Computer Controlled PAN-TILT UNIT Model PTU-D300 USER’S MANUAL Version 2.18.0 www.DPerception.
Pan-Tilt Unit (Model PTU-D300) User’s Manual, Version 2.18.0, October 24, 2006 ©1991,2006, 2009 by Directed Perception, Inc., 890C Cowan Road, Burlingame, California 94010, (650)692-3900, FAX: (650)692-3930, www.DPerception.com. All rights reserved. Protected under numerous U.S. Patents including 5463432 and 5802412, and patents pending.
1 INTRODUCTION .................................................................................................1 1.1 IMPORTANT SAFEGUARDS AND WARNINGS....................................2 1.2 Models .........................................................................................................2 2 QUICK START ......................................................................................................3 2.1 Overview........................................................................
.6 4.7 4.8 4.5.1 Reset Pan-Tilt Unit ........................................................................21 4.5.2 Default Save/Restore .....................................................................22 4.5.3 Echo Query/Enable/Disable...........................................................22 4.5.4 Feedback Verbose/Terse/Off ..........................................................23 4.5.5 Controller Firmware Version Query ..............................................23 4.5.
PTU-D300 User’s Manual (v2.18.0) INTRODUCTION 1 INTRODUCTION The PTU-D300 Pan-Tilt Unit from Directed Perception provides fast, accurate, and durable positioning of cameras, antennas, lasers, and other large payloads. Some general features: • Simple to command from any RS-232 or RS-485 terminal or computer • Payload capacity up to 35-70 lbs. • Resolution of 0.
INTRODUCTION PTU-D300 User’s Manual (v2.18.0) 1.1 IMPORTANT SAFEGUARDS AND WARNINGS IMPORTANT SAFEGUARDS AND WARNINGS 1. Please read these instructions prior to use. 2. Please keep these instructions accessible. 3. Please heed all warnings. 4. Please follow all instructions. 5. Installation should be done only by qualified personnel and conform to all local codes. CAUTION: These servicing instructions are for use by qualified service personnel only.
PTU-D300 User’s Manual (v2.18.0) QUICK START 2 QUICK START 2.1 Overview Figure 1 shows a system overview. The PTU-D300 includes an integral controller and it accepts control commands from any host computer over RS-232 or RS-485. The basic D300 connections are: D300-power from a DC power source, and Pan-Tilt Control via RS232/485.
QUICK START PTU-D300 User’s Manual (v2.18.0) 2.3 Basic Setup Steps The following outlines the basic pan-tilt set-up and installation steps. Section 3 details each of these steps. 1. Unpack the D300 pan-tilt. Mount the pan-tilt securely. See section 3.1 for details on mounting. 2. Establish wiring to the pan-tilt. Factory cable with breakouts for power and other connections makes this easy (model D300AC-CABLE). Or you can make your own cables that better suit your installation. 3.
PTU-D300 User’s Manual (v2.18.0) INSTALLATION & INITIAL SETUP 3 INSTALLATION & INITIAL SETUP This section describes the basic installation and setup steps required to get your pan-tilt operational as quickly as possible. 3.1 Pan-Tilt Mounting Appendix 1 shows the mounting pattern for the PTU-D300. The basic mounting pattern is four #1/4-20 socket-head cap screws in a 3.375” (85.725mm) square pattern. All four mounting screws should be used.
INSTALLATION & INITIAL SETUP PTU-D300 User’s Manual (v2.18.0) The easiest way to wire into the D300 is to use the DP factory cable with breakouts for power and other connections (model D300AC-CAB-25BO), and to use the DP factory power supply (model D300AC-APS-30V). This allows you to plug in and run the D300 in minutes. Or you can use the wiring diagram in Appendix A.3 to make your own cables that better suit your installation. Connect an RS-232 or RS-485 cable between the D300 and a host computer.
