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Pan-Tilt Unit (E Series) Command Reference Manual

1. Please see Section 4 for more information about the position commands 16 Copyright 2014 FLIR Commercial Systems Inc Chapter 3 ASCII Serial Commands E L B 3 2 2 Speed The available speed commands are PS Set query pan speed TA Tilt acceleration TU Tilt upper speed TS Set query tilt speed PB Pan base speed TL Tilt lower speed PD Set query pan speed TB Tilt base speed C Query control mode offset TD Set query tilt speed off PU Pan upper speed CI Set to position control set PA Pan acceleration PL Pan lower speed CV Set to velocity control B Query set PTU motion Please see Section 5 for more information about the speed commands 3 2 3 Continuous Axis Rotation The available continuous axis rotation commands are PC Query Pan continuous PCD Pan continuous disable PCE Pan continuous enable Please see Section 6 for more information about the continuous axis commands 3 2 4 Limits The available limit commands are PN Minimum pan position PNU User defined pan min IL Query limit status PX Maximum pan position PXU User defined pan max LE Enable limits TN Minimum tilt position TNU User defined tilt min LD Disable limits TX Maximum tilt position TXU User defined tilt max LU User limits NOTES 1 Factory limits 2 This command is retained for backward compatibility For E Series PTUs it is best to either use c
2. Please see Section 9 for more information about the power commands 18 Copyright 2014 FLIR Commercial Systems Inc Chapter 3 ASCII Serial Commands E L B 3 2 7 Serial amp Expanded I O The available serial and expanded I O commands are Serial port settings _ lt id gt Unit select JE Joystick enable GA Channel A U Query network ID JD Joystick disable B Channel B Please see e Section 10 for more information about the host serial commands e Section 11 for more information about the expanded UO commands 3 2 8 Step Modes The available step mode commands are WP Query pan step mode WPE Pan axis eighth step WTH Tilt axis half step WPF Pan axis full step WPA Pan axis auto step WTQ Tilt axis quarter step WPH Pan axis half step WT Query tilt step mode WTE Tilt axis eighth step WPQ Pan axis quarter step WTF Tilt axis full step WTA Tilt axis auto step Please see Section 12 for more information about the step mode commands 3 2 9 IP Network E The available IP network commands are NA MAC address NMS Network mode static NN Network host name NI IP address NMD Network mode dynamic NS Network mask NM Query network mode NG Network gateway Please see Section 14 for more information about the IP network commands Copyright 2014 FLIR Commercial Systems Inc 19 F L R E Series P
3. 106 Copyright 2014 FLIR Commercial Systems Inc Chapter 18 Pelco D Protocol F L B Command Opcode Data Notes Set Pan Absolute Posi 0x4B Position in 1 100ths of a tion degree Set Tilt Absolute Posi 0x4D Position in 1 100ths of a tion degree Get Pan Absolute Posi 0x51 N A Generates extended tion response Get Tilt Absolute Posi 0x53 N A Generates extended tion response Get Pan Absolute Posi 0x59 Position in 1 100ths of a This is an extended tion Response degree response not a command Get Tilt Absolute Posi 0x5B Position in 1 100ths of a This is an extended tion Response degree response not a command 18 4 Auxiliary Pelco D IDs Auxiliary commands function as a simple switch interface The following table describes the auxiliary IDs implemented in E Series PTUs AUX Name AUX ID AUX Command Notes Inverted Pan 3 ON Standard Pan OFF Inverted Tilt 4 ON No special indexes sup ported zero pan 180 flip etc Standard Tilt 4 OFF ISM Start 8 ON ISM Stop 8 OFF Reset 9 ON Reinitialize Pelco module and executes a reset sequence Both axes are reset Copyright 2014 FLIR Commercial Systems Inc 107 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 108 Copyright 2014 FLIR Commercial Systems Inc FLIR A TCP IP Firewall E E Series PTUs introduced Ethernet connectivity which provides easy and reliable communication
4. F L R E Series Pan Tilt Command Reference Manual 6 1 1 Syntax e Query continuous pan mode PC lt delim gt e Enable continuous pan rotation PCE lt delim gt e Disable continuous pan rotation PCD lt delim gt The PC command returns one of the following values to indicate the current continuous rotation mode status e Continuous pan enabled ENABLED e Continuous pan disabled DISABLED 6 1 2 Example This command sequence disables continuous panning resets the pan axis queries the pan minimum and maximum limits then enables continuous panning and starts continuous rotation at a speed of 1 000 positions per second PCD RP Ip p DN Minimum Pan position is 6533 PX Maximum Pan position is 6533 PCE CY RP P P PS1000 48 Copyright 2014 FLIR Commercial Systems Inc FLIR 7 User Defined Limits E Series PTUs allow user defined limits on commanded positions The PTU must perform a power up cal ibration to establish its axis coordinates after which the user defined limits restrict all subsequent movement commands for that axis to the specified allowable range of motion When user limits are acti vated movements commanded outside those limits will return an error message Factory limits define the possible range of motion allowed for an axis when limits are enabled and that axis cannot travel beyond those limits User defined limits are a subset of factory limits that can be defined by
5. Restore Save current axis settings as defaults that are preserved when the PTU is powered up and or restore factory defaults The PTU can save and restore the following settings e Serial port settings Host CHA CHB e Maximum speed e Desired speed e Base speed e Acceleration e Hold power e Move power e Monitor positions e Continuous rotation mode e Step mode e User limits e Echo mode NUMBER OF WRITES BEFORE MEMORY FAILURE OCCURS WHILE IT IS VERY UNLIKELY THAY YOU WILL REACH THESE LIMITS YOU SHOULD AVOID EXCESSIVE SAVING OF CURRENT DEFAULTS DURING THE PTU LIFE i CAUTION THE PTU SAVES DEFAULTS TO EEPROM WHICH HAS A LIFETIME MAXIMUM Copyright 2014 FLIR Commercial Systems Inc 57 F L R E Series Pan Tilt Command Reference Manual 8 2 1 Commands The available default save restore commands are e DS e DR e DF 8 2 2 Syntax e Save current settings as defaults DS lt de L im gt e Restore stored defaults DR lt delim gt e Restore factory defaults DF lt delim gt D Note You will probably need to perform a reset after executing a DR or DF command El because motor parameters and limits may have changed 8 3 Echo Specify or query whether the PTU will echo incoming commands from the host E Note Disable echoing for fastest command throughput 8 3 1 Commands The available echo commands are e E e EE e ED 58 Copyright 2014 FLIR Commercial Systems Inc Chapter 8 U
6. o e SSH version B Protocol 4 Enter the PTU s IP address in the Host field 5 Serial Port Check the Other radio button in the Service area OK Cancel Help 92 Copyright 2014 FLIR Commercial Systems Inc 6 Chapter 16 E Series TCP IP Control G L B Enter 4000 in the TCP port field 7 Set the protocol to UNSPEC using the Protocol pull down menu 16 2 3 Using Putty Putty is a terminal program that is available for both Win dows and many versions of Linux The Windows version does not require installation and may therefore be desirable for use on computers with limited user rights To configure Putty 1 2 5 6 7 8 3 10 Enter FMCS PTU Socket in the Saved sessions field Open Putty Click the Terminal entry in the Category tree on the left side Check the Force off radio button in the Local echo sec tion Check the Force off radio button in the Local line editing section Click the Connection entry in the Category tree on the left side Clear the Disable Nagle s algorithm checkbox Click the Session entry in the Category section on the left side Check the Raw radio button in the Connection type section Enter 4000 in the Port field ES PuTTY Configuration Category 8 Basic options for your PuTTY session SR SEH Specify the destination you want to connect to y woe rd Host Name or IP address Port Bell 10 17
7. 3 5 4000 Features Connection type E Window Raw Tenet Rogn SSH Se al Appeaanos Load save or delete a stored session Behaviour Translation Saved Sessions Selection FMCS PTU Socket Colours Default Settin di gs Load B Connection FMCS PTU Socket Data Save Telnet Delete Rlogin D SSH Serial Close window on exit gt Always gt Never Only on clean exit beten a 11 Click the Save button and verify that FMCS PTU Socket appears in the list of sessions To use Putty 1 2 3 4 Open Putty Click the FMCS PTU Socket session and then click the Load button Enter the IP address of the PTU in the Host Name field Click Open Copyright 2014 FLIR Commercial Systems Inc 93 FL R E Series Pan Tilt Command Reference Manual 16 3 Channel A B You may access expansion serial channels A B over TCP using ports 4001 4002 respectively Opening the port will allow direct stream access to the serial port until it is closed To connect follow the instructions in Section 10 being sure to substitute the appropriate port You may access the channels via TCP or one of the host channels but not both See Section 11 for instructions on setting the hardware characteris tics for Channels A and B 94 Copyright 2014 FLIR Commercial Systems Inc FLIR 17 Geo Pointing Module The Geo Pointing Module GPM add GPS pointing capability to your PTU with firmware version 3 2 0 or later using the WGS84 model o
8. 4 10 1 Command The available monitor status command is e MS 4 10 2 Syntax e View monitor status MS lt delim gt This command may return one or more of the following values to indicate the current monitoring status e Monitor not started NO START 1 e Monitor started START 2 e Monitoring stopped STOP 4 e Channel I O interrupt CH_INT 8 e General error ERROR 16 e Motor fault FAULT 21 4 10 3 Example The following example reports that monitoring is already started MS STOP 4 4 10 4 See Also Monitor auto scan Section 4 9 Copyright 2014 FLIR Commercial Systems Inc 33 E Series Pan Tilt Command Reference Manual 4 11 Position Presets E Series PTUs support 33 position presets which allow you to command the PTU to a position using any standard motion control commands and then store that position as a preset numbered from O to 32 You can then command the PTU to any previously stored preset using a Go to command Presets are retained when the PTU is powered down Note When moving to a preset the PTU will follow the currently set motion parameters El such as acceleration base rate etc 4 11 1 Commands The available position preset commands are e XS e XG e XC 4 11 2 Syntax e Set preset XS lt index gt lt delim gt e Go to preset XG lt index gt lt delim gt e Clear Preset XC lt index gt lt delim gt In the above examples lt index gt is the number of the sto
9. A 112 194 UE 112 TIA Vell Eege EE EE TO 112 19 42 DACP EE 112 19 4 Er ei CN eu d EE 112 19 5 Example Configurations soria A 113 A 113 19 5 2 Block Everything Except DHCP vision geben E ENEE 113 E BR RE LEE 113 e A Eege 113 19 50 ele TT 113 20 ele ET Ta AO TEE 115 20 Le COMMMANGS EE 115 Copyright 2014 FLIR Commercial Systems Inc yjj F L R E Series Pan Tilt Command Reference Manual 20 2 SYNTAX E 115 20 3 CO CC 116 20 3 1 Firmware Version 3 0 0 cccecscccecssesscavss eege dese e iS dani dando Edel de d e 116 20 3 2 Firmware Version 3 1 4 and Later cccccccccccccccceceeeceecaeseseseeeseneneseseseceeseseceeeceeeceeeseeeeeanaes 116 21 TIMESTAMPS EE 119 21 1 e eru TEEN 119 21 24 ug EE 119 EN EN une E 120 viii Copyright 2014 FLIR Commercial Systems Inc FLIR 1 Introduction Each Pan Tilt Unit PTU from FLIR Commercial Systems Inc includes a comprehensive set of available commands that give you full control over all functionality The E Series of PTUs features an expanded command set for even more control options This Pan Tilt E Series Command Reference Manual covers the software control interface for the follow ing E Series PTUs e PTU E46 models e PTU D48 E Series e PTU D100 E Series e PTU D300 E Series Each PTU also includes a PTU User Manual specific to that unit model such as PTU D48 E Series User Manual The PTU User Manual describes the electrical and mechanical interfaces and i
10. Set desired delta offset tilt speed TD lt position gt lt delim gt 5 2 3 Example The following command sequence instructs the pan axis to move to the far left then slowly move right decrease speed on the fly by 150 positions second and then query the current speed T PS1900 PP2600 A PS600 PP 2600 PD 150 PD Current Pan speed is 450 positions sec Copyright 2014 FLIR Commercial Systems Inc 39 F L R E Series Pan Tilt Command Reference Manual 5 2 4 See Also e Position commands Section 4 1 and Section 4 2 e Position resolution units Section 4 5 e Speed bounds Section 5 5 5 3 Acceleration Specify or query axis acceleration and deceleration for speeds above the base speed Acceleration is specified in positions per second per second m Note The PTU requires a brief period to re compute the internal tables used to rapidly El execute speed ramping when calculating acceleration and deceleration Acceleration therefore cannot be changed on the fly If the PTU is moving and you attempt to change the acceleration the PTU will immediately slow to a halt 5 3 1 Commands The available acceleration commands are e PA e TA 5 3 2 Syntax e Query current pan acceleration PA lt delim gt e Set desired pan acceleration PA lt position gt lt delim gt e Query current tilt acceleration TA lt delim gt e Set desired tilt acceleration TA lt position gt lt de
11. 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 Subnet Mask Subnet mask of the network the PTU is connected to Gateway Specify the gateway to forward outgoing packets 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 This is a global func tion that sets all specified parameters e Reset Clicking Reset reverts the PTU to factory default settings This is a global function that resets all specified parameters e Save Clicking Save implements your changes and saves them to the PTU 6 Copyright 2014 FLIR Commercial Systems Inc Chapter 2 Web Interface 2 2 PTU Configuration Page The PTU Config page appears when you click the PTU Config link in the top menu All changes entered on this page are instantly implemented by the PTU Entering an invalid value highlights the error in red text 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 config ure the following options for your PTU e General The General section of the PTU Config page displays the follow ing information Firmware The PTU inst
12. applied to axis motors when holding position stationary Regular Power is the highest amount of hold power available because stepper motors generate signifi cantly more holding torque than dynamic torque This allows you to use the Low Power hold mode in most situations If needed you may use Regular Power hold mode for brief periods when maximum holding torque is required CAUTION THE REGULAR HOLD POWER SETTING IS INTENDED ONLY FOR INTERMIT TENT DUTY CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN OVERHEAT THE PTU MOTORS If your payload is light enough and or suitably positioned you may be able to shut power off completely when holding Before doing this verify that your payload will not back drive the PTU when holding under all expected conditions Back driving causes the PTU to lose track of pan and tilt position which requires a unit reset See Section 7 1 Note Back driving usually occurs on the tilt axis because of the higher torque loads El applied by the payload in high vibration environments Note If you set hold power to off there will be a 2 second delay from the time the axis El stops moving to when hold power shuts off This allows the payload to come to a com plete stop Note If you change the hold power setting the PTU must move before the new setting E takes effect Copyright 2014 FLIR Commercial Systems Inc 63 F L R E Series Pan Tilt Command Reference Manual 9 1 1 Commands The availab
13. e NFI e NFC e NFA Copyright 2014 FLIR Commercial Systems Inc 111 F L R E Series Pan Tilt Command Reference Manual A 3 2 Syntax e Push a rule onto the end of the rule list NFU lt rule gt e Remove return the last rule NFO e Remove flush all rules NFF e Index NFI lt n gt e Read or replace a rule by its index number NFI lt n gt lt rule gt e Return count the total number of rules NFC e Copy apply the staging set to the current set NFA Note The NFU command is the same as the NFI command where the index is the maxi El mum index plus one A 4 Precautions Network services can be complex in nature and hence difficult to describe in a firewall rule set This sec tion describes some network services that you should be aware of when editing the PTUs firewall A 4 1 HTTP HTTP runs on TCP port 80 No web access is possible without allowing incoming connections on this port An allow HTTP rule would be PAT80 A 4 2 DHCP DHCP uses broadcast and unicast UDP packets to assign network addresses DHCP functionality requires incoming UDP packets on port 68 You must configure a static IP address if these packets are blocked Use the command PAU68 to allow DHCP requests You may also use a more restrictive rule for greater security such as passing only UDP port 68 packets from a specific DHCP server by MAC address A 4 3 TCP Control E Series ASCII and binary protocols are availabl
