Pan-Tilt Unit User Manual
Contents
1. To connect multiple PTU E46 units to a single host computer via serial 1 2 3 Assign a unique network ID number to each PTU E46 Connect the PTU E46 units and host computer to the serial network Test the configuration by addressing each PTU E46 by its unit ID and issuing commands and queries Copyright 2014 FLIR Commercial Systems Inc C 1 S E L H R PTU E46 User Manual C 2 1 Serial Networking Connections Multiple PTU E46 units can be networked and connected to the host computer s RS 232 port All net work communications use RS 485 meaning that you must have an RS 232 to RS 485 adapter if the host computer does not directly support full duplex RS 485 I O The host computer functions as the network host meaning that its TX and RX lines define the directions of data traffic flow Each PTU E46 on the net work is a client that communicates with the host using a full duplex connection RS 485 Multi Drop TX Twisted Pair RS 485 Multi Drop RX Twisted Pair RS 232 lt gt RS 485 or USB lt gt RS 485 Converter RS 232 or USB r P sch ER f TL vm r D Z al T c Ki vk Hike o Ek Host Figure C 1 PTU Network Configuration When making your own data cables FLIR Systems Inc recommends using a good quality twisted pair cable with about 1000 impedance which provides good noise immunity for RS 485 connections The following RS 232 to RS 485 converters are recommended e ATEN IC 485S2. e Moxa A50 Both adapters require a flipped RJ 12 connector such as a standard phone cord Terminate the serial network by placing 120 Q 1 resistors between the RS 485 Transmit Transmit Tx Tx and Receive Receive Rx Rx wires at each end of the network as shown in Figure 5 C 2 Copyright 2014 FLIR Commercial Systems Inc Appendix C Networking F L H R C 2 2 ASCII Command Syntax This section provides a brief overview of the ASCII command syntax Please refer to the Pan Tilt E Series Command Reference Manual for complete information and instructions The PTU E46 uses both commands and queries A command tells the PTU E46 to do something such as pan to a specific angle A query asks the PTU E46 to return the requested value such as reporting the current pan angle The basic ASCII command syntax is command parameter delimiter where e commando is the actual command such as PP for pan position e parameter isa numerical value such as the desired pan position and e lt delimiter gt isa character used to denote the end of a command Valid delimiter characters can be either SPACE or ENTER The basic ASCII query syntax is command delimiter where e commando is the actual command such as PP for pan position e lt delimiter gt isa character used to denote the end of a query Valid delimiter characters can be either SPACE or ENTER For example e Command PP posit
3. E46 did not reset properly please refer to the troubleshooting instructions below Copyright 2014 FLIR Commercial Systems Inc 19 FL H R PTU E46 User Manual 3 Please see Appendix C 2 3 for a list of basic commands and the Pan Tilt E Series Command Refer ence Manual for a complete list of commands and associated parameters and other usage instruc tions 4 6 Payload Mounting The PTU E46 payload bracket system can be configured in a number of ways to support a variety of pay loads including cameras lasers antennas and other equipment Figure 3 shows all bracket configura tions available for the PTU E46 RESULT IN A STRUCTURAL FAILURE THAT MAY RESULT IN DEATH PERSONAL INJURY AND OR DAMAGE TO THE UNIT i WARNING FAILURE TO FOLLOW ALL PAYLOAD MOUNTING INSTRUCTIONS COULD The following guidelines apply to all payload mounts e The maximum payload mounting screw size is a e Always use washers lock washers etc as appropriate e If the PTU E46 is being mounted in an outdoor location use corrosion resistant hardware such as stainless steel e Apply thread locking compound to all screws such as Loctite 242 which is suitable for applications that are field serviceable since it is easily removable with common hand tools and works with both stainless and plated metals Consider other compounds for high shock vibration applications where field service is not a concern 20 Copyright 2014 FLIR Commercial Systems In
4. E46 Configuration Guide options and accessories ordering guide e PTU E46 Product Datasheet product specifications e Pan Tilt E Series Command Reference Manual command instructions 1 8 Additional Resources FLIR Systems Inc also maintains a technical support Web site with additional resources for customers in the Support section at www FLIR com MCS Resources include electronic copies of user manuals firm ware downloads 3D CAD models technical notes and other information 1 9 Technical Support FLIR Systems Inc provides a range of technical support options e Email SBA ApplicationsEng flir com e Web www FLIR com MCS e Phone 888 747 3547 The preferred method of contacting Technical Support is via email which helps ensure proper dispatch ing and tracking to address your questions promptly When contacting Technical Support please provide the following information e PTU model and configuration e Payload Please include photos if possible e Parameter settings e Description of issue symptoms Copyright 2014 FLIR Commercial Systems Inc 5 FL H R PTU E46 User Manual This page intentionally left blank 6 Copyright 2014 FLIR Commercial Systems Inc FLIR 2 Safety 2 1 Overview This chapter contains important safety instructions You must read understand and comply with all of these safety instructions in order to protect both persons and property The benefits of a safe installa tion in
5. OR HIGH POWER SETTINGS WITH CARE PARTICU LARLY WHEN MOUNTING A HEAVY AND OR BULKY PAYLOAD e Step Mode The Step Mode section of the PTU Config page allows you to specify the following reso lution options for each axis Full Low resolution Half Medium resolution Quarter High resolution Eighth Maximum resolution This setting provides the greatest aiming accuracy Auto Internally switches between step modes for optimal movements but all commands and accuracy are in 1 8 step mode Changing the step mode requires a calibration reset Please see Section 5 2 for more information about steps and fractional steps Limits The Limits section of the PTU Config page allows you to specify the pan and tilt range of motion for your PTU E46 Please see Section 5 1 for an explanation of limit types and a visual depic tion of the PTU E46 range of motion Factory Checking the Factory radio button sets the PTU E46 range of motion to its factory default The range of motion appears below User Checking the User radio button allows you to program your own range of motion The Min imum and Maximum fields become editable allowing you to enter your desired range for both pan and tilt Continuous Mode The PTU E46 does not support this feature Click the Apply button after setting your desired range of motion to program the PTU E46 e Action Buttons The action buttons at the bottom of the PTU Config page allow you to perform the fo
6. currently selected PTU Quan P Adress adonde i c sity an IP Address E46 unit to make reconnection faster uc praa i subnet Mack 525500 e MAC Displays the unique Media set Reset save Access Control MAC address for the Copyright FUR Maton Control Systems 2010 PTU E46 unit You may change this address if necessary e Automatic IP Address Checking the Obtain IP address Automatically radio button allows the PTU E46 to either accept IP information from a DHCP server such as a router or select its own IP infor mation if connected directly to a host computer e Manual IP Address Checking the Manual IP Address radio button lets you specify the following information IP Address IP address for the PTU E46 unit Subnet Mask Subnet mask of the network the PTU E46 is connected to After changing network information click the appropriate action button at the bottom of the page e Set Clicking Set implements your changes but does not save them to the PTU E46 e Reset Clicking Reset reverts the PTU E46 to factory default settings e Save Clicking Save implements your changes and saves them to the PTU E46 34 Copyright 2014 FLIR Commercial Systems Inc Chapter 6 Web Interface FL i R 6 3 PTU Control Page The PTU Control page appears when you click the PTU Control link in the top menu This page allows you to control your PTU E46 as follows e Home Clicking Home returns the PTU E46 to its hom
