Al I 11 Distortion Level 0 1 or 2 Al I 12 External Sync Detected 0 or 17 Al I Remarks If the wildcard is specified instead of station all station output lists will be set to the programmed value If output list parameters p pn are omitted from the argument list the current defined output list is returned Default is 0 2 4 1 P amp O lt cr gt lt If gt for all stations 39 AUGUST 2012 POLHEMUS INNOVATION IN MOTION LIBERTY MANUAL Output Record Table 2 20 ASCII Response Byte Index Format Description 0 A First Digit of Station Number 1 Second Digit of Station Number 2 A 3 Error Indicator 4 B ASCII Blank character 5 X Data Item 1 6 B T xB Remaining data items separated by blanks Table 2 21 Binary Response Byte Index Format Description 0 7 Binary Header 8 I Data Item 1 12 I Data Item 2 16 I Data Item 3 84 I Data Item 20 NOTE In the binary output format the list of valid data items will be terminated with a 1

LIBERTY Manual

Contents

Download Pdf Manuals

Related Search

Related Contents