14. executes successfully because of the disabled limits L Limit bounds are ENABLED soft limits enabled PX Maximum Pan position is 3090 PP3200 Maximum allowable Pan position is 3090 LD R IT T P IP PP3200 A PP Current Pan position is 3200 D Note This example demonstrates the LD command This command is not recom mended and is not necessary for continuous pan mode Use the PCE command instead 4 5 4 See Also Position commands Section 4 1 and Section 4 2 4 6 Position Execution Mode Instructs the PTU to either immediately execute positional commands default or execute these com mands only after an Await Position Completion command is executed slaved position execution Slaved position execution is recommended when you need coordinated pan and tilt axis movements Switching from slaved to immediate execution mode will execute any queued commands 4 6 1 Commands The available position execution mode commands are 28 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Position FLIR 4 6 2 Syntax e Enable immediate execution mode I lt delim gt e Enable slaved execution mode S lt delim gt e Query execution mode IO lt delim gt The 10 command returns one of the following results e I Immediate mode e S Slaved mode 4 6 3 Example This command sequence enables immediate execution mode and then sends a pan command to the PTU which will begin moving immediately
15. gt e Set desired absolute pan position PP lt position gt lt delim gt e Query current absolute tilt position TP lt delim gt e Set desired absolute tilt position TP lt position gt lt delim gt 4 1 3 Example The following command sequence sends the pan axis to the left waits then sends it to the right PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 Copyright 2014 FLIR Commercial Systems Inc 23 FLIR E Series Pan Tilt Command Reference Manual 4 1 4 See Also Please refer to the following sections for more information e Position relative offset and desired position queries Section 4 2 e Position resolution units Section 4 3 e Position limits Section 4 4 e Position limit enforcement modes Section 4 5 e Position execution modes Section 4 6 4 2 Offset Position Specify the desired pan or tilt axis position as an offset relative to the current position or query the desired axis position You may change desired offset positions on the fly without waiting for previous position commands to complete 4 2 1 Commands The available offset position commands are e PO e TO 4 2 2 Syntax e Query desired pan position PO lt delim gt e Set desired offset pan position PO lt position gt lt delim gt e Query desired tilt position TO lt delim gt e Set desired offset tilt position TO lt position gt lt delim gt 4 2 3 Exampl
16. issuing commands to the PTU You can store user limits and have the PTU restore them on power up User limits must contain an origin 0 which means that you cannot set a minimum position above 0 or a maximum position below 0 User Range Factory Range Hard Range W Negative max Positive max Non Overlapping Overlapping Non Continuous Range of Motion Range of Motion Figure 2 Range of motion and limits Note If your PTU has an internal slip ring it is capable of full 360 degree pan motion 8 Copyright 2014 FLIR Commercial Systems Inc 49 F L R E Series Pan Tilt Command Reference Manual 7 1 Position Limit Queries Query both factory and user axis position limits and set user limits 7 1 1 Commands The available position limit commands are e PN e PX e TN e TX e PNU e PXU e TNU e TXU 7 1 2 Syntax e Query minimum pan factory user limit position PN lt delim gt e Query maximum pan factory user limit position PX lt delim gt e Query minimum tilt factory user limit position TN lt delim gt e Query maximum tilt factory user limit position TX lt delim gt e Query minimum pan user defined limit position PNU lt delim gt e Query maximum pan user defined limit position PXU lt delim gt e Query minimum tilt user defined limit position TNU lt delim gt e Query maximum tilt user defined limit position TXU lt delim gt e Set minimum pan user defined limit position PNU lt val
17. nro nnnnnnannnnnnnnns 25 403 1 COMMANGS EE 25 Copyright 2014 FLIR Commercial Systems Inc F L R E Series Pan Tilt Command Reference Manual AB 2 SYNTAX E 25 4 3 3 EX AIMS saeur na as EEN vay E sued oda E E 25 AS Ara O A 26 4 4 LiMit POSITION QUES ic ainia 26 AA e el ru Ee EE 26 AA 2 nl E EE 26 AA B EXAMPIS iieiea end nd ode doedoehdoesedsdedouede iesse gesait aaar anaa 26 AAA ASCE ASO EE 26 4 5 Position Limit Enforcement cccccccccccccececececeeseseuesesesesesececececccecceeseesesecauseausuueaessgesesesenececeeeeeeeees 27 e Ten Elle EEN 27 4 52 SYNTAX E 27 E 28 ASS As SO AlSO ni a 28 4 6 Position Exec tion MOE ieirik cite indicada asadas 28 EE DE Ee e Ee 28 46 2 SYNTAX ET 29 4 6 3 EXaMPlE maiorrera aier ion 29 4 7 Await Position Completion oooooooccccnnnnnoncnannnnnononononnnnnnnonnnnnnnnnnnnnnnn non nnnnnnnnonnnnnnnnnnnnnnnn non onnnnnnnnnnnnnnos 29 AL COMIMANG EE 29 Fe SY IMA EE 30 e ln e 30 a Ae SCC D EE 30 BB EE 30 4 8 1 Commande 30 4 8 2 SYNTAR EE 31 4 8 3 gt Elle 31 A g EE EE 31 4 9 Monitor AUtO SCAN jcccsccossceciies coliddcssissecancadedocineadaaaaersaadaedeaabdedbanseasesagavdasdasdgnauecigeuzeenetabagaaasivaousiaede 31 ADV Command EE 31 4 92 SYNTAR EE 32 4 93 EN EE 32 AOA E NEE 32 4 10 tele ele EE ER 4101 Command E 33 DN fe e E EE 33 WEE ln ER 4 10 4 See E ME 33 411 POSITION Oe 34 AT Vd COMMAN EE 34 CA E EE 34 4 113 Example ET 35 4 12 Query Set PTU Spee
18. on all standard PTUs Ethernet is a multi layered technology that allows many different uses and protocols E Series PTUs take full advantage of this by offering different services over a single Ethernet connection however not all services are required or desirable in a production installation Firmware version 3 1 4 and later includes lightweight firewall functionality that lets you control or restrict access to E Series services at both the Ethernet and IP layers D Note Dedicated firewall equipment is recommended for situations that require complex El source destination flags state specifications deep packet inspection or egress filter ing A 1 Rules Rules specify how to identify and process incoming packets of data and form the core of any firewall All rules use the same basic format Pass or Block From source All or TCP or UDP or Both If TCP UDP then Port Number Rules work as follows e A Pass rule accepts packets that match the specified criteria e ABlock rule rejects packets that match the specified criteria e From specifies a matching parameter which can be all packets a MAC address a single IP address or network in CIDR notation e Packets are further matched by the particular protocol if matching an IP packet All IP packets can be matched TCP or UDP packets can also be matched by additionally specifying the destination port number A 1 1 Rule Syntax The rule syntax is simple to specify and unders
19. options to eee support the stabilization function Please refer to the ISM User Manual for instructions on using the ISM Web interface Im Follow the instructions in your PTU User Manual to connect the PTU to the host computer and power it on obtain the IP address and launch the Web interface in a browser window If your PTU includes the optional ISM module please refer to the ISM documentation Note Commands issued via the Web interface correspond to commands issued via the El serial interface Copyright 2014 FLIR Commercial Systems Inc 5 F L R E Series Pan Tilt Command Reference Manual 2 1 Network Page The Network page appears when you click the Network link in the top menu Network PTU Config PTUControl ISMConfig This page allows you to configure the fol lowing options for your PTU Network Configuration e Host Name Name of the PTU If you a A have multiple PTUs on the network mac Fces3ezoo79s you may enter a unique name for the ni currently selected PTU to make recon Fame 1017313 necting faster pn e MAC Displays the unique Media Access Control MAC address for the PTU You may change this address if necessary 2010 2012 FLIR Commercial Systems Inc e Automatic IP Address Checking the Obtain IP address Automatically radio button allows the PTU to either accept IP information from a DHCP server such as a router or select its own IP information if connected directly to
20. speed e Inthe third scenario the PTU does not have enough time to accelerate to the desired slew speed before having to decelerate to stop at the desired position SCENARIO 4 SCENARIO2 SCENARIO 3 pper Speed Limit Time Figure 1 Axis speed during on the fly desired speed and position changes Copyright 2014 FLIR Commercial Systems Inc 37 F L R E Series Pan Tilt Command Reference Manual The upper speed base speed and acceleration parameters are interrelated Depending on how one or more of these parameters are set attempting to set another parameter may return an error If you receive an error while setting an acceleration try lowering the upper speed limit If you receive an error while setting an upper speed limits try increasing the acceleration The PTU allows on the fly position speed and directional changes When changing direction on the fly the PTU manages all deceleration direction reversal and acceleration to achieve the most recently specified target speed and acceleration rates 5 1 Absolute Speed Specify the desired axis speed in positions per second or query the desired speed for the selected axis Speed is the rate at which the PTU moves to execute movement commands You can change speeds on the fly Speed commands outside the speed bounds return an error and are not executed 5 1 1 Commands The available absolute speed commands are e PS e TS 5 1 2 Syntax e Que
21. 87 F L R E Series Pan Tilt Command Reference Manual 3 The PTU is then commanded back to position 0 The controller sends enough steps to move back to O based on the assumption that the PTU started at position 90 The PTU therefore ends up moving to position 45 Enabling encoder correction mode before this slip event would have caused the PTU to immediately cor rect its position after the event as described above The CPEC and CTEC commands query the number of times that the encoder correction control mode has had to correct slips in the pan and tilt axes respectively Use these commands during development to validate PTU settings Excessive slips can be caused by excessive acceleration or upper speed limits for the current payload To remedy this e Lower the speed and or acceleration e Adjust the payload to reduce the required torque e Increase the move power level These counters are zeroed when a reset R is commanded and on power up D Note Resetting the PTU with the R command or power cycling the PTU resets the pan and tilt slip counters to O 15 1 Commands The available control mode commands are e CT e COL e CEC e CPEC e CTEC 88 Copyright 2014 FLIR Commercial Systems Inc Chapter 15 Control Modes G L Ba 15 2 Syntax e Query current control mode CT lt delim gt e Set open loop control mode COL lt delim gt e Set encoder correction mode CEC lt delim gt e Query the number of pan
22. FLIR Technical Support if you need to mount your PTU in this manner D Note The direct angles are extrinsic Euler angles in Z Y X order This means the axes of rotation do not change with the frame as it is rotated 17 2 General GPM Settings Calibrate the PTU and perform various miscellaneous GPM functions 17 2 1 Commands The available general GPM setting commands are e GC e GCQ e GDF e GDR e GDS e GS e GPT Copyright 2014 FLIR Commercial Systems Inc 97 F L R E Series Pan Tilt Command Reference Manual 17 2 2 Syntax e Calibrate the PTU GC lt delim gt e Query PTU calibration quality GCQ lt delim gt e Reset all GPM settings to factory default GDF lt delim gt e Restore all GPM settings to last saved settings GDR lt delim gt e Save all GPM settings GDS lt delim gt e Query GPM pointing type GPT lt delim gt e Set GPM pointing type GPT lt type gt lt delim gt e Return status of GPM system GS lt delim gt where e PTU calibration quality is the maximum error to any single landmark point in degrees e lt type gt is the GPM pointing type Valid types are 0 Error outside of limits The PTU will report an error if the desired pointing position is out of range of the PTU motion 1 Closest possible The PTU will get as close as possible to the desired pointing position with out reporting an error 17 2 3 Example This example shows an attempt to calibrate a PTU with no la
23. INFORMATION e It is good design practice to use a buffer between the PTU and your hardware for isolation and ESD protection Note This section does not apply to D Series PTUs Please refer to your PTU documenta El tion if you have a D Series unit 11 3 1 Commands The available ASCII TTL control commands are e OOH e OOL 72 Copyright 2014 FLIR Commercial Systems Inc Chapter 11 Expanded I O F L R 11 3 2 Syntax e TTL high OOH lt n gt e TTLlow OOL lt n gt where lt n gt defines which TTL output to change such as 2 for OP2 3 for OP3 etc 11 3 3 Example This example sets TTL output OP2 to low and TTL output OP3 to high OOL2 OOH3 Copyright 2014 FLIR Commercial Systems Inc 73 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 74 Copyright 2014 FLIR Commercial Systems Inc FLIR 12 Step Modes E Series PTUs support various step modes for precise resolution control 12 1 Configuring Step Mode You may configure separate step modes for the pan and tilt axes including automatic stepping When automatic stepping is enabled the controller will automatically select the correct step mode based on the PTU s current speed and process all units as though the unit were in eighth step mode while allow ing the PTU to move at the higher speeds allowed by the half step setting Note You must perform an axis reset after changing the step mode for t
24. It then changes to slaved execution mode commands the axes to specified positions and adds an Await Position Completion command to start moving the PTU in both axes simultaneously T PP1000 IQ I S TO S PP1500 TP 900 PP Current Pan position is 0 TP Current Tilt position is O PP Current Pan position is 1500 TP Current Tilt position is 900 4 7 Await Position Completion Awaits the completion of the most recently issued pan and tilt axis position commands Use this com mand to coordinate axis motions when the PTU is in slaved execution mode 4 7 1 Command The available await position completion command is e A Copyright 2014 FLIR Commercial Systems Inc 29 FLIR E Series Pan Tilt Command Reference Manual 4 7 2 Syntax e To command the PTU to await the completion of previous A lt delim gt position commands 4 7 3 Example This commands sequence instructs the pan axis to move to a position then move to another position I PP Current Pan position is 0 PP2000 A PP Current Pan position is 2000 PPO A PP Current Pan position is O Compare the previous example to this one in which the PTU will begin to move to the first position and then while still in transit begin moving to the second position an on the fly position change I PP Current Pan position is 0 PP2000 PPO 4 7 4 See Also You may use this comman
25. LA SUM ET 65 9 2 3 Example deefe bt cia 65 10 Host Serial POM iii diia 67 lee Rate ad adoro iaa aid caia dadas 67 10 1 1 Command E 67 A EE EE 68 10 13 Example enee ee dee ee Eer 68 TOLA See AlO EE 68 iv Copyright 2014 FLIR Commercial Systems Inc Table of Contents E L B Ll Expanded e EE 69 11 1 Serial COMMUNICATIONS Target scscccccrseeccexeepeacavedsnciscwssssuevevesevev0besasveleduazsideavevedsassvedaaweiedeasauceiseive 69 Bn Fa BC COMM ELE 70 e n Ee WEE 70 11 13 EXAM Pl ernai deed d ee i uses ees E gege ee 70 111 4 SES AlO E 70 11 2 Expanded Serial POR sosa aid Dana diia 71 112A e ele len A e OO A A 71 1 2 EE 71 11233 Example ere ee 72 112 4 See AlO EE 72 113 e lun ier e EE 72 EC EE gell El 72 AZ EE 73 11 3 3 AN scinni iini Eege Eeer 73 12 STOP MOS 75 12 1 Configuring Step Mode sisi dd did 75 kr D BCS g ele ln ln EE 75 bn 2 Gy a es EE 75 ET DEE a O 75 13 PTU Serial Networks ccssccsscconscescscccescccsseecescccessccscecucesccencenseecucescsseceseccucescusseceseceucecuessecens 77 13 1 Elei gd Tiet il EE 77 KE Gef E COMIMANG insano aii ida 77 13 12 EE 77 13 1 3 le EE 77 1321 4 S66 AlO EE 78 13 2 Unit Select Deselect cccoccnnonononononnnnnnnononononanannnanononnnnnnnncnnnnnncnnnnnn non none nonnnrnnonnanannn nro nn nn nenene nennen 78 13 21 gelen El 78 132 2 SYNtaK EE 78 LAMA da 78 13 24 SOS E iS oes eh aan Padi ov A AAA 79 14 1P NetWork Gates EueNEek ENEE coca sucoosanv
26. Query current timestamp count CNT lt delim gt e Query timestamp counter frequency CNF lt del im gt e Query current PTU speed position with timestamp BT lt delim gt Note The CNT command always returns a fixed width timestamp count with Os added El on the front as needed to obtain the correct width The BT command is not fixed width and does not add Os to the timestamp Copyright 2014 FLIR Commercial Systems Inc 119 F L R E Series Pan Tilt Command Reference Manual C 3 Example This example queries the current timestamp count the current counter frequency and the PTU speed position with timestamp CNT Current timestamp count in fixed size format If the value is too small it will be prepended with Os to full width CNT 0000009275 CNF 90000000 BT P 2300 550 S 600 200 9278 120 Copyright 2014 FLIR Commercial Systems Inc This page intentionally left blank F L R E Series Pan Tilt Command Reference Manual E Series Pan Tilt Command Reference Manual v 6 00 09 2014 FLIR 70 Castilian Drive Goleta CA 93117 p 805 964 9797 f 805 690 5933 www FLIR com MCS 122 Copyright 2014 FLIR Commercial Systems Inc