PTU-D300 User’s Manual (v2.18.0) INSTALLATION & INITIAL SETUP 3.4 RS-232 Interface and Host Settings An RS-232 terminal or host computer connects to the RS-232 Host Interface on the Pan-Tilt Unit. The host terminal or computer should be set to 9600 baud, 1 start bit, 8 data bits, 1 stop bit, and no parity. Hardware handshaking and XON/XOFF are not used. The RS-232 connections to the Pan-Tilt are: TxD (pin 2), RxD (pin 3), and GND (pin 5). Figure 3 shows cable configurations for some common computer hosts.
INSTALLATION & INITIAL SETUP PTU-D300 User’s Manual (v2.18.0) 3.5 Initial Power-up and Test If you have the power source and Host computer connected described in Sections 3.3 and 3.4, you are ready to power-up and test its operation. Test and verify all cable connections and connector wiring before power-up. We suggest that you do not mount your payload (e.g., camera) until this initial installation is completed and tested. 1.
PTU-D300 User’s Manual (v2.18.0) INSTALLATION & INITIAL SETUP 3.7.1 Over-the-Top Bracket Mounting 1. Ensure the pan-tilt has been through its calibration (at power up) so that the mounting hub is in a known home position. 2. Orient the bracket so the horizontal part of the bracket is topmost. When in the proper orientation, a peg in the bracket will locate into a hole in the D300 mounting hub. 3. Attach the bracket using 6pcs screws. It is vital that thread lock is used for the bracket mounting screws.
INSTALLATION & INITIAL SETUP PTU-D300 User’s Manual (v2.18.0) Payloads should be mounted as close to the Pan-tilt housing as possible so as to position the center of gravity as close to the pan-axis as possible. In all cases, care must be taken to ensure that the payload will clear the Pan-tilt housing and surrounding objects throughout the full range of motion of the unit.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE 4 COMMAND REFERENCE This section describes the pan-tilt unit command set. Each command has a section that provides a brief functional description, a format (syntax) description, examples, and related topics. When controlling the pan-tilt unit from a terminal, a complete menu of pan-tilt commands can be obtained by entering the character “?”. 4.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) Related Topics • Position (relative offset and desired position queries): See Section 4.3.2 • Position resolution (units): See Section 4.3.3 • Position limits: See Section 4.3.4 • Position execution modes: See Sections 4.3.6, 4.3.7 and 4.3.8 • Position limit enforcement modes: See Section 4.3.5 4.3.2 Offset Position (relative offset) Description Specify desired axis position as an offset from the current position, or Query the current axis position.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE Related Topics • Factory options are available to achieve higher resolution or accuracy. 4.3.4 Limit Position Queries Description Queries return the axis position bounds determined upon unit reset.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) Related Topics • Position commands: See Sections 4.3.1 and 4.3.2 4.3.6 Immediate Position Execution Mode Description Instructs pan-tilt unit to immediately execute positional commands. This is the default mode. Syntax I Example For the below commands, the pan axis will immediately execute the pan position command: I * PP1000 * Related Topics • Alternative slaved position execution mode: See Section 4.3.7 4.3.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE 4.3.8 Await Position Command Completion Description Awaits the completion of the last issued pan and tilt axis position commands. Used to coordinate axis motions.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) 4.3.10 Monitor (Autoscan) Command Description Command defines and initiates repetitive monitoring (scanning) of the pantilt. Autoscanning is immediately terminated upon receipt of a character from the host computer, and the pan-tilt is sent to its home position.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE PP500 * TP400 * XS0 * PP600 * TP800 * XG0 4.4 Speed Control Commands & Queries 4.4.1 Speed Control & Relevant Terms The Pan-Tilt Unit provides for precise control of axis speed and acceleration. This subsection briefly describes how speed control is performed and it introduces relevant terms. As shown in Figure 5, upper and lower speed limits determine the bounds on nonstationary pan-tilt velocities.