AMX Camrobotics User manual

Camrobotics by AMX
INSTRUCTION MANUAL

Limited Warranty and Disclaimer
AMX Corporation warrants its products to be free from defects in material and
workmanship under normal use for a period of three years from date of purchase from
AMX, with the following exceptions. Electroluminescent and LCD control panels are
warranted for a period of three years, except for the display and touch overlay
components which are warranted for a period of one year. Disk drive mechanisms,
pan/tilt heads, power supplies, modifications, MX Series products, and KC Series
products are warranted for a period of one year. Unless otherwise specified, OEM and
custom products are covered for a period of one year. AMX software products are
warranted for a period of 90 days. Batteries and incandescent lamps are not covered.
This warranty extends to products purchased directly from AMX or an authorized AMX
dealer. Consumers should inquire from selling dealer as to the nature and extent of the
dealer’s warranty, if any.
AMX is not liable for any damages caused by its products or for the failure of its
products to perform, including any lost profits, lost savings, incidental damages, or
consequential damages. AMX is not liable for any claim made by a third party or made
by you for a third party.
This limitation of liability applies whether damages are sought, or a claim is made,
under this warranty or as a tort claim (including negligence and strict product liability),
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authorized representative of AMX has been advised of the possibility of any such
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Camrobotics Table of Contents i
Table of Contents
Introduction ............................................................................ 1
Overview 1
Features 2
AXB-EM232 2
AXP-DTC 3
AXB-CAM 3
CAM-1000 3
PS2.8 4
System Application 4
How to Use this Manual 6
Installation.............................................................................. 7
Overview 7
Pre-installation 7
Connecting the CAM-1000 to the AXB-CAM 8
Preparing captive wires 9
Mounting the CAM-1000 10
Operation .............................................................................. 11
Overview 11
Camera Selection 11
Iris Controls 12
Zoom/Focus Control 12
Pan/Tilt Control 12
Speed Control 13
Limit Stops 13
Adjusting the pan limit stops 13
Adjusting the tilt limit stops 14
Preset Operation 15
Programming the presets 15
Recalling the presets 16
Reversing the Joystick/POT Direction 16
Specifications....................................................................... 19
Overview 19
AXP-DTC 19
CAM-1000 20

ii Table of Contents Camrobotics
Technical Support ................................................................ 23
Overview 23

Camrobotics Introduction 1
Introduction
Overview
Camrobotics by AMX offers fully modular, programmable camera control systems.
The Camrobotics application (Figure 1) described in this document includes the
following AMX products:
AXB-EM232 Enhanced Master/RS-232 Controller, a bus device that functions
like an AMX Enhanced System Master Card in a single compact enclosure and
has CAMROBOTICS-specific AXCESS programming
AXP-DTC Desktop Camera Panel, a camera positioning panel that provides
joystick and pushbutton control
AXB-CAM Camera Controller, a programmable AXlink or RS-232 device that
can control a wide variety of motorized pan/tilt heads and camera lenses
CAM-1000 Pro Pan/Tilt Head, a motorized pan/tilt camera head
PS2.8 12 VDC, 2.8 A Power Supply provides regulated switching of 110/220
VAC input

2Introduction Camrobotics
AXB-CAM
PS2.8
AXB-CAM
PS2.8
AXB-CAM
PS2.8
AXB-EM232
AXP-DTC
12 VAC
CAM-1000
tripod mount
CAM-1000
wall mount with
WM-CAM
(optional)
CAM-1000
surface mount
Features
The following are the features of the Camrobotics application.
AXB-EM232
Supports RS-232-, RS-422-, and RS-485-controlled devices, such as audiovisual
and computer-based devices, as well as AXlink devices
Supports hardware handshaking and asynchronous data communication
standards
Includes a 12 VDC power supply
Figure 1
Camrobotics application

