MINUTEMAN™ MINUTEMAN 3D TRACKER USER MANUAL
Contents
1. 12 mailing address oet tort E 1 connect E Pod to host 118 3 management application 19 connect sensors to the 2 mounting and location 7 coordinate reference 9 multiple Systems pet iinan B 1 coordinate 8180601 11 multiple systems installation 1 1 number Of 56508 1 0 1 operating 11 data 1 operational installation 7 12 ia 16 EC declaration 01 1 orientation quaternion 12 electronic stabilization process ESP 17 output 12 eE REE AEE A E E A 1 Output orientation 12 2 PDI Polhemus Developer 101071806 19 connecting to host 3 physical characteristics B 1 ESP electronic stabilization process 17 PiMgr tracker management application 19 Euler angles 061816 12 Polhemus developer interface 19 DC C SI essendo 1 power requirements 1 Figure POTS CNG 15 1 prediction filtering cec2. 0 1 Unlaunch LATUS Mar Select Sensors Output Data Boresight Eli i 2 2 LATUS Rec Launch LA Unlaunch L Phase Ste LATLIS C Disabled Enabled Select All Apply 1 Figure 16 Configure Sensor Boresight REV A 14 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Host Prediction Prediction up to 50 ms can be enabled for each MINUTEMAN sensor The prediction operation is performed on the host not the MINUTEMAN device This operation requires that the configured Output Orientation Format see page 12 be either Euler Angles default see page 12 or Orientation Quaternion see page 12 Host Prediction 15 configured per the sensor in the Sensor Configuration dialog of the PIMgr tracker management application as shown Figure 17 File View Tracker Configuration Polhemus t store Ct Configure elect S tartup ConNgurat Default Ctrl 2 Launch LATUS Markar SH ACErI Z Unlaunch LATUS Marke Modified Toggle Connection Recordin None D Frames 00 00 00 m Seriean v Select Sensor s Output Data Boresight Prediction 1 2 2 Prediction m Enabled EN E Select All Cancel Apply Help Figure 17 Configure Host Prediction REV A 15 FEBRUARY 2008
3. 2 00 2 2 Connect sensors to the MINUTEMAN 2 3 Connect MINUTEMAN E Pod to Host 3 d 5 5 Verify MINUTEMAN Function and Host Software 5 7 77 ee MEM 7 Location and Er ette nette sib edevbaue tud eia ve sais ue sbui vai suba sea eruta 7 SIUE PR asd ae PIU UIN CUN IA 9 Multiple MINUTEMAN Systems 11 Iu 1 2 PI 1 Dy 1 MINUTEMAN C ODN EU 12 Output Orientation OPM AL 12 12 6 O E 12 6 Orneniduom R EEN Ei aai ai 12 Bor e e 14 Ho 15 16 Electronic Stabilization Process 0 0 17 VIP M E EEE O OE A EEEE A eee 18 NIDNUTBNEXINOBHOSESOLUOES EE A E oes 19 Tracker Management ADD 19 Polhemus Developer Interlace 19 iii FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL TABLE OF FIGURES Figure 1 MINUTEMAN Components 1 Pioio 2 MINOTE MANT ors
4. 3 Figure 3 Bound New Tard ware eU pU Qe te ess RI EE 4 Figure 4 USB Serial Port Found New Hardware 4 eure er ata nosso acess quacum MAR 0 5 Figure 6 Sensor Orientation Data Collection Screen sees 6 Od 7 E rod mounta on iPode E 7 Figure 9 Sensor Mounting n 8 0 9 Figure TT Sensor Re ier Mee Vig ia 9 areca eta 9 Coordinate RetercnCe 10 Figure 14 Sensor Witt BP OG a aaa a ni 10 Figure 15 Configure Output Orientation 13 14 Figure 17 Configure Host PreGic aa a EENS EE ERI 15 Pouc IS Connon E E 16 erate soiree ce ter cece E E E E E 18 REV A AY FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Welcome Thank you for purchasing the highest performance lowest cost best value tracker on the planet The following will acquaint you with the components of the system how to connect it and how to set it up for your application Components The following components see Figure 1 make up a MINUTEMAN system MINUTEMAN E Pod Sensor wit
5. POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Filtering MINUTEMAN incorporates an adaptive filter that provides significant output reduction while maintaining good overall responsiveness Four filter settings are available to the user None Light Medium and Heavy NOTE Filtering does not change the update rate of the MINUTEMAN Medium to heavy filtering may produce perceivable lag in the tracking outputs The filter is configured in the Tracker Configuration dialog see Figure 18 of the PiMgr tracker management application Select Startu LATUS Recap Launch LATLI RI Unlaunch L Light Phase 5tep LATUS Marke Medium Heavy Figure 18 Configure Filter REV A 16 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Electronic Stabilization Process ESP The ESP 15 an innovative adaptive filtering process that analyzes tracker signal noise jitter and automatically adjusts its acceptance windows to smooth the orientation output prior to reporting to the host This 15 done dynamically inside the MINUTEMAN processor code while the DSP 15 analyzing data variability ESP provides stabilization over the range of tracker application that outperforms typical adaptive filtering and has the effect of increasing tracker range over larger sensor E Pod separation distances Highest resolutions are attained at close range Refer t