27. SFLIR High Performance Pan Tilt Unit E Series includes PTU E46 Command Reference Manual Version 6 00 09 2014 FL R E Series Pan Tilt Command Reference Manual DOCUMENT CONTROL Date Author Rev Changes 09 2010 A Hernandez 4 00 Initial E Series release 12 2011 A Hernandez 4 10 Updated E Series release 08 2012 A Hernandez 5 00 Reformat document GPM other updates 09 2014 A Hernandez 6 00 Additional serial amp Pelco D updates COPYRIGHT NOTICE E Series Pan Tilt Command Reference Manual version 6 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 B lee Ir Ce E 1 Ad ue 2 1 2 HE Series NEE 2 153 PT
28. Setting PTU OO EE DEE Seva A E EERE ERR de 96 Ree BR lege Ce Le EE 96 17 1 2 Landmark Orientation cccccesssseceececeeeeceecsessesseaeeeaeeeceeeeesceeseseseeeeaseeeeeseeeeeesseeeseeeeeusnaeeas 96 17 1 3 Euler Angles and KENNEN 97 17 2 General GPM Settings sustanciaci n 97 ah GN Ee el rulle le E 97 17 2 2 SOY EE 98 E A A Eo 98 LA AISO o O 99 17 3 Positiomand Altit d EE 99 17 31 COMMANA EE 99 EE 99 vi Copyright 2014 FLIR Commercial Systems Inc Table of Contents E L R 17 3 3 EXA Mpl aaa 100 17 34 See AlS EE 100 TGA Roll A A 100 E a ig ell nl 100 T742 SYM ER 101 ET Ao EE 101 17 44 SCC ASO EE 102 17 SoA el Ed E 102 Re gelen EE 102 A SV MAK ee 103 17 5 3 Exa Mpl serune ninenin ian arlene AEE EEE ARA sate ane T EEE 103 17 5 4 SCO AlO EE 104 18 Pelco D Protocol siii ad id 105 18 1 CONAP E 105 NS Tl e ele ln ELE 105 EMU 105 e WE ul anda ata NEEE EE EEE EEE 106 18 2 Standard Pelco D COMMANAS sseseseeeseeceececececececececceceeecaeueaesssssesessceeseseeeeeeeeeeeeeeeseseseueaqaea 106 18 3 Extended Pelco D Commande 106 18 4 Auxiliary Pelco DIDS nia 107 LAR PPP 109 Te RUES n a ON 109 19 1 1 R le YOtaX E 109 Der E lune TEEN 110 19 2 Management EE 110 1922 1 IER DC 110 19 2 2 Managing Rule Lists cccccccessssssececceececeeeeeeceseseeseeneaeeeceeeeceeessesssnseeasaaaeaaeeeeeeeeeseesssegees 111 E Using the Elli a E a E E O 111 19 31 COMIMANGS EE 111 LE
29. U E46 EAU adidas 2 1 4 About This Manual EE 3 1 4 1 Formatting CONVENTIONS ENEE aiian a a aaa e a a E NN 3 2 Web Interface iii de ele Dee teasee dE ENEE SEN Ein n a iaaa esanian iNe 5 Zi Network Page iia 6 2 2 PTU Configuration Page ENEE EEN 7 23 P TU Control Pago o si 10 24 GPM Config Pag A EA AAA RA AA A 13 3 ASCII Serial Commands nico ii ia ciar inde 15 Sb ASCII Command SYM ci da eaaedaaieamans 15 3 2 Serial Command List icono irradian danna baaa ci ddcavoeiesctaraiSaaneasasaees 16 3 2 Li POSON WEE 16 3 2 2 SSO E 17 3 2 3 Continuous AXIS ROTATION geg Dee de ENEE ENNEN RA Nee Nee dE edd NEEN dd NEEN 17 3 2 EB Te 17 3 2 5 UNIECONTFO S EE 18 32 e i tanisecdertuetavadenesatdenessvicnksansdcesevadenssereedvsedceenadetedendetenvs vases sddeasevsdedunssendensaeadeadenedundeteovvues es 18 3 2 7 Serial amp Expanded 1 0 E 19 3 2 8 Step MOES EE 19 3 2 9 1P NetWorKk icons ala 19 32 10 Control ee EE 20 3 2 11 Geo Pointing Module GPM EE 20 312 12 Pelco WEE 20 FAS FEIER Eeen 21 3 2 14 ene El UI Ale TE EN See TIMESTAMP is ses sacs eensieteeegegS eeh RR 21 A POSITION EE 23 4 1 Absolute POSITION EE 23 AD 1 Command DEE 23 TY De SVN EE 23 AA lu 23 AV A SOOAAISO EE 24 4 2 Offset PositiON EE 24 4 2 1 Command EE 24 DE Ee SE A S as cete sa nets 24 A2 REXI MPE a a 24 AD A SOO ASO EEN 25 4 3 Resolution per POSITION cocononncococncnnnnnnnoncnonnnnnononannnnnnnnnnnnnnnnnnnnnnnnnnn nro nnnnnnnnnnnnnnnnnnnnnnnr
30. U configurations offer an optional Expanded Input Output ElO option that adds CHA CHB TTL lines through the payload interface Please refer to your PTU User Manual for more information about available lines and wiring Note The PTU E46 does not support Expanded I O The PTU controls serial port expansion channels You may configure CHA and CHB RS 232 communica tions for expanded port baud rates data bits parity and handshaking Each channel operates inde pendently and the PTU fully buffers bidirectional data flow to allow for communications rate mismatch Point to point communications between the PTU serial port and an expansion channel e g CHB is ini tiated by the host computer Point to point communications is broken upon command from the host computer Communications from a serial device attached to an expansion serial channel is buffered by at least 200 characters This buffer can overflow when hardware handshaking is not used verify that attached devices do not exceed the buffer size before the host computer can read their serial data 11 1 Serial Communications Target These commands establish point to point communications between the host computer connected to the PTU serial port and either the expanded serial port CHA CHB or PTU Selecting an expansion port channel switches the host computer communications from the PTU to the external device connected to the selected port To resume communications with the PTU the host c
31. ac_address gt is the desired MAC address A MAC address consists of 6 pairs of hexadeci mal numbers separated by colons For example 34 A0 CB 25 12 3E Copyright 2014 FLIR Commercial Systems Inc 81 F L R E Series Pan Tilt Command Reference Manual 14 1 3 Example The following code sequence queries the PTU MAC address changes that address and verifies that the change has occurred NA MAC address is D9 38 E8 21 94 AF NA34 A0 CB 25 12 3E NA MAC address is 34 A0 CB 25 12 3E 14 2 IP Address Queries or sets the PTU Internet Protocol IP address 14 2 1 Command The available PTU IP address command is e NI 14 2 2 Syntax e Query current PTU IP address e Specify PTU IP address N N I lt delim gt I lt ip address gt lt delim gt Where lt ip address gt is the desired IP address An IP address consists of 4 groups of 1 3 decimal numbers separated by periods such as 192 168 1 1 The PTU must be in static IP mode for this com mand to work see Section 14 3 14 2 3 Example The following code sequence queries the PTU IP address changes that address and verifies that the change has occurred NI IP address is 192 168 1 1 NI10 0 0 3 NI IP address is 10 0 0 3 82 Copyright 2014 FLIR Commercial Systems Inc zemmer SFLIR 14 3 Network Mode E Queries or sets the network IP addressing mode In static mode the PTU has a fixed IP address that
32. al Software Serial IP Windows e EterLogic Virtual Serial Port Emulator Windows e Socat Linux links a pseudo terminal to a TCP connection 16 2 1 Using HyperTerminal To establish a TCP socket connection to the PTU using HyperTer 2 xf minal D PTU 1 Launch HyperTerminal and create a new connection as if x opening a standard COM port Enter details for the host that you want to call 2 Inthe Connect To dialog select TCP IP instead of a COM port oa address 101735 using the Connect using pull down menu 3 Port number a000 Enter the PTU s IP address in the Host address field 4 Enter 4000 in the Port number field 1 Connect using TcPaP Winsock D Cancel 5 Click OK to connect to the PTU 16 2 2 Using Tera Term Newer versions of Tera Term enable local line buffering and echoing by default on TCP connections This is not compatible with the PTUs TCP socket service and must be disabled by editing the Tera Term config uration file To do this 1 Use a text editor to open the default configuration TERATERM INI file located in the install directory typically C Program Files teraterm 2 Locate or add the option EnableLineMode and set it to False 3 Restart Tera Term to reload the configuration To connect to a PTU e ES 1 Launch Tera Term TCP IP Host MARE z Y History Open the New connection window See Telet TCP port 4000 2 3 Check the TCP IP radio button
33. alled firm ware revision Model The PTU model number Pan Resolution Horizontal motion resolution in degrees This number varies depending on your selected step mode see below Each unit of resolution equals one position Tilt Resolution Vertical motion resolution in degrees This num ber varies depending on your PTU Configuration Configure the PTU General FLIR Technical Support 3 3 0 D100 1947 Pan Resolution 0 007500 Deg pos Tit Resolution 0 007500 Deg pos Motion Configuration Firmware Model Serial Accel Pan 120000 Base Speed Pan 0 Upper Speed Pan 12000 Lower Speed Pan 0 Speed Pan 12000 Power Mode Pan Move Power Low Reg Tilt Move Power D Low O Reg Pan Hold Power Off Low Tit Hold Power D on O Low Step Mode Pan Step Mode Full Half Tilt Step Mode Full Half Limits Limit Mode Factory O User Maximum Pan 22400 Minimum Pan 22399 Miscellaneous Continuous Pan Enabled Control Type 9 Open Loop Pelco D Enabled Pelco D Address 1 115200 Baudrate Actions Tit 4000 Encoder Correction FLIR Tit 120000 Tit 0 Tit 12000 men Tit 12000 Reg Reg O Auto Quarter Eighth Quarter Eighth Auto Disabled Tit 11999 Disabled Encoder Correction Disabled Disabled Default Save Default Restore Reset Factory Reprogramming 2010 2012 FLIR Commercial Systems Inc selec
34. allow you to specify either how many positions the PTU 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 number specifies either the number of positions the PTU will move each time you click a big arrow if you selected Position or the number of positions per second the PTU will move if you selected Speed Small The Small number specifies either the number of positions the PTU will move each time you click a small arrow if you selected Position or the number of positions per second the PTU will move if you selected Speed Status The Status section of the PTU Control page displays the PTU position and speed in real time Click the appropriate link to see this information in Degrees or Positions Position Pan and tilt location of the PTU in degrees or positions Speed Pan and tilt speed of the PTU in degrees or positions per second Start Stop Clicking the Start Stop button toggles updating the PTU status on and off Set Position The Set Position section of the PTU Control page allows you to manually enter position and or speed information Please see Section 7 for an explanation of limit types and for a visual depiction of the PTU 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 to th
35. an Tilt Command Reference Manual 3 2 10 Control Mode The available control mode commands are BT Get PTU motion w CNT Timestamp CNF Timestamp frequency timestamp CEC Control encoder correc CT Query control type IO Query immed slave tion RQ Query reset type Please see Section 15 for more information about the control mode commands 3 2 11 Geo Pointing Module GPM The available GPM commands are GC Calibrate PTU GCQ Query calibration quality GDF Reset GPM to factory GDR Restore last saved set GDS_ Save all GPM settings GT Query set GPM point tings type GS GPM status GL GPM latitude GO GPM longitude GA GPM altitude GLLA GPM position amp altitude GCP GPM camera offset GR PTU roll GP PTU pitch GY PTU yaw GRPY PTU roll pitch yaw GM GPM landmarks GMA Add landmark GMN Number of landmarks GMD Delete newest landmark GMC Delete all landmarks GG Query set aim landmark GGD Distance to aim point Please see Section 17 for more information about the geo pointing commands 3 2 12 Pelco D E The available Pelco D commands are QP Query Pelco D parsing QPE Enable Pelco D parsing QPD_ Disable Pelco D parsing QA Pelco D address Please see Section 18 for more information about the Pelco D commands 20 Copyright 2014 FLIR Commercial Systems Inc 3 2 13 Firewall The available firewall comm
36. ands are NFU Push rule to rule list NFO Chapter 3 ASCII Serial Commands E L R Remove return last rule NFF Remove all rules NFI Index NFC Return number of rules NFA Apply staging to current Please see Appendix A for more information about the firewall commands 3 2 14 Compatibility Mode The available compatibility mode commands are Check compat status CME Enable compat mode CMD Disable compat mode Please see Appendix B for more information about the compatibility mode commands 3 2 15 Timestamp The available timestamp commands are CNT Query timestamp count CNF Query counter fre quency BT PTU speed pos w stamp Please see Appendix C for more information about the timestamp commands Copyright 2014 FLIR Commercial Systems Inc 21 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 22 Copyright 2014 FLIR Commercial Systems Inc 4 Position This chapter describes the available PTU position commands and queries 4 1 Absolute Position Specify or query the absolute pan or tilt axis position Desired positions can be changed on the fly with out waiting for previous position commands to complete 4 1 1 Commands The available absolute position commands are e PP e TP 4 1 2 Syntax e Query current absolute pan position PP lt delim
37. are allowable When limits are enabled default commands outside of the limits return an error message and are not executed In this mode the PTU only reaches limits when it has lost synchronization a condition that requires a unit reset see Section 7 1 The PTU displays P on the host computer port when it reaches its pan axis limits and T when it reaches its tilt axis limits Note You may see one or multiple P or T errors This is normal behavior 4 5 1 Commands The available position limit enforcement commands are e L e LD e LE e LU 4 5 2 Syntax e Query current pan position limit mode L lt delim gt e Enable pan position limits LE lt delim gt e Disable pan position limits LD lt del im gt e User limits LU lt delim gt D Note You can program user limits on the PTU E46 however you must still perform a El reset sequence after a power cycle to move the unit through its full range of motion because the unit has no encoders CAUTION DISABLING LIMITS MAY DAMAGE INTERNAL PTU WIRING AND IS NOT REC OMMENDED PARTICULARLY ON PTUS WITHOUT HARD STOPS Copyright 2014 FLIR Commercial Systems Inc 27 FLIR E Series Pan Tilt Command Reference Manual Motion Control Systems 4 5 3 Example This command sequence queries the current limit status and maximum pan limit attempts to pan the PTU beyond its pan limit to return an error message then disables limits and repeats the pan command which now
38. axis corrections CPEC lt delim gt e Query the number of tilt axis corrections CTEC lt delim gt 15 3 Example This command sets encoder correction control queries the current control mode and then sets and queries open loop control The same control mode is used for both axes CEC CT CEC COL CT COL Copyright 2014 FLIR Commercial Systems Inc SO F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 90 Copyright 2014 FLIR Commercial Systems Inc FLIR 16 E Series TCP IP Control E E Series PTUs include industry standard Ethernet connectivity that allow quick and reliable connections using off the shelf equipment Two basic services are available e Web The web service is intended for basic configuration and control using only a web browser No prior experience with D or E series PTUs is necessary to get started using the web interface Please refer to your PTU User Manual for instructions on using the built in web interface e TCP sockets The TCP socket service is a TCP IP interface on port 4000 that behaves as if it were a serial port It uses the same protocol that experienced D and E Series users are familiar with A splash screen and initialization status asterisk if successful appear upon establishing a TCP connec tion to the PTU D Note D series GPM and ISM users should continue to use the modules for interfaces El because the TCP socket service is different from
39. ays the most recently aimed at location GG 38 60138 122 37686 6 00000 This example commands the PTU to point at the specified location GG38 60138 122 37686 6 0000 This example commands the PTU to point at the specified landmark GG1 Copyright 2014 FLIR Commercial Systems Inc 103 F L R E Series Pan Tilt Command Reference Manual This example returns the distance from the PTU to the specified location in meters GGD38 60138 122 37686 300 1820 203 17 5 4 See Also GPM Config page Section 2 4 104 Copyright 2014 FLIR Commercial Systems Inc FLIR 18 Pelco D Protocol E Pelco products use the proprietary Pelco D Protocol also known as Pelco D E Series PTUs with firm ware version 3 1 1 and newer support the standard pan tilt portions of Pelco D Camera control com mands are not currently implemented Note This chapter assumes that you are already familiar with Pelco D framing and spec El ifications Please refer to the appropriate Pelco documentation for more information about Pelco D 18 1 Configuration E The PTU must be configured for Pelco D The web interface includes Pelco configuration and there are new ASCII configuration commands 18 1 1 Commands The following Pelco D commands are available e QP e QPD e OPE e QA 18 1 2 Syntax e Query Pelco D parsing status QP lt delim gt e Enable Pelco D parsing OPE lt delim gt e Disable Pelco D parsing QPD lt de