7. followed in a specific order appear in numbered steps 1 Perform this step first 2 Perform this step second Specific keyboard keys are depicted in square brackets and are capitalized for example ESC If more than one key should be pressed simultaneously the notation will appear as KEY1 KEY 2 for example ALT F4 Interface elements such as document titles fields windows tabs buttons commands options and icons appear in bold text Menus and submenus have the notation Menu gt Submenu For example Select File gt Save means that you should first open the File menu and then select the Save option Specific commands appear in standard Courier font Sequences of commands appear in the order in which you should execute them and include horizontal or vertical spaces between commands This manual also contains important safety information and instructions in specially formatted callouts with accompanying graphic symbols WARNING CAUTIONS ALERT YOU TO THE POSSIBILITY OF PERSONAL INJURY IF THESE INSTRUCTIONS ARE NOT FOLLOWED CAUTION CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED Note Notes provide helpful information Copyright 2014 FLIR Commercial Systems Inc 3 S FL U R PTU E46 User Manual 1 5 Models Each PTU E46 unit includes a model number that is located on the base of the unit This number lists the options present on that particular
8. number specifies either the number of positions the PTU E46 will move each time you Click a big arrow if you selected Position or the number of positions per second the PTU E46 will move if you selected Speed Small The Small number specifies either the number of positions the PTU E46 will move each time you click a small arrow if you selected Position or the number of positions per second the PTU E46 will move if you selected Speed e Status The Status section of the PTU Control page displays the PTU E46 position and speed in real time Click the appropriate link to see this information in Degrees or Positions Copyright 2014 FLIR Commercial Systems Inc 35 E L U R PTU E46 User Manual Position Pan and tilt location of the PTU E46 in degrees or positions Speed Pan and tilt speed of the PTU E46 in degrees or positions per second Start Stop Clicking the Start Stop button toggles updating the PTU E46 status on and off e Set Position The Set Position section of the PTU Control page allows you to manually enter position and or speed information Please see Section 5 1 for an explanation of limit types and for a visual depiction of the PTU E46 range of motion Speed Enter your desired pan and or tilt speeds in the Speed fields Position Enter your desired pan and or tilt position in the Position fields Click the Apply button to move the PTU E46 to the specified position at the specified speed 36 Copyright 2
9. the side bracket using the four socket head screws that you removed in Step 3 above not shown Torque these screws to 12 inch pounds CAUTION YOU MUST SECURE THESE SCREWS NOW IN ORDER TO ENSURE PROPER N PRELOADING FAILURE TO DO THIS CAN DAMAGE THE PTU E46 10 Insert 1 2 drops of thread locking compound into the truss screw hole on the side of the PTU E46 11 Insert the 6 32 x 3 16 stainless steel truss screw and then tighten until finger tight Next torque the screw to between 1 and 4 inch pounds 12 Mount your payload onto the side bracket using the 1 4 bolt you inserted in Step 6 above and then mount the PTU E46 in a location that ensures adequate clearance for the payload throughout the entire ranges of pan and tilt motion 13 Reset the PTU E46 and ensure that the bracket moves properly throughout the entire range of motion by testing in increments of 100 pan and tilt units to ensure that the payload does not strike any portion of the PTU E46 or any other object or obstacle CAUTION USE THE H COMMAND IF THE PAYLOAD IS ABOUT TO STRIKE AN OSTACLE TO IMMEDIATELY HALT THE PTU E46 en Note If you ordered your PTU E46 with a top bracket the unit will arrive with the Bl bracket already attached Figure 4 4 PTU E46 side bracket mounting 22 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Installation amp Setup F L R 4 6 2 Payload Attachment The following guidelines apply to all payloa
10. unit Different options may require specialized instructions and this manual will refer to this section where necessary to ensure that you are following the appropriate direc tions The PTU E46 model number appears as follows Axis Configuration 17 E46 17 S Standard 70 E46 70 N Nodal 1770 E46 17P70T Pan Tilt SS Std 1 TW E46 1 TW SS denotes standard pan tilt range of motion Other lettering denotes alternate pan 70W E46 70W and or tilt range of motion 1770W E46 17P70TW Figure 1 1 PTU E46 Part Numbering 1 6 PTU E46 Package Contents Your PTU E46 package includes the fol lowing items 1 e PTU E46 pan tilt unit 1 with external controller PTU E46 2 e 7ft cable PT CABLE CE or PT CABLE de CE W 3 e RS232 cable 4 4 Wei e User Manual NS 3 A e Command Reference Manual NS Ki Z S amp e CD containing the PTU Finder utility NS e Optional AC DC power supply PT PS INT30V NA or EC 5 Figure 1 2 PTU E46 components 4 Copyright 2014 FLIR Commercial Systems Inc Chapter 1 Introduction F L H R e Optional USB to RS485 adapter cable PTU CONV USB RS485 6 e Optional Alternate length controller cables not shown e Optional Software Development Kit PTU SDK not shown e Optional Side bracket D46 BKT ZSTD 7 1 7 Related Documentation The following additional documentation is available for your PTU E46 unit e PTU
11. 014 FLIR Commercial Systems Inc FLIR A Electrical Specifications This Appendix describes the base connector and host computer wiring In general e TX lines carry data from the PTU E46 e RX lines carry data to the PTU E46 25 pin serial host 9 pin serial host apn seral PTU E46 base connector connector iMacintashminie connector DIN host connector TxD Pin 2 Pin 2 Pin 3 Pin 2 RxD Pin 3 Pin 3 Pin 5 Pin 3 GND Pin 7 Pin 5 Pin 4 Pin 5 DTR Pin 20 Pin 4 Pin 1 Pin 4 DSR Pin 6 Pin 6 Pin 2 Pin 6 Copyright 2014 FLIR Commercial Systems Inc A 1 FL H R PTU E46 User Manual This page intentionally left blank A 2 Copyright 2014 FLIR Commercial Systems Inc FLIR B Mechanical Drawings The PTU E46 can use side and or top payload mounting brackets This Appendix describes the payload mounting patterns for the different brackets and displays the PTU E46 unit dimensions B 1 Payload Mounting Pattern The following images display the dimensions and mounting patterns for both the top and side brackets o D o e N 2 D ei e Ki o Di 5 50 Top bracket single 1 4 hole E OO Oo Side bracket Copyright 2014 FLIR Commercial Systems Inc B 1 FL H R PTU E46 User Manual B 2 PTU E46 Dimensions This image displays the PTU E46 dimensions i el 1 3 DEG dpse 0Z b L So1d 090 UG S20 SzSz B 2 Copyright 2014 FLIR Commercial Sy
12. Click the arrows to pan and tilt the PTU E46 and verify that it is working properly Please refer to Section 6 for instructions on using the Web interface 3 5 Serial Connection Note You may use simultaneous Ethernet and serial connections To connect power on and test the PTU E46 using the serial interface 1 Connect the PTU E46 as follows Attach one end of the RS 232 cable to the PTU E46 controller Attach the other end of the RS 232 cable to a serial port on the host PC en Note Alternatively you may connect one end of an RS 485 to USB converter to the PTU E E46 controller and the other end to a USB port on the host computer Driver installation should be automatic if not you may download a driver from http www ftdichip com Drivers VCP htm 2 Open a terminal program such as HyperTerminal or TeraTerm en Note HyperTerminal is available with Microsoft Windows XP and previous versions E You may download TeraTerm from http ttssh2 sourceforge jp 12 Copyright 2014 FLIR Commercial Systems Inc Chapter 3 Quick Start F L H R 3 Create a new connection with the following communications parameters 9600 baud 8data bits 1stop bit no parity no handshaking 4 Provide DC power to the PTU E46 You may use the factory AC DC power supply PT PS INT30V NA or EC Alternatively you may provide your own DC power source if appropriate as described in Section 4 3 CAUTION USE AN APPROPRIATELY RATED
13. FLIR High Performance Pan Tilt Unit MODEL PTU E46 VERSION 1 00 REVISION DATE September 2014 User Manual E L H R PTU E46 User Manual DOCUMENT CONTROL Date Author Rev Changes 09 2014 A Hernandez 1 00 Initial release COPYRIGHT NOTICE PTU E46 User s Manual version 1 00 09 2014 2014 by FLIR Systems Inc 70 Castilian Drive Goleta CA 93117 805 964 9797 FAX 805 690 5933 www FLIR com MCS All rights reserved Protected under numerous U S patents including 5463432 and 5802412 with other patents pending No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means including but not limited to electronic mechanical photocopying recording or otherwise without the prior written permission of FLIR Systems Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of FLIR Systems Inc FLIR Systems Inc cannot be held liable for any mistakes in this manual and reserves the right to make changes Copyright 2014 FLIR Commercial Systems Inc Table of Contents F L H R BR le e Pedo PERRO TETTE TER TOT TIEN 1 1 1 General PTU EA6 Features 5 oer ed ce b der nre dede ra reda a onn e gia E Nee See 1 SC CN E EE 2 E RER le te ge TEE 2 1 4 About This Manual 5 rr eet oe ceder ra edd Pe dea T regu idee Woes 3 1 4 1 Formattin