6. ROM drive insert it now Select Install the software automatically and click Next New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for Minuteman Tracker If your hardware came with an installation CD lt 6 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue Figure 3 Found New Hardware Screen Click on the Finish button when the driver installation is complete Next Windows will detect the USB Serial Port emulation device ij Found New Hardware USE Serial Port Again the Found New Hardware Wizard will launch automatically Leave the CD in the CD ROM drive select Install the software automatically see Figure 4 and click Next hound New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for USB Serial Port If your hardware came with an installation CD lt 4 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from list or specific location Advanced Click Next to continue Figure 4 USB Serial Port Found New Hardware Screen REV A 4 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL At thi
7. SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE MANUFACTURER MAKES NO WARRANTIES EXPRESS OR IMPLIED EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN IN NO EVENT SHALL MANUFACTURER BE LIABLE UNDER ANY CIRCUMSTANCES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR REVENUE WITHOUT LIMITING THE FOREGOING MANUFACTURER S MAXIMUM LIABILITY FOR DAMAGES FOR ANY CAUSE WHATSOEVER EXCLUSIVE OF CLAIMS FOR PATENT 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 DAMAGES NOT TO EXCEED THE PRICE OF THE GOODS UPON WHICH SUCH LIABILITY IS BASED The Products 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 obtaining all necessary or appropriate medical certifications The end user OEM VAR must comply with all pertinent FDA CE and all other regulatory requirements 2 FEBRUARY 2008 POLHEMUS INNOVATION IN MoTiIon MINUTEMAN MANUAL APPENDIX B Specifications Update Rate 75 Hz per sensor fixed simultaneous samples Latency 2 ms OS and Host Software dependent Number of Sensors or 2 vO USB 1 1 or 2 0 WinXP 2K d
8. a warranty period of only one year Manufacturer shall upon notification within the warranty period correct such defects by repair or replacement with a like serviceable item at Manufacturer s option This warranty shall be considered void if the Product is operated other than in accordance with the instructions in Manufacturer s User Manual 15 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 1s defective Buyer shall promptly and within the warranty period notify Manufacturer in writing of the nature of the defect and return the defective parts to Manufacturer at the direction of Manufacturer s Customer Service representative Upon determination by Manufacturer that the parts or Products are defective and covered by the warranty set forth above Manufacturer at its option shall repair or replace the same without cost to Buyer Buyer shall be responsible for any import export duties tariffs and pay all charges for transportation and delivery costs to Manufacturer s factory for defective parts where directed to be sent to Manufacturer and Manufacturer shall pay for transportation costs to Buyer s facility only for warranty replacement parts and Products Removed parts covered by claims under this warranty shall become the p
