Polhemus PATRIOT User manual

USER MANUAL
URM03PH170 Rev. B
NOVEMBER 2004

USER MANUAL
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USER MANUAL
Copyright © 2004 by Alken, Inc., dba 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 manual, Polhemus assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from use of the information contained herein.
3SPACE®is a registered trademark of Polhemus; PATRIOT™ and LIBERTY™ are
trademarks of Polhemus.
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 designated 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 own expense.
EC – Declaration of Incorporation
This Product Complies with the following European Community Directives:
89/336/EEC as amended by 92/31/EEC
73/23/EEC Low Voltage as amended by 93/68/EEC
The following standards were used to verify compliance with the directives:
EMC: IEC 61326-1:1997+A1:1998 / EN 61326-1:1997+A1:1998
CCISPR 11:1990 / EN 55011:1991-Group 1 Class A
IEC 6100-4-2:1995+A1:1998 / EN 61000-4-2:1995 (ESD 4kV CD, 8kV AD)
IEC 6100-4-3:1995 / EN 61000-4-3:1995 (3V/m 80% AM)
IEC 6100-4-4:1995 / EN 61000-4-4:1995 (0.5kV line-line, 1kV line-earth)
IEC 6100-4-6:1995 / EN 61000-4-6:1995 (3V 80% AM, power line)
Australia/New Zealand: AS/NZS 2064.1
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USER MANUAL
Safety Notices
i. Warnings
•This instrument contains no user serviceable parts. Do not attempt to service unit.
Return to Polhemus for repair.
•Do not perform any unauthorized modification to the instrument.
•Do not operate the instrument in the presence of flammable gas or fumes. Operation
of any electrical instrument in such an environment constitutes a definite safety
hazard.
•Do not use the instrument in a manner not specified by the manufacturer.
ii. To clean the instrument
If the instrument requires cleaning:
1. Remove power from the instrument.
2. Clean the external surfaces of the instrument with a soft cloth dampened with a
mixture of mild detergent and water.
3. Make sure that the instrument is completely dry before reconnecting it to a power
source.
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USER MANUAL
TABLE OF CONTENTS
SAFETY NOTICES.........................................................................................................II
I.WARNINGS........................................................................................................................................ II
II.TO CLEAN THE INSTRUMENT ............................................................................................................. II
TABLE OF FIGURES...................................................................................................................................................... v
LIST OF TABLES........................................................................................................................................................... vi
1. GETTING STARTED............................................................................................. 1
1.1 SET UP THE PATRIOT ..................................................................................................................... 1
1.2 INSTALL THE HOST SOFTWARE ......................................................................................................... 6
1.2.1 USB Driver Installation............................................................................................................ 6
1.3 USE THE POLHEMUS PIMGR GUI...................................................................................................... 6
1.4 EXPERIMENT WITH PATRIOT DATA ................................................................................................ 9
1.5 TERMS/ACRONYMS......................................................................................................................... 10
2. PATRIOT SYSTEM COMMANDS .................................................................... 18
2.1 OVERVIEW...................................................................................................................................... 18
2.2 COMMAND SYNTAX........................................................................................................................ 18
2.2.1 Notation .................................................................................................................................. 18
2.2.2 Command Format Notes......................................................................................................... 19
Station Wildcard.................................................................................................................................. 19
Default Parameters.............................................................................................................................. 19
2.2.3 Response Format Notes .......................................................................................................... 20
ASCII.................................................................................................................................................. 20
Binary.................................................................................................................................................. 20
Error Responses .................................................................................................................................. 21
2.3 PATRIOT USER COMMAND SET SUMMARY .................................................................................. 22
2.4 PATRIOT ERROR CODE SUMMARY ............................................................................................... 23
2.5 COMMAND REFERENCE................................................................................................................... 24
2.5.1 Configuration Commands....................................................................................................... 24
‘A’ – Alignment Reference Frame.................................................................................................. 25
‘B’ – Boresight................................................................................................................................ 28
‘F’ – Output Format ........................................................................................................................ 30
‘G’ – Source Mounting Frame ........................................................................................................ 32
‘H’ – Hemisphere of Operation....................................................................................................... 34
‘L’ – Stylus Button Function........................................................................................................... 37
‘N’ – Tip Offsets............................................................................................................................. 39
‘O’ – Output Data List..................................................................................................................... 41
‘U’ – Set Units ................................................................................................................................ 43
‘X’ – Position Filter Parameters...................................................................................................... 45
‘Y’ – Attitude Filter Parameters...................................................................................................... 48
‘^B’ – Un-Boresight........................................................................................................................ 51
‘^E’ – Set Echo Mode ..................................................................................................................... 52