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) Syntax Query desired pan speed: Set desired pan speed: Query desired tilt speed: Set desired tilt speed: PS PS TS TS Example The following commands instruct the pan axis to move to the far left, then slowly move right, and then on-the-fly it speeds up: I * PS1900 * PP2600 * A * PS600 * PP-2600 * PS1900 * Related Topics • Position commands: See Section 4.3.1 - 4.3.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE • Speed bounds: See Section 4.4.6 4.4.4 Acceleration Description Specify or query axis acceleration and deceleration for speeds above the base speed. Acceleration is specified in positions/second2.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) Related Topics • Position resolution (units): See Section 4.3.3 • Acceleration: See Sections 4.4.1 and 4.4.4 • Speed bounds: See Section 4.4.6 • Changes in the base rate cannot be made on-the-fly since it takes several seconds to recompute the internal tables used to rapidly execute speed ramping. 4.4.6 Speed Bounds Description Set and query the upper and lower speed bounds for desired speed commands.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE speed. In this mode, the speed command specifies a signed velocity in which the sign determines the direction of axis movement, and the ordinal value specifies the speed of movement in this direction. In this mode, if the commanded speed is negative, the axis is automatically commanded to the minimum axis position. Conversely, if the speed command is positive, the axis is automatically commanded to the maximum axis position.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) position of 0 (see Section 4.3.4), hence position commands in limit enabled mode (see Section 4.3.5) will return an illegal position command feedback.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE Example PP * 22 ED * * 22 4.5.4 Feedback Verbose/Terse/Off Description Command and query the ASCII feedback returned by PTU commands. Syntax Enable verbose ASCII feedback: FV Enable terse ASCII feedback: FT Query ASCII feedback mode: F Example FV * PP * Current pan position is 0 FT * PP * 0 F * ASCII terse mode 4.5.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) 4.6.1 Stationary Power Mode Description Set and query the current level applied to axis motors when not in-transit.
PTU-D300 User’s Manual (v2.18.0) COMMAND REFERENCE Example PM * Pan in REGULAR move power mode PML * PM * Pan in LOW move power mode Related Topics • It is not recommended that an axis be in transit more than 20% of the time when in High Move Power Mode (i.e., a 20% duty cycle). 4.7 Host Serial Port and Control As was described in Section 3, default host computer communications with the pan-tilt controller is 9600 baud.
COMMAND REFERENCE PTU-D300 User’s Manual (v2.18.0) The following command sets the host serial port RS232/RS485 to a baud rate of 19,200 bits/second (8 data bits per byte, no parity, no handshaking), a 30ms delay between bytes output from the pan-tilt controller, and the power up baud rate overrides the default and is set at 19,200 baud. @(19200,30,T) * Related Topics • To wire the host port serial RS232 communications: See Section 3.4 • To wire the host port serial RS485 communications: See Section 7.
PTU-D300 User’s Manual (v2.18.0) SPECIAL CONFIGURATIONS 5 SPECIAL CONFIGURATIONS 5.1 High-Speed Operation This section discusses how to improve high speed pan-tilt unit performance for your load. The primary factors that affect high speed operation are: • Load weight, weight distribution and dynamics • Desired upper speed limit (see Section 4.4.6) • Rate of acceleration (see Section 4.4.4) • The base (start-up) speed (see Section 4.4.5) • The voltage of the source power supply.
PTU OPTIONS PTU-D300 User’s Manual (v2.18.0) 6 PTU OPTIONS 6.1 EIO Option: Expansion Serial Ports and Control For OEM applications, internal D300 wiring can be brought out on FFC (flat flex connectors) to provide for additional control signals. For example, other serial devices attached or proximal to the pan-tilt may require other RS232 serial ports. Please contact Directed Perception for additional information on these custom configurations.
PTU-D300 User’s Manual (v2.18.0) NETWORKING 7.2 PTU Network Connections Figure 6 illustrates how PTUs can be networked and connected to a host computer via its RS232 port. Each PTU has a built-in RS-232 to RS-485 converter, and the host computer can be connected to the RS-485 controller network by simply connecting to the RS-232 connector on a PTU. The PTUs are then connected together via an RS-485 multi-drop network (full duplex).