14. HE CG OF TOP MOUNTED PAYLOADS IS FURTHER FROM THE TILT AXIS AND If you are using the Web interface open the PTU Control page and click the arrows to move the PTU E46 through its full range of tilt motion as described in Section 6 3 If needed click Halt to stop the PTU E46 immediately Ifyou are using the terminal interface enter TN TX to query the tilt minimum and maximum limits then enter TP lt min gt A TP lt max gt to cycle the PTU E46 through its entire tilt range where lt min gt is the number returned by the TN query and lt max gt is the number returned by the TX query If needed enter H to stop the PTU E46 immediately WARNING STOP THE PTU E46 IMMEDIATELY BY EITHER CLICKING HALT WEB INTER FACE OR ISSUING AN H COMMAND SERIAL INTERFACE IF THE PAYLOAD IS ABOUT TO COLLIDE WITH THE PTU E46 AND OR ANOTHER OBSTACLE A COLLISION COULD CAUSE A STRUCTURAL FAILURE THAT MAY RESULT IN INJURY OR DEATH Copyright 2014 FLIR Commercial Systems Inc 23 FL H R PTU E46 User Manual If the load is too heavy or moving too quickly the PTU E46 will lose synchronization which will be audible as a grinding sound from the PTU E46 motors Stop the test immediately if this occurs and refer to Sections 5 3 2 and 5 3 3 This does not damage the PTU E46 but does indicate that the pay load is not mounted and or the PTU E46 is not configured correctly to move the payload Note Please refer to Section 5 3 2 for more information on confi
15. ON DEVICES AND CAUSE DEATH PERSONAL INJURY AND OR DAMAGE TO THE UNIT f WARNING FAILURE TO PROPERLY FUSE THE PTU E46 POWER SOURCE COULD OVER 4 4 Interface and Host Settings The PTU E46 includes both an Ethernet connection and either RS 232 or RS 485 communications You may connect to your PTU E46 using either or both of these methods the Web interface is only available when using an Ethernet connection and the terminal interface is only available when using a serial con nection 4 4 1 Ethernet Connection The PTU E46 Ethernet connection uses a standard Cat 5 RJ 45 network cable e You may connect the PTU E46 directly to a host computer or indirectly through a router hub etc e The PTU E46 will either accept IP addresses from a DHCP server or select its own IP address if con nected directly to the host computer e You do not need a crossover cable e f needed you may use a coupling to extend the Ethernet connection on the breakout cable en Note The Ethernet and serial interfaces may be connected simultaneously however you should only use one interface at a time for command and control of the PTU E46 Connect power on and test the PTU E46 using the Ethernet connection and Web interface as described in Section 3 4 4 4 2 RS 232 Electrical Connection PTU E46 units with RS 232 communications have the following connections e 25 pin serial xD Pin 2 carries data from the PTU E46 RxD Pin 3 carries d
16. POWER STRIP WITH SURGE PROTECTION N TO ALLOW SAFE POWER REMOVAL WHEN YOU ARE READY TO POWER DOWN 5 Power on the PTU E46 by turning on the switch on the power strip If power is working the unit will begin a self calibration and text will appear on your terminal identifying the unit s configuration 6 Test pan tilt operation by typing commands into your terminal program The following command sequence will familiarize you with basic PTU E46 operation pp2500 tp 900 PS1900 ppO This sequence Sets the pan axis to position 2500 sets the tilt axis to position 900 Sets the pan speed to 1900 positions per second and Sets the pan position back home 7 Power down the PTU E46 by turning off the switch on the power strip 8 Mount and wire your payload e g camera on the PTU E46 as described in Section 4 8 Please see Appendix C 2 2 for an overview of the ASCII command syntax and a list of commonly used commands The Pan Tilt E Series Command Reference Manual contains complete command interface instructions Copyright 2014 FLIR Commercial Systems Inc 13 FL H R PTU E46 User Manual This page intentionally left blank 14 Copyright 2014 FLIR Commercial Systems Inc FLIR 4 Installation amp Setup This section describes proper mechanical and electrical PTU E46 installation 4 1 Mounting the Unit The basic mounting pattern uses two 1 4 20 socket head cap screws in a 0 75 19 05mm side by side pattern Both
17. PTU E46 3 Ensure that the PTU E46 is clear to move in both axes pan and tilt without hitting any obstructions before applying power WARNING HITTING AN OBSTACLE WHILE THE PTU E46 IS IN MOTION COULD CAUSE A MOUNTING OR OTHER STRUCTURAL FAILURE THAT COULD RESULT IN INJURY OR DEATH 4 Power onthe PTU E46 By default the PTU E46 will begin a calibration sequence that will cause it to move from its current position to the center 0 positions in both axes 5 Launch a Web browser The PTU E46 supports modern versions of the Microsoft Internet Explorer Mozilla9 Firefox and Google Chrome browsers with JavaScript enabled Copyright 2014 FLIR Commercial Systems Inc 11 E L R PTU E46 User Manual 6 Run the PTU Finder utility from the CD included with your PTU E46 package A list of the individual PTU E46 units currently connected to the network and their corresponding IP addresses will appear in the application window e Note If you have simultaneous Ethernet and serial connections to a PTU E46 unit you B may enter NI in the terminal to retrieve the IP address of the PTU E46 unit 7 In your Web browser navigate to the appropriate IP address such ashttp 192 168 1 101 A Web page appears when you are connected to the selected PTU E46 unit The PTU E46 Web inter face allows you to configure the network interface configure various parameters and control the PTU E46 8 Navigate to the PTU Control page 9
18. Product Datasheet for complete specifications 1 2 E Series Features The PTU E46 includes the following new features Built in Ethernet Web IP interface for easy configuration control and diagnostics Built in geo pointing GPM support Pelco D support Compatible with the PTU SDK software development kit Higher command rates with lower latency and jitter Reduced calibration movement Full backward compatibility with previous PTU D46 models that includes Mounting pattern ASCII and binary application command interface Overlapped capabilities with previous PTU D46 models 1 3 Applications The PTU E46 is well suited for the following applications Robotics amp computer vision Webcam Security camera control Teleconferencing Advanced monitoring systems tracking Photography videography and special effects Copyright 2014 FLIR Commercial Systems Inc Chapter 1 Introduction F L H R 1 4 About This Manual This section describes the formatting conventions and information contained in this manual 1 4 1 Formatting Conventions This manual uses several formatting conventions to present information of special importance Commands and other information that is new for the E Series PTUs include the E icon shown here Lists of items points to consider or procedures that do not need to be performed in a specific order appear in bullet format e tem1 e tem2 Procedures that must be
19. al for instructions e Start bit 1 e Data bits 8 e Stop bit 1 e Handshaking off e XON XOFF not used 4 5 Initial Power Up and Test This section describes how to power up and test your PTU E46 using either the Web or serial interface Test and verify all cable connections and connector wiring before power up iarize yourself with its operations and commands before mounting your payload such Note Complete the initial installation and testing then exercise the PTU E46 and famil as a camera 4 5 1 Web Interface To test the PTU E46 using the Web interface follow the procedure in Section 3 4 to connect the PTU E46 power on the unit and access the Web interface The Web interface has the following pages e PTU Config Allows you to configure speed acceleration and power options e Network Allows you to configure the PTU E46 unit s IP and MAC addresses e PTU Control Allows you to control the PTU E46 Please see Section 6 for more information about the Web interface Use the PTU Control page see Sec tion 6 3 to test PTU E46 motion and exercise the unit 4 5 2 Terminal Interface To test the PTU E46 using the serial interface 1 Configure the RS 232 or RS 485 port on the host computer as described in Section 3 5 2 Power up the PTU E46 A boot message will appear on your terminal screen and the unit will begin a reset cycle An asterisk appears on your screen when the reset cycle is finished If the PTU