‘^O’ – RS-232 Port Configuration .................................................................................................. 53
‘^R’ – Reset Alignment Frame........................................................................................................ 55
‘^U’ – Active Station State.............................................................................................................. 56
‘^X’ – Operational Configuration ID .............................................................................................. 59
2.5.2 Operational Commands.......................................................................................................... 61
‘C’ – Continuous Print Output ........................................................................................................ 62
‘P’ – Single Data Record Output..................................................................................................... 63
‘Q’ – Reset Counters....................................................................................................................... 65
‘^K’ – Save Operational Configuration........................................................................................... 66
‘^T’ – Read/Clear BIT Errors.......................................................................................................... 67
‘^V’ – WhoAmI .............................................................................................................................. 69
‘^W’ – Set Default Operational Configuration................................................................................ 71
‘^Y’ – Initialize System................................................................................................................... 72
‘^Z’ – Read Operational Configuration........................................................................................... 73
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USER MANUAL
3. COMPONENT DESCRIPTION .......................................................................... 77
3.1 SYSTEM ELECTRONICS UNIT (SEU)................................................................................................ 77
3.1.1 Source Port ............................................................................................................................. 77
Source Frequency................................................................................................................................77
3.1.2 Sensor Ports............................................................................................................................ 77
3.1.3 LED Indicator......................................................................................................................... 77
3.1.4 RS-232 I/O .............................................................................................................................. 78
Serial Connector.................................................................................................................................. 78
Hardware Switches.............................................................................................................................. 78
3.2 MAGNETIC SOURCE ........................................................................................................................ 79
3.3 SENSOR(S)...................................................................................................................................... 80
3.4 STYLUS ........................................................................................................................................... 80
4. SYSTEM OPERATION........................................................................................ 82
4.1 I/O CONSIDERATIONS ..................................................................................................................... 82
4.2 POWERING UP PATRIOT ............................................................................................................... 82
4.3 CONFIGURATION CHANGES............................................................................................................. 82
4.4 OUTPUT UPDATE RATE................................................................................................................... 82
4.5 OUTPUT CONSIDERATIONS.............................................................................................................. 83
4.6 USEFUL RANGE............................................................................................................................... 83
APPENDIX A. Alignment Reference Frame .............................................................................................................A-1
APPENDIX B. System Output Data Records ............................................................................................................ B-1
ASCII FORMAT.................................................................................................................................... B-1
BINARY FORMAT............................................................................................................................... B-2
APPENDIX C. Built In Test (BIT) ............................................................................................................................ C-1
INITIALIZATION RESULTS........................................................................................................................ C-1
RUNTIME RESULTS ................................................................................................................................. C-2
APPENDIX D. Limited Warranty and Limitation of Liability...................................................................................D-1
APPENDIX E. Specifications.....................................................................................................................................E-1
APPENDIX F. Customer Service ...............................................................................................................................F-1
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USER MANUAL
TABLE OF FIGURES
Figure 1-1 PATRIOT System----------------------------------------------------1
Figure 1-2 Source Connection ---------------------------------------------------2
Figure 1-3 Sensor Connection ---------------------------------------------------2
Figure 1-4 Sensor/Source Test Setup -------------------------------------------3
Figure 1-5 Power Connector -----------------------------------------------------3
Figure 1-6 USB Cable Connection----------------------------------------------4
Figure 1-7 RS-232 Cable Connection-------------------------------------------5
Figure 1-8 PiMgr Screen Display -----------------------------------------------7
Figure 1-9 RS-232 Configuration Settings-------------------------------------8
Figure 1-10 PATRIOT Data Record Display----------------------------------8
Figure 1-11 Euler Angles------------------------------------------------------- 15
Figure 3-1 Source Diagram ---------------------------------------------------- 79
Figure 3-2 Sensor---------------------------------------------------------------- 80
Figure 3-3 Stylus ---------------------------------------------------------------- 81
Figure 4-1 Alignment Reference Frame-------------------------------------A-1
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USER MANUAL
LIST OF TABLES
Table 2-1 ASCII Response Format---------------------------------------------------------------------20
Table 2-2 Binary Response Format---------------------------------------------------------------------21
