User`s manual

page 20
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.
Syntax
Query upper pan speed limit: PU<delim>
Set upper pan speed limit: PU<positions/sec><delim>
Query lower pan speed limit: PL<delim>
Set lower pan speed limit: PL<positions/sec><delim>
Query upper tilt speed limit: TU<delim>
Set upper tilt speed limit: TU<positions/sec><delim>
Query lower tilt speed limit: TL<delim>
Set lower tilt speed limit: TL<positions/sec><delim>
Example
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 *
Related Topics
• Position resolution (units): See Section 4.3.3
• Changes in the upper speed limit cannot be made on-the-fly since it takes
several seconds to recompute the internal tables used to rapidly execute
speed ramping.
4.4.7 Speed Control Modes
Description
By default, position control commands are independent from the speed
control commands. In this independent control mode, the commanded speed
is an unsigned magnitude that determines the speed at which independently
commanded positions are effected, and the execution of these speed
commands do not affect the commanded desired positions themselves. This
mode is appropriate for pure position control methods (when pan-tilt control
is effected solely by commanding pan-tilt position) and hybrid position-
velocity control methods (when pan-tilt positions and the rate at which they
are achieved are both controlled).
An alternative pan-tilt control method uses a pure velocity control mode
in which all pan-tilt control is effected by signed changes in command axis