40. can be specified using the NI command In dynamic mode the PTU accepts an IP address assigned by a Dynamic Host Control Protocol DHCP server Many Ethernet routers contain DHCP servers 14 3 1 Commands The available network mode commande are e NM e NMD e NMS 14 3 2 Syntax e Query current PTU network mode NM lt delim gt e Specify dynamic network mode NMD lt delim gt e Specify static network mode NMS lt delim gt 14 3 3 Example The following code sequence queries the network mode queries the PTU IP address switches the net work mode to dynamic and then queries the PTU IP address again NM Network mode is static NI IP address is 192 168 1 1 NMD NI IP address is 10 0 0 3 14 4 Redirect Port E Redirects the HTTP Port 80 or UDP Port 4000 services to a different port 14 4 1 Command The available redirect port command is e NR Copyright 2014 FLIR Commercial Systems Inc 83 F L R E Series Pan Tilt Command Reference Manual 14 4 2 Syntax e Query default port for T CP or U DP service NR T U lt port gt e Set new port for T CP or U DP services NR T U lt oldport gt lt newport gt 14 4 3 Example This example queries the current HTTP port resets the HTTP port to 9090 and then resets the HTTP port again to 8080 NRT80 80 NRT80 9090 NRT80 9090 NRT80 8080 NRT80 8080 14 5 Network Gateway E Sets the default gateway Any IP host
41. d Position EE 35 Dr T COMMMANG EE 35 A VDD E EEN 35 Cais E MDE naa EE 35 ii Copyright 2014 FLIR Commercial Systems Inc Table of Contents E L R 5 Sped COMED E 37 5 1 Absolute Speed EE 38 5 T e einen Ee EE 38 BD SV Mae EE 38 E il EE 38 BD A See AlSO EE 39 A NEE 39 A Oi OO EE II E E 39 5 2 2 SV EC EE 39 52 EE 39 52 4 SOC ASO EE 40 ACC TC Te TEE A0 e a e eu e EE A0 53 En e EE A0 EE A E E eaa a eaa aa a eani anaa aE aana SeA 40 B34 SOC ASO A A 41 54 Base Start Up Speed WEN 41 BAT COMMA EE 41 542 SVNCA EE 41 543 E ler EE 41 DAA SOC AlO EE 42 ER BOURS estandard iria 42 5 51 eene EE 42 5 5 2 SyntaX eee 42 5 5 3 lu 43 5 54E SOO ASO E 43 5 6 Sp ed Control DEE 43 ER Ce Ee un lune EE 44 APA EE 44 56 3 Cl EE 44 56 4 TA E O EEN 45 6 Continuous Axis ROTATION csccccccsccesccecccsccesccecccscccsccerecenconcconecescoceceueserecencccssonccensocssenscesscenses 47 6 L Continuous ROTATION EEN 47 Ged SVM a EE 48 a aE TT REEER RAEENEEE RETTE E E 48 7 User Defined DES cnica caida rensieccvdcusunven dave dsiadeudcsndcesevadeses dendicdesiea okivi 49 7 1 Position Limit QUerles ccccconccnccoccnnnnnncnnnnonnnnnnnnnnnnoncnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnns 50 Pil Di e eu lun ET EE 50 KE SV MAN EE 50 TAGS EXAM lO OS 51 K SOO ASO EE 51 7 2 Position Limit Enforcement cccccccccccccscececcesesesessssesesecececeecceccceeeecesecauaeaeausenssesessse
42. d with either Immediate or Slaved Position Execution modes see Section 4 6 4 8 Halt Immediately decelerates and halts PTU movement 4 8 1 Command The available halt command is e H 30 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Position FLIR 4 8 2 Syntax e Halt all PTU movement in both axes H lt delim gt e Halt pan axis movement only HP lt delim gt e Halt tilt axis movement only HT lt delim gt 4 8 3 Example This command sequence pans the PTU to the right and then to the left The PTU must be in motion for you to see the H command in action PP2500 A PP 2500 Enter the following command while the PTU is moving H PP Current pan position is lt pos gt where lt pos gt is the current pan position which will be between 2500 and 2500 4 8 4 See Also You may use this command with either Immediate or Slaved Position Execution mode see Section 4 6 4 9 Monitor Auto scan This command defines and initiates repetitive PTU monitoring auto scanning Auto scanning stops immediately and the PTU returns to its home position upon receiving a character from the host com puter Monitoring may also stop due to communications problems errors and or PTU motor faults Sec tion 4 10 4 9 1 Commands The available monitor auto scan commands are e M e ME e MD e MO e MS Copyright 2014 FLIR Commercial Systems Inc 31 FLIR E Series Pan Ti
43. e The following command sequence sends the pan axis to position 500 then sends it 1500 positions to the left of position 500 PP 500 A PO Current Pan position is 500 PO1500 A PP Current Pan position is 1000 24 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Position FLIR 4 2 4 See Also e Position resolution units Section 4 3 e Position limits Section 4 4 e Position limit enforcement modes Section 4 5 e Position execution modes Section 4 6 4 3 Resolution per Position This query returns the axis resolution per position moved in seconds of arc D Note A degree of arc is divided into 60 minutes of arc and each minute of arc is further El divided into 60 seconds of arc A degree of arc therefore contains 3600 seconds of arc and each second of arc is equal to 1 3600 of a degree or 0 0002778 4 3 1 Commands The available resolution per position queries are e PR e TR 4 3 2 Syntax e Query pan resolution PR lt delim gt e Query tilt resolution TR lt delim gt 4 3 3 Example To pan the PTU 21 3 degrees to the right PR 92 5714 seconds arc per position PO828 There are 3 600 arc seconds per degree Thus to calculate the number of positions to move the PTU to obtain the desired degrees of angle change use the formula degrees divided by resolution divided by 3 600 For example 21 3 21 3 C az 828 342 828 92 5714 3 600 0 025714 In t
44. e not magnetic north PTU roll pitch yaw angles are extrinsic Euler angles see Section 17 1 Copyright 2014 FLIR Commercial Systems Inc 95 F L R E Series Pan Tilt Command Reference Manual 4 Aim the PTU using geographical information latitude longitude altitude either directly using the GG serial command see Section 17 5 or the PTU Control page see Section 2 3 17 1 Setting PTU Orientation You may set the PTU orientation either directly or by using landmarks 17 1 1 Direct Orientation Enter the PTU roll pitch and yaw using either the GR GP GY or GRPY serial commands see Section 17 4 or the GPM Config page see Section 2 4 Roll pitch and yaw are extrinsic Euler angles 8 17 1 2 Landmark Orientation To set the PTU orientation using landmarks Note Yaw position is relative to true north 1 Point the payload line called the camera offset of sight directly at the desired landmark D Note Precision is very important to obtain the best possible calibration quality and sub sequent pointing accuracy If you are aiming a camera use a high zoom lens and a large monitor or TV to point the PTU 2 Enter the location of the landmark using either the GMA serial command see Section 17 5 or the GPM Config page see Section 2 4 Note For best results use landmarks that are as far away and widespread as possible em Note Remember that latitude and longitude are expressed in degrees while altit
45. e on TCP port 4000 Blocking port 4000 will prevent access to this service This can be desirable or undesirable depending on your specific requirements Be careful when editing firewall rules over the network Failure to provide a TCP port 4000 allow rule will cause the NFA command to block the currently open TCP stream and all further access to the PTU will be denied until the PTU is power cycled or reconfigured via the serial interface 112 Copyright 2014 FLIR Commercial Systems Inc Appendix A TCP IP Firewall E L B A 5 Example Configurations Here are some sample firewall configurations A 5 1 Block Everything NFF NFA DS A 5 2 Block Everything Except DHCP NFF NFUPAU68 NFA DS A 5 3 HTTP Only NFF NFUPAT80 NFA DS A 5 4 TCP IP Control This example is for a local network 10 0 0 0 24 and HTTP Access for a gateway 10 0 0 23 NFF NFUPN10 0 0 0 24T4000 NFUPH10 0 0 23T80 NFA DS A 5 5 Listing Rules NFC 2 NFIO PAT80 NFI1 PN10 0 0 0 24T4000 NFI2 Illegal argument Copyright 2014 FLIR Commercial Systems Inc 113 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 114 Copyright 2014 FLIR Commercial Systems Inc SFLIR B Compatibility Mode E Both E Series PTUs and the PTU E46 include a compatibility mode switch to ensure backward compati bility with previous models This gives users
46. e specified position at the specified speed GPM Pointing The GPM Pointing section of the PTU Control page allows you to aim your PTU based on geographical location Please see Sections 2 4 and 17 for information on configuring the Geo Pointing Module GPM in your PTU using the web interface and or serial commands respectively Lat Latitude to aim the PTU in degrees Lon Longitude to aim the PTU in degrees Alt m Altitude of the PTU relative to sea level in meters Click the Go button to aim the PTU at the specified geographical location GPM Landmarks The GPM Landmarks section of the PTU Control page displays the landmarks stored in the PTU allows you to point the PTU at a stored landmark and add delete landmarks The PTU can store up to 16 landmarks Quality Displays the largest pointing error to any landmark in degrees This does not necessarily reflect the largest error when pointing to a true location Landmark number Displays the unique number for each landmark in the column Name Unique name assigned to each landmark Names can be up to 15 characters long Lat Latitude of the landmark in degrees Lon Longitude of the landmark in degrees Copyright 2014 FLIR Commercial Systems Inc 11 FL R E Series Pan Tilt Command Reference Manual Alt m Altitude of the landmark in meters relative to sea level Pan Pan angle of the PTU required to point at the landmark based on the currently configur
47. ec PP2600 A PB1000 PPO A Copyright 2014 FLIR Commercial Systems Inc 41 F L R E Series Pan Tilt Command Reference Manual 5 4 4 See Also e Position resolution units Section 4 3 e Acceleration Section 5 3 e Speed bounds Section 5 5 5 5 Speed Bounds Set and query the upper and lower speed bounds for desired speed commands em Note The PTU requires several seconds to re compute the internal tables used to rapidly El execute speed ramping when calculating speeds The upper speed bound therefore can not be changed on the fly If the PTU is moving and you attempt to change the upper speed the PTU will immediately slow to a halt 5 5 1 Commands The available speed bound commands are e PU e PL e TU e TL 5 5 2 Syntax e Query upper pan speed limit PU lt delim gt e Set upper pan speed limit PU lt position gt lt delim gt e Query lower pan speed limit PL lt delim gt e Set lower pan speed limit PL lt position gt lt delim gt e Query upper tilt speed limit TU lt delim gt e Set upper tilt speed limit TU lt position gt lt delim gt e Query lower tilt speed limit TL lt delim gt e Set lower tilt speed limit TL lt position gt lt delim gt 42 Copyright 2014 FLIR Commercial Systems Inc Chapter 5 Speed Control G L B 5 9 3 Example This command sequence queries the upper and lower pan speeds and attempts to exceed those limits in order to return an err
48. ed e If the axis supports continuous movement the PTU will continue to move until commanded to stop In pure velocity control mode issuing a speed command for a given axis effectively overrides any posi tion commands that are currently being executed By default the PTU defaults to the independent con trol mode on power up the speed control mode is not saved when the PTU powers down Copyright 2014 FLIR Commercial Systems Inc 43 F L R E Series Pan Tilt Command Reference Manual 5 6 1 Commands The available speed control mode commands are e C e CI e CV 5 6 2 Syntax e Query the current speed control mode C lt delim gt e Set to independent control mode default CI lt delim gt e Set to pure velocity control mode CV lt delim gt 5 6 3 Example This command sequence places the PTU into the default independent control mode and pans to position 3000 at a rate of 1 000 positions per second When placed into the pure velocity control mode the PTU will finish on the opposite pan side The factory restore DF command restores independent con trol mode Cl PS1000 PP 3000 A CH PP 3000 PS1000 PTU begins panning in positive direction A PP Current pan position is lt pos gt DF C PTU is in Independent Mode where lt pos gt is the current pan position Note When the PTU commanded to CV mode the axis will not move until the next El velocity com
49. ed position and orientation in positions Tilt Tilt angle of the PTU required to point at the landmark based on the currently configured position and orientation in positions Err Pointing error to the landmark in degrees You may aim the PTU at a landmark and add or remove a landmark as follows Adda landmark by aiming the PTU at the landmark entering its name latitude longitude and altitude in the appropriate field and then clicking the Add button Remove a landmark by clicking the X for the selected landmark e GPM Calibration Click the Calibrate button to calculate the PTU s orientation roll pitch yaw com plete a six dimensional pose latitude longitude altitude roll pitch yaw and calculate the calibra tion error The error can be described as how much the landmarks disagree about each other s location using the calculated pose 12 Copyright 2014 FLIR Commercial Systems Inc Chapter 2 Web Interface RK L Ba 2 4 GPM Config Page The GPM Config page appears when you click the GPM Config link in the top menu l Network PTU Config PTU Controli ISMConfig GPM Config This page allows you to configure the built in Geo Pointing Module GPM in your PTU GPM CONFIG as follows i GPM Configuration Configure geo pointing functions Status Displays the current status of the E ged EE D P M KR Instructions PTU GPS Location and Camera Offset 1 Enter the GPS l
50. eme circumstances such as wind loading or a transient obstacle e Encoder correction control Applying external forces such as a strong wind gust may exceed avail able torque and cause the PTU to fail to move This may result in the commanded step count may not match the actual step position If a slip is detected the PTU automatically halts to regain control of the payload resets its internal counters and then begins moving again using the normal accelera tion settings This process ensures that the PTU reports and achieves the correct position Enabling encoder correction control on an E Series PTU allow the controller to read the true position of each motor using encoders on the output shafts and keep the internal PTU position counters accurate Figure 3 illustrates a situation where the commanded position does not match the actual position because of to a slip event with encoder correction disabled A TRUE 0 TRUE 45 TRUE 45 INTERNAL 0 INTERNAL 90 INTERNAL 0 Figure 3 Slip event causes true and internal positions to de synchronize In this example 1 The PTU starts out at position O with the true position and the internal counter in sync 2 The PTU is commanded to position 90 but a slip event occurs during the move The controller contin ues commanding and counting step commands At the end of the move the controller believes the PTU is at position 90 but the true position is 45 Copyright 2014 FLIR Commercial Systems Inc
51. es the desired speed The desired position does not change e Setting Unit ID CME Setting a unit ID with the U command automatically changes the host COM port baud rate to 9600 baud CMD The baud rate remains the same e Limits Reported CME When limits are disabled querying the maximum and minimum position returns factory minimum and maximum values CMD When limits are disabled queries return accurate enforced limits B 3 2 Firmware Version 3 1 4 and Later e Voltage and Temperature Report CME The O command reports input voltage in whole numbers integer CMD The O command reports input voltage with 1 decimal precision Terse mode FT reduces the verbosity of the report e Carriage Return Behavior CME Received carriage returns lt r gt echo as is Using carriage returns as a delimited caused terminals to overwrite the command printed on the screen This is standard D Series behavior CMD Carriage returns lt r gt convert to newline characters lt n gt before processing When used as a delimiter this causes a new line r n to form before printing the response on a terminal Note Changing the mode will only affect the current stream and new streams until the El PTU is reset For example sending this command over a TCP stream will not affect the serial port until the PTU is reset New TCP streams will inherit the most recent mode Sending this command over the web interface will not change
52. ex gt lt delim gt e List number of landmarks stored on the PTU GMN lt delim gt e Adda landmark GMA lt name gt lt lat gt lt lon gt lt alt gt lt delim gt e Delete the most recently saved landmark GMD lt delim gt e Delete the specified landmark GMD lt index gt lt delim gt e Delete all landmarks GMC lt delim gt e Query last pointed position GG lt delim gt e Point PTU at the specified landmark GG lt index gt lt delim gt e Point PTU at position GG lt lat gt lt lon gt lt alt gt lt delim gt e Distance to current aim point in meters GGD lt delim gt e Distance to specified point in meters GGD lt lat gt lt lon gt lt alt gt lt delim gt where e The GM command returns a list of all landmarks stored on the PTU delimited by semicolon in the format lt index gt lt name gt lt lat gt lt lon gt lt alt gt lt pan pos gt lt tilt pos gt lt error gt e lt index gt is the integer number of the landmark stored on the PTU starting with 0 e lt lat gt is the latitude in degrees e lt lon gt is the longitude in degrees e lt alt gt is the altitude relative to sea level in meters e lt error gt is the aiming error to the specified landmark in degrees 17 5 3 Example This example lists the landmarks currently stored on the PTU GM Q HOTEL 37 5918 122 3475 40 0000 0 0000 OFFICE 37 5941 122 3656 42 0000 0 0000 STATION 37 6010 122 3858 18 0000 0 0000 This example displ