9. each time MINUTEMAN 1 reset Output Orientation Format MINUTEMAN can be configured to output orientation data in three different formats e Euler Angles default Euler angles define the current orientation of the sensor coordinate frame with respect to the designated reference frame commonly known as Azimuth Elevation and Roll AER or in the aerospace context Yaw Pitch and Roll Euler angles are expressed as floating point numbers They refer to the three angles used to describe a general rotation in three dimensional Euclidean space by three successive rotations once about the z axis Azimuth Y aw once about the y axis Elevation Pitch and once about the x axis Roll e Direction Cosines Direction cosines are a 3x3 floating point matrix representing the cosines of the angles between the sensor s x y z axes and the X Y Z axes of the reference E Pod or source frame e Orientation Quaternion A quaternion 1 an ordered four parameter quantity of floating point numbers representing a vector and a scalar The first coordinate 15 the scalar part and the remaining three make up the vector part Quaternions are often used in computer graphics and associated geometric analysis to represent rotations and orientations of objects 1n three dimensional space They are smaller than other representations and operations on them can be computed more efficiently Quaternion algebra 15 also more numerically stable for this
10. native USB port or a powered hub to operate the MINUTEMAN E Pod A USB expansion hub typically does not provide such power 3 Coordinate System In most multi E Pod environments all E Pods will be aligned to the same coordinate system To accomplish this E Pods could be placed side by side on a tripod extension bar and pointed the same direction Sensor mountings for each E Pod system should also be identical to achieve the same orientation reference Each E Pod defines the reference system for the sensor s connected to it If multiple E Pods are in use be aware of the possible need to harmonize or align the E Pod reference frames either mechanically or mathematically NOTE When mounting E Pods side by side keep them spaced at least 6 inches 16 cm apart REV 1 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL MINUTEMAN Configuration MINUTEMAN has a simplified command structure with a small set of commands to control and to configure the E Pod Commands include output orientation data format filtering boresight and soft reset MINUTEMAN can be managed entirely through the PiMer tracker management application that 1s included on the MINUTEMAN Host Software CD For custom applications MINUTEMAN can be driven with the Polhemus Developer Interface SDK also included on the CD NOTE MINUTEMAN configuration settings do not persist through any soft or hard reset of the E Pod Settings must be re applied
11. 2 frequency 7 11 1 iii hardware Vet ti AU DI 5 table OF 0 0 77 15 Siren M 1 host SOFtWALC 7 19 OE AGS NET DT DO 1 host software 2 TITRE 1 host software verification 5 j 3 HIG SU LST 3 1 o m B 1 verify function and host 5 initial setup and system test 2 Dard 5 install host 2 0 A 7 E T FEBRUARY 2008
12. MINUTEMAN E Pod see Figure 2 prior to connecting the USB cable Connect sensor s with the six pin modular connectors on the black 2 M cable REV A 2 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Figure 2 MINUTEMAN E Pod NOTE The six pin modular sensor cable is readily available in the marketplace should more length be required However a substitute sensor cable must not exceed 14 ft 4 25 m and must be wired straight through both connectors male male 3 Connect MINUTEMAN E Pod to Host USB NOTE MINUTEMAN gets its operating power through the USB connection If you are using a USB hub that does not provide the full USB power allotment the E Pod will not operate When the USB cable is connected to host PC for the first time Windows will detect the new hardware and launch the device driver installation wizard The MINUTEMAN driver installation is slightly more complex than most USB devices because the drivers are installed in two steps i First Windows will detect and install the MINUTEMAN drivers The Found New Hardware bubble will appear in the Windows taskbar ij Found New Hardware Minuteman Tracker 3 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Windows will automatically launch the Found New Hardware Wizard see Figure 3 which will walk you through the driver installation procedure If your MINUTEMAN Host Software CD is not in the CD
