Polhemus 3SPACE FASTRAK User manual

3SPACE®
FASTRAK®
USER MANUAL
OPM00PI002 REV. G
JUNE 2012

FASTRAK MANUAL
Rev. G ii JUNE 2012
Copyright © 2000-2012 by Polhemus
Colchester, Vermont U.S.A.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form or by any means, mechanical, photocopying, recording or otherwise, without the
prior written permission of Polhemus. No patent liability is assumed with respect to the use of the
information contained herein. While every precaution has been taken in the preparation of this book,
Polhemus assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from use of the information contained herein.
3SPACE® and FASTRAK®are registered trademarks of Polhemus.
Polhemus is a Good Manufacturing Practices (GMP) Contract Manufacturer under U.S. FDA
Regulations. We are not a manufacturer of Medical Devices. Polhemus systems are not certified
for medical or bio-medical use. Any references to medical or bio-medical use are examples of what
medical companies have done with the Products after they have obtained all necessary or
appropriate medical certifications. The end user/OEM/VAR/Distributor must comply with all
pertinent FDA/CE regulations pertaining to the development and sale of medical devices and all
other regulatory requirements.
FCC Statement
This 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. These limits are designed to provide reasonable protection against
interference when the equipment is operated in a commercial environment. This equipment generates,
uses, and can radiate radio frequency energy and, if not installed and used in accordance with the
instruction manual, may cause interference to radio communications. Operation of this equipment in a
residential area is likely to cause interference in which case the user will be required to correct the
interference at the user’s expense.
EC-Declaration of Incorporation
For all FASTRAK models produced as of January 2012, this product conforms to the following
European Community Directives:
EMC Directive 2004/108/EC
LVD 2006/95/EC
The following standards were used to verify compliance with the directives:
EMC: EN 61326-1:2006 EMC requirements
Class A (Emissions)
Class A (Harmonics)
EN 55011:1998/A1:1999/A2:2002 (Radiated & Conducted Emissions)
NOTE: The conducted emission here-in only applies if a Polhemus supplied power
supply is used with the FASTRAK electronics unit.
EN 61000-3-2:2000 (Harmonics)
EN 61000-3-3:1995/A1:2001 (Flicker)
EN 61000-4-2:1995/A1:1998/A2:2001 (ESD)
EN 61000-4-3:2002 (Radiated RF Immunity)
EN 61000-4-4:2004 (Electrical Fast Transient/Burst)
EN 61000-4-5:1995 (Surge Immunity)
EN 61000-4-6:1996 (Conducted RF Immunity)
EN 61000-4-11:2004 (Voltage Dips & Interruptions)

FASTRAK MANUAL
Rev. G iii JUNE 2012
Table of Contents
LIST OF FIGURES......................................................................................................................................V
1. GETTING STARTED........................................................................................................................1
2. CONTACTING POLHEMUS CUSTOMER SERVICE.................................................................8
3. CURRENT FASTRAK VS. PREVIOUS VERSIONS.....................................................................9
4. FASTRAK COMMANDS INDEX ..................................................................................................10
5. TECHNICAL OVERVIEW.............................................................................................................11
6. SPECIFICATION.............................................................................................................................12
Position Coverage ................................................................................................................................12
Angular Coverage.................................................................................................................................12
Static Accuracy.....................................................................................................................................12
Resolution vs. Range.............................................................................................................................12
Latency..................................................................................................................................................12
Output...................................................................................................................................................12
Update Rate..........................................................................................................................................12
Carrier Frequency................................................................................................................................13
RS-232 Interface...................................................................................................................................13
USB Interface........................................................................................................................................13
Operating Environment........................................................................................................................13
Operating Temperature ........................................................................................................................13
Physical Characteristics.......................................................................................................................13
Power Requirements.............................................................................................................................14
7. COMPONENT DESCRIPTION .....................................................................................................15
7.1 SEU...............................................................................................................................................15
7.2 TRANSMITTER PORT ......................................................................................................................15
7.3 RECEIVER PORTS (4)......................................................................................................................16
7.4 POWER INDICATOR ........................................................................................................................16
7.5 I/O SELECT SWITCH.......................................................................................................................16
7.6 EXTERNAL SYNC I/O .....................................................................................................................17
7.7 FREQUENCY SELECT MODULE.......................................................................................................18
7.8 RS-232 I/O ....................................................................................................................................18
7.9 USB I/O.........................................................................................................................................19
7.10 OPTIONAL RS-422 I/O.................................................................................................................19
7.11 VIDEO SYNC INPUT......................................................................................................................20
7.12 POWER INPUT RECEPTACLE .........................................................................................................20
7.13 TRANSMITTER..............................................................................................................................20
7.14 RECEIVER(S)................................................................................................................................22
7.15 STYLUS ........................................................................................................................................24
7.16 VIDEO SYNC DETECTOR ..............................................................................................................25
7.17 LONG RANGER TRANSMITTER .....................................................................................................26
7.18 4” TRANSMITTER .........................................................................................................................26
7.19 SHORT RANGER TRANSMITTER....................................................................................................26
7.20 MINI RECEIVER............................................................................................................................26
8. SYSTEM OPERATION...................................................................................................................27
8.1 I/O CONSIDERATIONS ....................................................................................................................27
RS-232................................................................................................................................................27
RS-422................................................................................................................................................27
8.2 POWERING UP FASTRAK.............................................................................................................27
8.3 CONFIGURATION CHANGES............................................................................................................28
8.4 USING THE USB INTERFACE ..........................................................................................................28
8.5 INSTALLING USB DEVICE DRIVERS...............................................................................................29
8.6 SYNCHRONIZATION........................................................................................................................31
8.7 INTERNAL SYNC.............................................................................................................................31

