UAV Vision CM160 User manual
CM160 Multi-sensor Operations Manual
Doc#: 100-104 ii/3
ii
Version:1.8.0
Revision History
Document Version
Date
Page Number
Change Description
V1.0
NA
First release.
V1.1
12-17
Added, UAV Navigation and MicroPilot
Instructions
V1.2
11
12
13
Changed delay time, added sentence about current
draw
Added new Hookup Diagram
Added Current Recommendation, changed min max
for new gimbals
V1.3
01/10/2010
12
11
14
Updated to CM160-V2, added new cable
configuration + Voltages
Added new power requirements
Added new Systems Dimensions
V1.4
24/02/2011
11
Updated to new wiring diagram, to include BNC
Connections
V1.5
11/10/2011
Various
Updated address and contact details, packing
information, Test GUI (Vision System), minor
grammatical and spelling corrections
V1.6
03/11/2011
11
Updated diagram and table to include the maximum
allowable voltage when operating the CM160 with
HD sensors
V1.7
27/02/2012
13
Added Mounting caution
V1.8.0
11/06/2013
All
Ported previous document across to new file
template
References
References are specific to both the CM100 and CM160. Please refer only the documents which match
the model of gimbal you are operating.
Reference ID
Document Name
Document Description
[1]
UV400-101_CM160_GimbalPinOuts_2-0-4
CM160 Gimbal Pin Outs
[2]
UV100-103_GTI_QuickStartGuide_1-0-0
Gimbal Interface Quick Start
Manual
[3]
UV300-100_BenchKit_HookUpDiagram_1-0-0
Bench kit Hook-Up Diagram
You are required to read this manual thoroughly and pay attention to voltages and mounting
instructions.
All rights reserved. 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 UAV Vision.
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 UAV Vision. UAV Vision cannot be held liable for any
mistakes in this manual and reserves the right to make changes.
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Table of Contents
Revision History.......................................................................................................................................ii
References ................................................................................................................................................ii
1. Features ............................................................................................................................................ 5
1.1. Control Modes...........................................................................................................................5
1.1.1 Position Mode.....................................................................................................................5
1.1.2 Velocity Mode....................................................................................................................5
1.1.3 Gyro Mode ......................................................................................................................... 5
1.2. Daylight Camera Controls.........................................................................................................5
1.2.1 Zoom Velocity Set..............................................................................................................5
1.2.2 Focus Manual/Auto............................................................................................................6
1.2.3 Focus Set ............................................................................................................................6
1.2.4 Auto Exposure On/Off .......................................................................................................6
1.2.5 Iris Manual Mode...............................................................................................................6
1.2.6 Iris Set.................................................................................................................................6
1.2.7 Shutter Manual Mode.........................................................................................................6
1.2.8 Shutter Speed Set................................................................................................................6
1.2.9 Camera Gain Set.................................................................................................................6
1.2.10 Stabilize Lens On/Off.........................................................................................................7
1.2.11 Picture Invert On/Off..........................................................................................................7
1.3. IR Camera controls....................................................................................................................7
1.3.1 IR FFC Mode Select...........................................................................................................7
1.3.2 IR Do FFC..........................................................................................................................7
1.3.3 IR FFC Set Temperature Delta...........................................................................................7
1.3.4 IR Zoom In 2x....................................................................................................................7
1.3.5 IR Freeze Frame On/Off.....................................................................................................7
1.3.6 IR Video LUT .................................................................................................................... 7
1.3.7 IR Video Orientation..........................................................................................................8
2. Specifications ...................................................................................................................................8
3. Compatible Sensors..........................................................................................................................8
3.1.1 IR Cams:.............................................................................................................................8
3.1.2 Daylight Cams:...................................................................................................................8
3.1.3 Sensors................................................................................................................................8
4. Unpacking the Box........................................................................................................................... 8
5. Handling Instructions....................................................................................................................... 9
6. Powering the System........................................................................................................................9
6.1. Boot-up Sequence......................................................................................................................9
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6.2. Recommended Operating Conditions........................................................................................9