20. an offset TO Tilt offset SPEED CMD DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION PS Pan speed PA Pan acceleration PU Pan upper speed TS Tilt speed TA Tilt acceleration PL Pan lower speed PD Pan speed offset PB Pan base speed TU Tilt upper speed TD Tilt speed offset TB Tilt base speed TL Tilt lower speed MISCELLANEOUS CMD DESCRIPTION A Await R Reset DF Restore factory defaults H Halt C 4 Copyright 2014 FLIR Commercial Systems Inc FLIR D Troubleshooting This appendix presents common mechanical power and networking challenges and resolutions and also provides information about contacting FLIR Technical Support D 1 Mechanical After powering on the PTU E46 stops moving with a grinding noise e f you have a payload attached The payload may be too heavy Try moving the payload closer to the center of rotation of the affected axis and or reducing the payload weight The movement settings may be too aggressive Reduce the upper speed limit and or accelera tion e If you do not have a payload attached contact FLIR Technical Support D 2 Networking Unable to determine the PTU E46 IP address to access the onboard Web page e If you are running Windows use the PTU Finder tool included on the CD that shipped with your PTU E46 e f you are not running Windows attach a serial device to the PTU E46 host port and then issue the NI command to query the IP address of the PTU E46 PTU E46 Web page contr
21. ata to the PTU E46 GND Pin 7 Copyright 2014 FLIR Commercial Systems Inc 17 E L U R PTU E46 User Manual DTR Pin 20 DSR Pin6 e 9 pin serial RxD Pin 2 carries data to the PTU E46 TxD Pin 3 carries data from the PTU E46 GND Pin 5 DIR Pin 4 DSR Pin 6 e 8 pin serial Macintosh mini DIN xD Pin 3 carries data from the PTU E46 RxD Pin 5 carries data to the PTU E46 GND Pin A DIR Pin 1 DSR Pin 2 e Note TxD and RxD assignments can vary depending on your host computer If your ini tial connection does not work try using a null modem Serial communication between the PTU E46 and your host computer should be set as follows e Baud rate 9600 You may adjust the baud rate using software commands Please refer to the Pan Tilt E Series Command Reference Manual for instructions e Start bit 1 e Data bits 8 e Stop bit 1 e Handshaking off e XON XOFF not used 4 4 3 RS 485 Electrical Connection PTU E46 units with RS 485 communications have the following connections e Duplex full e Connections Tx Tx Rx and Rx e Voltage RS 422 or RS 485 levels 18 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Installation amp Setup F L H R Serial communication between the PTU E46 and your host computer should be set as follows e Baud rate 9600 You may adjust the baud rate using software commands Please refer to the Pan Tilt E Series Command Reference Manu
22. c Chapter 4 Installation amp Setup FL H R The PTU E46 allows the following bracket mounting options Side bracket o sp o 2 o 2 ei c N e Ki w 5 50 Top bracket single 1 4 hole O O O0 O O Figure 4 3 Bracketing Options 4 6 1 Side Bracket Attachment Please refer to the images on the following page when attaching the side bracket The numbered call outs in these images correspond to the numbered steps in the following procedure To attach side mounting brackets 1 Verify that the PTU E46 has been powered on and allowed to reset which places the mounting hub in its home position not shown Power off the PTU E46 not shown Remove the 1 4 bolt from the center of the top bracket Remove the four socket head cap screws not shown securing the top bracket to the PTU E46 using a 7 64 hex head drive Tilt and slide the top bracket to remove it from the PTU E46 Remove the 6 32 x 3 16 stainless steel truss screw from the side of the PTU E46 see images Insert the 1 4 x 3 8 bolt that you removed from the top bracket in Step 4 through any of the holes in the side bracket from the bottom Place two drops of thread locking compound such as Loctite 242 in each of the four screw holes that will secure the side bracket Copyright 2014 FLIR Commercial Systems Inc 21 E L H R PTU E46 User Manual 9 Lay the side bracket on top of the PTU E46 and then attach
23. cal system depend on the inertial properties of the pay load The ability of the PTU E46 to successfully move the payload without losing synchronization depends upon the inertial payload factors and their relationship to power supply voltage unit speed acceleration position motor torque etc To increase payload capacity Configure the PTU E46 for increased motor current and torque If your move duty cycle is less than 20 you can set the Move Power to High Web or use the following serial commands PPU2000 PA2000 PB60 TU2000 TA2000 TB60 PMR TMR S1R600 DS You may also e Move the payload CG closer to the PTU E46 tilt axis See Section 4 8 2 e Use a higher voltage power source in the permissible range e Determine if the payload can be modified to lighten it e Set the base speed to 0 e If the PTU E46 is having trouble resetting the tilt axis try using user limits to reduce the tilt axis range of motion e Reduce speed and or acceleration Please refer to the Pan Tilt E Series Command Reference Manual for more information Copyright 2014 FLIR Commercial Systems Inc 29 FL H R PTU E46 User Manual 5 3 3 Battery Powered Operation The PTU E46 can be battery powered Battery powered applications must conserve as much power as possible The PTU E46 includes commands that control pan tilt motor power consumption both while moving and when stopped Please refer to the Pan Tilt E Series Command Reference Manual for m
24. clude increased usability reliability and reduced damage to the PTU payload and or other prop erty 2 2 Safety Warnings and Cautions PTU E46 installation and setup should be only be performed by qualified personnel The installation must comply with all applicable codes such as building codes marine safety codes etc The installation must be free of obstructions throughout the entire range of pan tilt motion When planning the installation make sure to take the payload into account to ensure that the PTU E46 and payload remain unobstructed at all times All mounting methods and materials must be capable of supporting at least four times the combined weight of the PTU E46 mounted payloads and cabling Corrosion resistant hardware such as stainless steel screws must be used for all outdoor installa tions Do not install the PTU E46 in any location that exceeds the PTU E46 s environmental specifications Always incorporate a readily accessible power disconnect into the installation wiring See Sections 3 4 and 3 5 Removing power by disconnecting the power cable or cable harness is not recommended and can result in damage to the system All service procedures must be performed by qualified service personnel in accordance with all appli cable instructions If the PTU E46 is damaged immediately remove power and contact FLIR Systems Inc Only use replacement parts recommended by FLIR Systems Inc Use caution wh
25. d attachments Mount all payloads as close to the PTU E46 as possible This minimizes the distance between the payload Center of Gravity CG and the center of rotation of the axes which reduces stress on the PTU E46 unit and mounting It also improves performance by reducing the amount of torque required to move the payload Verify that the payload will clear the PTU E46 housing and all surrounding objects throughout the entire range of motion The PTU E46 is rated for a maximum load of 6 Ibs PTU E46 17 or 9 Ibs PTU E46 70 however load distribution affects the actual weight that the PTU E46 can safely move The amount of torque needed to move a payload depends on a number of factors such as payload weight distance from the payload CG to the center of rotation acceleration and speed settings power levels environmen tal factors etc The PTU E46 allows full control over acceleration speed and power levels Mount your payload and configure these parameters appropriately to ensure reliable operation To attach and test your payload 1 Mount your payload Side mounting is preferable for heavy loads because this keeps the payload CG closer to the tilt axis thereby minimizing torque requirements Verify that the payload is securely attached to the payload bracket Move the PTU E46 tilt axis through its entire range to test its ability to carry the load MAY REQUIRE MORE TORQUE THAN A SIMILAR SIDE MOUNTED PAYLOAD i CAUTION T
26. d including interference that may cause undesired operations CE Notice This is a Class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures Copyright 2014 FLIR Commercial Systems Inc C 1 E 2 About FLIR Systems Inc FLIR Systems Inc is the world s largest commercial infrared company with the more high quality thermal night vision systems in the field than all other manufacturers combined Our rugged stabi lized imagers are on thousands of civil and military surface and airborne platforms in the USA and around the world With thousands of our thermal cameras on the job in military scientific law enforcement and secu rity applications FLIR brings an unmatched level of experience and dedication to the creation of cut ting edge thermal night vision systems We design and manufacture all of the critical technologies inside our products including detectors electronics special lenses and pan tilt motion control systems All of our products are proudly assembled right here in the USA For additional technical information or to see a demonstration of these revolutionary thermal night vision systems contact a FLIR representative today You can also visit www FLIR com to watch prod uct videos and see how thermal imaging can help you see night and day In 1992 FLIR MCS formerly Directed Perception created one of the first miniature c
