FLIR PTU-D100 E Series User manual

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890CCowanRoad,Burlingame,CA94010•(650)692‐3900•FAX:(650)692‐3930
 [email protected]•www.FLIR.com/mcs

COMPUTERCONTROLLED
PAN‐TILTUNIT
MODEL:PTU‐D100
VERSION:3.1.0
REVISIONDATE:JULY8,2011

USER’SMANUAL
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
Pan‐TiltUnit(ModelPTU‐D100)User’sManual,July8,2011
©1991,2011byFLIRMotionControlSystems,Inc.,890CCowanRoad,
Burlingame,California94010,(650)692‐3900,FAX:(650)692‐3930,
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MotionControl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MotionControlSystems.FLIRMotionControlSystemscannotbeheld
liableforanymistakesinthismanualandreservestherighttomake
changes.
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TableofContents
1Introduction..........................................................................................................................................5
1.1ImportantSafeguardsandWarnings............................................................................................6
1.2Models..........................................................................................................................................7
1.2.1ModelNumberOverview......................................................................................................7
1.2.2ModelNumberBreakdown..................................................................................................7
1.3OptionalModules.........................................................................................................................9
2QuickStart...........................................................................................................................................10
2.1SystemOverview.........................................................................................................................10
2.2InstallationComponents.............................................................................................................11
2.3BasicSetupSteps........................................................................................................................11
3InstallationandSetup.........................................................................................................................13
3.1Pan‐TiltMounting.......................................................................................................................13
3.2WiringandConnectors...............................................................................................................14
3.2.1MechanicalOverview..........................................................................................................14
3.2.2WiringOptions....................................................................................................................15
3.3PowerSources.............................................................................................................................16
3.4Shielding......................................................................................................................................16
3.5SerialInterfaceandHostSettings...............................................................................................16
3.5.1RS232ElectricalInterface...................................................................................................17
3.5.2RS485ElectricalInterface...................................................................................................17
3.6InitialPower‐upandTest............................................................................................................17
3.7BasicPan‐TiltUnitCommands....................................................................................................18
3.8MountingYourPayload..............................................................................................................19
3.8.1Installingsidemountbracketsonly....................................................................................20
3.8.2Installingthetopmountbracketwithoutsidemountbrackets.........................................20
3.9PayloadWiringConnections.......................................................................................................21
4VanesandHardStops.........................................................................................................................21
4.1Orientation..................................................................................................................................22
4.2Vanes...........................................................................................................................................22

4.3HardStops...................................................................................................................................22
5Resolution...........................................................................................................................................22
6SpecialConfigurations........................................................................................................................23
6.1High‐SpeedOperation.................................................................................................................23
6.2High‐PayloadOperation..............................................................................................................23
6.3BatteryPoweredOperation........................................................................................................24
7Networking..........................................................................................................................................24
7.1BasicNetworkingSetupSteps....................................................................................................24
7.2PTUNetworkConnections..........................................................................................................24
AElectricalSpecifications.......................................................................................................................26
A.1D100StandardPL01WiringDescription.....................................................................................26
A.2D100StandardPL02WiringDescription.....................................................................................30
A.3D100StandardPL05ISMWiringDescription..............................................................................34
A.4D100StandardPL06WiringDescription.....................................................................................39
BMechanicalDrawings..........................................................................................................................42
B.1PayloadMountingPattern..........................................................................................................42
B.2D100DimensionswithStandardRearPlugBase........................................................................43
B.3D100DimensionswithGyroStabilizedTallBasePlate...............................................................44
RegulatoryInformation...............................................................................................................................45
LimitedWarranty........................................................................................................................................47
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TableofFigures
Figure1Pan‐TiltSystemOverview.............................................................................................................10
Figure2HoleMountingPattern.................................................................................................................13
Figure3BracketingOptions........................................................................................................................19
Figure4Pan‐TiltRotationalOrientation.....................................................................................................22
Figure5PTUNetworkConfiguration..........................................................................................................25


PTU‐D100UserManualVersion3.1.0 Introduction

5
1Introduction
ThePTU‐D100Pan‐TiltUnitfromFLIRMotionControlSystems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15‐25lbs.
•Resolutionof0.006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‐D100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‐D100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.
AccompanyingthismanualisaCommandReferencemanualwhichprovidesdetailsontheprotocol
forcommunicatingwiththepan‐tilt.