FASTRAK MANUAL
Rev. G iv JUNE 2012
8.8 EXTERNAL SYNC............................................................................................................................31
8.9 VIDEO SYNC ..................................................................................................................................32
8.10 MULTIPLE SYSTEMS OPERATION –FASTRAKS PRODUCED AS OF JANUARY 2012.....................32
8.11 OUTPUT CONSIDERATIONS...........................................................................................................32
9. SYSTEM COMMANDS...................................................................................................................34
9.1 COMMAND FORMAT NOTATION AND CONVENTION.......................................................................34
9.2 COMMAND FORMAT NOTES...........................................................................................................35
9.3 COMMAND/OUTPUT LISTING .........................................................................................................36
‘A’ – Alignment Reference Frame...................................................................................................................37
‘B’ – *Boresight...............................................................................................................................................39
‘b’ – *Unboresight...........................................................................................................................................40
‘C’ – Continuous Output Mode........................................................................................................................41
‘c’ – Disable Continuous Printing....................................................................................................................42
‘D’ – Enable Fixed Metal Compensation.........................................................................................................43
‘d’ – Disable Fixed Metal Compensation.........................................................................................................44
‘e’ – Define Stylus Button Function ................................................................................................................45
‘F’ – Enable ASCII Output Format..................................................................................................................46
‘f’ – Enable Binary Output Format..................................................................................................................47
‘G’ – Boresight Reference Angles...................................................................................................................49
‘H’ – Hemisphere of Operation........................................................................................................................50
‘I’ – Define Increment......................................................................................................................................53
‘l’ – Active Station State..................................................................................................................................54
‘N’ – *Define Tip Offsets................................................................................................................................56
‘O’ – Output Data List .....................................................................................................................................57
System Data Record: ASCII Format................................................................................................................59
System Data Record: IEEE Floating-Point Format..........................................................................................61
‘o’ – Set Output Port........................................................................................................................................62
‘P’ – Single Data Record Output......................................................................................................................63
‘Q’ – Angular Operational Envelope...............................................................................................................64
‘R’ – *Reset Alignment Reference Frame .......................................................................................................66
‘r’ – Transmitter Mounting Frame...................................................................................................................67
‘S’ – System Status Record..............................................................................................................................68
‘T’ – Built-In-Test Information........................................................................................................................70
‘U’ – English Conversion Units.......................................................................................................................72
‘u’ – Metric Conversion Units .........................................................................................................................73
‘V’ – Position Operational Envelope...............................................................................................................74
‘v’ – Attitude Filter Parameters........................................................................................................................76
‘W’ – Reset System to Defaults.......................................................................................................................79
‘X’ – Configuration Control Data....................................................................................................................80
‘x’ – Position Filter Parameters........................................................................................................................81
‘y’ – Set Synchronization Mode.......................................................................................................................83
‘^K’ – *Save Operational Configuration .........................................................................................................85
‘^Q’ – *Resume Data Transmission ................................................................................................................86
‘^S’ – *Suspend Data Transmission ................................................................................................................87
‘^Y’ – *Reinitialize System.............................................................................................................................88
10. COMMAND ERROR.......................................................................................................................89
11. DEFAULT OPERATION WITH A STYLUS................................................................................90
APPENDIX A. Limited Warranty and Limitation of Liability................................................................................. A-1
APPENDIX B. Trouble Shooting............................................................................................................................. B-1
APPENDIX C. Glossary .......................................................................................................................................... C-1
APPENDIX D. ‘Accuracy and Resolution’ White Paper......................................................................................... D-1
APPENDIX E. ‘Latency’ White Paper .....................................................................................................................E-1
APPENDIX F. Cable Diagrams................................................................................................................................F-1
INDEX............................................................................................................................................................5