Camrobotics Introduction 3
Stores program commands in 64K of battery-protected memory that can be
expanded to 256K
AXP-DTC
Is a professional joystick-assisted camera operator control interface
Displays positive status feedback from illuminated pushbuttons
Emulates analog control for lens iris and joystick speed adjustment
Stores and recalls up to 144 preset positions, 24 per camera station, for up to 6
camera stations using shot, mode selection, and camera station pushbuttons
AXB-CAM
Controls pan/tilt voltage from external supply (6 VDC to 24 VDC, 1 A)
Controls pan/tilt voltage (-12 VDC to 12 VDC, 150 mA)
Controls zoom and focus voltage (-12 VDC to 12 VDC, 150 mA)
Communicates with most PCs through RS-232 port (300 to 38,400 baud)
Has eight adjustment potentiometers (POTs) for setting the center and range
voltages for pan, tilt, zoom, and focus operations
Has five easily accessible calibration test points for checking control voltage
settings for pan, tilt, zoom, and focus operations
CAM-1000
Handles a camera load of up to 18 pounds (8.2 kg)
Adjusts to a variety of camera/lens centerlines
Installs using four pre-tapped holes (1/4 x 20 thread) or standard camera
tripod mount (3/8 - 16 thread)
Limits pan and tilt range using adjustable external stops (270-degree
maximum pan, 90-degree maximum tilt)
Operates on 12 to 24 VDC power
Delivers precise motion control and position feedback for precise preset
repeatability

4Introduction Camrobotics
PS2.8Provides regulated 12 VDC power up to 2.8 A
Automatically switches for 110/220 VAC operation
Has overload protection
System Application
The AXB-EM232 is an AMX Enhanced System Master Card in a single compact
enclosure. It is fully compatible with the AXCESS Control System and can be used
either as a stand-alone device or with other AMX bus controllers. The AXB-EM232
runs complete AXCESS programs and controls other AXlink components and two
devices using RS-232 as a control protocol. It can also control devices using RS-422
or RS-485 protocols.
The standard program configuration of this Camrobotics system application
(Figure 2) controls up to six camera stations. An AXB-CAM, CAM-1000, and PS2.8
are required for each station. There is also a provision for RS-232/422 interfacing
with a host computer through the AXB-EM232 or directly to the AXB-CAM.
The system software assumes a standard configuration using videoconference-style
lenses, including Fujinon BMD and Canon KTSA format lenses, which require no
modification. If the system includes optional components and software—such as
CCTV-type lenses (direct DC drive and reference POTs), RS-232-controlled lenses, or
video switching—refer to the documentation that came with those components and
software applications or contact their manufacturers for additional information.

Camrobotics Introduction 5
AXP-DTC
AXB-CAM (rear view)
AXB-EM232 (rear view)
PS2.8 (see note)
Lens
CAM-1000
(surface mount)
Camera
AXlink cable
120 VAC
Note
A separate power supply is only
required in applications controlling
more than one camera station, as in
Figure 1. For applications using only
one camera station, the power supplied
from the AXP-DTC via the +12 V wire
in the AXlink is sufficient to power the
three camera station components, the
AXB-EM232, AXB-CAM, and
CAM-1000.
The AXP-DTC provides a traditional joystick and illuminated pushbutton mode of
control for camera positioning and lens control. Two dual-axis, proportional-speed
joysticks with oversized handles furnish comfortable, precision pan, tilt, zoom, and
focus control. Adjustable iris control with automatic and manual modes is available
as well. You can select up to six camera stations as well as store and recall eight
preset shots for each of three modes per camera station. The three mode buttons can
provide a variety of features through AMX custom programming, including
selection of optional banks of cameras or activation of routing commands to a video
switcher.
The AXB-CAM is an AXlink device that can control a wide variety of motorized
pan/tilt heads and camera lenses that use low-current (5 VDC to 12 VDC) and/or
high-current (-24 VDC to 24 VDC) control voltages. The AXB-CAM uses 8-bit (256
Figure 2
System application

6Introduction Camrobotics
steps) and 10-bit (65,535 steps) precision-control processing, and is equipped with a
lithium battery that protects stored memory.
The CAM-1000 is a motorized pan/tilt head designed for precision, preset camera
positioning. The motor drives are optimized for 0 to 12 VDC control and accept 0 to
24 VDC as well for universal system compatibility. Precision POTs provide pan and
tilt position sensing for presets.
How to Use this Manual
This manual comprises the following sections:
Installation Describes installation of the CAM-1000.
Operation Describes basic operations of the AXP-DTC.
Specifications Describes the specifications for the AXP-DTC and the
CAM-1000.
Technical Support Lists the telephone numbers to call for AMX
technical support.
For complete information about pre-installation settings, installation, and
programming of the AXB-EM232 and AXB-CAM, refer to the following AMX
manuals:
Enhanced Master RS-232 Instruction Manual, 032-004-0004
AXB-CAM Camera Controller, 032-004-1212