6
Introduct
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6
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e

PTU‐D100UserManualVersion3.1.0 Introduction

7
1.2 Models
EachD100pan‐tilthasamodelnumberonitlocatedbeneaththeconnectorsontherearofthebase.
Thismodelnumbercanbeusedtoderivewhichoptionsarepresentontheparticularunit.Thisis
importantasdifferentversionsofthepan‐tiltwillhavedifferentoperations,andthemanualwillcitethis
sectionfrequentlytodeterminethecorrectcourseofactionforaparticularunit.
1.2.1 ModelNumberOverview
ThefollowingtabledescribestheformatoftheD100modelnumber,andmaybeusedtounderstand
theoptioncodespresentonyourunit.
FamilyClassBracketMountWiringColorStopsCustomVane
D100‐ XX‐ X‐ X‐ XXXX‐ XX

1.2.2 ModelNumberBreakdown
Thefollowingtableslistthevariousoptionsforaparticularsubcodeofthemodelnumber.
TheFamilyistheFLIRMotionControlSystemsproductfamily.ThismanualonlydescribestheD100
product,otherproductfamiliesincludetheD46,D47,D48,andD300pan‐tiltunits.
Family
D100PTU‐D100Pan‐Tilt;IntegratedController;9‐30VDCinput;Includesmatingconnectorforpayload
signals.Doesnotincludepayloadbrackets,powersupplyorcableharness.

Theclassdescribesanyoptionsrelatingtothemotorsorgearsinstalledintheunit.Atthistime,the
D100isonlyofferedwithstandardgearsandmotors.
Class
SStandardspeedandgears.

TheD100hasdualattachmenthubswhichallowforavarietyofstandardpayloadbracket
configurations.Pleaseseesection0ormoreinformation.
Bracket
SNobracketsareincluded.
CTopmountbracketisincludedonly.

Themountoptionsdescribethebaseofthepan‐tilt,whichmostoftenaffectstheheightandmechanical
footprintofthecompleteunit,thoughallbasessharethesamefourholemountingpattern.
Mount
SStandardrearplugbaseplate
GGyrostabilizedtallbaseplate.



IntroductionPTU‐D100UserManualVersion3.1.0

8
TheD100hasavarietyofwiringoptionsrelatingtothecommunicationslinestothepan‐tiltcontroller,
aswellasthenumberandarraignmentofthepassthroughlinesthatrunfromthebasetothepayload
throughtheslipring.Formoreinformationseesection3.2.2oradditionaldescriptions,orappendixA
forcompletepinouts.
Wiring
SPL01wiringincludesRS232andRS485communicationsaswellas9passthroughconnections.
EPL02wiringincludesRS485communicationsonlyaswellas12passthroughconnections.
GPL05wiringincludesRS485communicationsonlyaswellas9passthroughconnectionsandgyro
communications.
NPL06wiringincludesRS232andRS485communicationsandnopassthroughconnections.

TheD100unitisavailableinavarietyofcolors.Thestandardunitscomeinblack,andothercolorsare
availableperthetablelistedbeloworbyrequest.
Color
SAnodizetoMIL‐A‐8625,TYPEII,CLASS2(SandovalMLWBlack)withcarbideblackcovers.
WPowdercoatedmarinewhitetoRAL9003.
TPowdercoateddesserttantoRAL1019/FED‐STD‐595#33446.
GPowdercoatedsandtoRAL8000/FED‐STD‐595#33303.

Optionalhardstopsmaybeinstalledatthetimeofmanufacture;theseassurethattheunitisnot
capableofexceedingtheboundsatthehardstops.Pleasenotethatthehardstopsareactuallyinstalled
justbeyondthestatedlimitstoallowmotionuptothelimits.Pleaseseesection4.3formoredetails.
Stops
SStandardconfigurationincludesstopsonthetiltaxisat+/‐90degrees.Nostopsareinstalledon
thepanaxis.
AStopsareincludedonthetiltaxisat+30/‐90.Nostopsareinstalledonthepanaxis.
BNohardstopsareincludedatall.

Customconfigurationsareuniquecodesdevelopedtomeetacustomer’sspecificrequirement.These
arenotcoveredinthemanual,butratherareavailablebyrequest.
Custom
SSStandardconfigurationdoesnotmodifythepan‐tiltinanyway.