53. f the Earth This allows you to point the PTU at landmarks based on geo graphic location and let the PTU do the work of determining the correct pan and tilt angles relative to both its current geographical position and orientation relative to the horizon You may use GPM func tions directly alongside normal PTU commands ISM GPM functionality is not intended for use on ISM equipped PTUs Note All GPM commands are in degrees or meters unless otherwise specified D Note PTUs do not contain built in GPS or orientation sensors You must use external El sensors to determine position and orientation values and configure the PTU accordingly Once the PTU has been properly configured you may point it at landmarks using geo graphical information in addition to pan tilt commanas To use the GPM functions in your PTU 1 Set the PTU position latitude longitude and altitude relative to sea level See Section 17 3 2 Set the camera offset which is the difference between the payload line of sight and the PTU line of sight See Section 17 4 3 Set the PTU orientation roll pitch yaw using either of the following methods landmarks directly D Note Accuracy is paramount when setting the PTU orientation because errors here will El translate into pointing errors when the PTU is in use The easiest way to orient the PTU is to set the PTU on a perfectly flat and level mounting and then enter a yaw angle Yaw angles are measured from tru
54. g Reg Setting the hold and or move power to Reg means that the PTU motors draw normal power while moving and or holding High Setting the move power to High means that the PTU 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 CAUTION THE HIGH POWER SETTING IS INTENDED ONLY FOR INTERMITTENT DUTY CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN OVERHEAT THE PTU MOTORS 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 Halt 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 8 Copyright 2014 FLIR Commercial Systems Inc Chapter 2 Web Interface E L B Changing the step mode requires a calibration reset Please see Section 12 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 You can program limits on the PTU E46 however you must still performa a reset sequence after a power cycle to move through the full range of motion Please see Section 7 for an explanation of limit types and a visual depict
55. ght shows the order of filtering in the default configuration A 2 1 Rule Lists Rule lists are managed as two different sets e Staging set e Current set Copyright 2014 FLIR Commercial Systems Inc 110 Appendix A TCP IP Firewall G L B Separating the firewall into two sets where only the cur rent set saves to non volatile memory allows you to edit and test the firewall while reducing the risk of acciden Default Set tally locking yourself out of the PTU because of a typo accidental rule DS command or reboot e The NFA firewall apply command applies the stag ing set to the current set and the firewall starts filter ing with the new rules The staging set is user edited until ready for processing e NFA Staging Set DF DR Current Set e DS default save saves the current set to non volatile memory which is loaded when the PTU boots up e Both the DR default restore and DF default factory commands implicitly update both the staging and DR current firewall sets DS Figure 5 on the right shows how these commands modify the current and working sets Saved Set A 2 2 Managing Rule Lists The E Series protocols do not include a list data type Simple commands on the staging set handle list management A 3 Using the Firewall The firewall can be controlled using several command A 3 1 Commands The available firewall commande are e NFU e NFO e NFF
56. he new mode to E take effect 12 1 1 Command The available step mode command is e W 12 1 2 Syntax e Query step mode W lt axis gt lt resolution gt where e lt axis gt can be either T Tilt axis or P Pan axis e lt resolution gt can be either F H Q E A for Full Half Quarter Eighth and Auto step reso lution 12 1 3 Example The following command sets the Tilt axis to eighth step resolution and recalibrates the tilt axis WTE RT IT Copyright 2014 FLIR Commercial Systems Inc 75 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 76 Copyright 2014 FLIR Commercial Systems Inc FLIR 13 PTU Serial Networks This section describes the commands used to configure set and query the PTU serial network configu ration 13 1 Unit Network ID Specify or query the PTU controller network unit ID number The default PTU unit ID is O when the PTU is not networked and is in the default interactive communications mode Be sure to assign a unique unit ID number to each PTU on the network Assigning a unit ID of O to a PTU places the PTU back in the default interactive non networked communication mode 13 1 1 Command The available PTU network ID command is e U 13 1 2 Syntax e Query current PTU network unit ID U lt delim gt e Set PTU to interactive mode non networked U0 lt delim gt e Set PTU network unit ID U lt unit_ID gt lt deli
57. his example each position equals 0 025714 which is 92 5714 3600 You should therefore move the PTU 828 positions Copyright 2014 FLIR Commercial Systems Inc 25 FLIR E Series Pan Tilt Command Reference Manual 4 3 4 See Also Step Modes Section 12 4 4 Limit Position Queries These queries return the axis position limits either factory set or user limits Please refer to your PTU User Manual for more information about limits 4 4 1 Commands The available limit position queries are e PN e PX e TN e TX 4 4 2 Syntax e Query minimum pan position PN lt delim gt e Query maximum pan position PX lt delim gt e Query minimum tilt position TN lt delim gt e Query maximum tilt position TX lt delim gt 4 4 3 Example The following query sequence enables factory limits resets the PTU queries the pan and tilt axis limits and then attempts to pan the PTU beyond its limits to return an error message LE RE ITITIPIP PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 PP3200 Maximum allowable Pan position is 3090 4 4 4 See Also e Position resolution units Section 4 3 e Achieving larger axis bounds Section 4 5 26 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Position FLIR 4 5 Position Limit Enforcement Determines whether position commands beyond the detected pan axis limits
58. ion of the PTU range of motion Factory Checking the Factory radio button sets the PTU 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 Disabled Enabling continuous pan mode by checking the Disabled radio button overrides the factory or user pan limits allowing the PTU to pan a full 360 Checking the Disabled radio button limits the PTU pan range of motion to the factory or user limits you specified above This requires a calibration reset Maximum Enter the maximum pan and tilt positions in the appropriate fields Minimum Enter the minimum pan and tilt positions in the appropriate fields Miscellaneous The Miscellaneous section of the PTU Config page allows you control the following miscellaneous functions Continuous Pan Enable or disable continuous pan mode by clicking the Enabled or Disabled radio button as appropriate This feature is not supported on the PTU E46 Control Type Select the desired control mode by clicking the Open Loop Encoder Correction or Encoder Correction Disabled radio button as appropriate Please see Section 15 for more infor mation about control modes This feature is not supported on the PTU E46 Pelco D Enable or disable the Pelco D protocol by checking the Enabled or Disab
59. itch offset difference between the payload line of sight and the PTU line of sight in degrees e lt roll gt isthe PTU roll angle in degrees e lt pitch gt is the PTU pitch angle in degrees e lt yaw gt is the PTU yaw angle in degrees e lt orientation gt is the PTU roll pitch and yaw angle in degrees 17 4 3 Example This example queries and then sets roll pitch and yaw values followed by querying and setting the camera pitch angle GR 1 459233 GP 3 103816 GY 50 042890 GRPY 1 459233 3 103816 50 042890 EE A GRPY 1 459233 3 200000 50 042890 GRE Ls GY20 GRPY 1 500000 3 200000 20 000000 GCP 0 000000 GCP10 3 GCP 10 300000 Copyright 2014 FLIR Commercial Systems Inc 101 F L R E Series Pan Tilt Command Reference Manual 17 4 4 See Also e Euler angles and singularities Section 17 2 e PTU Control page Section 2 3 e GPM Config page Section 2 4 17 5 Landmarks The PTU can store up to 16 landmarks Storing landmarks eliminates the need to keep entering location and altitude information for frequently aimed at locations 17 5 1 Commands The available landmark commands are e GM e GMN e GMA e GMD e GMC e GG e GGD 102 Copyright 2014 FLIR Commercial Systems Inc Chapter 17 Geo Pointing Module G L B 17 5 2 Syntax e List all landmarks stored on the PTU GM lt del im gt e List information for specified landmark GM lt ind
60. l im gt e Regular tilt move power mode TMR lt delim gt e Low tilt move power mode TML lt delim gt 9 2 3 Example The following command sequence queries the pan move power mode sets the mode to LOW and then verifies the change PM Pan in REGULAR move power mode PML PM Pan in LOW move power mode Copyright 2014 FLIR Commercial Systems Inc 65 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 66 Copyright 2014 FLIR Commercial Systems Inc FLIR 10 Host Serial Port Serial PTU communications always use the following settings e Start bits 1 e Stop bits 1 e Data bits 8 e Handshaking None e Parity None In addition you may specify the following serial communications settings e Baud rate Up to 115200 baud default is 9600 10 1 Baud Rate This command specifies the baud rate for the RS 232 RS 485 serial communications between the PTU and the host computer Note Serially networked PTUs automatically use the default communications settings El described above El has been preserved to ensure backward compatibility with previous PTU mod els Add a O in the byte delay segment of the command as shown below 10 1 1 Command The available baud rate command is Note E Series PTUs do not support host byte delays but the command syntax E e 0 Copyright 2014 FLIR Commercial Systems Inc 67 F L R E Series Pan Tilt Command Reference Ma
61. le hold power mode commands are PH PHR PHL PHO TH THR THL THO 9 1 2 Syntax Query pan hold power mode PH lt delim gt Regular pan hold power mode PHR lt delim gt Low pan hold power mode PHL lt delim gt Off pan hold power mode PHO lt delim gt Query tilt hold power mode TH lt delim gt Regular tilt hold power mode PHR lt delim gt Low tilt hold power mode THL lt delim gt Off tilt hold power mode THO lt delim gt 9 1 3 Example The following command sequence queries the pan hold power mode sets the mode to LOW and then verifies the change PH Pan in REGULAR hold power mode PHL PH Pan in LOW hold power mode 9 2 In Motion Power Mode Set and query the current power level applied to axis motors when in motion transiting DUTY CYCLES lt 20 EXTENDED HIGH POWER CYCLES CAN OVERHEAT THE PTU f CAUTION THE HIGH MOVE POWER SETTING IS INTENDED ONLY FOR INTERMITTENT MOTORS 64 Copyright 2014 FLIR Commercial Systems Inc Chapter 9 Power Control F L B 9 2 1 Commands The available move power mode commands are e PM e PMH e PMR e PML e TM e TMH e TMR e TML 9 2 2 Syntax e Query pan move power mode PM lt delim gt e High pan move power mode PMH lt delim gt e Regular move power mode PMR lt del im gt e Low pan move power mode PML lt del im gt e Query tilt move power mode TM lt del im gt e High tilt move power mode TMH lt de
62. led the PTU will only reach those limits when it has lost synchronization This error condition requires a unit reset as described in Section 8 1 A PTU that reaches a factory limit sends P or T tothe serial port to indicate that the specified limit was hit E You may disable limit enforcement when larger operational pan ranges are required as described in Sec tion 5 The PTU accepts positional commands beyond the specified limits when limits are disabled Note You may see one or multiple P or T errors This is normal behavior Copyright 2014 FLIR Commercial Systems Inc 51 F L R E Series Pan Tilt Command Reference Manual Enabling user defined limits triggers an error message when the PTU is commanded to positions beyond those limits The PTU respects user limits in both independent and pure velocity modes as described in Section 4 6 8 7 2 1 Commands Note Enabling continuous pan overrides user limits The available position limit enforcement commands are e L e LE e LU e LD 7 2 2 Syntax e Query current limit enforcement L lt delim gt e Enable factory limits LE lt delim gt e Enable user defined limits LU lt delim gt e Disable limit enforcement LD lt delim gt 7 2 3 Example This command sequence resets the PTU queries the pan axis limits sets user pan axis limits enables limit enforcement commands the PTU beyond pan limits to return an error message enables user limit enforce
63. led radio but ton as appropriate Pelco D Address Enter the Pelco D address to use in the Pelco D Address field Baudrate Select the desired baud rate using the Baudrate pull down menu Please see Section 18 for more information about the Pelco D protocol Action Buttons The action buttons at the bottom of the PTU Config page allow you to perform the following actions Refresh Clicking the Refresh button updates the PTU Config page with the values stored on the PTU Reset Axes Clicking the Reset Axes button cycles the PTU through a complete calibration reset cycle Default Save Clicking the Default Save button saves the changes you made on the PTU Config page as the default settings for the PTU Copyright 2014 FLIR Commercial Systems Inc Q F L R E Series Pan Tilt Command Reference Manual Default Restore Clicking the Default Restore button restores the previously saved defaults Reset Factory Clicking the Reset Factory button restores factory default speed acceleration power and limit settings to the PTU This erases any user limits e Reprogramming The Reprogramming section of the PTU Config page allows you to upload firm ware to the PTU MERCIAL SYSTEMS INC UNDER THE DIRECT GUIDANCE OF TECHNICAL SUPPORT f CAUTION ONLY REPROGRAM YOUR PTU USING FIRMWARE SUPPLIED BY FLIR COM FIRMWARE DOWNGRADES MAY NOT BE SUPPORTED 2 3 PTU Control Page The PTU Control page appears when you click the PTU C
64. lim gt 5 3 3 Example The following command sequence illustrates different rates of acceleration PA Pan acceleration is 2000 positions sec sec PB Current Pan base speed is 1000 positions sec PU Maximum Pan speed is 2902 positions sec A PPO PS1900 PP2600 A PA1500 40 Copyright 2014 FLIR Commercial Systems Inc Chapter 5 Speed Control RK L B PPO A 5 3 4 See Also Position resolution units Section 4 3 5 4 Base Start Up Speed Specify or query the axis base start up speed in positions per second The default base speed is O posi tions per second D Note The PTU requires several seconds to re compute the internal tables used to rapidly El execute speed ramping when calculating speeds The base speed therefore cannot be changed on the fly If the PTU is moving and you attempt to change the base speed the PTU will immediately slow to a halt 5 4 1 Commands The available base speed commands are e PB e TB 5 4 2 Syntax e Query current pan base speed PB lt delim gt e Set desired pan base speed PB lt position gt lt delim gt e Query current tilt base speed TB lt delim gt e Set desired tilt base speed TB lt position gt lt delim gt 5 4 3 Example The following command sequence homes the pan axis moves it far left changes the base rate then moves back to home I PPO PB Current Pan base speed is 0 positions s
65. lim gt e Query Pelco D address QA lt delim gt e Set Pelco D address QA lt n gt lt delim gt Copyright 2014 FLIR Commercial Systems Inc 105 F L R E Series Pan Tilt Command Reference Manual 18 1 3 Example A common configuration enables Pelco D parsing sets the Pelco D address to 1 the baud rate to the standard Pelco rate of 2400 baud and then saves those settings to the PTU QPE QA1 2400 0 T DS 18 2 Standard Pelco D Commands E A standard command consists of a bit vector that describes basic pan tilt and camera control E Series PTUs implement the shaded fields shown here Bit 15 14 13 12 11 10 9 8 Value 1 0 0 Standard Reserved Reserved Auto Scan Camera IrisClose IrisOpen Focus Near Command Enable Bit 7 6 5 4 3 2 1 0 Value 0 Focus Far Zoom Zoom Tele Down Up Left Right Reserved Wide 18 3 Extended Pelco D Commands E Extended commands allow for querying or changing single values instead of taking several actions simultaneously as seen in standard commands The Pelco D protocol includes many extended commands for basic functions and advanced functions E Series PTUs support the commands listed in the following table Command Opcode Data Notes Set Preset 0x03 ID number Clear Preset 0x05 ID number Go To Preset 0x07 ID number No special indexes sup ported zero pan 180 flip etc Set ON Auxiliary 0x09 AUX number Clear OFF Auxiliary Ox0B AUX number
66. lt Command Reference Manual 4 9 2 Syntax e Initiate monitoring pan axis only M lt pan pos 1 gt lt pan pos 2 gt lt delim gt e Initiate monitoring both axes M lt pan pos 1 gt lt pan pos 2 gt lt tilt pos 1 gt lt tilt pos 2 gt lt delim gt e Initiate the last defined monitor command M lt delim gt Note The power up monitoring default is the most recently saved auto scan mode The pan limits are the default monitor positions e Begin monitoring M lt delim gt e Enable monitor at power up ME lt delim gt e Disable monitor at power up MD lt delim gt e Query power up monitor status MQ lt delim gt 4 9 3 Example Executing the following command at power up starts the PTU scanning between its most recently saved default limits M To stop scanning and return the PTU to the home position lt delim gt This example enables pan axis monitoring between the specified positions M 2500 100 This examp M 2500 100 800 600 This example enables tilt axis monitoring between the specified positions M0 0 300 300 4 9 4 See Also Limit Position Queries Section 4 4 e enables pan and tilt monitoring between the specified positions 32 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Position FLIR 4 10 Monitor Status Returns the current status or reason why the monitor command M stopped Multiple values will appear if monitoring stopped for more than one reason
