FLIR PTU-D300 User manual

Computer Controlled
PAN-TILT UNIT
Model PTU-D300
USER’S MANUAL
Version 2.19
www.flir.com/mcs

Pan-Tilt Unit (Model PTU-D300) User’s Manual, Version 2.19,
June 25, 2012
©1991,2006 by FLIR Commercial Systems, Inc., 890C Cowan
Road, Burlingame, California 94010, [phone], FAX:
[phone], www.flir.com/mcs.
All rights reserved. Protected under numerous U.S. Patents
including 5463432 and 5802412, and patents pending. No part of
this book may be reproduced, stored in a retrieval system, or
transcribed, in any form or by any means, electronic, mechanical,
photocopying, recording, or otherwise, without the prior written
permission of FLIR Commercial 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 Commercial Systems, Inc. FLIR Commercial
Systems, Inc. cannot be held liable for any mistakes in this manual
and reserves the right to make changes.

1 INTRODUCTION .................................................................................................1
1.1 IMPORTANT SAFEGUARDS AND WARNINGS....................................2
1.2 Models .........................................................................................................2
2 QUICK START......................................................................................................3
2.1 Overview......................................................................................................3
2.2 Installation Components ..............................................................................3
2.3 Basic Setup Steps.........................................................................................4
3 INSTALLATION & INITIAL SETUP ................................................................5
3.1 Pan-Tilt Mounting........................................................................................5
3.2 Wiring and Connectors ................................................................................5
3.3 Power Sources..............................................................................................6
3.4 RS-232 Interface and Host Settings.............................................................7
3.5 Initial Power-up and Test.............................................................................8
3.6 Basic Pan-Tilt Unit Commands ...................................................................8
3.7 Mounting Your Payload...............................................................................8
3.7.1 Over-the-Top Bracket Mounting......................................................9
3.7.2 Side-Mount Bracket Mounting........................................................9
3.8 Payload Wiring Connections .....................................................................10
4 COMMAND REFERENCE................................................................................11
4.1 Binary Command Format ..........................................................................11
4.2 General ASCII Command Format.............................................................11
4.3 Positional Control Commands & Queries .................................................11
4.3.1 Position (absolute) .........................................................................11
4.3.2 Offset Position (relative offset)......................................................12
4.3.3 Resolution per Position..................................................................12
4.3.4 Limit Position Queries...................................................................13
4.3.5 Position Limit Enforcement...........................................................13
4.3.6 Immediate Position Execution Mode.............................................14
4.3.7 Slaved Position Execution Mode...................................................14
4.3.8 Await Position Command Completion ..........................................15
4.3.9 Halt Command...............................................................................15
4.3.10 Monitor (Autoscan) Command......................................................16
4.3.11 Position Presets..............................................................................16
4.4 Speed Control Commands & Queries........................................................17
4.4.1 Speed Control & Relevant Terms..................................................17
4.4.2 Speed (absolute).............................................................................17
4.4.3 Delta Speed (relative offset) ..........................................................18
4.4.4 Acceleration...................................................................................19
4.4.5 Base (Start-Up) Speed....................................................................19
4.4.6 Speed Bounds ................................................................................20
4.4.7 Speed Control Modes.....................................................................20
4.5 Unit Commands.........................................................................................21

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
4.5.6 Outside Supply Voltage and Controller Temperature Query.........23
4.6 Power Control Commands & Queries .......................................................23
4.6.1 Stationary Power Mode..................................................................24
4.6.2 In-Motion Power Mode .................................................................24
4.7 Host Serial Port and Control......................................................................25
4.7.1 Configuring Host Serial Port Baud and Communications.............25
4.8 Step Modes.................................................................................................26
4.8.1 Configuring Step Mode..................................................................26
5 SPECIAL CONFIGURATIONS ........................................................................27
5.1 High-Speed Operation ...............................................................................27
5.2 High-Payload Operation ............................................................................27
5.3 Battery-Powered Operation .......................................................................27
6 PTU OPTIONS ....................................................................................................28
6.1 EIO Option: Expansion Serial Ports and Control......................................28
7 NETWORKING...................................................................................................28
7.1 Basic Networking Setup Steps...................................................................28
7.2 PTU Network Connections........................................................................29
7.3 PTU Network Software Commands ..........................................................29
7.3.1 Unit Network ID............................................................................29
7.3.2 Unit Select/Deselect.......................................................................30
A. SPECIFICATIONS..............................................................................................31
A.1 D300 Mechanical Dimensions...................................................................31
A.2 D300 Payload Bracket Dimensions...........................................................32
A.3 D300 Base Connector Wiring....................................................................33
A.4 D300 Payload Wiring PL01.......................................................................34
A.5 D300 Payload Wiring PL02.......................................................................35
A.6 D300 Payload Mounting............................................................................36
REGULATORY INFORMATION.....................................................................37
LIMITED WARRANTY.....................................................................................38

PTU-D300 User’s Manual (v2.19) INTRODUCTION
page 1
1 INTRODUCTION
The PTU-D300 Pan-Tilt Unit from FLIR Commercial Systems, Inc. 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 0.02 degrees
• Precise control of position, speed & acceleration
• On-the-fly position and speed changes
• Self calibration upon reset
• Power consumption can be controlled from host
• ASCII command mode for simplicity, binary commands available for efficient program
control
• Constant current DMOS motor drives for increased performance and control
• DC power input from an unregulated source
• Flexible connectivity options.
Applications of the PTU-D300 include:
• Mid and Long-range Surveillance systems
• Automated detection and tracking
• Multi-sensor perimeter monitoring systems
• Thermal and IR cameras
• Marine/shipboard sensor systems
• Harbor and Port Security
• Border Security & Law Enforcement
• Highway & Transportation Monitoring
• Military special operations
• Satellite communications systems
• Microwave antenna systems (passive, active)
• Robotics & computer vision.
This User’s Manual provides information needed to set up and operate the PTU-D300 unit. The
next section provides a brief overview to allow you to get started as quickly as possible. More
detailed technical information is provided in the remaining sections.