Vanesareusedwithopticallimitswitchesinordertopreciselycalibratethedevice’shomeposition,as
wellastoprovideanelectroniclimitationontherangeofmotion.Theselimitsmustbeexploredatthe
timeofpowerup,thusifyouhaveanyconstraintsonthelimitsofmotion,thevanesshouldreflectthat.
Vanes
SPan:+/‐175degrees.Tilt:+30/‐90degrees.



PTU‐D100UserManualVersion3.1.0 Introduction

9
1.3 OptionalModules
InadditiontotheinstalledoptionsonaD100,externalmodulesmaybeaddedforadditional
functionality.Thesearedescribedbelow,butarenotcoveredinthismanual.Foradditionaltechnical
informationontheseoptions,pleaseseetheirrespectivedatasheets/manuals.
•InertialStabilizationModule(ISM)–Gyro
MountOption–Thisoptionrequiresthat
thepan‐tiltcomewithwiringcodeG,aswell
asmountcodeG,whichmeansthatagyrois
installedinthebaseofthepan‐tilt.This
externalmodulethenprocessesthegyro’s
outputsandcontrolsthepan‐tiltto
counteractexternalmotion,maintaininga
stabilizedpointingangle.
•Geo‐PointingModule(GPM)–PTU‐DGPM–
Thismodulemaybecombinedwithany
D100configuration,andprovidesameanstocalibratethe6dimensionallocationofthepan‐tilt
withtheuseoflandmarks.Withthisoptionthepan‐tiltcanbecommandedoverEthernetanda
serialport,sothattheD100canbemadetopointatgpscoordinatesratherthansimplepanand
tiltangles.
•JoystickController(DJoystick)–PT‐DCJ–Thisoptionprovidesdirectcontrolofthepan‐tiltfrom
anindustrialjoystick.


QuickStartPTU‐D100UserManualVersion3.1.0

10
2QuickStart
Thepan‐tiltunitprovidesdirectserialcontrolofallmotionaspectsofthedevice.Thismaythenbe
interfacedtoahostcomputerforsoftwarecontrol,ordirectlytoajoystickorproprietarycontroller.
FLIRMotionControlSystemsprovidesvariousstarterpackagesandOEMsolutionsforcontroland
dependingontheoptionspresentwithyourpan‐tilt,youwillwanttorefertothefollowingsectionsto
getstarted.
ForunitsorderedwithanInertialStabilizationModule(gyromountingoption),GeoPointingModule
(PTU‐DGPM)oranexternaljoystick(PT‐DCJ),pleaserefertotheirrespectivemanualsforquickstart
guidesthatincludetheuseoftheoptions.Theguidebelowisintendedonlyforuserswishingtopower
uptheirpan‐tiltandtestdirectcommunicationsfromahostcomputer.
2.1 SystemOverview
Figure1showsasystemoverview.ThePTU‐D100includesanintegralcontrolleranditacceptscontrol
commandsfromanyhostcomputeroverserial(RS‐232orRS‐485).ThebasicD100connectionsare:
D100‐powerfromaDCpowersource,andPan‐TiltControlviaRS232/485.
Inadditiontopan‐tiltcontrolconnections,“PayloadPass‐Thru”internallyroutespayloadsignalssuchas
video,payloadpower,andotherpayloadconnectionsfromasinglestationaryconnectorinthePTU
basetoasinglepayloadconnectorthatmoveswithyourpayload.

Figure1Pan‐TiltSystemOverview



PTU‐D100UserManualVersion3.1.0 QuickStart

11
ThePTU‐D100canbecontrolledfromanyhostcomputerusingthebuilt‐inASCIIprotocoldescribedin
theincludedPan‐TiltCommandReferenceManual.Forhighspeed,hardreal‐timecontrols(suchas
tracking),abinaryprotocolissupportedviaaCProgrammersInterface(PTU‐CPI).Driversarealso
availablein3rdpartysoftwarepackagessuchasLabViewanddigitalvideocontrolsystems.
2.2 InstallationComponents
Componentssuppliedwiththismanualare:
•D100UserManual(thisdocument)
•Pan‐TiltCommandReferenceManual
•D100Pan‐TiltUnit
•PayloadMountingBrackets‐Optional
•Pan‐TiltBreakOutCable(D100AC‐CAB‐25BO)‐
Optional
•AC/DCPowerSupply(D100AC‐APS‐30V)–Optional

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D100pan‐tilt.Mountthepan‐tiltsecurely.Seesection3.1fordetailsonmounting.