FASTRAK MANUAL
Rev. G v JUNE 2012
List of Figures
Figure 1-1 Complete FASTRAK System........................................................................................1
Figure 1-2 Transmitter Connection...............................................................................................2
Figure 1-3 Receiver Connection....................................................................................................2
Figure 1-4 Mounting Transmitter and Receiver on 2x4................................................................2
Figure 1-5 Power Connector.........................................................................................................3
Figure 1-6 DC Power Cable Installation ......................................................................................3
Figure 1-7 DC USB Cable Installation .........................................................................................4
Figure 1-8 PiMgr Screen Display..................................................................................................5
Figure 1-9 RS-232 Configuration Settings....................................................................................6
Figure 1-10 FASTRAK Data Record Display................................................................................6
Figure 7-1 FASTRAK SEU, Front View ......................................................................................15
Figure 7-2 FASTRAK SEU, Rear View........................................................................................15
Figure 7-3 Default I/O Select Dip Switch Settings......................................................................17
Figure 7-4 Sync Connector Identification (Input and Output)....................................................18
Figure 7-5 RS-232 Cable Connection..........................................................................................19
Figure 7-6 Transmitter Diagram.................................................................................................21
Figure 7-7 Transmitter ................................................................................................................21
Figure 7-8 RX2 Receiver Dimensions (in Inches) .......................................................................22
Figure 7-9 RX1-D Receiver (in inches) .......................................................................................23
Figure 7-10 Receiver ...................................................................................................................23
Figure 7-11 Stylus Dimensions....................................................................................................25
Figure 7-12 Stylus........................................................................................................................25
Figure 7-14 Video Sync Detector ................................................................................................26
Figure 8-1 Connection of USB Cable to Switch to USB Mode....................................................29
Figure 9-1 System Alignment.......................................................................................................36
Figure 9-2 Hemisphere Vector ....................................................................................................52
Figure C-1 Euler Angles........................................................................................................... C-5
Figure E-1 Position and Orientation Measurements System Block Diagram..........................D-2
Figure E-2 Black Box System ...................................................................................................D-3
Figure E-3 Translational Resolution........................................................................................D-4
DUE TO SOFTWARE AND HARDWARE MODIFICATIONS
SCREEN OR PRODUCT EXAMPLES APPEARING IN THIS MANUAL
MAY VARY SLIGHTLY FROM THE ACTUAL
SCREENS OR PRODUCTS THE USER ACCESSES.

FASTRAK MANUAL
Rev. G 1 JUNE 2012
1. Getting Started
Congratulations on buying the finest 3D tracker system yet! This section of the user manual has
been provided to help get your project under way as quickly as possible.
There are two ways to get started with your FASTRAK system, as with any new system. You
could “wing it,” which involves a great deal of assumptions based on either previous experience
and/or visual inspection, and hope for the best. Alternatively, you could sit down and read the
whole manual, line-by-line, and then start. What we provide here is a middle ground to cover the
basics to get you going quickly. However, this approach does not preclude using the manual as a
precise guide, reference and final arbiter.
NOTE: This approach assumes a single receiver, use of the USB port communicating with a
Windows PC, and use of the FASTRAK Host Software.
Unpack the FASTRAK SEU, transmitter, receiver(s), and power supply.
Figure 1-1 Complete FASTRAK System
1. Set up the system close to your host computer and away from large metal objects like file
cabinets, metal desks, etc. and away from the floor and walls.
2. Identify the transmitter (the two-inch gray cube or the four-inch black cube) and insert the
transmitter connector into the transmitter receptacle, being careful to firmly engage it.
Using your fingers or a small, flat blade screwdriver, lock the connector by tightening the
two retaining screws.