13. PI Tracker Config Screen REV A 5 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL i Collect MINUTEMAN sensor orientation data see Figure 6 by clicking on single frame toolbar button Note orientation of sensor displayed PiMgr m Cuniio File View Device Motion Graphics Tools Help PEM gt Polhemus MINUTEMAN 155 888 Configuration 1 155 893 Default 155 113 155 161 Active Sensors Recording None 0 Frames 00 00 00 1 Tracker connected via USB Figure 6 Sensor Orientation Data Collection Screen iv Initiate continuous data collection by clicking on the continuous mode toolbar button Move the sensor to note that orientation data changes expected Click again to suspend continuous data collection NOTE For detailed instruction on the use of the refer to the PiMgr online help accessible by pressing F 1 anywhere on the PiMgr window REV A 6 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Operational Installation Location and Mounting Set up MINUTEMAN close to your host computer and away from large metal objects like file cabinets metal desks etc and away from the floor and walls Also it is important to position the system so that the working area for your application is centered in 36 inch 90 cm radial range of the MINUTEMAN A standard trip
14. POLHEMUS MINUTEMAN M MINUTEMAN 3D TRACKER USER MANUAL URMO6PH191 REV A FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL This page intentionally left blank POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Copyright 2006 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 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 MINUTEMAN 15 a trademark of Polhemus Windows is a registered trademark of Microsoft Corporation FCC Statement This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However
15. POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Coordinate Reference Reference diagrams are printed on the top of the E Pod see Figure 10 and on the sides of the sensor see Figure 11 MINUTEMAN orientation tracking occurs according to the right hand rule see Figure 12 with reference to these markings To demonstrate the right hand rule point the index finger of your right hand along the desired reference frame Y axis with your palm facing the Z axis your thumb will point to the X axis Figure 10 E Pod Reference Diagram Figure 11 Sensor Reference Diagram Figure 12 Right Hand Rule The sensor s Azimuth Elevation and Roll AER angles are based on this orientation Both the sensor and the E Pod source have these orientation coordinates By default the E Pod is the reference with an orientation of 0 0 0 AER The measured AER of each sensor is relative to the E Pod In a typical installation the E Pod is installed in alignment with the natural coordinates of the environment see Figure 13 and the sensors are then referenced to those coordinates NOTE Euler angles Azimuth Elevation and Roll AER are also known as Yaw Pitch and Roll This is the default form in which MINUTEMAN reports sensor orientation See the section entitled Output Orientation Format for more information REV A 9 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Sensor Z Y
16. T Orientation Coord Ref V azimuth in the horizontal X Y plane ui elevation from the X Y plane roll about the vector from the source to the sensor being tracked C Cr Source Figure 13 Coordinate Reference System Should you wish to start your application at a 0 0 0 AER orientation the sensor should be brought in line with the E Pod X axis indicated see Figure 14 and then rotated to achieve approximately that orientation MINUTEMAN components should be mounted to fix this mechanical alignment 5 E 2 2 Figure 14 Sensor Aligned with E Pod Refer to Boresight on page 14 for details on setting the relative AER to 0 0 0 10 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Multiple MINUTEMAN Systems Installation Wherever multiple MINUTEMAN E Pods are to be employed it is important to note the following 1 Operating Frequency Four different operating frequencies allow up to four E Pods to operate in the same environment without interfering with each other The operating frequency of each MINUTEMAN is denoted by a colored dot on the E Pod see Figure 7 The colors and frequencies are 33 KHz Black 31 5 KHz Blue E CAUTION If multiple E Pods are to be used together care must be taken to ensure that when ordering the second third and fourth MINUTEMAN E Pods each operates at a different frequency 2 USB Power Use the