2. Establishwiringtothepan‐tilt.Thefactorybreakoutcable
makesthiseasy(D100AC‐CAB‐25BO),providingconnections
forpower,communications,andgeneralpayloadpass
throughlines.Youcanalsomakeyourowncablesthatbetter
suityourinstallation.

3. Checksection1.2.2underthewiringdescriptionto
determinewhichwiringoptionisavailableonthepan‐tilt.
IfitisPL01orPL05,thepan‐tiltprovidesdirectRS232
support.IfitisPL02orPL06,youwillhavetoconnect
throughanRS485converter,ifthisisthecasepleaseskip
tostep4.Ifthepan‐tiltisPL01orPL05,pleaseattacha
standardRS232cablebetweenahostPCandthepan‐tilt’s
DB9Fconnectorlabeled“RS232”.Afterconnectingthecableasinthepicturetotheleft,pleaseskip
aheadtostep5.


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ngthmust
b
t
edonthes
y
i
mestheco
m
o
theD100
m
3.375

U
TION:FAIL
U
F
ICIENTLYST
R
,
THEPAYLO
A
MOUNTING
1
.0
p

s
tallationan
d
t
ernforthe
5
”(85.725m
m
b
eableto
h
y
stem(e.g.,
w
m
binedweigh
t
m
ustsupport
a
Figure2
H
U
RETOSEC
U
R
ONGMOU
N
A
D,ORPOS
S
ISCAPABLE
O
d
setupsteps
PTU‐D100.
T
m
)squarep
a
h
oldthewei
g
w
ind,Gforc
e
t
ofthepayl
o
a
tleast205l
b
3.375
4.20
H
oleMountingPa
t
U
RETHEP
A
N
TINGCAN
R
S
IBLEINJUR
Y
O
FHOLDING
requiredto
g
T
hebasicmo
a
ttern.Allfo
u
g
htoftheu
e
s).Agoodr
u
o
adplusthe
w
b
s).
t
tern
A
N‐TILTAND
R
ESULTIND
A
Y
ORDEATH
.
THELOADS!
Ins
t
g
etyourpan
‐
untingpatte
u
rmounting
nitplusthe
u
leofthum
b
w
eightofthe
4XØ 0.2
5
R 0.41
ITSPAYLO
A
A
MAGETO
T
.
YOUMUST
t
allationand
S
‐
tiltoperatio
n
rnisfour#
1
screwssho
u
payloadplu
b
:themount
pan‐tilt(e.g.

57

A
DTOA
T
HEPAN‐
ENSURE
S
etup
13
n
alas
1
/4‐20
u
ldbe
sany
must
,a25

InstallationandSetupPTU‐D100UserManualVersion3.1.0

14
3.2 WiringandConnectors
ThestandardD100modelisdepictedbelow,andhasabaseandpayloadconnectorforcustomer
attachment.TheD100shipswithavarietyofwiringoptions,whichmayaffecttheconnectorsused,and
forwhichyoushouldreferencesection1.2.2underthewiringheadingtodetermineyourwiring
configuration,andappendixAformoredetailsonyourspecificpinoutandconnectors.
3.2.1 MechanicalOverview


Base
Receptacle
Payload
Receptacle
PayloadReceptacle
Thepayloadconnectorisa19pin
circularconnectorcomplyingwithMIL
standardMS3122E14‐19S.
Theappropriatematingconnectorshall
complywithMS3126F14‐19P(themale
versionofthepayloadconnector).
Oneoftheseconnectorsisshipped
witheachD100,andadditional
connectorsmaybeorderedwiththe
followingpartnumber.
•FLIRMotionControlSystems
oD100‐CABLE01‐19PMILC

BaseReceptacle
Atthebaseofthepan‐tiltisa
receptacle.Thereceptacleusesa19pin
circularconnectorcomplyingwithMIL
standardMS3122E14‐19S.Thisis
identicaltothepayloadconnector.
Pleaseseethepayloadconnectorfor
detailsaboutanappropriatemating
connector.


PTU‐D10
0

Appendix
controlr
e
connecti
o
Theeasi
e
otherco
n
D100AC‐
A
diagram
s
Connect
a
cableD1
0
Windows
baud,no
TheD10
0
correspo
n
payloadc

3.2.2
W
TheD100
section1.
andconn
e
Inallcon
f
theseare
wiringop
t
Option
PL01
PL02
0
UserManu
a
Ashowsth
e
e
quiresthat
y
o
ntocommu
n
e
stwayto
w
n
nections(
m
A
PS‐30V).Th
i
s
inAppendi
x
a
nRS‐232o
r
0
0AC‐CAB‐2
5
)isthemost
parity,noha
n
0
providesp
a
n
dingpinsin
ontrolstoth
e
W
iringOpti
o
comesina
v
2.2underwi
e
ctorsoffer
1
f
igurations,t
h
forpower,R
t
ionoffers.
Description
Providesan
a
providedin
a
providetwo
v
tothesepas
s
payloadcon
n
camerasor
o
details.