FASTRAK MANUAL
Rev. G 2 JUNE 2012
Figure 1-2 Transmitter Connection
3. For getting started, use only one receiver. Identify the receiver and insert it into the receiver
receptacle labeled “one” as shown below. Firmly engage and lock the receiver connector
into place in the same manner as the transmitter connector in Step 2.
Figure 1-3 Receiver Connection
4. For testing purposes, it is convenient to mount both the transmitter and the receiver on a
single block of wood (2X4 or equivalent) about 16 inches apart. Exact placement of the
transmitter and receiver is not important for this test; just make sure the cables of both
devices are not routed together and they come off opposite ends of the 2X4.
Figure 1-4 Mounting Transmitter and Receiver on 2x4

FASTRAK MANUAL
Rev. G 3 JUNE 2012
5. Identify the five pin “DIN” type power input connector on the back panel of the electronics
unit.
Figure 1-5 Power Connector
With the separate Power Supply (“brick”) UNPLUGGED from the outlet of the wall, plug
the “brick’s” DIN connector into the power-input connector on the rear panel of the
electronics unit and firmly seat.
Figure 1-6 DC Power Cable Installation
Identify the power ON/OFF rocker switch located on the rear panel of the electronics unit.
Ensure this switch is in the OFF position (logic “0”, DOWN) before inserting the “brick’s”
convenience plug into the 110/220 VAC outlet.
6. Connect the USB cable to the FASTRAK as shown below, and the remaining end of the
cable into a USB port on the host computer.

FASTRAK MANUAL
Rev. G 4 JUNE 2012
Figure 1-7 DC USB Cable Installation
7. Install the Host Software
NOTE: FASTRAK Host Software is intended to be installed on a computer running
Windows XP/Vista/Win 7 only.
•Insert the FASTRAK Host Software CD-ROM into your computer’s CD-ROM drive.
•If the FASTRAK Host Software Installation Panel does not run automatically, then
navigate to the CD-ROM drive using Windows Explorer. Run “Setup.exe”. The Host
Software Installation Panel will appear. Select “Install Host Software.” The installation
wizard will walk you through the installation.
•For simplicity, it is recommended that you use the default installation settings
suggested by the installation wizard.
•When the installation is complete, if you are planning to use your computer’s USB port
to connect to the FASTRAK System, leave the CD-ROM in the drive. It will be needed
when the initial USB connection is made.
•If you are not planning to use the USB port, you may remove the CD-ROM from the
drive now.
USB Driver Installation
•When FASTRAK is connected via USB to a Windows host for the first time, the host
will display a “Found New Hardware” message. The host will then launch the “Found
New Hardware Wizard” to locate and install the USB drivers for FASTRAK.
•If the CD-ROM is not already in the drive, load it now.
•When the Found New Hardware Wizard displays, select the “Install software
automatically” option and then “Next.”
•The wizard will install the FASTRAK Loader. When it has completed, select “Finish.”
•The same process will be launched again automatically to install the Polhemus
FASTRAK USB Driver. Repeat the same selections and the process will be complete.

FASTRAK MANUAL
Rev. G 5 JUNE 2012
8. Use the Polhemus PiMgr GUI
If you selected the default settings when you installed the FASTRAK Host Software on
your computer, you will find a shortcut to the PiMgr application on your Windows
XP/Vista/Win 7 desktop. It looks like this:
Otherwise, navigate to the program through the windows Start menu:
StartAll ProgramsPolhemusPiMgr
The initial PiMgr screen will look like this:
Figure 1-8 PiMgr Screen Display
a. With no FASTRAK system connected, notice that the icon appears in the
lower right corner. Once connected, the icon will change to .
b. If the FASTRAK system is already powered up and connected to the computer,
the PiMgr will discover the connection immediately upon startup. If not, you will
need to manually create the connection once you have powered up FASTRAK.
To do this, first you must select the type of connection you wish to create.
c. If you want to create a USB connection, skip to Step 9. PiMgr defaults to a USB
connection. If you want to create an RS-232 connection, first configure the serial
port settings by opening the Device Configuration dialog. Open this dialog off the
Device menu: DeviceDevice Configuration…, and select the Connection tab.
Select the RS-232 Connection Type on the left, and the appropriate RS-232
Properties on the right. Then select OK.