17. Time stamp 32 bit Frame court Stylus Flag Distortion Level Binary Output Length 4 l 2 ASCII Output Length 41 0 000 0 000 0 000 Onentation Quaternion Phase Step L LATUS Marker E Select All Figure 15 Configure Output Orientation Format NOTE For detailed instruction on the use of the PiMgr refer to the PiMgr online help accessible by pressing F 1 anywhere the PiMgr window REV A 13 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Boresight MINUTEMAN can be instructed to enable or disable boresight rotation of individual sensors at any time When instructed to enable boresight the orientation of the sensor 15 rotated so as to align the sensor with the E Pod reference frame of AER 0 0 0 The orientation received from the affected sensor will be effectively reset to AER 0 0 0 regardless of its actual physical orientation By default MINUTEMAN boresight is disabled Boresight is applied per sensor in the Sensor Configuration dialog see Figure 16 of the PiMgr tracker management application im unis File View BIB 7752 Motion Graphics Tools Help Tracker 2 Sh Ctrl Z Polhemus store lect Start N Default Modified Toggle Connectio 1 Tracker Configuration Active Se i ig d
18. e 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 1 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 MINUTEMAN the customer service representative will issue a Return Merchandise Authorization 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 11 possible to avoid transportation damages for which you or your shipper would be liable If your system 1 still under warranty Polhemus will repair it free of charge according to the provisions of the warranty as stated in APPENDIX A of this document The proper return address 15 Polhemus 40 Hercules Drive Colchester VT 05446 Attention 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 A C I FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL INDEX angular 0 cas 1 0 1 1 liability limitation A 10 14 limited warranty and limitation of liability 1 1 location and mounting 7
19. h two nylon mounting screws 6 foot 2 meter sensor cable with 6 pin modular connectors 17 foot 5 meter USB cable MINUTEMAN Host Software CD containing o This manual o PiMgr graphical user interface o SDK o USB drivers USB Cable 17 foot 5 meter length Sensor Cable 6 foot 2 meter length Host Software CD Sensor with nylon screws and mounting flanges Figure 1 MINUTEMAN Components REV 1 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Initial MINUTEMAN Setup and System Test Follow these set up and connection steps to demonstrate basic operation of your MINUTEMAN system A Caution Do not connect the USB cable until instructed 1 Install the MINUTEMAN Host Software 1 Insert the MINUTEMAN Host Software CD into your computer s CD ROM drive If your system 15 configured for CD auto launch the MINUTEMAN Host Software installation panel will launch automatically If it does not launch panel manually by navigating to the CD ROM drive using Windows Explorer Run Setup exe 11 Click on the area labeled Install Host Software The installation wizard will walk you through the installation 11 Leave the CD in the CD ROM drive for USB device installation NOTE The MINUTEMAN Host Software is intended to be installed on a computer running Windows XP 2000 and Vista only 2 Connect sensors to the MINUTEMAN E Pod One or more sensors must be connected to the
20. inisse 1 Conhgure 16 1 Configure Host Prediction 15 TEN MNT 18 Configure Output Orientation Format 13 1 Configure Sensor Boresight 14 return merchandise authorization RMA C 1 Coordinate Reference System 10 right hand Tile ee 9 lv TT 3 RMA Return Merchandise Authorization C 1 E Pod mounted on tripod 7 SDK Software Development Kit 19 E Pod Reference 1218017811 9 1 E Pod Screw 7 connecting to 166 2 PI Tracker Config 5 HODE OE eren B 1 Right Hand 16 9 0 2 Sensor Aligned with E Pod 10 SOR ee ae eee 18 Sensor Mounting Flanges 8 software development kit SDK 19 Sensor Orientation Data Collection Screen 6 software 5 Sensor Reference 121807001 9 SDECTHCOIOTIS eren 1 18 1 USB Serial Port Found New Hardware screen 4 SY SECU 2 A cadets tes 16 system test and initial