Standardwir
tothepaylo
a
lines(6C).In
tothepaylo
a
opposedtot

Whenatt
a
specificati
o
levels.
a
lVersion3.
1
e
specificpin
y
ouconnect
n
icateandc
o
w
ireintothe
m
odelD100
A
i
sallowsyo
u
x
Atomakey
o
r
RS‐485cabl
5
BO,standar
d
commonlyu
s
n
dshaking.(
S
a
yloadpass‐
t
thepayload
e
pan‐tiltcon
o
ns
v
arietyofwiri
ring,andeac
1
9terminatio
h
epan‐tiltne
S485comm
u
a
lternateRS2
a
dditiontoth
v
ideolines(
4
s
throughlin
e
n
ector,whic
h
o
therperiphe
ingoption,a
n
a
d.Theseincl
additiontot
h
a
d,allowingt
hebase.See
a
chingpaylo
a
o
nsforthe
1
.0
outsforall
o
aDCpower
o
ntroltheD1
0
D100istou
AC
‐CAB‐25B
O
u
toplugin
a
o
urowncab
l
ebetweent
d
RS232co
n
s
edcommun
i
S
eesection3.
t
hrusignals
receptacle.
trollerboard
ngoptions,t
o
hwiringopti
o
npinsatthe
edstomini
m
u
nications,an
32communi
c
eRS485line
s
4
C),1setofp
e
s,thepan‐til
h
maybecon
t
ralswithout
a
n
dprovidest
udetwosvid
h
epassthro
u
hepan‐tiltt
o
appendixA.
2
a
dsignalsto
pass‐thrus
i
o
ftheavaila
b
sourcetot
h
0
0.
setheDPf
a
O
),andto
u
a
ndrunthe
D
l
esthatbett
e
heD100an
d
n
nection(DB
i
cationsprog
5).
thatconnec
t
Additionalp
i
includingau
x
o
determine
w
o
nisfullyde
s
baseandat
t
m
allyconsum
e
dshielding.
T
c
ationoptio
n
s
,andleaves
9
owerlines(2
tcontroller
p
t
rolledwiths
a
naddedser
i
hemaximu
m
eolines(4C),
u
ghlines,the
o
becontrolle
2
forcomplet
thesystem,
i
gnals,such
b
lewiringco
n
h
eD100‐pow
a
ctorycable
w
u
setheDP
f
D
100inmin
u
e
rsuityouri
n
d
ahostcom
9F)isprovi
d
ram.Commu
t
between
p
i
nsinthepa
y
x
iliaryRS232
w
hichoption
s
cribedinap
p
t
hepayload,
a
e
sevenofth
e
T
hefollowing
n
fortalking
w
9
payloadpa
s
C),and3ge
n
p
rovidestwo
a
pecialcomm
a
i
alport).See
m
availablepa
1setofpo
w
pan‐tiltcont
dbyamodul
edetails.
caremustb
e
asmaximu
m
Ins
t
n
figurationsf
erinput,an
d
w
ithbreako
u
f
actorypow
u
tes.Oryou
c
n
stallation.
puter.Whe
n
d
ed.HyperT
e
nicationspa
r
p
insintheb
y
loadrecept
a
ports.
ispresentin
p
endixA.Th
e
a
swellasthr
e
connection
s
isadescript
i
w
iththepan‐
t
s
sthroughli
n
n
eralI/Oline
s
a
uxiliaryseri
a
a
ndstothep
appendixA.
1
ssthroughli
n
w
erlines(2C),
rollerprovid
e
eonthepay
l
e
takentoa
d
m
voltagea
n
t
allationand
S
ortheD100.
d
ahostco
m
u
tsforpow
e
ersupply(
m
c
anusethe
w
n
usingthef
a
e
rminal(buil
t
r
ametersare:
aserecepta
c
a
cleprovide
yourpan‐til
t
e
standardsli
p
oughtheslip
s
atthebase;
i
onofwhate
t
ilthead.This
n
es.Theselin
s
(3C).Inaddi
a
lportstoth
e
an‐tilt(toco
n
1
forcomplet
n
esfromthe
and6gener
a
e
sRS232con
t
l
oadsideas
d
heretoall
n
dcurrent
S
etup
15
Basic
m
puter
e
rand
m
odel
w
iring
a
ctory
t
into
9600
c
leto
other
t
,visit
p
ring
ring.