27. e pan and tilt positions e Directional controls The directional controls allow you to move the PTU Memo PTUCong PTUConra OPMConig E46 left and right pan and up and down tilt Halt Clicking Halt immediately PTU CONTROL SS nt ontro stops the PTU E46 in its current Cortroitne PTU position Systems Support D Tit Up Small Arrow Clicking a small arrow Status moves the PTU E46 by either the LI Dem P Pan Pan jon v smaller position step size or at the e Wh Ge OSON d b Tit Speed 0 000 s ower speed see below Sam Big 24000 Smat 2400 Big Arrow Clicking a big arrow moves the PTU E46 by either the larger position step size or at the Se mapa E peo Position Pan fo Te o Apply higher speed see below e GPM Pointing Tit Down Position Lat o Lon fo anim o e Speed Position selection Check the appropriate radio button to control the been PTU E46 by Position the unit will move ee a EE by the selected amount when an arrow UM 1009 009 000 is clicked or Speed the unit will accel erate up to the selected speed when an arrow is clicked and will continue mov ing at that speed until the arrow is released D 1 wl 2 uw 3 e Set Arrow Step Size The Set Arrow Step Size fields allow you to specify either how many positions the PTU E46 will move each time an arrow is clicked if you selected Position or how fast it will move if you selected Speed Big The Big
28. eaeeeeeeeeessuesesesesaesasaeeeseeeesess 35 A Electrical Specifications me A 1 B Mechanical Drawings geseent B 1 2 1 Payload Mounting Pattern EE B 1 2 2 PTU E46 RE Ee EE B 2 2 3 PTU E46 Controller Dimensions E B 3 jtd cg e H C 1 3 Ls E C 1 3 2 Serial eee aT C 1 3 2 1 Serial Networking Connections cccccccsssseceecececeeccseseseseeseeeeeseceeecesceeseeeesaesesseeeeeeeeseseeeees C 2 3 2 2 ASCII Command Syntax E C 3 EE neu EC CA PE C e VEE rer EoS D 1 CIE Mechanical eR PEE D 1 A2 NEtWOrKINE eeren ee D 1 4 3 Technical Support dessin innein t perc ioa ade YE e iede e Yu pa misa exl ea aE ERR ERU D 2 E Regulatory amp Warranty Information eeeeee eee ee e eene eene eee eene eene nnn nnne nn sss KEREN sena nnne E 1 5 1 Regulatory Information seseesessssseeseeeennnenen enne nennen enne nnn nn ni sans nennen nennen rias a ss asas r ss se enn E 1 5 2 s About FLIR Systems EE E 2 5 3 Limited Warranty ETT RTI M E 2 iv Copyright 2014 FLIR Commercial Systems Inc 1 Introduction FLIR The PTU E46 Pan Tilt Unit PTU E46 from FLIR Systems Inc provides low cost fast and accurate posi tioning of cameras and other payloads This User Manual contains setup general confi
29. en lifting the PTU E46 and or payload Copyright 2014 FLIR Commercial Systems Inc 7 E L H R PTU E46 User Manual e Keep all persons and objects well away from the PTU E46 s panning and tilting radius with payload installed e Do not touch or otherwise handle the PTU E46 while in motion or if there is a possibility of motion Always remove power before servicing the PTU E46 and or payload 8 Copyright 2014 FLIR Commercial Systems Inc FLIR 3 Quick Start The PTU E46 provides direct Ethernet and serial control for all motions You may also use a joystick or proprietary controller This chapter helps you power up your PTU E46 and test direct communications from a host computer 3 1 System Overview The PTU E46 includes an integrated controller that can be accessed using a Web Ethernet interface The controller will also accept control commands from any host computer over a serial RS 232 or RS 485 connection The basic connections are e DC power e Pan tilt control via either Ethernet or RS232 485 serial connection The PTU E46 also allows payload pass through wiring that internally routes payload signals payload power video etc from a single stationary connector in the PTU E46 base to a single payload connector that moves with your payload PTU E46 Basic PTU E46 Connections S e RS 232 Serial T e Ethernet AC J lle o e RS 485 Serial w USB adapter E NER H D li SS i 2 Host a c m EE His Controll
30. er Figure 3 1 Pan Tilt System Overview You may control the PTU E46 from any host computer using either the built in Web interface or the ASCII protocol described in the included Series Pan Tilt Command Reference Manual The PTU E46 also supports a binary protocol via a C Software Development Kit PTU SDK for high speed hard real time controls such as tracking Drivers are also available using third party software packages such as LabVIEW and digital video control systems Copyright 2014 FLIR Commercial Systems Inc 9 S FL H R PTU E46 User Manual 3 2 Setup Example Figure 3 2 displays a typical PTU E46 setup Figure 3 2 Sample PTU E46 installation e nthis example e The PTU E46 unit 1 connects via the controller cable 2 to the PTU E46 controller which uses the optional RS 485 to USB adapter cable 4 to connect to the host PC 5 The power supply 6 pro vides DC power to the PTU E46 unit and controller MOTORS WHILE THE UNIT IS POWERED OFF MANUAL ROTATION OF PAN TILT AXES CAUTION ONLY MOVE THE PAN TILT AXES USING THE KNOBS MOUNTED ON THE PTU CALLED BACKDRIVING CAN DEGRADE UNIT PERFORMANCE AND ACCURACY CAUTION REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTU E46 3 3 Basic Setup To perform a basic PTU E46 setup and installation 1 Mount the PTU E46 securely to a lab bench tripod or other stable platform Verify that there is enough clearance around the unit See Section 4 1 for detailed mo
31. er Manual User Range Factory Range Hard Range Negative xe Positive max Non Overlapping Overlapping Non Continuous Range of Motion Range of Motion Figure 5 1 Standard PTU E46 ranges of motion 5 1 1 Nodal Rotation The PTU D46 can be configured for standard or nodal gimbal rotation Nodal rotation allows the payload to be mounted at the center of rotation of both pan and tilt axes which allows you to program payload movement as pure rotation in both axes without translation Figure 5 2 Standard left and nodal right rotation 26 Copyright 2014 FLIR Commercial Systems Inc Chapter 5 Configuring amp Programming F L H R 5 1 2 Default Limits In the following image e The positive pan axis direction is clockwise when looking down at the top of the PTU E46 e The positive tilt axis direction is clockwise when looking sideways at the PTU E46 with the motors and connectors facing to the right TILT AXIS PAN AXIS 47 TO 31 4 59 Figure 5 3 Pan Tilt Default Factory Limits 5 2 Resolution and Step Modes The PTU E46 uses stepper motors that drive the unit through a gear reduction system The internal con troller allows stepper motor control in manual D 4 and 1 8 or automatic step modes The following table lists the pan and tilt axis resolution in degrees STEP STEP 1 8 STEP PTU E46 17 0 516 0 258 0 129 PTU E46 70 0 0128 0 0064 0 0032 D Note Larger step mod
32. es increase torque and maximum speed vs smaller step modes B The PTU E46 includes an automatic stepping mode auto step that optimizes this trade off for many applications You may command the PTU E46 in 1 8 steps when in auto matic stepping mode Copyright 2014 FLIR Commercial Systems Inc 27 FL H R PTU E46 User Manual 5 3 User Programmable Settings The PTU E46 has a number of user programmable parameters that can significantly affect performance for a given payload and application These parameters should be set to values that are appropriate for your payload and application needs This section provides an overview of how to optimize your PTU E46 for high power and or high speed operation Please refer to the Pan Tilt E Series Command Reference Manual for complete instructions CAUTION USE HIGH SPEED AND OR HIGH POWER SETTINGS WITH CARE PARTICU LARLY WHEN MOUNTING A HEAVY AND OR BULKY PAYLOAD WARNING FAILURE TO ADEQUATELY SECURE THE PTU E46 TO A MOUNTING THAT CAN WITHSTAND THE FORCES APPLIED BY BOTH HIGH SPEED HIGH POWER MOVE MENT AND ENVIRONMENTAL FASCTORS SUCH AS VEHICLE MOVEMENT OR WIND CAN CAUSE A STRUCTURAL FAILURE RESULTING IN INJURY OR DEATH 5 3 1 High Speed Operation The following factors should be considered when planning high speed operation e Load weight weight distribution and dynamics Move the payload as close to the axis centers of rotation as possible Doing this will reduce the torque req