NETWORKING PTU-D300 User’s Manual (v2.18.0) Syntax Query current PTU network unit ID: Set PTU to interactive mode (non-networked): Set PTU network unit ID: where 1 ≤ ≤ 127 U U0 U Example The following queries a PTU unit ID, then sets and stores the unit ID configuration so that upon power-up the new unit ID will be used. U * Unit ID is 0 U1 * U * Unit ID is 1 U1 * DS * Related Topics • Unit Select/Deselect: See Section 7.3.2. 7.3.
A B C D 7 3.375 2X 11.61 8 2X 3.375 9.80 PAYLOAD BRACKET IN OVERHEAD POSITION 7 6 1/4-20 CLEARANCE HOLE 4X 9.85 PAYLOAD BRACKET IN SIDE POSITION 1.850 6 TILT AXIS 5 .550 .375 THICK 2.950 3.325 5 4 6.43 .475 C-BORE DETAIL A CUT AWAY SCALE 1 : 1 4X 2.10 .
PTU-D300 User’s Manual (v2.18.0) Appendix A.: SPECIFICATIONS page 32 2.250 3.325 .257 CL .736 3.250 2.631 CL 4.131 CL 5.631 CL 7.131 CL 8.000 .375 THICK A.
PTU-D300 User’s Manual (v2.18.0) Appendix A.: SPECIFICATIONS A.
page 34 P R S CHB 232 RX CHB 232 TX CHB 232 OTR SHIELD C D E F PAYLOAD DC 0-50VDC VIDEO-1 GND GENERAL PASSTHRU #2 PAYLOAD GND CHA 232 RX H T V N M VIDEO-1 GENERAL PASSTHRU #3 GENERAL PASSTHRU #1 VIDEO-2 232 SGND J U L TTL OP2 VIDEO-2 GND CHA TTL TX K CHA TTL RX RED (bold) denotes pass-thru from D300 input connector · {R, S} are rated 3A · {F, G, H, N, P, T, U, V} are rated 1A CAUTION: DO NOT EXCEED MAXIMUM RATED PASS-THRU AMPERAGES. FUSE PAYLOADS AT RATED TRIP VALUES.
P R S TTL OP2 TTL OP3 TTL OP4 SHIELD C D E F PAYLOAD DC 0-50VDC VIDEO-1 GND GENERAL PASSTHRU #2 PAYLOAD GND HOST_232_RX H T V N M VIDEO-1 GENERAL PASSTHRU #3 GENERAL PASSTHRU #1 VIDEO-2 HOST_232_SGND J U L GENERAL PASSTHRU #4 GENERAL PASSTHRU #6 VIDEO-2 GND K GENERAL PASSTHRU #5 RED (bold) denotes pass-thru from D300 input connector · {R, S} are rated 3A · {F, G, H, J, K, L, N, P, T, U, V} are rated 1A CAUTION: DO NOT EXCEED MAXIMUM RATED PASS-THRU AMPERAGES.
A B C D 8 7 8 UNIT WITH NO PAYLOAD BRACKET 7 THIS DOCUMENT CONTAINS PROPRIETARY INFORMATION OF DIRECTED PERCEPTION AND IS TENDERED SUBJECT TO THE CONDITIONS THAT THE INFORMATION (A) BE RETAINED IN CONFIDENCE, (B) NOT BE USED OR INCORPORATED IN ANY PRODUCT EXCEPT UNDER WRITTEN AGREEMENT WITH DIRECTED PERCEPTION. 1.918 1.850 6 6 B 2.200 4 5 4 R6.
REGULATORY INFORMATION Electromagnetic Interference (EMI) is any signal or emission, radiated in free space or conducted along power or signal leads that endangers the function of a radio navigation or other safety service or seriously degrades, obstructs, or repeatedly interrupts a licensed radio communications service. Class A Class A equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC Rules.
LIMITED WARRANTY Directed Perception, Inc. warrants this product against defects in material or workmanship, as follows: For a period of one year from date of purchase, Directed Perception, Inc. will repair the defective product and provide new or rebuilt replacements at no charge. Warranty repairs require the issuance of a repair authorization number from Directed Perception prior to the return of merchandise, and the buyer assumes responsibility for freight charges.