Camrobotics Installation 7
Installation
Overview
This section describes the installation of the CAM-1000 and the AXP-DTC. For
detailed instructions on installing the AXB-EM232 and the AXB-CAM, refer to the
instruction manuals for those products.
Pre-installation
Setup switches, test points, and adjustment POTs are located behind the front panel
of the AXB-CAM. These have been pre-set for operation of the CAM-1000 and
specified lens. You may need to make adjustments to these settings for your
application. Refer to the AXB-CAM Camera Controller Instruction Manual for
information.
If you are not using the optional CC-REL cables, assemble a cable with the 15-pin
D-sub female connector (see Figure 3 and Figure 4) included with the CAM-1000 and
the AXB-CAM.
Pin 1
Pin 9
CAM-1000 Connector Pinouts
Pin Function
1Pan
2Pan
3Tilt
4Tilt
5N/A
6POTs -
7Pan POT wiper
Note
If you are building your own
cables, acquire the lens
interface connector from the
appropriate lens manufacturer.
Figure 3
CAM-1000 connector
Figure 4
CAM-1000 connector pinouts

8Installation Camrobotics
CAM-1000 Connector Pinouts
Pin Function
8POTS +
9POTS -
10 Tilt POT wiper
11 POTS +
12 N/A
13 N/A
14 N/A
15 N/A
Make up a 3’ set of AXlink cables and bench test the system before installation.
Bench-testing involves completing connections and adjustments, then performing all
operating procedures to verify proper performance.
Connecting the CAM-1000 to the AXB-CAM
To connect the CAM-1000 and the lens to the AXB-CAM:
1. Connect the CAM-1000 pan/tilt head and the lens to the AXB-CAM with
(optional) CC-REL cables or your own cable. (Refer to the AXB-CAM Instruction
Manual for additional information.)
2. Connect the AXB-EM232 and the AXB-CAM to the AXP-DTC using a four-wire
AXlink cable and the supplied 15-pin D sub male connector. The AXP-DTC
supplies power across the AXlink cable to the AXB-EM232 and the AXB-CAM.
Figure 5 shows the connector and Figure 6 shows the pinouts of the 15-pin D
sub female connector on the back of the AXP-DTC.
Pin 1
Pin 9
Caution
In multiple camera applications
using a PS2.8 with the AXB-
CAM, do not connect the +12V
wire of AXlink to the AXB-CAM.
Figure 5
AXP-DTC connector

Camrobotics Installation 9
AXP-DTC Connector Pinouts
Pin Function
1Ground
2Ground
3AXM
4AXP
512 VDC (output)
612 VDC (output)
7N/A
8N/A
9N/A
10 N/A
11 N/A
12 N/A
13 N/A
14 N/A
15 N/A
The total distance of AXlink cable throughout the control system cannot exceed
3,000 feet.
3. If you are controlling more than one camera, connect a PS2.8 to each AXB-CAM
using the high-current section and 12 VDC power connector. (Refer to Preparing
captive wires and the AXB-CAM Instruction Manual.)
4. Connect the AXP-DTC to a 120 VAC power outlet.
5. If you are using PS2.8 units, connect them to 120 VAC power outlets.
Preparing captive wires
You will need a wire stripper and flat-blade screwdriver to perform these steps.
Prepare and connect the captive wires as follows.
1. Strip .25 inch of wire insulation off all wires.
2. Insert each wire into the appropriate opening on the connector according to the
wiring diagrams and connector types described in this section.
3. Turn the flat-head screws clockwise to secure the wire in the connector.
Figure 6
AXP-DTC connector pinouts
Caution
Do not over-torque the screw.
Doing so can bend the seating
pin and damage the connector.