21. ns on installing this software PiMgr Tracker Management Application The PiMgr application is capable of managing every aspect of MINUTEMAN configuration and control It may be used on its own to troubleshoot the E Pod and to collect record save and play back motion data PiMgr is launched with the PiMgr desktop and quick launch icons or from the Start Programs Polhemus Windows menu Detailed instruction on the use of PiMgr features can be found in PiMgr s online help program accessed through application s main Help menu What s This toolbar button or by pressing F1 anywhere in PiMgr window Polhemus Developer Interface SDK For custom applications the Polhemus Developer Interface PDI 15 available on the CD This 5 a C programming library complete with sample projects and online help For detailed instructions on the use of the PDI refer to the PDI online help program Launch the PDI online help with the desktop or quick launch icon REV A 19 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL APPENDIX A Limited Warranty and Limitation of Liability Manufacturer warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Manufacturer s delivery to the Buyer or two years and 30 days from the date ownership of Product passed to the Buyer whichever occurs first with the exception of FastSCAN which has
22. o online help for disabling details REV 17 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Soft Reset MINUTEMAN can be reset without disconnecting power USB connection the PiMgr Initialize Device selection in the Tools Menu see Figure 19 Note that any soft or hard reset to MINUTEMAN will reset all configuration settings to factory default values imi v unis Device Motion Graphics 1 Help E Bos gt Initialize Device Ctrl Errors Ctrl T Polhemus MinuteM an Configuration Default Modified LATUS Optimizatior Sync To Device Sync From Device Active Sensors Initialize Device BIT Errors Reset Counters Clear Motion Display Del Clear Event Log Shift Del Recording None Text Command Wir Options D Frames 00 00 00 1 Manage LATUS Markers LATUS Optimization Tracker connected via serial port Sync To Device Syne From Device Clear Motion Display Clear Event Log Shift Del Text Command Window Options Figure 19 Soft Reset REV A 18 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL MINUTEMAN Host Software The MINUTEMAN Host Software set is found on the MINUTEMAN Host Software CD See Initial MINUTEMAN Setup and System Test on page 2 for instructio
23. od screw mount see Figure 7 is provided on the underside of the E Pod Polhemus recommends the use of a non metal tripod mount see Figure 8 A CAUTION To avoid damage to the electronics do not force the tripod screw after it has been firmly seated in the mount DEVCE COMUS TH PANT 15 THE FE ALG TO THE 43 TEES CALA a Ted DE ACCEPT ANY RDE Pel Cree HDD TER ERE THAT bar CAUER u ERA Operating Frequency Indicator see Operating Frequency on page 11 Figure 7 E Pod screw mount ogee Figure 8 E Pod mounted on tripod 7 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL MINUTEMAN sensors can be screwed down with the provided nylon screws through slots in the sensor mounting flanges see Figure 9 The slotted flanges allow sensors to be installed into pre existing fixtures If a smaller footprint 15 needed the mounting flanges can be clipped off and the sensor can be mounted with adhesive Figure 9 Sensor Mounting Flanges NOTE Nylon hardware is only required when the hardware will be in direct contact with the E Pod 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 MINUTEMAN REV A 8 FEBRUARY 2008
24. purpose see below REV 12 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL Euler angles are the most straightforward method of expressing orientation However at high elevation calculated Euler angles are subject to gimbal lock That is as elevation approaches 90 or 90 the axes about which azimuth and roll are computed become a single axis and third angle of rotation describing the orientation 1s lost Direction cosines and quaternions are provided to overcome this problem Although direction cosines and quaternions are more mathematically complex they are not subject to these axis singularities Output orientation format is configured per sensor in the Sensor Configuration dialog see Figure 15 of the PiMer tracker management application askar evice 23 885 23 743 Polhemus t tore Cyr Configura ject ttun Default Modified v Toggle Connex anfiquration Sh Ctrl 2 n 1 Unlaunch LATU Recordin None O Frames 00 00 00 Select Sensors Data Boresight 2 2 LATLIS Recepta Launch LATLIS Unlaunch Asc Space scil er cl 2 Position Coords Extended Precision Az El Euler Anales El Extended Frecisior Direction Cosine matr Orientation Quaternion 3z bit