ach
is
es
tion
e

n
trol
e
base
a
lI/O
t
rol

1
6
Installati
o

6

PL05
PL06

3.3 P
o
ThePTU‐
D
isrequire
Manual).
allowabl
e
voltage(
e
VDCprov

Ifyouar
e
current,
a
connecti
n
properly
f
safetyha
z
3.4 S
h
Allwiring
Thisshiel
d
inductor
o
pin,asits
toalong
r
acceptabl
3.5 Se
Dependi
n
RS485,o
r
present,i
toboth
w
used,the
o
nandSetup
Usedtosup
p
thepayload
a
itprovidess
e
stabilization
Usedinsitua
pan‐tiltfrom
andcommu
n
standardRS
4
o
werSour
c
D
100require
difyoudo
n
Toachieve
t
e
range.Toa
c
e
.g.,24VDC).
idingthema
x
e
providingy
o
a
ndifso,y
o
n
gtoavehi
c
f
useyourin
p
z
ard,orvoid
h
ielding
configuratio
n
d
isattached
o
nthemain
c
potentialwil
r
odembedd
e
etoroutepi
n
rialInter
f
n
gonthepa
n
r
withRS232
tisimportan
w
illcauseint
e
hosttermin
a
When
powe
r
decre
a
warra
n
p
ortthegyro
a
ndattheba
e
rialcommu
n
module.See
tionswhere
n
thebase.In
t
n
icatewithth
4
85communi
c
es
sa12‐30VD
C
n
otusetheh
t
hehighest
p
c
hievetheq
u
Pleasenote
x
torque,and
o
urownDC
p
o
umustadd
c
lebattery
o
p
utpowers
o
p
roductwar
r
n
sforthepa
n
tothehousi
n
c
ontrollerbo
a
lvaryfromt
h
e
dinthegro
u
n
Ftothepo
w
f
aceand
H
n
‐tilt’swiring
andRS485
c
tthatyouo
n
e
rferencebe
a
lorcomput
e
wiringyour
r
sourcere
q
a
sedunitp
e
n
ty.
stabilization
o
se,butinste
a
n
icationtoth
e
appendixA.
3
n
opassthro
u
t
hisconfigur
a
epan‐tilt,an
cation.Seea
C
(unregulate
ighermotor
p
an‐tiltunit
p
u
ietestands
m
thattheres
9VDCprovi
d
p
owersourc
e
afuseins
e
o
rlighterpl
u
o
urcecould
c
r
anties.
n
‐tiltprovide
n
gofthepan
a
rd.Itisimp
o
h
eground.Id
u
nd,providin
g
w
ergroundt
H
ostSettin
configuratio
n
c
ommunicati
o
n
lyterminate
tweenthec
h
e
rshouldbe
ownpowe
r
q
uirements
e
rformance
o
o
ption.Itist
h
a
dofsuppor
t
e
builtingyr
o
3
forcomplet
e
u
ghlinesare
r
a
tionthebas
e
dprovidesR
S
ppendixA.4
f
d)powerso
u
currentcont
p
erformance
,
m
oothestpa
n
ultingpan‐ti
l
d
ingtheleast
e
,thepower
e
rieswithy
o
u
g,youmus
t
c
auseoverlo
a
ashieldpin
a
‐tilt,andisa
t
o
rtantthatth
eallyatthe
b
g
agenuine
g
hroughasur
g
gs
n
(seesectio
n
o
ns.Inthec
tooneofth
e
h
annels.Reg
a
setto9600
b
r
source,fail
describedi
o
rdamage
n
PTU‐
D
h
esameast
h
t
inganadditi
o
o
tobeconsu
e
details.
r
equired,an
d
e
hasthemi
n
S
232commu
n
f
orcomplete
u
rcecapable
o
rolsavailabl
e
,
usethehi
g
n
‐tiltoperati
o
l
ttorquede
p
torque.
sourcemust
o
urDCpow
e
t
fusethei
n
a
dingofinte
r
a
tboththeb
a
t
tachedthe
D
eshieldpin
n
b
aseofthep
a
g
roundrefere
g
eprotectio
n
n
1.2.2wirin
g
asethatbot
e
seformsof
a
rdlessofw
h
b
aud,1start
uretocom
p
nthisma
n
n
otcovered
D
100UserM
a
h
ePL01wirin
o
nalRS232p
o
medbythei
n
d
youonlywi
s
n
imallinesre
q
n
icationina
d
details.
o
f5.6Apeak
.
e
(seetheCo
g
hestmotor
v
o
n,youcan
u
p
endsonth
e
neversuppl
y
e
rsource.F
o
n
comingDC
r
nalprotecti
o
a
seandthe
p
D
100‐Power
g
n
otbeconfus
a
n‐tilt,pinFs
nce.Inlieuo
n
device.
g
),itmaybe
e
hformsofc
o
communicati
h
ichformof
bit,8datab
p
lywithwiri
n
n
ualcanre
s
underthe
l
a
nualVersion
gconfigurati
o
o
rttothepa
n
n
ertial
s
htocontrol
q
uiredtopo
w
d
ditiontoth
e
.
Lesspeakc
u
mmandRefe
v
oltagewithi
u
sealower
m
e
inputvolta
g