33. g CONVENTIONS rr eee eren tna ENER NENNEN FERA FE ERR ARRA E VES EENS PE siaii 3 VS lee EE 4 1 6 s PTU EA6 Package CODEBIYES siccicacecussrsendsavarausateradesunitianiaddduacssuatid aste cumbn cu ueduR d vtt Ernie adig pa gata 4 1 7 Related Docurmeritation 5 nire pint trn rrt daveciccdiaesdaciacdcadencddausesadiasadadsucetigecceducinadinecse 5 1 8 Additional Resources TERENTIUM 5 1 9 Technieal SUP DOM EE 5 D gt SAVORY 7 2D e UE 7 2 2 Safety Warnings and Cal ORIS E 7 3 Quick Start EE 9 3 1 System OVvervIBw veces oix E ne RR RRRRRR SEXE ER EUR RERO S EREAR ERR ERAN MERE RN ERR no ER Ses Du E Ces e EUR OUO AER Rea REN ERAS 9 3 2 Se CUP cag Da 10 3 3 Ee TI NEE 10 3 4 Ethernet Connection cccccccccccccccccccccececeaeseaeseaeusassesesesesececsescecececeececesesauaeasasasnesesssesecseseeeeeeeeeeees 11 3 5 Serial CONNECCION EEN 12 4 nstallation amp Set p eet MU 15 EN ET lee Cu EE 15 4 2 I POWer ele EE 16 ACS TEE 17 4 4 Interface and Host Settings cc ccccccccccccccesssssssessseaeseeeeceeseeecesseeseseesseeseeseceeeeeeeeseesssesesaeaaeeaeeeeeeeeens 17 4 4 1 Ethernet Connection ccccccsccccsccccteccscnacencscadsssuesduaseccesenadssaseveccccscaonsannsencucsdassenbacasevaravensdenens 17 4 4 2 RS 232 Electrical Connection eeeeesesesessessseeeeeeeeeeeen nen
34. guration wiring and mechanical interface information that is intended for use by design engineers and integrators who are configuring installing and programming the PTU E46 Please see Related Documentation on page 5 for a list of other documents related to the PTU E46 E 1 1 General PTU E46 Features The PTU E46 series offers the following general features Note This manual describes setting up and using the PTU E46 unit Optional modules are not included in these instructions If your PTU E46 includes any optional modules please refer to the documentation included with those modules for help with their setup and use Small form factor Serial communication capability via terminal or computer PTU E46 17 performance highlights include Payload capacity 6lbs Speed over 300 per second Resolution 0 129 PTU E46 70 performance highlights include Payload capacity 9lbs Speed over 60 per second Resolution 0 0032 Precise position speed and acceleration control On the fly position and speed changes Self calibration on reset with reduced motion Host controllable power consumption Simple ASCII command mode Copyright 2014 FLIR Commercial Systems Inc 1 FL H R PTU E46 User Manual High speed binary command interface Constant current DMOS motor drives for increased performance and control Unregulated 12 30 VDC power input Flexible connectivity options Please refer to the PTU E46
35. guring the PTU E46 for E heavier payloads CAUTION DO NOT PROCEED BEYOND THIS STEP UNLESS AND UNTIL THE PTU E46 PASSES THE TILT AXIS MOTION TEST 4 Move the PTU E46 pan axis through its entire range to test its ability to carry the load f you are using the Web interface open the PTU Control page and click the arrows to move the PTU E46 through its full range of pan motion as described in Section 6 3 If needed click Halt to stop the PTU E46 immediately f you are using the terminal interface enter PN PP to query the pan minimum and maximum limits then enter PN lt min gt A PP lt max gt to cycle the PTU E46 through its entire tilt range where min is the number returned by the PN query and max is the number returned by the PX query If needed enter H to stop the PTU E46 immediately WARNING STOP THE PTU E46 IMMEDIATELY BY EITHER CLICKING HALT WEB INTER FACE OR ISSUING AN H COMMAND SERIAL INTERFACE IF THE PAYLOAD IS ABOUT TO COLLIDE WITH THE PTU E46 AND OR ANOTHER OBSTACLE A COLLISION COULD CAUSE A STRUCTURAL FAILURE THAT MAY RESULT IN INJURY OR DEATH If the load is too heavy or moving too quickly the PTU E46 will lose synchronization which will be audible as a grinding sound from the PTU E46 motors Stop the test immediately if this occurs and refer to Sections 5 3 2 and 5 3 3 5 If the PTU E46 passes the above pan and tilt axis load handling tests you are ready to begin con trolling your payload u
36. he allowable range To achieve the quietest pan tilt operation use a lower motor voltage e g 12VDC Operation at 12VDC limits the highest unloaded pan tilt speed to about 2 3 the rated max imum speed e 600 second for the PTU E46 17 and 607 second for the PTU E46 70 WIRING AND POWER SOURCE REQUIREMENTS DESCRIBED IN THIS MANUAL CAN RESULT IN DECREASED UNIT PERFORMANCE OR DAMAGE NOT COVERED UNDER THE LIMITED WARRANTY f CAUTION WHEN WIRING YOUR OWN POWER SOURCE FAILURE TO COMPLY WITH 12 30VDC Figure 4 2 Power supply wiring If you are providing your own DC power source then either e The power source must never supply more than 3A of current e You must add a 3A fast blow fuse in series with your DC power source For example when connecting to a vehicle battery or lighter plug you must fuse the incoming DC source Failure to properly fuse your input power source could cause overloading of internal protection devices pose a safety hazard or void product warranties f CAUTION REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTU E46 16 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Installation amp Setup F L fi R 4 3 Fusing If you are using a DC power source that is capable of supplying current beyond the PTU E46 rated maxi mums you must add an appropriate fuse in series with the DC power source For example you must fuse a connection made to a vehicle battery or lighter plug LOAD INTERNAL PROTECTI
37. ion delim sets the desired absolute pan position e Query PP lt delim gt returns the current absolute pan position Commands and queries return results that display on the terminal screen as follows e Asuccessfully executed command displays on the terminal screen e A successfully executed query displays QueryResult where QueryResult is the result of the query you just executed e A failed command displays ErrorMessage where ErrorMessage describes the error encountered e A pan axis limit hit asynchronously displays P e Atilt axis limit hit asynchronously displays T This sample command sequence pans the PTU E46 to the left waits and then pans it back to the right S PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 Copyright 2014 FLIR Commercial Systems Inc C 3 FL H R PTU E46 User Manual C 2 3 Serial Command List These tables list the most commonly used serial commands Please refer to the Pan Tilt E Series Com mand Reference Manual for complete information about the available commands and their usage LIMITS CMD DESCRIPTION CMD DESCRIPTION L PN Minimum pan position Query limit status PX Maximum pan position LE Enable limits TN Minimum tilt position LD Disable limits TX Maximum tilt position LU User limits POSITION CMD DESCRIPTION CMD DESCRIPTION PP Pan position PR Pan resolution TP Tilt position TR Tilt resolution PO P
38. llowing actions Reset Factory Clicking the Reset Factory button restores factory default speed acceleration power and limit settings to the PTU E46 This erases any user limits Save Default Clicking the Save Default button saves the changes you made on the PTU Config page as the default settings for the PTU E46 Refresh Clicking the Refresh button updates the PTU Config page with the values stored on the PTU E46 Reset Axes Clicking the Reset Axes button cycles the PTU E46 through a complete calibration reset cycle Copyright 2014 FLIR Commercial Systems Inc 33 S E L H R PTU E46 User Manual e Reprogramming The Reprogramming section of the PTU Config page allows you to upload firm ware to the PTUE46 CAUTION REPROGRAMMING NEW FIRMWARE IN THE PTU E46 CAN DAMAGE THE UNIT IF NOT DONE PROPERLY ONLY REPROGRAM YOUR UNIT UNDER THE DIRECT GUIDANCE OF FLIR TECHNICAL SUPPORT e Dialogue The Dialogue section of the PTU Config page displays information that can be useful when debugging the PTU E46 6 2 Network Page The Network page appears when you click the Network link in the top menu This Network Epi gong PTUConro GPM Contig page allows you to configure the following options for your PTU E46 e Host Name Name of the PTU E46 unit Network Configuration If you have multiple PTU E46 units on Deine networkad ress ot PTU ze Ta Firmware Version 310 the network you may enter a unique gen c name for the
39. mounting screws must be used and the mount must be strong enough to support the combined load of the PTU E46 unit payload and additional forces exerted on the system such as wind G forces etc A good rule of thumb is that the mount must be capable of supporting at least four times the combined weight of the PTU E46 and payload For example a mount for a PTU E46 with a 15 Ib pay load must be able to support at least 104 Ibs WARNING FAILURE TO USE BOTH MOUNTING SCREWS AND OR TO SECURE THE PTU E46 AND ITS PAYLOAD TO A SUFFICIENTLY STRONG MOUNTING CAN CAUSE THE INSTALLATION TO FAIL THIS CAN RESULT IN PERSONAL INJURY OR DEATH AND OR DAMAGE TO THE PTU E46 UNIT AND OR PAYLOAD 20 Figure 4 1 Hole Mounting Pattern Copyright 2014 FLIR Commercial Systems Inc 15 FL H R PTU E46 User Manual 4 2 Power Sources The PTU E46 requires an unregulated 12 30VDC power source capable of 17 continuous peak watts e For maximum PTU E46 performance use the highest motor voltage within the allowable range e For the quietest and smoothest PTU E46 operation you can use a lower motor voltage such as 24VDC Alternative power sources that can supply at least 17W continuous can be used by attaching a 2 1 5 5mm coaxial connector cable to a suitable DC power source e g battery power vehicle power or an AC DC converter In order to achieve the highest pan tilt unit performance use the highest motor volt age within t