25. river provided 17 ft cable supplied Static Accuracy lt 2 RMS orientation accuracy at 24 inches Resolution 0 01 orientation at 12 using default filter settings Range Approximately 36 in 90 cm Angular Rate a Multiple Systems Up to 4 systems in same environment Angular Coverage Data Format Frequency Indicator Prediction Filtering Physical Characteristics E Pod Sensor Power Requirements Temperature REV A All attitude IEEE 754 binary Euler Angles Direction Cosines Orientation Quaternion 33 KHz Black 31 5 KHz Blue Proprietary host driven adjustable 1 50 ms Length 3 00 inch 7 6cm Width 4 00 inch 10 2cm Height 1 40 inch 3 6cm Weight 4 oz 113 4g E Pod has standard tripod screw mount 1 4 20UNC Length 1 40 inch 3 6cm Width 0 66 inch 1 7cm w o mounting flanges 1 48 inch 3 8cm w mounting flanges Height 0 78 inch 2 0cm Weight 0 3 oz 8 5g Power provided via USB 5VDC at 0 5A 0 50 C FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL APPENDIX C Customer Service If problems are encountered with the MINUTEMAN 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 1s open Monday through Friday 8 00 AM to 5 00 PM Eastern Standard Tim
26. roperty of Manufacturer In the event that allegedly defective parts are found not to be defective or not covered by warranty Buyer agrees that Manufacturer 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 Product shall be warranted for the remaining period of the original warranty or thirty 30 days whichever is longer Warranties shall not apply to any Products which have been repaired or altered other than by Manufacturer except when so authorized in writing by Manufacturer or used in an unauthorized or improper manner or without following normal operating procedures or improperly maintained and where such activities in Manufacturer s sole judgment have adversely affected the Products Neither shall 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 used for any purpose without obtaining any applicable regulatory approvals REV A A FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL MANUFACTURER DOES NOT WARRANT AND
27. s phase of the driver installation Windows XP may warn you that the driver being installed Has not passed Windows Logo testing or 1s a digitally unsigned driver Click Continue Anyway to proceed with the installation Click on the Finish button when the driver installation is complete NOTE The unsigned driver warning indicates that the driver has not been submitted to Microsoft s Designed for Microsoft Windows XP logo testing program It does not mean that the driver 1 incompatible with Windows XP This driver has been thoroughly tested and approved by Polhemus Quality Assurance 4 Verify MINUTEMAN Hardware When the E Pod receives power from the USB connection note that the red power LED indicator 1s illuminated It blinks three times during initialization and then stays illuminated To verify this disconnect and then reconnect the USB connector now 5 Verify MINUTEMAN Function and Host Software i With the MINUTEMAN still connected via USB launch the PiMgr tracker management application from the Windows desktop shortcut With the MINUTEMAN already attached via USB PiMer will automatically discover it see Figure 5 and query its configuration m Cuni e i2 gt Polhemus MINUTEMAN Configuration Default Active Sensors Polhemus MINUTEMAN Recording None 0 Frames 00 00 00 For Help press 1 Tracker connected via USB Figure 5
28. there is no guarantee that interference will not occur a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help EC Declaration of Incorporation This Product Complies with the following European Community Directives 89 336 EEC as amended by 92 31 EEC The following standards were used to verify compliance with the directives EMC EN 61326 1 1997 A1 1998 A2 2001 A3 2003 Emissions Requirements Class B Radiated Emissions EN 61326 1 1997 A1 1998 A2 2001 A3 2003 Immunity Requirements EN 61000 4 2 1995 ESD 4 CD 8 AD EN 61000 4 3 2002 A1 2002 3V m 8096 AM REV 1 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL This page intentionally left blank REV A 1 FEBRUARY 2008 POLHEMUS INNOVATION IN MOTION MINUTEMAN MANUAL TABLE OF CONTENTS LXBLPEOQI PIG UBSBS ae uq ei eie teque du ME M T ME IV WLO PRETI 1 6 1 Initial MINUTEMAN Setup and System
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