y
morethan
o
rexample,
source.Fail
u
o
ndevices,
p
p
ayloadonpi
n
g
roundthrou
g
edforagrou
houldberou
fthis,itwou
l
e
quippedwit
o
mmunicati
o
on,astermi
n
communica
t
its,1stopbi
t
n
gand
s
ultin
l
imited
3.1.0
o
nat
n
‐tilt,
the
w
er
e

u
rrent
rence
nthe
m
otor
g
e,30
rated
when
u
reto
p
osea
n
F.
g
han
nd
ted
l
dbe
hjust
o
nare
n
ating
t
ionis
t
,and

PTU‐D100UserManualVersion3.1.0 InstallationandSetup

17
noparity.HardwarehandshakingandXON/XOFFarenotused.Thebaudrateofthepan‐tiltisadjustable
throughsoftwarecommands,seetheCommandReferenceManualforinstructions.
3.5.1 RS232ElectricalInterface
TheRS‐232connectionstothePan‐Tiltare:TxD(pin2),RxD(pin3),andGND(pin5).SinceTxDandRxD
assignmentstopins2and3canvaryonhostcomputers,tryusinganullmodemifyourinitial
connectiondoesnotwork.
3.5.2 RS485ElectricalInterface
TheRS‐485communicationtothepan‐tiltisfullduplex,andprovidesTx+,Tx‐,Rx+andRx‐connections
fortalkingwiththepan‐tilt.TheselinesprovideRS422orRS485voltagelevels.
3.6 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. UsingHyperTerminalorasimilarterminalprogram,configuretheRS‐232/485serialportofthe
HostComputerto9600baud,1startbit,8databits,1stopbit,andnoparity.Hardware
handshakingandXON/XOFFarenotused.
2. Youarenowreadytopowerupthepan‐tiltunitandtestitsoperation.Applypower.Upon
powerup,introductiontextshouldappearonyourscreen,andthepan‐tiltunitshouldgo
througharesetcycle(panandtiltaxeswillcyclethroughtheirfullrangeofmotion).Thisresetis
completedwhenanasterisk(‘*’)appears.Iftheunitdidnotresetproperly,recheckyourpower
sourceandcabling.Iftheunitwentthroughitsresetprocedure,butnotextorgarbledtext
appearsonyourscreen,then:
a. CheckthatthehostRS‐232/RS‐485hostportsettingsarecorrect(seeSection3.4)
b. CheckthattheRS‐232/RS‐485cableiscorrectforyourhost(seeSection3.4)
c. Tryadifferentbaudrateinyourterminalprogram,thebaudrateofthepan‐tiltis
configurable,andmayhavebeenchangedfromitsdefaultof9600.
3. Youarenowconnectedtothepan‐tilt.Enterthecharacter‘?’foracompletelistingof
commands.Thenextsectiondescribessomebasiccommandstohelpyougetgoing,andafull
commanddescriptionmaybefoundinthecommandreferencemanual.Wesuggestthatyou
exercisetheunitandbecomefamiliarwithitsoperationandcommandsbeforemountingyour
payload(e.g.,camera)asdescribedinSection0.Specialattentionshouldbepaidtoacceleration
andspeedcommands,andtheyshouldbesetatlevelsappropriatetoyourpayloadweightand
size.