6.3. Cable Configuration.................................................................................................................10
6.4. Absolute Maximum Ratings....................................................................................................10
7. Cleaning the CM160 ......................................................................................................................10
8. Gimbal Test Interface software...................................................................................................... 11
9. Bench Kit........................................................................................................................................11
10. Acceptance Tests.........................................................................................................................12
10.1. Video Quality.......................................................................................................................12
10.2. Position Controller Test....................................................................................................... 12
10.3. Gyro Stabilization................................................................................................................ 12
10.4. Feature Test..........................................................................................................................12
11. System Dimensions.....................................................................................................................13
12. UAV NAVIGATION with the CM160.......................................................................................14
12.1. CFG Tab:..............................................................................................................................14
12.2. Payload Tab..........................................................................................................................14
12.3.....................................................................................................................................................15
13. MicroPilot with the CM160 ........................................................................................................ 16
13.1. Horizon GCS Configuration:............................................................................................... 16
13.2. Setup for Camera in the autopilot:.......................................................................................17
13.2.1 Control Camera by Position............................................................................................. 17
13.2.2 Control Camera by Velocity.............................................................................................17
13.2.3 Hybrid. Autopilot Controls Position, Joystick Control Velocity. ....................................17
13.3. Autopilot Fields for VD170 / GD170 and CM160 Cameras............................................... 18
13.3.1 Hybrid Mode Setup:.........................................................................................................19
14. Contact.........................................................................................................................................20
14.1. Support.................................................................................................................................20
14.2. Sales..................................................................................................................................... 20
14.3. General Enquiries................................................................................................................. 20
14.4. Phone Contact...................................................................................................................... 20
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1. Features
This section will present the features for the UAV Vision CM160 gimbals.
Pan and Tilt operation is super smooth with our internal controller, you can pan the system continuously and
tilt from +90 though 0 to -90 degrees.
The gyro sensors are being read and filtered at 3khz giving us great vibration smooth data enabling us to
provide you with the best stabilization possible.
The CM160 can be fitted with multiple sensors, as default we fit the SONY FCB-EX980SP and the FLIR
TAU 2 336 with a 35mm lens. This gives us great characteristics for search and rescue, amongst others.
We have fitted two 5megapixel video cameras for a particular project and have fantastic tracking results.
1.1. Control Modes
The CM160 Gimbal has three operational modes:
1.1.1 Position Mode
This mode allows a user to demand pan/tilt position. The CM160 will move to the demanded position in the
direction that is quickest for the system to arrive at it.
The velocity of movement toward the demanded position will be determined by the distance away from the
demanded position.
The position demands are capable of demanding the system to one of 32768 positions in pan, corresponding
to the full 3600rotations. The 32768 positions result in a position resolution for the system of 0.0110
(360/32768) in both the pan and tilt axis. The tilt axis is limited by the end stops programmed into the
system, with an effective travel of ±900from the centre position.
1.1.2 Velocity Mode
The pan and tilt can be controlled via a velocity, this being an absolute system pan or tilt velocity to the
CM160.
This velocity is the actual velocity (in degrees per second) that the system will move at. The velocity limit
demands are ±1550/sec and in 0.010/sec increments for both pan and tilt.
1.1.3 Gyro Mode
The CM160 is delivered with gyros. The CM160 gimbal performs excellently on moving platforms. This
feature gives us the ability to hold an image still even through adverse movements.
When the CM160 is in Stabilization Mode, the user can demand velocities on both Pan and Tilt which are
relative to the ‘World’. For example, the platform which is carrying the CM160 is rotating at +100/sec and
the user would like to continue to pan the image slowly at -20/sec then the internal calculations will pan the
system at -120/sec, relative to the CM100 but a smooth -20/sec relative to the image/world.
The CM160 is capable of streaming its current angle at 40Hz, therefore giving the user the ability to close
the loop on a hybrid position control manually. This can be activated in all three modes.
1.2. Daylight Camera Controls
1.2.1 Zoom Velocity Set
The CM160 is fitted with the Sony FCB-EX980SP as standard and as such comes with an incredible 26x
optical continuous zoom; the Sony protocol allows us to demand 6 levels that the user can demand the zoom
velocity. The numbers are from 2 to 7, with 2 being the slowest zoom speed and 7 the highest. The user can
choose to zoom in or out at any of these speeds.
Table of contents