40. mum PTU E46 Maximum Pen 28000 TR 333 Minimum Pan 27999 Tit 27999 speed that can be commanded Ay Continuous Mode Lower Speed Minimum PTU E46 pen toties C Disatied Actions speed that can be commanded ResetFactory Save Defeul Refresh Bessi er Reprogramming Click Apply to make your desired Dialogue speed acceleration changes on the PTU E46 Power Mode The Power Mode section of the PTU Config page allows you to specify the following power options for each axis Move Power Amount of power the PTU E46 uses when moving the payload Hold Power Amount of power the PTU E46 uses in order to hold the payload in a fixed position The following power settings are available for pan and or tilt power Off Setting the hold power to Off means that the PTU E46 motor s are completely off when the payload is not moving in the selected axis or axes Low Setting the hold and or move power to Low means that the PTU E46 motors draw lower power while moving and or holding Reg Setting the hold and or move power to Reg means that the PTU E46 motors draw normal power while moving and or holding 32 Copyright 2014 FLIR Commercial Systems Inc Chapter 6 Web Interface F L H R e High Setting the move power to High means that the PTU E46 motors draw maximum power while moving the payload in the pan and or tilt axis This power setting should be used for intermittent lt 20 duty cycles f CAUTION USE HIGH SPEED AND
41. ne nnne nnn en ne en enne nensis 17 4 4 3 RS 485 Electrical Connection eeeeeseeeseesessseeeeeee nennen eene nnne tenen ne eren en ness nes 18 4 5 Initial Power Up and Test E 19 4 5 1 Web Interface not ture en rrr dei ei ie ari ri er A ATER a A EES 19 4 5 2 Terminal Interface irt retain i f n ce en EENEG E 19 ME Payload el RD EE 20 4 6 1 Side Bracket Attachment 21 4 6 2 Payload Attachimenit ree bien ec e p Re EX E Ub DEREN ERR esse 23 Copyright 2014 FLIR Commercial Systems Inc iii E L U R PTU E46 User Manual 5 Configuring amp Programming oris covenant a vica Vicio o c ACEN 25 51 Range OF MOON ze ERE e GR e ba pe E e ica xa E ee ud 25 5 1 1 e EK EE 26 5 14 2 Default LIMItS te c 27 5 2 Resolution and Step MOGES isis rr e hod rupe ri ev RR VE vh PY ad ie I euo vd E A uev eet 27 5 3 User Programmable Settings ccccccssssssscceccececseecessesseseeaeeeeeseseeesessnescaeseeaeaueeeseeeeeeeesseeesessesaeaaees 28 5 3 1 High Speed Operation EE 28 5 3 2 Heavy Payload Kal Le 1 EE 29 5 3 3 Battery Powered Operation ioco orici x or PL x Hx ex lu utere rb eR Ha x ede menue 30 B WED acie Tm 31 6 L PTU Configuration Page 3 ne meer tnde ase VERE e ee t VEL Y ree uve vU PV IUE 31 PS BILE I E Rm 34 6 3 PTU Control Page o cccccccescsesssseeseeeeeeeceeecescesseseessneaeeeeeeeeeeesesseeeeeseaes
42. ols are sluggish e Adjust the speeds and or step size by clicking the Set Arrow Step Size or Set Arrow Speed headers in the PTU Control Web page as described in Section 6 3 e Try closing other programs on your computer to free up resources Copyright 2014 FLIR Commercial Systems Inc C 1 E L H R PTU E46 User Manual Unable to establish serial communications with the PTU E46 e If you are using RS 232 Make sure that the PTU E46 is equipped with RS 232 communications at the port you are using Units with PLO1 wiring have RS 232 at the base while units with PLO2 wiring have RS 232 at the payload port Try using a null modem adapter If you are using a laptop make sure that it is plugged in RS 232 will not work if the PTU E46 and host computer grounds are too far apart Verify that the RS 232 port is working using a loop back adapter If you do not have a loop back adapter connect pins 2 and 3 of the DB 9 RS 232 connector Any characters typed into the serial terminal should be echoed back when the loop back adapter is attached e If you are using the RS 232 to RS 485 adapter provided by FLIR Systems Inc Set the switches to T RXON and DCE Make sure the adapter is powered Try using a null modem adapter Ifyou are using a laptop make sure that it is plugged in RS 232 will not work if the PTU E46 and host computer grounds are too far apart Verify that the RS 232 port is working using a loop back adapte
43. omputer con trolled pan tilt tracking mounts and continues to lead the field in innovation applied design and service Our patented pant tilt units are in use in a wide range of industries including security and surveillance industrial automation robotics communications military aerospace law enforce ment education R amp D webcams and teleconferencing distance learning applications Some of the payloads that can be precisely controlled include sensors like video cameras thermal imagers laser rangefinders microwave antennas and many more FLIR MCS maintains engineering capabilities in mechanical design electronics and embedded and network software development Find out more at www FLIR com mcs E 3 Limited Warranty FLIR warrants that the Goods at Delivery and for 365 days Warranty Period will conform to pub lished specifications and be free from defects in materials unless another Warranty Period is stated on the Front of the Acknowledgment Buyer shall report any claimed defect in writing to FLIR promptly upon discovery and within the Warranty Period FLIR shall elect either to repair or replace nonconforming Goods at the appro priate FLIR service center nearest to Buyer Remedy This warranty does not extend to a Goods repaired or modified in any manner by persons other than FLIR or FLIR s authorized designee and b Goods that are defective due either to normal wear and tear or Buyer s failure to properly store in
44. ore information A CAUTION ALWAYS USE A FUSE WHEN CONNECTING THE PTU E46 TO A BATTERY 30 Copyright 2014 FLIR Commercial Systems Inc FLIR 6 Web Interface This chapter describes how to configure and program your PTU E46 using the Web interface Note You may also have a simultaneous serial connection to a terminal as described in B Section 3 4 Follow the instructions in Section 3 4 to connect the PTU E46 to the host computer and power it on obtain the IP address and launch the Web interface in a browser window If your PTU E46 includes the optional ISM module please refer to the ISM documentation e Note Commands issued via the Web interface correspond to commands issued via the B serial interface Please refer to the Pan Tilt E Series Command Reference Manual for a complete list of serial commands 6 1 PTU Configuration Page The PTU Config page appears when you click the PTU Config link in the top menu To use this page 1 Make your desired changes 2 Click the appropriate Apply button to apply certain changes see below 3 Click the appropriate action button at the bottom of the page This page allows you to view and configure the following options for your PTU E46 e General The General section of the PTU Config page displays the following information Firmware The PTU E46 installed firmware revision Model The PTU E46 model number Pan Resolution Horizontal motion resolution in degrees This number
45. r If you do not have a loop back adapter connect pins 2 and 3 of the DB 9 RS 232 connector Any characters typed into the serial terminal should be echoed back when the loop back adapter is attached D 3 Technical Support FLIR Systems Inc provides a range of technical support options e Email SBA ApplicationsEng flir com e Web www FLIR com MCS e Phone 888 747 3547 The preferred method of contacting Technical Support is via email which helps ensure proper dispatch ing and tracking to address your questions promptly When contacting Technical Support please provide the following information e PTU model and configuration e Payload Please include photos if possible e Parameter settings e Description of issue symptoms C 2 Copyright 2014 FLIR Commercial Systems Inc FLIR E Regulatory amp Warranty Information E 1 Regulatory Information Electromagnetic Interference EMI is any signal or emission either radiated in free space or conducted along power or signal leads that endangers the function of a radio navigation or other safety service or that seriously degrades obstructs or repeatedly interrupts a licensed radio communications service Class A Class A equipment has been tested and found to comply with the limits for a Class A digital device pur suant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a commercial environment Thi