67. m gt where lt unit_ID gt is between 1 and 127 13 1 3 Example The following queries a PTU unit ID then sets and stores the unit ID configuration so that the PTU will use the new ID number when it powers up U Unit ID is 0 Ul U Unit ID is 1 Ul DS Copyright 2014 FLIR Commercial Systems Inc 77 F L R E Series Pan Tilt Command Reference Manual 13 1 4 See Also Unit Select Deselect Section 13 2 13 2 Unit Select Deselect This command selects the PTU to be controlled A PTU will execute incoming host computer commands only when the preceding unit D selected by the host is equal to either e The PTU s assigned unit ID e 0 m Note A host computer can issue commands for simultaneous execution by all net El worked PTUs by using unit ID 0 however only one PTU can provide feedback to the host computer at a time A PTU only provides feedback to the host computer when its ID is selected by the computer and buffers outgoing data until polled up to about 100 bytes 13 2 1 Commands The available unit select deselect command is e _ lt unit_ID gt 13 2 2 Syntax e Select a PTU for bidirectional data _ lt unit ID gt lt delim gt e Broadcast to all networked PTUs _O lt delim gt where lt unit_ID gt is between 1 and 127 13 2 3 Example The following command sequence selects PTU 1 sets its pan position to 300 then selects all net worked PTUs and simultaneously sets thei
68. m gt e Query PTU model number VM lt delim gt e Query PTU serial number VS lt position gt lt delim gt 8 5 3 Example This series of commands queries the PTU firmware version short firmware version PTU model number and PTU serial number V Pan Tilt Controller v3 2 0 C 2010 FLIR Commercial Systems Inc All Rights Reserved VW 3 2 0 VM D48 VS 1271 60 Copyright 2014 FLIR Commercial Systems Inc Chapter 8 Unit Commands FL Ba 8 6 Voltage and Temperature Query The PTU includes sensors for both input voltage to 0 5V and internal and motor temperatures 8 8 6 1 Command The available voltage and temperature query is Note Reported voltage is accurate to approximately 0 5V e 0 8 6 2 Syntax e Query PTU voltage and internal motor temperatures O lt delim gt 8 6 3 Example This command queries the PTU input voltage and temperature O Input 29 7 VDC 106 degF motors pan 96 degF tilt 96 degF Copyright 2014 FLIR Commercial Systems Inc 61 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 62 Copyright 2014 FLIR Commercial Systems Inc FLIR 9 Power Control The constant current motors used in FLIR PTUs allow you to control power consumption using simple commands This is useful for battery powered operation reducing internal temperatures and extending motor life 9 1 Hold Power Mode Set and query the current power level
69. mand is issued For example PS1000 CV will still show a speed of 1000 even though the axis is not moving Note Speed control mode is intentionally not saved with other settings E 44 Copyright 2014 FLIR Commercial Systems Inc Chapter 5 Speed Control F L B 5 6 4 See Also e Position commands Section 4 1 and Section 4 2 e Speed commands Section 5 1 and Section 5 2 Copyright 2014 FLIR Commercial Systems Inc 45 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 46 Copyright 2014 FLIR Commercial Systems Inc FLIR 6 Continuous Axis Rotation The PTU D300 PTU D100 and PTU D48 with optional slip ring support continuous rotation in both of the control modes described in Section 5 6 This section describes the command syntax and semantics that support continuous axis rotation You do not need to disable limits in order to enable continuous rotation Note The PTU E46 does not support continuous rotation 6 1 Continuous Rotation E These commands allow you to enable or disable continuous 360 degree pan rotation Commands The available continuous rotation commands are PC e PCE e PCD D Note These commands supersede the previous 331CPT command Executing this El command on an E Series PTU will return an error message Note You must reset the PTU after issuing a PCE or PCD command pu E Copyright 2014 FLIR Commercial Systems Inc 47
70. mask command is e NS 14 7 2 Syntax e Query PTU network mask NS lt delim gt e Specify PTU network mask NS lt subnet gt lt delim gt Where lt subnet gt is the desired network mask A network mask consists of 4 groups of 1 3 decimal numbers separated by periods For example 255 255 255 0 Copyright 2014 FLIR Commercial Systems Inc 85 F L R E Series Pan Tilt Command Reference Manual 14 7 3 Example This command sequence queries the PTU network mask specifies a new network mask and then veri fies the change NS The network mask is 255 255 0 0 NS255 255 255 0 NS The network mask is 255 255 255 0 86 Copyright 2014 FLIR Commercial Systems Inc FLIR 15 Control Modes E E Series PTUs except the PTU E46 which has no encoders support multiple control modes to meet a range of application requirements e Open loop control PTU stepper motors can be driven to commanded positions based on the num ber of steps This method of control is adequate for most applications provided that payloads are properly mounted on a suitable PTU with sufficient torque to reliably move the payload under all intended conditions If a slip occurs the internal position will be become out of sync with the true position Position queries will therefore return incorrect values and the PTU will move based on its internal position counter Correctly sized and configured PTUs should only experience slip events during extr
71. ment and queries the pan position after the PTU finishes panning to come within the user limits es Note In this example the PTU pan position is beyond the specified user limit The PTU El therefore automatically pans to the appropriate user limit when user limit enforcement is enabled R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 PNU 1000 PNU Minimum user defined Pan Position is 1000 PXU1500 PXU Maximum user defined Pan Position is 1500 LE L Limit bounds are ENABLED R IT T P P 52 Copyright 2014 FLIR Commercial Systems Inc Chapter 7 User Defined Limits F L B PP 3000 A PP Current Pan position is 3000 PP3200 Maximum allowable Pan position is 3090 LU L Limit user defined bounds are enabled RS ITITILELP PN Minimum Pan position is 1000 PX Maximum Pan position is 1500 El 7 2 4 See Also Position commands Section 5 1 and Section 5 2 Note Perform a reset after enabling limits as shown in this example Copyright 2014 FLIR Commercial Systems Inc 53 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 54 Copyright 2014 FLIR Commercial Systems Inc FLIR 8 Unit Commands The commands and queries listed in this chapter allow you to issue housekeeping commands and que ries to the PTU 8 1 Reset PTU This command controls PTU calibration By default the PTU resets both axes aut
72. mmunications with the PTU switches communications channels then resumes communications with the PTU PP Current pan position is 0 QA This text is sent directly to the serial device on CHA HD This text is sent directly to the serial device on CHB A20 This B text is sent to CHA without choosing CHB PP Current pan position is 0 11 1 4 See Also To set expanded serial port communications parameters Section 11 2 70 Copyright 2014 FLIR Commercial Systems Inc Chapter 11 Expanded I O G L Ba 11 2 Expanded Serial Port These commands specify the communications parameters for the selected expanded serial port They do not affect communications between the PTU and the host computer Note You may also access Channel A CHA and Channel B CHB via TCP as described in El Section 16 11 2 1 Commands The available expanded serial port commands are e MA e B 11 2 2 Syntax e Specify CHA parameters QA lt baud gt lt databits gt lt parity gt lt handshak ing gt lt delim gt e Specify CHB parameters QB lt baud gt lt databits gt lt parity gt lt handshak ing gt lt delim gt Where e A and B indicate RS232C expansion port CHA and CHB e lt baud gt may be 300 1200 2400 4800 9600 19200 38400 57600 or 115200 bits per second e lt databits gt may be 7 or 8 data bits per byte e lt parity gt is not case sensitive and may be N none E even or O
73. n control This allows you to quickly and accurately predict any given PTU position at any given time e The base start up speed is the instantaneous velocity that the PTU axis can achieve without losing synchronization when starting from a full stop Base speed capabilities are more a function of the motors rather than load characteristics e The upper speed limit is the maximum speed that the PTU axis can achieve e Motors lose torque as speed increases and acceleration is therefore necessary to achieve speeds above the base rate The PTU uses trapezoidal acceleration and deceleration for speeds between the base and maximum speed meaning that acceleration and deceleration occur at the same rate Acceleration is measured in positions per second per second For example a PTU accelerating from 500 positions per second at a rate of 150 positions per second per second will be moving at 650 posi tions per second after one second 800 positions per second after two seconds etc Figure 1 displays the relationships between lower base speed limits upper speed limits and velocity changes acceleration under three scenarios from left to right e Inthe first scenario a PTU axis starts at the base speed and accelerates to a desired constant speed slew rate which it holds for some time before decelerating to the base rate e Inthe second scenario additional speed changes are required that are below the base speed The PTU instantaneously changes
74. ncludes general setup and use instructions The E Series command set described in this manual is backwards compatible with prior PTU models with the following exceptions e Range of motion command syntax has been updated Section 7 e Network commands have been added to support the Ethernet interface Section 14 D Note This manual is not intended for use with the PTU D46 or PTU D47 If you have a El PTU D46 or PTU D47 please refer to the PTU D46 47 Command Reference Manual D Note The Compatibility Mode feature allows you to switch from D Series compatibility El to the slightly different E Series behavior Please see Appendix A for details Copyright 2014 FLIR Commercial Systems Inc 1 F L R E Series Pan Tilt Command Reference Manual 1 1 Safety Please refer to and comply with all safety warnings contained in your PTU User Manual 1 2 E Series Features The E Series of PTUs PTU D48E PTU D100E and PTU D300E include the following new fea tures e Built in Ethernet Web IP interface for easy configuration control and diagnostics e Improved power protection circuitry e 32 pin base connector for simplified wiring e Integrated digital encoder for more robust positioning e Programmable ranges of motion e Higher command rates with lower latency and jitter e Reduced calibration movement e Integrated geo pointing GPM support e Available stabilization ISM functionality e Full backward compatibility with pre
75. ndmarks which returns an error message After entering landmarks the calibration quality is queried followed by querying and changing the pointing type saving and showing the resulting PTU status Before entering landmarks GC Not Enough Landmarks GMN 0 After entering landmarks GMN 4 GC GCQ 6 547675 GPT 0 GPT1 GPT 1 GDS GS GPM READY GDF GMN 0 98 Copyright 2014 FLIR Commercial Systems Inc Chapter 17 Geo Pointing Module G L B GDR GMN 17 2 4 See Also GPM Config page Section 2 4 17 3 Position and Altitude Set or query the geographical PTU position in degrees of latitude and longitude and altitude relative to sea level in meters 17 3 1 Commands The available GPM latitude longitude and altitude commands are e GL e GO e GA e GLLA 17 3 2 Syntax e Query PTU latitude GL lt delim gt e Set PTU latitude GL lt lat gt lt delim gt e Query PTU longitude GO lt delim gt e Set PTU longitude GO lt lon gt lt delim gt e Query PTU altitude GA lt delim gt e Set PTU altitude GA lt altitude gt lt delim gt e Query PTU position and altitude GLLA lt delim gt e Set PTU position and altitude GLLA lt position gt lt delim gt where e lt lat gt is the PTU latitude in degrees e lt long gt is the PTU longitude in degrees e lt altitude gt isthe PTU altitude in meters relative to sea level e lt position g
76. nit Commands G L B 8 3 2 Syntax e Query current echo mode E lt delim gt e Enable host command echoing EE lt position gt lt delim gt e Disable host command echoing ED lt delim gt 8 3 3 Example This command sequence queries the pan position disables echoing and reattempts the query to demonstrate that echoing is disabled PP Current pan position is 22 ED PP Current pan position is 22 8 4 Feedback Command and query the ASCII feedback returned by PTU commands 8 4 1 Commands Note Enable terse mode for fastest command throughput The available feedback commands are e FV e FT e F 8 4 2 Syntax e Enable verbose ASCII feedback FV lt delim gt e Enable terse ASCII feedback FT lt delim gt e Query ASCII feedback mode F lt delim gt Copyright 2014 FLIR Commercial Systems Inc 59 F L R E Series Pan Tilt Command Reference Manual 8 4 3 Example This command sequence demonstrates verbose and terse feedback then queries the current feedback mode FV PP Current pan position is 0 FT PP 0 F ASCII terse mode 8 5 Controller Version Query the PTU firmware version and copyrights PTU model number and PTU serial number 8 5 1 Commands The available controller firmware version commands are e Y e VV e VM e VS 8 5 2 Syntax e Query PTU firmware version V lt delim gt e Query PTU short firmware version VV lt position gt lt deli
77. nual 10 1 2 Syntax e Specify baud and default Q lt baud gt 0 lt startup default gt lt delim gt e Set desired absolute pan position PP lt position gt lt delim gt e Query current absolute tilt position TP lt delim gt e Set desired absolute tilt position TP lt position gt lt delim gt where e lt baud gt may be 600 1200 2400 4800 9600 19200 38400 57600 or 115200 bits per second e lt startup default gt may be either T to apply your specified baud at power up or F to use the default 9600 baud The T and F arguments are only effective when the PTU is in Compatibility mode see Appendix B 10 1 3 Example The following command sets the host serial port RS 232 RS 485 to 19200 baud with 8 data bits per byte no parity no handshaking and keeps the power up baud rate at the default 9600 19200 0 F The following command sets the host serial port RS 232 RS 485 to 19200 baud with 8 data bits per byte no parity no handshaking and changes the power up baud to 19200 a 19200 0 T 10 1 4 See Also Setting the PTU controller unit ID Section 13 1 68 Copyright 2014 FLIR Commercial Systems Inc FLIR 11 Expanded I O Many usage scenarios require additional serial units that are attached to or located near the PTU These devices can be connected directly to the host computer which requires additional serial ports on the host plus additional serial cabling 8 Some E Series PT
78. o aim your PTU based on geographical location Lat Latitude to aim the PTU in degrees Lon Longitude to aim the PTU in degrees Alt m Altitude of the PTU relative to sea level in meters Click the Go button to aim the PTU at the specified geographical location e Options The Options section of the GPM Config page is where you specify how the PTU should respond if you command it to aim at a point beyond its range of motion Error outside of limits The PTU will report an error if the desired pointing position is out of range of the PTU motion Closest possible The PTU will get as close as possible to the desired pointing position without reporting an error e GPM Actions The GPM Actions section of the GPM Config page lets you reset save and restore GPM settings Reset GPM Clicking the Reset GPM button resets all GPM configuration in the PTU latitude lon gitude altitude pitch roll yaw and camera offset to factory defaults Save GPM Clicking the Save GPM button saves the current GPM configuration to the PTU Restore GPM Clicking the Restore GPM button restores the previously saved GPM configuration to the PTU 14 Copyright 2014 FLIR Commercial Systems Inc FLIR 3 ASCII Serial Commande This chapter describes the ASCII command syntax used when controlling a PTU via a serial connection lists the available commands and discusses power level and acceleration considerations Please also refe