InstallationandSetupPTU‐D100UserManualVersion3.1.0

18
3.7 BasicPanTiltUnitCommands
Belowaresomepan‐tiltcommandsthatwillfamiliarizeyouwiththepan‐tiltunitanditsoperation:
pp2500*
tp‐900*
PS1900*
pp0*
Thissetsthepanaxistoposition2500,thetiltaxistoposition‐900,thepanspeedto2500positionsa
second,andsetsthepanpositionbackhome.
Whenoperatingthepan‐tiltunit,theavailablecommandmenuisprintedwhenyouenterthe‘?’
character.Adetaileddescriptionofpan‐tiltcommandsandqueriesmaybefoundinSection4.


PTU‐D100UserManualVersion3.1.0 InstallationandSetup

19
3.8 MountingYourPayload
ThePTU‐D100providesaflexiblepayloadbracketsystemthatcanbeconfiguredinanumberofwaysto
supportavarietyofpayloadsincludingcameras,lasers,antennas,andotherequipment.Becauseofthe
heavypayloadweightsandhighpotentialspeedssupportedbythePTU‐D100,itisveryimportantthat
allguidanceandinstructionsregardingpayloadmountingbefollowedcarefully.Figure3showsallofthe
possiblearrangementsofbrackets.Pleasereferto1.2.2underbrackettodeterminewhichbracketsare
includedwithyourunit.

Figure3BracketingOptions


InstallationandSetupPTU‐D100UserManualVersion3.1.0

20
3.8.1 Installingsidemountbracketsonly.
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bottommost.
3. Attachthebracketusing6pcsscrews.Itisvitalthatthreadlockisusedforthebracket
mountingscrews.Thethreadholesinthehubhavethreadlockappliedtothem.Ifthebracket
isremoved,youshouldapplymediumstrengththreadlocktothehub(e.g.,Loctite242).
4. Resetthepan‐tiltandensurethatthebracketmovesproperlythroughitsrangeofmotion.
3.8.2 Installingthetopmountbracketwithoutsidemountbrackets.
5. Ensurethepan‐tilthasbeenthroughitscalibration(atpowerup)sothatthemountinghubisin
aknownhomeposition.
6. Orientthesidebracessothatthefaceswiththreadsaretopmost,wherethetopbracketwill
mount.
7. Attachthetwosidebracketsusing6pcsscrews.Itisvitalthatthreadlockisusedforthe
bracketmountingscrews.Thethreadholesinthehubhavethreadlockappliedtothem.Ifthe
bracketisremoved,youshouldapplymediumstrengththreadlocktothehub(e.g.,Loctite
242).
8. Attachthetopbrackettothebracesthatyoujustinstalled.Pleasenotethattheholesinthis
bracketareoblique,pleasemakesureyoucenterthisbracketasbestyoucan,andinstallthe
eightsmallerpanheadscrews,againapplyingloctiteasinthepreviousstep.
9. Resetthepan‐tiltandensurethatthebracketmovesproperlythroughitsrangeofmotion.
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.
ThoughthePTU‐D100unitisratedtoamaximumloadof25lbs,thedistributionoftheloadaffectsthe
actualloadcapableofbeingmovedbythepan‐tiltunit.Thestepstodeterminewhetheryourloadand
itspositioning(e.g.,centerofgravity)arewithinthemaximumloadcapacityanddynamicsare:
•Mountyourpayload.Side‐mountispreferredforheavierloads,asitkeepsthepayloadcenterof
gravityclosertothetiltaxisofrotationtherebyminimizingtorquerequirements.Ensurethat
theloadissecurelyattachedtothepayloadbracket.
•Firstmovethepanaxisthroughitsrangetotestwhetherthepan‐tiltcanhandletheload(e.g.,
enter“drpp2700app‐2700app0”).Aloadthatistooheavyormovedtooquicklywillcause
theunittolosesynchrony,andthiswillbeaccompaniedbyanaudible“rrrr”soundfromthe
pan‐tiltunitmotors.Seesection6.2forfurtherinformationonconfigurationofthePan‐Tiltfor
heavierpayloads.
•Ifyourloadpassedthepanaxisloadtest,youcanthentestthetiltaxisloadhandlingcapability.
Thecenterofgravityfortopmountedpayloadsisfurtherfromthetiltaxisofrotation,andthis