10 Installation Camrobotics
Mounting the CAM-1000
You can mount the CAM-1000 directly to a surface, or you can use a wall or ceiling
mount. (See Figure 1.) To mount the pan/tilt head:
1. Select a surface capable of supporting the combined weight (refer to
Specifications) of the unit, camera, lens, and cable drag.
2. Mount the unit.
To mount the CAM-1000 directly onto the surface, drill four holes according
to the mounting pattern (see Figure 14 in Specifications) and secure the
CAM-1000 using four 1/4” x 20 machine bolts with lock-washers.
To mount the CAM-1000 using the (optional) WM-CAM and four 1/4” x 20
machine bolts with lock-washers, secure the wall mount and fasten the
CAM-1000. (You do not need to use an interface plate.)
3. Mount and balance the camera on the CAM-1000.

Camrobotics Operation 11
Operation
Overview
The AXP-DTC (Figure 7) remotely controls and is responsive to all manual or
programmed functions for up to six camera stations.
Two proportional-rate, two-function joysticks simulate the camera operator’s
movements, panning and tilting the camera and zooming and focusing the lens.
Camera Selection
Use the CAMERA STATION buttons 1 through 6 (see Figure 7) to select the required
camera.
The AXP-DTC does not include video switching circuits. Pressing a camera station
button selects the camera station to be controlled, but does not switch the camera’s
video to the monitor screen (switcher control available as an option only).
Figure 7
AXP-DTC

12 Operation Camrobotics
Iris Controls
The IRIS AM (Auto/Manual) rocker switch (see Figure 7) allows for selection of iris
operation.
In the auto mode (A), the camera aperture adjusts automatically to
compensate for changing light conditions.
In the manual mode (M), the iris aperture must be opened or closed by
rotating the OPEN/CLOSE knob (on the left of the rocker).
The IRIS OPEN/CLOSE knob (see Figure 7) adjusts the amount of light entering the
camera.
To reduce the amount of light, turn the knob clockwise to close.
To increase the amount of light, turn the knob counter-clockwise to open.
The direction can be reversed. See Reversing the Joystick/POT Direction.
Zoom/Focus Control
The left-hand joystick (see Figure 7) controls the zoom/focus function (movement)
of the lens optics.
ZOOM IN and ZOOM OUT compose the scene by varying the focal length of
the lens.
FOCUS NEAR and FOCUS FAR bring the subject into focus by imaging the
focal point to the same plane of the camera’s pick-up device.
Pan/Tilt Control
The right-hand joystick (see Figure 7) controls the pan/tilt function (movement) of
the CAM-1000.
PAN is the horizontal movement of the camera platform to the right or left
(270-degree maximum).
TILT is the vertical movement, up or down (90-degree maximum).
The pan/tilt speed varies in direct proportion to the deflection of the joystick. The
farther from the neutral position you move the joystick, the faster the camera
platform moves. The maximum speed is dictated by the speed control knob setting.

Camrobotics Operation 13
To position the camera platform:
1. Press the button of the camera station number to be controlled.
2. Position the camera platform:
To tilt the camera upward, move the joystick upward to TILT UP.
To tilt the camera downward, move the joystick downward to TILT DOWN.
To pan the camera left, move the joystick left to PAN LEFT.
To pan the camera right, move the joystick right to PAN RIGHT.
Speed Control
The speed control knobs (see Figure 7) determine the speed rate for the joystick
controls during manual operation (on-air shots) only. The speed controls include the
pan/tilt and zoom/focus speed settings. Manual iris settings are not affected when
recalling a shot. The Camrobotics circuits vary the speed in direct proportion to the
deflection of the joysticks to the maximum speed determined by the speed control
knobs.
To increase the speed up to the system’s maximum, rotate the speed control
knob counter-clockwise.
To decrease the system’s maximum speed, rotate the speed control knob
clockwise.
Limit Stops
Adjusting the pan limit stops
To adjust the pan limit stops:
1. Ensure that there is enough slack in the lens and CAM-1000 cables to
accommodate your required range of pan/tilt motion.
2. Move the pan/tilt joystick on the AXP-DTC to the right to rotate the pan head
until you have reached the desired right pan limit.
3. Locate the right pan limit stop block on the CAM-1000.
Note
Moving the pan/tilt joystick in a
vector direction, between the
horizontal and vertical
directions, drives the pan/tilt
functions simultaneously.