79. ocation and Lat 0 000000 Lon 0 000000 e PTU GPS Location and Camera Offset Ke Camera ich bag section Allows you to enter the geo B Calratng by usng atleast Pose information S a teg PTU Roll 0 001858 Pitch graphical location and payload cam ren era offset of the PTU cas ra e e Camere busied Quaity 0 007146 D for det he lame m Pan Lat Enter the latitude of the PTU SE Oad o wo ooro a j 1 LML 0 0100 450 0000 7029 4976 location In degrees 2 LM2 0 0100 333 0000 20970 3730 3 LA 0 0000 300 0000 14000 4690 Lon Enter the longitude of the PTU Ada location in degrees cakete w GPMPointing Alt m Enter the altitude of the Posion tae PTU relative to sea level in meter options Point Mode Camera Pitch Offset Enter the dif SE 3 est possi ference between the payload line of ZE sight and the PTU line of sight in a Reset GPM Save GPM Restore GPM degrees 2010 2011 FLIR Commercial Systems Inc Click the Apply button to set the PTU location and camera payload offset e GPM Landmarks The GPM Landmarks section of the GPM Config page displays the landmarks stored in the PTU allows you to point the PTU at a stored landmark and add delete landmarks The PTU can store up to 16 landmarks Quality Displays the largest pointing error to any landmark in degrees This does not necessarily reflect the largest error when pointing to a true location Landmark number Displays the unique number fo
80. odd e lt handshaking gt is not case sensitive and may be Nr none H hardware handshaking X XON XOFF software handshaking E both hardware software handshaking Copyright 2014 FLIR Commercial Systems Inc 71 F L R E Series Pan Tilt Command Reference Manual 11 2 3 Example The following command sets the expansion serial port channel CHA to a baud rate of 9 600 bits second with 8 data bits per byte no parity and no handshaking RQA 9600 8 N n The following command sets the expansion serial port channel CHB to a baud rate of 19 200 bits second with 8 data bits per byte no parity and hardware handshaking B 19200 8 n H 11 2 4 See Also To communicate with an expansion serial port channel Section 11 11 3 ASCII TTL Control E TTL control seen in the payload connector as OP2 OP3 and OP4 has only been accessible with binary control E Series PTU firmware versions 3 1 4 and later support TTL control with new ASCII com mands When working with TTL commands e The default OP level is low e Levels are undefined and may change while the PTU boots This can take a few seconds after apply ing power to the PTU e PTUs do not have a high impedance setting and do not support tri state e E Series PTUs have buffers on the TTL lines and can source or sink 10 milliamps for every OP CAUTION D SERIES PTUS CANNOT SOURCE SINK 10 MILLIAMPS OF CURRENT PLEASE REFER TO YOUR PTU MANUAL FOR MORE
81. omatically upon power up You may also issue a reset mode command to control how the PTU resets on power up and allow you to reset individual axes A reset calibration allows the PTU to determine the home position and should therefore occur before you issue any axis position commands A non calibrated PTU has axis minimum and maximum positions set to 0 meaning that any position commands issued when limits are enabled see Section 6 2 will return an error message Payloads beyond the PTU s handling capacity may cause the reset to fail Always test load handling abil ity as described in your PTU User Manual Also E Series PTUs have a region at 180 5 called a lock out region Powering down a PTU in this area means that it will not know which way to turn to return home when you power it back on PTUs with firmware version 3 4 0 or later include a specific error mes sage if you attempt a reset when the PTU is in the lockout region Previous firmware versions display a more generic axis error message Contact FLIR Technical Support as directed in your PTU User Manual for assistance if you see this lockout region error message 8 1 1 Commands The available reset commands are e R e RD e RT e RP e RE e RQ e RPS e RTS Copyright 2014 FLIR Commercial Systems Inc 55 F L R E Series Pan Tilt Command Reference Manual 8 1 2 Syntax e Perform Reset calibration R lt delim gt D Note Issuing an R command execute
82. omputer issues another com mand that selects the PTU as the desired communication target D Note The expansion port baud rate does not affect communications with the serial port El connecting the host computer to the PTU The default PTU serial communications baud rate is 9600 Copyright 2014 FLIR Commercial Systems Inc 69 F L R E Series Pan Tilt Command Reference Manual 11 1 1 Commands The available serial communications target commands are e A e B 11 1 2 Syntax e Establish communications with CHA A lt delim gt e Establish communications with CHB B lt delim gt e Resume communications with the PTU controller lt delim gt The following modified commands ensure that lt raw bytes gt bytes will pass directly from the host computer to the expanded serial port without any attempt to change the communications target This allows strings like B to be embedded in communications between the host computer and the expanded serial port device without inadvertently breaking communications in mid stream e Establish protected communications with CHA A lt raw bytes gt lt delim gt e Establish protected communications with CHB B lt raw bytes gt lt delim gt where lt raw bytes gt is the number of bytes to follow that will be received from the host computer without being be scanned for changes in the serial communications target 11 1 3 Example The following command sequence establishes co
83. on tinuous pan mode to exceed limits or enable user limits to reduce range of motion Please see Section 7 for more information about the limit commands Copyright 2014 FLIR Commercial Systems Inc 17 F L R E Series Pan Tilt Command Reference Manual 3 2 5 Unit Controls The available unit control commands are R Reset F Query feedback mode DS Default save RD Disable reset FV Enable verbose feed DR Restore saved settings back RT Reset tilt FT Enable terse feedback DF Restore factory defaults RP Reset pan V Query firmware version EE Enable host cmd echo RE Reset both axes E Query echo mode ED Disable host cmd echo RPS Query set pan reset RTS Query set tilt reset speed speed NOTES 3 Subsequent resets and any power on reset will only affect this axis 4 This also enables reset on power up Please see Section 8 for more information about the unit commands 3 2 6 Power The available power commands are PH Query pan hold power THL Tilt hold power low TM Query tilt move power PHR_ Pan hold power regular THO Tilt hold power off TMH Tilt move power high PHL Pan hold power low PM Querypan move power TMR Tilt move power regular PHO Pan hold power off PMH Pan move power high TML _ Tilt move power low TH Query tilt hold power PMR Ban move power regular O Query VDC and temp THR Tilt hold power regular PML Pan move power low
84. ontrol link in the top menu i duel etc Piu conei eessen This page allows you to control your PTU as follows PTU CONTROL e Home Clicking Home returns the PTU PTU Control to its home pan and tilt positions ioe e D e Directional controls The directional T Speed controls allow you to move the PTU left T Postion EM and right pan and up and down tilt Pan QU gt ED os es 2000 Halt Clicking Halt immediately J y kk stops the PTU in its current posi ass tion Eo Smaif2a00 Small Arrow Clicking a small arrow ey zeg wb moves the PTU by either the zb E EM smaller position step size or at the Position Lafo ton fo aa fo lower speed see below y riendas Big Arrow Clicking a big arrow Query 0 007079 e Name Lat At m Pan Tt moves the PTU by either the larger um 00100 00000 o 3 ea LM1 450 0000 7029 4976 position step size or at the higher speed see below LM2 A A 333 0000 20970 3730 D 1 2 3 Calibrate e Speed Position selection Check the appropriate radio button to control the PTU by Position the PTU will move by the selected amount when an arrow is clicked or Speed the PTU will accelerate up to the selected speed when an arrow is clicked and will continue moving at that speed until the arrow is released 10 Copyright 2014 FLIR Commercial Systems Inc Chapter 2 Web Interface E L B Set Arrow Step Size The Set Arrow Step Size fields
85. or message PU Maximum Pan speed is 1985 positions sec PS3300 Pan speed cannot exceed 1985 positions sec PS1985 PL Minimum Pan speed is 31 positions sec PL20 Motor speed cannot be less than 31 pos sec PL40 5 5 4 See Also Position resolution units Section 4 3 5 6 Speed Control Modes PTU position and speed control are independently controlled by default In this mode speed commands represent unsigned magnitudes that determine how fast the PTU travels between independently com manded positions while not affecting the commanded positions themselves This mode is appropriate for both e pure position control methods when pan tilt control is affected solely by commanding pan tilt posi tion and e hybrid position velocity control methods when both pan tilt positions and the rate at which the PTU travels between them are controlled Your PTU also supports controlling pan and tilt via a pure velocity control mode that uses signed changes in the commanded axis speed In this mode the speed command is a signed value where the sign determines the direction of movement and the value determines the speed of movement in that direction as follows e f the commanded speed is negative the axis is automatically commanded to the minimum axis posi tion e Ifthe commanded speed is positive the axis is automatically commanded to the maximum axis posi tion e If the commanded speed is O axis movement is halt
86. r each landmark in the column Name Unique name assigned to each landmark Names can be up to 15 characters long Lat Latitude of the landmark in degrees Lon Longitude of the landmark in degrees Alt m Altitude of the landmark in meters relative to sea level Pan Pan angle of the PTU required to point at the landmark based on the currently configured position and orientation in positions Copyright 2014 FLIR Commercial Systems Inc 13 F L R E Series Pan Tilt Command Reference Manual Tilt Tilt angle of the PTU required to point at the landmark based on the currently configured position and orientation in positions Err Pointing error to the landmark in degrees You may aim the PTU at a landmark and add or remove a landmark as follows Aim the PTU at a landmark by clicking the selected landmark Remove a landmark by clicking the X for the selected landmark Add a landmark by entering its name latitude longitude and altitude in the appropriate field and then clicking the Add button e GPM Calibration Click the Calibrate button to calculate the PTU s orientation roll pitch yaw com plete a six dimensional pose latitude longitude altitude roll pitch yaw and calculate the calibra tion error The error can be described as how much the landmarks disagree about each other s location using the calculated pose e GPM Pointing The GPM Pointing section of the GPM Config page allows you t
87. r pan positions to 500 It then selects PTU 1 again to receive its response 1 PP300 0 PP500 1 78 Copyright 2014 FLIR Commercial Systems Inc Chapter 13 PTU Serial Networks F L B 13 2 4 See Also Unit Network ID Section 13 1 Copyright 2014 FLIR Commercial Systems Inc 79 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 80 Copyright 2014 FLIR Commercial Systems Inc FLIR 14 IP Network The commands in this chapter support the Ethernet connectivity included with E Series PTUs D Note D series PTUs and earlier do not support Ethernet connections or the commands El described in this chapter D Note Please refer to Appendix A for information about setting up the built in firewall El when using TCP IP to communicate with your PTU E Series PTUs are designed to accept an IP address assigned by a DHCP server by default If this fails the PTU will attempt a direct connection with the host computer You may determine the PTU IP address using the PTU Finder utility included on the CD that shipped with your PTU Please refer to your PTU User Manual for more information 14 1 MAC Address E Queries or sets the PTU Media Access Control MAC address 14 1 1 Command The available MAC address command is e NA 14 1 2 Syntax e Query current PTU MAC address NA lt delim gt e Specify PTU MAC address NA lt mac_address gt lt delim gt Where lt m
88. r to the Quick Start chapter in your PTU User Manual for information about getting your PTU up and running quickly 3 1 ASCII Command Syntax A PTU uses both commands and queries A command tells the PTU to do something such as pan to a specific angle A query asks the PTU to return the requested value such as reporting the current pan angle The basic ASCII command syntax is lt command gt lt parameter gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt parameter gt is an alphanumeric value such as the desired pan position and e lt delimiter gt is a character used to denote the end of a command Valid delimiter characters can be either SPACE or ENTER The basic ASCII query syntax is lt command gt lt delimiter gt where e lt command gt is the actual command such as PP for pan position e lt delimiter gt is a character used to denote the end of a query Valid delimiter characters can be either SPACE or ENTER For example e Command PP lt position gt lt delim gt 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 A successfully executed command displays lt CR gt lt N gt on the terminal screen where lt CR gt isa carriage return and lt N gt is a new line e A successfully executed query di
89. red preset position Valid index numbers are integers between 0 and 32 34 Copyright 2014 FLIR Commercial Systems Inc Chapter 4 Position FLIR 4 11 3 Example The following command sequence sets the PTU to position 500 400 store that position as preset 0 move the PTU to position 600 800 and then return it to the previously stored preset 0 position PP500 TP400 A XSO PP600 TP800 A XGO PTU moves to 500 400 4 12 Query Set PTU Speed Position You may query the PTU s current speed and or position and command the PTU to a specified speed and or position 4 12 1 Command The available PTU speed position command is e B 4 12 2 Syntax e Query PTU position and speed B lt delim gt e Set PTU position and speed B lt pan pos gt lt tilt pos gt lt pan speed gt lt tilt speed gt 4 12 3 Example The following command queries the PTU position and speed and then sends new position and speed parameters to the PTU B B P 256 23 S 0 0 PTU is at position 256 23 and moving at speed 0 B256 400 300 250 Commands the PTU to position 256 400 at pan speed 300 and tilt speed 250 Copyright 2014 FLIR Commercial Systems Inc 35 36 E Series Pan Tilt Command Reference Manual This page intentionally left blank Copyright 2014 FLIR Commercial Systems Inc SFLIR 5 Speed Control Each PTU combines precise position control with precise speed and acceleratio
90. ry desired pan speed PS lt delim gt e Set desired pan speed PS lt position gt lt delim gt e Query desired tilt speed TS lt delim gt e Set desired tilt speed TS lt position gt lt delim gt 5 1 3 Example The following command sequence instructs the pan axis to move to the far left then slowly move right and speed up on the fly PS1900 PP2600 A PS600 PP 2600 PS1900 38 Copyright 2014 FLIR Commercial Systems Inc Chapter 5 Speed Control G L R 5 1 4 See Also e Position commands Section 4 1 and Section 4 2 e Position resolution units Section 4 3 e Speed bounds Section 5 5 5 2 Relative Speed Specify desired axis speed in positions per second relative to the current speed or query the current axis speed The relative speed change or delta is measured in positions per second relative to the speed before the command is issued For example if the PTU is moving at 1 000 positions per second adding a delta of 300 using a relative speed command will increase the speed to 1 300 positions per second You can change speeds on the fly Speed changes that will result in a speed outside the speed bounds return an error and are not executed 5 2 1 Commands The available relative speed commands are e PD e TD 5 2 2 Syntax e Query current pan speed PD lt delim gt e Set desired delta offset pan speed PD lt position gt lt delim gt e Query current tilt speed TD lt delim gt e
91. s 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 These callouts and their symbols appear as follows throughout the manual WARNING CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED CAUTION CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY A DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED Note Notes provide helpful information Copyright 2014 FLIR Commercial Systems Inc 3 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 4 Copyright 2014 FLIR Commercial Systems Inc FLIR 2 Web Interface E This chapter describes how to configure and program your E Series PTU using the Web interface Note D Series PTUs do not support the Web interface This chapter is for E Series PTUs and the PTU E46 only Im Note You may also have a simultaneous serial connection to a terminal as described in Section 13 ISM The ISM Web interface includes additional command and configuration
92. s the last reset mode only For example RP R executes a pan axis reset followed by another pan axis reset The PTU saves the following reset modes for power up reset control e Disable reset upon power up RD lt delim gt e Reset tilt axis only RT lt delim gt e Reset pan axis only RP lt delim gt e Reset both pan and tilt axes upon power up RE lt delim gt e Query current reset type RQ lt delim gt e Query Reset Pan Speed RPS lt delim gt e Query Reset Tilt Speed RTS lt delim gt e Set Reset Pan Speed RPS lt speed gt lt delim gt e Set Reset Tilt Speed RTS lt speed gt lt delim gt D Note Issuing an RE command followed by a DS command see Section 7 2 restores El the default of calibrating both axes at power up The RO command returns one of the following results e E Reset both axes on PTU boot e P Reset pan axis on PTU boot e T Reset tilt axis on PTU boot e D No reset on boot both axes on command 8 1 3 Example This command sequence switches reset modes and performs a reset calibration between each mode change It then queries the pan and tilt reset speeds and sets new values 1 000 positions per second for the pan axis and RT KEE R ECK X RP 56 Copyright 2014 FLIR Commercial Systems Inc Chapter 8 Unit Commands E L B UPLP Z R ES RD R pet PP gt RE TERLER l R UT RPS 2000 RTS 1500 RPS1000 RTS750 8 2 Default Save