Table 2-3 ‘A’ ASCII Response--------------------------------------------------------------------------26
Table 2-4 ‘A’ Binary Response -------------------------------------------------------------------------26
Table 2-5 ‘B’ ASCII Response--------------------------------------------------------------------------29
Table 2-6 ‘B’ Binary Response -------------------------------------------------------------------------29
Table 2-7 ‘F’ ASCII Response--------------------------------------------------------------------------31
Table 2-8 ‘F’ Binary Response--------------------------------------------------------------------------31
Table 2-9 ‘G’ ASCII Response--------------------------------------------------------------------------32
Table 2-10 ‘G’ Binary Response -------------------------------------------------------------------------32
Table 2-11 ‘H’ ASCII Response--------------------------------------------------------------------------35
Table 2-12 ‘H’ Binary Response -------------------------------------------------------------------------35
Table 2-13 ‘L’ ASCII Response--------------------------------------------------------------------------38
Table 2-14 ‘L’ Binary Response--------------------------------------------------------------------------38
Table 2-15 ‘N’ ASCII Response--------------------------------------------------------------------------40
Table 2-16 ‘N’ Binary Response -------------------------------------------------------------------------40
Table 2-17 Output Data Types----------------------------------------------------------------------------41
Table 2-18 ‘O’ ASCII Response--------------------------------------------------------------------------42
Table 2-19 ‘O’ Binary Response -------------------------------------------------------------------------42
Table 2-20 ‘U’ ASCII Response--------------------------------------------------------------------------43
Table 2-21 ‘U’ Binary Response -------------------------------------------------------------------------43
Table 2-22 ‘X’ ASCII Response--------------------------------------------------------------------------46
Table 2-23 ‘X’ Binary Response -------------------------------------------------------------------------47
Table 2-24 ‘Y’ ASCII Response--------------------------------------------------------------------------49
Table 2-25 ‘Y’ Binary Response -------------------------------------------------------------------------50
Table 2-26 ‘^E’ ASCII Response ------------------------------------------------------------------------52
Table 2-27 ‘^E’ Binary Response ------------------------------------------------------------------------52
Table 2-28 ASCII Baud Rate Values --------------------------------------------------------------------53
Table 2-29 ASCII Parity Values--------------------------------------------------------------------------53
Table 2-30 ‘^O’ ASCII Response ------------------------------------------------------------------------54
Table 2-31 ‘^O’ Binary Response------------------------------------------------------------------------54
Table 2-32 Binary RS-232 Codes ------------------------------------------------------------------------54
Table 2-33 ‘^U[station]’ ASCII Response--------------------------------------------------------------57
Table 2-34 ‘^U0’ ASCII Response-----------------------------------------------------------------------57
Table 2-35 ‘^U’ Binary Response------------------------------------------------------------------------57
Table 2-36 ‘^X’ ASCII Response ------------------------------------------------------------------------59
Table 2-37 ‘^X’ Binary Response------------------------------------------------------------------------60
Table 2-38 ‘P’ ASCII Response--------------------------------------------------------------------------63
Table 2-39 ‘P’ Binary Response--------------------------------------------------------------------------64
Table 2-40 ‘^T’ ASCII Response ------------------------------------------------------------------------68
Table 2-41 ‘^T’ Binary Response ------------------------------------------------------------------------68
Table 2-42 ‘^V’ ASCII Response ------------------------------------------------------------------------69
Table 2-43 ‘^V’ Binary Response------------------------------------------------------------------------70
Table 2-44 ‘^V[station] ASCII Response---------------------------------------------------------------70
Table 2-45 ‘^V[station]’ Binary Response--------------------------------------------------------------70
Table 2-46 ‘^Z’ ASCII Response Header---------------------------------------------------------------73
Table 2-47 ‘^Z’ ASCII Response ------------------------------------------------------------------------74
Table 2-48 ‘^Z’ Binary Response ------------------------------------------------------------------------75
Table 3-1 LED conditions -------------------------------------------------------------------------------78
Table 3-2 RS-232 Pin Outs ------------------------------------------------------------------------------78
Table 3-3 Switch Settings--------------------------------------------------------------------------------79
Table 4-1 BIT Results DWORDs---------------------------------------------------------------------C-1
Table 4-2 Source BIT Results-------------------------------------------------------------------------C-1
Table 4-3 Global Sensor BIT Results ----------------------------------------------------------------C-2
Table 4-4 Sensor Channel BIT Results -------------------------------------------------------------- C-2
Table 4-5 Runtime BIT Error Codes -----------------------------------------------------------------C-3
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USER MANUAL
1. Getting Started
Congratulations on buying the latest, most cost-effective 3D tracking system yet! This
section of the user manual has been provided to help get your project under way as
quickly as possible.
As with any new system, there are two ways to get started with your PATRIOT system:
you could “wing it,” which involves a great deal of assumptions based on 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.
1.1 Set Up the PATRIOT
NOTE: This approach assumes the use of a single sensor, availability of a USB or COM
Port on a computer with either Windows 2000 or Windows XP, and that the Polhemus
PiMgr GUI is installed on the computer. See Install the Host Software on page 6 for
instructions.
1. Unpack the PATRIOT SEU, source, sensor(s), USB and RS-232 cables,
PATRIOT Host Software CD, power supply and cables. See Figure 1-1.
Figure 1-1 PATRIOT System
2. Set up the PATRIOT 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.
3. Identify the source (the two-inch gray cube) and insert the source connector into
the source receptacle, being careful to firmly engage it. Using your fingers,
tighten the two retaining screws to secure the connector. See Figure 1-2.
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USER MANUAL
Figure 1-2 Source Connection
4. For getting started, use only one sensor. Identify the sensor and insert it into either
of the sensor receptacles as shown below. Firmly engage and lock the sensor
connector into place in the same manner as the source connector in step 3. See
Figure 1-3.
Figure 1-3 Sensor Connection
5. For testing purposes, it is convenient to mount both the source and the sensor on a
single block of wood (2x4 or equivalent) about 16 inches apart. Exact placement
of the source and sensor is not important for this test; just make sure the cables of
both devices are not routed tightly together and that they come off opposite
ends of the wooden block. See Figure 1-4.
Rev. B 2 November 2004