14 Operation Camrobotics
4. Loosen the stop block on the CAM-1000 using a 1/16” Allen wrench and move
it until it contacts the limit switch actuator.
a. To deflect the actuator, move the stop block slightly farther until you hear a
click. The click indicates the opening of the limit switch.
b. Tighten the stop block.
5. Move the pan/tilt joystick on the AXP-DTC to the left to rotate the pan head to
the desired left limit position.
6. Adjust the left pan limit stop block in the same manner as the right pan limit
stop block, described in Step 3.
7. Pan to both stop positions and recheck for exact trim of limit stops.
8. Tighten both stop blocks securely with the Allen wrench.
Adjusting the tilt limit stops
You will need a 1/16” Allen wrench to perform these steps. To adjust the tilt limit
stops:
1. Move the pan/tilt joystick on the AXP-DTC upward to tilt the unit until the
desired up limit is reached.
2. Loosen the upper tilt limit stop block on the CAM-1000 with the Allen wrench.
3. Locate the up tilt limit block on the CAM-1000 and move it until it contacts the
limit switch actuator.
a. To deflect the actuator, move the stop slightly until you hear a click. The
click indicates opening of the limit switch.
b. Tighten the stop block.
4. Move the pan/tilt joystick downward to tilt the unit to the desired down limit
position.
5. Loosen the lower tilt limit stop block on the CAM-1000 with the Allen wrench.
6. Adjust the down tilt limit stop block in the same manner as the up tilt limit stop
block, described in Step 3.
7. Tilt to both stop positions and recheck for exact trim of the limit stop blocks.
8. Tighten both stop blocks securely with the Allen wrench.
Note
The stops must be within 270
degrees of each other.
Caution
Do not move the limit stops to
positions wider than the factory
set locations.
Note
The stops must be within 90
degrees of each other.

Camrobotics Operation 15
Preset Operation
The AXP-DTC features up to 24 preset positions for each camera station. A
programmed shot, when recalled by the operator, automatically commands the
AXB-EM232 to have the AXB-CAM move the CAM-1000 pan/tilt with lens and
camera to pre-determined pan/tilt and zoom/focus locations.
Programming the presets
To program the preset positions:
1. Press the number button of the camera station (see Figure 8) to be programmed.
That button is now illuminated.
Mode buttons
SPEED knobs
2. If you are using an optional preview monitor and video switcher, use the video
switcher to route the camera’s video to the preview monitor. Refer to the video
switcher’s documentation for instructions.
3. Use the pan/tilt joystick to position the camera platform to compose the desired
scene.
4. Frame the scene with the zoom and focus joystick.
Figure 8
AXP-DTC controls

16 Operation Camrobotics
5. Press one of the mode buttons, A, B, or C (see Figure 8), to select the mode for
entering the preset position. That button is now illuminated.
6. Press one of the SHOT buttons, 1 through 6, to enter the shot number of the
preset position. The button is now illuminated.
7. Press the STORE button, which stores the positions previously set. The STORE
button will also override the program previously stored under the same
combination of camera station, mode, and shot.
8. Record the preset information on a shot sequence sheet.
Recalling the presets
To recall the presets:
1. Press the number button of the camera station (see Figure 8) that has the preset
shot you want to recall. That button is now illuminated.
2. If you are using an optional preview monitor and video switcher, use the video
switcher to route the camera’s video to the preview monitor. Refer to the video
switcher’s documentation for instructions.
3. Press the appropriate mode and shot selection buttons.
4. Press the recall button. The CAM-1000 positions the camera and lens to the new
location, which was previously stored in the systems memory.
Reversing the Joystick/POT Direction
In its factory default condition, the AXP-DTC’s operation of any of the seven analog
functions may be reversed from normal operation. If you are mounting the camera
upside-down from standard orientation, you will want the camera to rotate
clockwise for a given deflection direction of the pan/tilt joystick while the controller
actually rotates the unit counter-clockwise. To accommodate these differences, the
control software has a hidden configuration mode. When this mode is activated, the
shot buttons can be used to toggle the directional controls for each camera station
individually.
The configuration mode is activated when you simultaneously press and hold the A
and B mode buttons. Shot buttons for the functions that have been previously
reversed will be illuminated. While the A and B mode buttons are held down, each
of the shot buttons acts as a toggle switch to alter the directions of the functions in
Figure 9.