93. sessceceseeeeeeeees 51 Ti D Ee oul EE 52 F L R E Series Pan Tilt Command Reference Manual Fd SYNTAX a E E A 52 TL EXAMP EE 52 PA SOO ASO EE 53 8 Unit Commands coi innisis enesis aai NEEN AEKEEdeRE NENNEN 55 BU Ee AR EE 55 8 1 1 Commandes ceceeeeceesessssnssesssesececsceeeccecceesececscecaeauaeaususususssssesseeeecececesececeeeeeeeesesasanaeauseaeaesesess 55 SL SUMAR ia 56 LIE ul EE 56 8 2 Default Save Restore o iceeececcccccccccceccccecsecesessssssscececcececcuseseseresseenseaeeessecececseeeseesnsnsteaeeeceseseeceseceeess 57 e ER e eu le EE 58 IS EE ee 58 8 3 ECMO EEN 58 BiB Ee eu ln EE 58 E EE 59 8 3 3 le EE 59 E EE EE 59 84 1 Command E 59 842 SYNTAX eege 59 8 4 3 Te EE 60 8 5 Controller Version sariini badass REESEN EENEG sasenenagdanasiiguediursessevers 60 BOL e een le ET EE 60 Eeer eege 60 8 5 3 TEE 60 8 6 Voltage and Temperature Query i 61 8 6 1 COMMANG EE 61 A A A AA E A A N E E toned 61 EE DOE 61 9 Power Control x cissisccsccediacsseissesedsesdenbetensencssiacivertevsechesuocccvavendssinodsercacedsartecvedcesdevsatecdvedeencceoscseass 63 9 1 Hold Power Mode u cccccesssssssssssesesesececcccccccccceccceauaeausuueusuunsesssesesesesesececeeececeseseeeauauaqaeaeagaeasnesenecs 63 VG Ee ein ET EE 64 9 1 2 e 64 A A aatas 64 9 2 In Motion Power Mode c ssssssesececececcececccecececececeuaeueueessusssesesesececececesetacetesessesauanagssagaeanesesecs 64 D221 SICOMMMMAING EE 65
94. settings for any existing streams until the PTU is reset 116 Copyright 2014 FLIR Commercial Systems Inc Appendix B Compatibility Mode G L B Await Completion CME The A command never returns an error even if the command timed out CMD The A command will return an error code if necessary because of situations such as inter nal errors impossible to achieve conditions time outs and more Host Serial Port Settings D Series PTUs required a secondary confirmation when configuring host port settings E Series PTUs do not require this CME Entering T as the last argument prompts the user to confirm that they want to save the set tings A Y reply has the same effect as a DS command An N reply does not change or save set tings CMD The double conformation sequence is not used No save is performed Copyright 2014 FLIR Commercial Systems Inc 117 F L R E Series Pan Tilt Command Reference Manual This page intentionally left blank 118 Copyright 2014 FLIR Commercial Systems Inc FLIR C Timestamps E Some commands may contain timestamp information The timestamp is currently implemented by a free running 32 bit counter running at 90 MHz D Note Future PTU hardware or software may use different frequencies You should El include a timestamp frequency query in your software as part of initialization C 1 Commands The available timestamp commands are e CNT e CNF C 2 Syntax e
95. splays lt QueryResult gt lt CR gt lt N gt where lt QueryResult gt is the result of the query you just executed e A failed command displays lt ErrorMessage gt lt CR gt lt N gt where lt ErrorMessage gt describes the error encountered Copyright 2014 FLIR Commercial Systems Inc 15 F L R E Series Pan Tilt Command Reference Manual e A pan axis limit hit asynchronously displays P e Atilt axis limit hit asynchronously displays T Note You may see one or multiple P or T errors This is normal behavior This sample command sequence pans the PTU to the left waits and then pans it back to the right with queries after finishing each pan movement PP 2500 A PP Current Pan position is 2500 PP2500 A PP Current Pan position is 2500 3 2 Serial Command List These tables list the available serial commands Please refer to later sections within this manual for com plete information about the available commands and their usage 3 2 1 Position The available position commands are PP Set query pan position XS Set preset MS Monitor status TP Set query tilt position NG Go to preset l Immed execution mode PO Set query pan offset XC Clear preset S Slaved mode TO Set query tilt offset M Monitor H Halt all PR Pan resolution ME Monitor auto enable HP Halt pan TR Tilt resolution MD Monitor auto disable HT Halt tilt A Await MO Monitor auto query
96. t is the PTU latitude and longitude in degrees plus the PTU altitude in meters relative to sea level Copyright 2014 FLIR Commercial Systems Inc 99 F L R E Series Pan Tilt Command Reference Manual 17 3 3 Example This example queries the PTU position and altitude sets a new PTU position and altitude and then con firms the new position GLLA 37 48 122 39 11 GLLA37 4739 122 39393 14 GLLA 37 4739 122 39393 14 17 3 4 See Also e Euler angles and singularities Section 17 2 e PTU Control page Section 2 3 e GPM Config page Section 2 4 17 4 Roll Pitch Yaw Set or query the PTU camera payload pitch offset and the PTU roll pitch yaw angles Roll pitch and yaw angles are extrinsic Euler angles 17 4 1 Commands The available roll pitch yaw commands are e GCP e GR e GP e GY e GRPY 100 Copyright 2014 FLIR Commercial Systems Inc Chapter 17 Geo Pointing Module G L B 17 4 2 Syntax e Query camera pitch offset GCP lt delim gt e Set camera pitch offset GCP lt offset gt lt delim gt e Query PTU roll GR lt delim gt e Set PTU roll GR lt roll gt lt delim gt e Query PTU pitch GP lt delim gt e Set PTU pitch GP lt pitch gt lt delim gt e Query PTU yaw GY lt delim gt e Set PTU yaw GY lt yaw gt lt delim gt e Query PTU roll pitch yaw GRPY lt delim gt e Set PTU roll pitch yaw GRPY lt orientation gt lt delim gt where e lt offset gt is the camera p
97. tand The destination always matches the PTU and the PTU will not forward packets because it is not a router or a NAT device The basic firewall rule syntax is Rule Action From Proto Port Action Pass Block Pass Ip Copyright 2014 FLIR Commercial Systems Inc 109 F L R E Series Pan Tilt Command Reference Manual Block B From All MAC Host Net All VA MAC M HB HB HB HB HB HB HB HexadecimalCharacter HexadecimalCharacter Host H DotQuad Net N DotQuad Number DotQuad Number Number Number Number Proto TCP UDP Both TCP T UDP HU Both B Port Number A 1 2 Examples Pass all TCP packets to port 80 PAT80 Pass TCP port 4000 packets from MAC 00 11 22 33 44 55 PM00 11 22 33 44 55T4000 Pass TCP port 80 packets from the 192 168 1 0 24 255 255 255 0 subnet PN192 168 1 0 24T80 Block all TCP port 4000 packets BAT4000 A 2 Management Firewall rule management uses a list format with last match applies processing The default list contains one entry pass all All packets except ICMP are blocked before processing the rule list This means that the default firewall configuration marks all packets blocked marks all ICMP packets as pass and then marks all packets as pass This default configuration will pass all packets because of the last match applies pro cessing Figure 4 on the ri
98. ted step mode see below Each unit of resolution equals one position Copyright 2014 FLIR Commercial Systems Inc 7 FL R E Series Pan Tilt Command Reference Manual Motion Configuration The Motion Configuration section of the PTU Config page allows you to specify the following motion options for both pan and tilt in positions One position equals one unit of resolution Accel Pan and tilt acceleration and deceleration in positions per second per second The PTU will accelerate at this rate to the selected speed maintain this speed as long as necessary and then slow back down at the same rate Base Speed Speed the PTU instantly accelerates to Upper Speed Maximum PTU speed that can be commanded Lower Speed Minimum PTU speed that can be commanded Speed Pan and tilt speed in positions per second e 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 uses when moving the payload Hold Power Amount of power the PTU 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 motor s are completely off when the pay load is not moving in the selected axis or axes Low Setting the hold and or move power to Low means that the PTU motors draw lower power while moving and or holdin
99. that doesn t match route to the local configuration speci fied by the NI Section 14 2 and NS Section 14 7 commands will be routed to the gateway This com mand is required for static IP assignments when communication must cross a router 14 5 1 Command The available network gateway command is e NG 14 5 2 Syntax e Query current PTU network gateway NG lt delim gt e Specify PTU network gateway NG lt ip_address gt lt delim gt 14 5 3 Example This example queries the current PTU network gateway and then specifies a new gateway with IP address 10 0 0 1 NG 192 168 1 1 NG10 0 0 1 84 Copyright 2014 FLIR Commercial Systems Inc Chapter 14 IP Network E L R 14 6 Network Host Name Query or specify a network host name for the PTU 14 6 1 Commands e NN 14 6 2 Syntax e Query the PTU host name NN lt delim gt e Specify the PTU host name NN lt hostname gt lt delim gt Where lt hostname gt is the name of the PTU such as D48 The host name may contain letters num bers dashes and periods 14 6 3 Example The following command sequence queries the PT host name specifies a new name and then verifies the change NN Current host name is D48 NN UNIT1 NN Current host name is UNI 14 7 Network Mask Query or specify a PTU network subnet mask A subnet mask determines the subnet an IP address belongs to 14 7 1 Command The available network
100. the flexibility to either maintain backward compatibility when required or take advantage of the E Series enhancements Enabling compatibility mode makes the PTU operate as a Series D unit Disabling compatibility mode enables E Series behavior e PTUs with firmware versions earlier than 3 1 4 have compatibility mode enabled by default e PTUs with ISM or with firmware version 3 1 4 and later have compatibility mode disabled by default This is the recommended setting for newer PTUs D Note Enabling stabilization on an ISM equipped E Series PTU automatically disables compatibility mode B 1 Commands The available compatibility mode commands are e CM e CME e CMD B 2 Syntax e Query compatibility mode status CM lt del im gt e Enable compatibility mode CME lt delim gt e Disable compatibility mode CMD lt delim gt Copyright 2014 FLIR Commercial Systems Inc 115 F L R E Series Pan Tilt Command Reference Manual B 3 Effects This section compares PTU behavior when compatibility mode is enabled or disabled B 3 1 Firmware Version 3 0 0 e Velocity Mode Speed 0 CME In velocity mode CV setting the desired speed to O does not return a response until the PTU stops completely All other commands are postponed until the PTU stops The desired posi tion is reset to the current position CMD Setting the desired speed to zero is a non blocking operation where the response returns before the PTU achiev
101. the modules HTTP method Custom applications for use with the new TCP socket service require a PTU software update D Note Real time behavior over TCP IP Ethernet depends on many factors Applications El that require real time behavior should use point to point RS 232 or RS 485 serial con nections 16 1 Using TCP IP Control Refer to your E Series PTU User Manual for instructions on how to connect and power your PTU The PTU User Manual also describes how to identify a PTU on the network and how to use the web inter face D Note New E Series users should connect to the PTU using the web interface first to ver El ify operation before attempting to connect to the TCP socket service The only requirement for using the TCP socket service is opening a TCP IP socket to the PTU on port 4000 The TCP socket service contains an application layer protocol that uses the same ASCII and binary protocols supported by existing D and E Series PTUs via RS 232 RS 485 serial connections su Note All protocols supported by serial communications ASCII Pelco D CPI SDK should El work over TCP IP port 4000 Copyright 2014 FLIR Commercial Systems Inc 91 FL R E Series Pan Tilt Command Reference Manual 16 2 Legacy Applications The TCP socket service supports legacy applications through a COM port redirector The following COM port redirectors have been successfully tested with FLIR PTUs e TALtech TCP Com Microsoft Windows e Tactic
102. ude is El expressed in meters relative to sea level 3 Repeat Steps 1 and 2 at least three more times to obtain at least four landmarks before proceeding to Step 4 4 Calibrate the PTU using either the GC serial command see Section 17 2 or the PTU Control page see Section 2 3 The PTU orientation is now set Looking at the landmarks using either the GM command see Section 17 5 or PTU Control page see 2 3 will list the pointing error to each landmark The GCQ command see 96 Copyright 2014 FLIR Commercial Systems Inc Chapter 17 Geo Pointing Module G L B Section 17 2 or Quality display on the PTU Control page displays the largest pointing error to any land mark in degrees es Note The Quality error does not necessarily reflect the largest error when pointing to a true location 17 1 3 Euler Angles and Singularities PTU roll pitch and yaw are extrinsic Euler angles applied in Yaw Z axis Pitch X axis Roll Y axis order where the axes that rotations are applied against do not move Positive or negative angles are deter mined as follows e Yaw Z From above positive angles are to the right with O pointed to true north e Pitch X Positive angles are forward e Roll Y When facing forward positive angles tilt left The PTU tracks movements during singularities but does not act on them To avoid singularities when using GPM pointing do not mount the PTU facing directly up or down Please contact
103. ue gt lt delim gt e Set maximum pan user defined limit position PXU lt value gt lt delim gt e Set minimum tilt user defined limit position TNU lt value gt lt delim gt e Set maximum tilt user defined limit position TXU lt value gt lt delim gt Note The PN PX TN and TX commands return either factory limits if user limits are El not enabled or user limits if user limits are enabled 50 Copyright 2014 FLIR Commercial Systems Inc Chapter 7 User Defined Limits G L B 7 1 3 Example This command sequence resets the PTU to factory defaults queries the limits for each axis then com mands a movement beyond the specified limits to return an error message and queries the user defined minimum pan position R PN Minimum Pan position is 3090 PX Maximum Pan position is 3090 TN Minimum Tilt position is 907 TX Maximum Tilt position is 604 LE PP3200 Maximum allowable Pan position is 3090 PNU Minimum Pan user defined position is 1000 7 1 4 See Also e Position resolution units Section 4 3 e Achieving larger axis bounds Section 4 5 7 2 Position Limit Enforcement These commands specify whether position commands beyond the factory or user defined limits are allowable 8 When limits are enabled commands beyond those limits return an error message and are not executed Note Factory limits are enabled and enforced by default When factory limits are enab
104. usieausacovsanedelecesscosvaccadsbsobssesvactacavcdccedsssctedewcedsedsbcessuaucs 81 AE urniicsercnn noa aa s Aenda aae aeaa a e E 81 Ee Ee ECH COMMANG O 81 141 2 SIMA E 81 1A 1 3 E ln E 82 er H TEE Tal 82 14 2 1 e leen EL e EEN ER 142 2 EE 82 E BE une TEE 82 14 3 E ele de Le TEE 83 VA 351 Commands EE 83 Copyright 2014 FLIR Commercial Systems Inc wy F L R E Series Pan Tilt Command Reference Manual 14 3 2 Synta E 83 TASS B El EE 83 T44 Ee lee d EE ER 144 S COMIMAMG o e e o 83 144 2 A O O EE A A 84 EE ue E 84 14 5 Network Gateway cccccsscsesssscseceeeeeceeeesssseseeesaseaeeeeeeeeeseeescseseseesseaeaeseeeeeeesesseuscsesesasauaeeeeseeeesess 84 TA BL COMIMANG WE 84 A O PES PO NEAR AS SEENE KEEN EKEN ENTE Ea 84 A 84 14 6 Network Host Name ccccccssssscsecesecceccecescsesesseaaeeaeeeeeeeeeesesseeeseeeeaesesseseeeeeeseseesseeseesaaaeaeeeseeeesens 85 14 6 1 Command EE 85 DE G2 SYNTAX o 85 14 6 34 Example EE 85 14 7 Network EE 85 VAT LE COMIMANG WEE 85 A EE 85 WAT E Exa le EE 86 A MOCES effek Eege ege Ee ged Se dE ENNER coae cousdussceassssseveds sadecsbevcavades see sesseedsedse cesses 87 V5 T COMMAN GS EE 88 EE e ENE EE EEE eE O EEEE Ea A SEE 89 15 3 EMO ii 89 16 SE Series TCP IP CONtrOl rada 91 16 1 Using TEP ed UE 91 16 2 e Nee 92 16 2 1 Using Ki eg VC Un EEN 92 MAA ATEN EE 92 16 2 3 Using PUT A AA A 93 e eener E A A A Nieu aiaa 94 17 Geo Pointing ii a ivi iv kesion 95 17 1
105. vious PTU models 1 3 PTU E46 Features The PTU E46 includes the following new features compared to the PTU D46 e Built in Ethernet Web IP interface for easy configuration control and diagnostics e Pelco D support e Integrated geo pointing GPM support e Compatible with the PTU Software Development Kit PTU SDK e Higher command rates with lower latency and jitter 2 Copyright 2014 FLIR Commercial Systems Inc Chapter 1 Introduction E L Ba 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 Item1 e Item 2 Procedures that must be 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 Menu

Pan-Tilt Unit (E Series) Command Reference Manual

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