46. s 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 there is no guarantee that interference will not occur in a particular installation Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his her own expense FLIR PTU E46 pan tilt devices using a cable length of 7 or less and using the PT PS INT30V power supply have been tested to comply with FCC Class A requirements Full compliance in systems using a 3 motor cable requires an external direct connection from either the controller or the PTU head to earth ground Caution Changes or modifications of this equipment not expressly approved by manufacturer could result in violation of Part 15 of the Federal Communication Commission s rules The FCC has prepared the following booklet How to Identify and Resolve Radio TV Interference Problems It is available from the US Government Printing Office Washington DC 20402 Stock Number 004 00 00345 4 FCC Notice According to 47CFR Parts 2 and 15 Subpart B Class A This device complies with FCC Part 15 Subpart B Class A of the FCC Rules Operation is subject to the fol lowing two conditions 1 This device may not cause harmful interference 2 This device must accept any interference receive
47. sing the commands described in the Pan Tilt E Series Command Reference Manual 24 Copyright 2014 FLIR Commercial Systems Inc FLIR 5 Configuring amp Programming This chapter describes how to configure and program your PTU E46 en Note You may also have a simultaneous Ethernet connection to the Web interface as B described in Section 3 4 Follow the appropriate instructions to connect the PTU E46 to the host computer power it on and access it via e Web Section 3 4 e Serial Section 3 5 5 1 Range of Motion The PTU E46 range of motion can be limited in the following ways see XX on bext page e Hard A hard limit physically cannot be exceeded A physical pin on the PTU impedes movement e Factory Factory limits are smaller than hard limits to prevent physical damage to the PTU E46 and or payload e User User limits are programmable limits that are smaller than hard limits and can be as large as fac tory limits The PTU E46 uses high precision optical limit sensors to determine the limits It can also be equipped with optional mechanical stops that will limit pan tilt motion to preset limits It is possible to set these stops to allow overlapping limits as shown in the image on the previous page en Note If needed for your application order optional mechanical stops with your PTU E46 E because they are installed during manufacturing Copyright 2014 FLIR Commercial Systems Inc 25 S FL H R PTU E46 Us
48. stall operate or maintain the Goods The Remedy is FLIR s sole obligation and Buyer s exclusive recourse for all claims of defects with respect to the Goods If the Remedy is adjudicated insufficient however FLIR shall refund the Price paid without further liability to Buyer relating to the subject Goods Buyer shall pay costs of returning Goods under a war Appendix E Regulatory Information F L H R ranty claim and FLIR shall pay the costs of sending Goods to Buyer after the Remedy is performed SELLER MAKES NO OTHER WARRANTY OF ANY KIND WITH RESPECT TO THE GOODS OR SERVICES ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO IMPLIED WARRAN TIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE and NONINFRINGEMENT ARE HEREBY DISCLAIMED Copyright 2014 FLIR Commercial Systems Inc C 3 PTU E46 User Manual v 1 00 09 2014 FLIR 70 Castilian Drive Goleta CA 93117 p 805 964 9797 f 805 690 5933 www FLIR com MCS
49. stems Inc Appendix B Mechanical Drawings F L H R B 3 PTU E46 Controller Dimensions his image displays the PTU E46 controller dimensions if 4 50 114 2 4 12 3 23 104 6 82 0 Copyright 2014 FLIR Commercial Systems Inc B 3 FL H R PTU E46 User Manual This page intentionally left blank B 4 Copyright 2014 FLIR Commercial Systems Inc FLIR C Networking This section describes the basic installation and setup steps required to network your pan tilt units C 1 Ethernet To connect multiple PTU E46 units to a single host computer via Ethernet 1 2 3 4 Plan the physical placement of each PTU E46 and the host computer Connect each PTU E46 to your network using the Ethernet connection on each unit On the host computer run the PTU Finder utility to locate the PTU E46 unit IP addresses Launch a Web browser and point it to the IP address of the unit you want to connect to You may open multiple browser windows tabs to connect to multiple units at once Please see Section 3 4 for more information about connecting to a PTU E46 using the Web interface C 2 Serial You may connect up to 127 PTU E46 units to a single host computer port The host computer can then address each connected PTU E46 as if it were the only unit on the network This makes it easy to migrate code developed for a single PTU E46 to a network of PTU E46 units controlled by one host computer
50. uired to move the payload and allow a higher top speed Balancing the load such as by using a counterweight or splitting the payload into two pieces can also help significantly e Desired upper speed limit e Rate of acceleration e The base start up speed e Power supply voltage Higher voltages within the permissible range significantly improve axis speed and acceleration performance e n motion power modes If the duty cycle is less than 20 you may use high move power to increase the top speed e Multi axis dynamics Simultaneously moving the tilt and pan axes affects the forces exerted on the PTU E46 e Always begin high speed tests on each axis in isolation Only perform simultaneous pan tilt move ments once each individual axis is optimized e The base speed is the PTU E46 minimum speed In practice the unit will instantly accelerate to this speed Setting a base speed can help speed up movement by eliminating a segment of acceleration time 28 Copyright 2014 FLIR Commercial Systems Inc Chapter 5 Configuring amp Programming F L H R e Aggressive acceleration settings with heavy payloads can cause increased wear on the PTU E46 An example configuration string for high speed operations is PA9000 PU6000 TA9000 PU6000 DS 5 3 2 Heavy Payload Operation If the PTU E46 fails the initial load handling tests you may be able to program it for higher power opera tions The speed and acceleration of a mechani
51. unting instructions 10 Copyright 2014 FLIR Commercial Systems Inc Chapter 3 Quick Start F L d R 2 Attach one end of the included controller cable to the connector at the base of the PTU E46 unit and then attach the other end of the cable to the PTU E46 controller DAMAGE THE UNIT ALWAYS POWER DOWN THE PTU E46 BEFORE DISCONNECTING 1 CAUTION DISCONNECTING THE CABLE WHILE THE PTU E46 IS POWERED ON CAN THE CABLE 3 Establish Ethernet or serial wiring to the PTU E46 as appropriate for your needs Please see Section 3 4 for Ethernet Web instructions Please see Section 3 5 for serial ASCII instructions 4 Power on and test the PTU E46 3 4 Ethernet Connection The PTU E46 contains a Web based interface that allows you to test and program various functions This interface is accessible via the Ethernet connection on the breakout cable To connect power on and test the PTU E46 using the Ethernet connection and Web interface Note You may use simultaneous Ethernet and serial connections 1 Connect one end of an RJ 45 Ethernet cable to the PTU E46 controller and then connect the other end of the cable to the host computer either directly or through a router hub 2 Connect a power source to the PTU E46 making sure to incorporate a readily accessible power dis connect such as a power strip to allow safe power removal from the system See Section 4 3 CAUTION REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE
52. varies depending on your selected step mode see below Each unit of resolution equals one position Tilt Resolution Vertical motion resolution in degrees This number varies depending on your selected step mode see below Each unit of resolution equals one position Copyright 2014 FLIR Commercial Systems Inc 31 v FL H R PTU E46 User Manual Motion Configuration The Motion Configuration section of the PTU Con went PTUCoatg PlUConre Opm Cong fig page allows you to specify the fol lowing motion options for both pan and tilt in positions One position equals one unit of resolution PTU Configuration Configure the PTU FLIR Motion Control Quan Speed Pan and tilt speed in posi Systeme Support pod tions per second Pan Resoktion 0 006429 Degipos Tat Resoktion 0 003214 Degipos T Motion Configuration Acceleration Pan and tilt accelera Res wf Jeff tion and deceleration in positions Base Speed e E 3 Upper Speed 24000 24000 per second per second The PTU E vL E46 will accelerate at this rate to Speed ep ap the selected speed maintain this em speed as long as necessary and PenMovePowe Clow CR Con then slow back down at the same Gen eg e gi rate TtHodPowe Con fF iow C Reg Step Mode a A Pan Step Mode C fi C Hot C Quater C Et auto Base Speed Speed the PTU E46 mene Ora gue Our Ou gie instantly accelerates to Limits Limt Mode Factory User Disabled Upper Speed Maxi
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