______________________________________________________________________________

HighPerformance

PanTiltUnit
MODEL:PTUD48ESeries VERSION:4.20 REVISIONDATE:January,2011

UserManual

PTUD48ESeries

DOCUMENTCONTROL
Date 09/2010 09/2010 01/2011 Author A.Hernandez A.Hernandez A.Hernandez Rev.# 4.00 4.10 4.20 Changes InitialESeriesdocrelease Addedcablediagram,minorfixes AddedISMinformation

Note:ThismanualdescribestheESeriesPTUD48only.Ifyouhaveanyotherseriesof PTUD48,pleaserefertotheappropriatedocumentationforthatseries.

COPYRIGHTNOTICE
PanTiltUnit(ModelPTUD48ESeries)UsersManual 1991,2010byFLIRMotionControlSystems,Inc.,890CCowanRoad,Burlingame,California 94010,(650)6923900,FAX:(650)6923930,www.FLIR.com./MCS Allrightsreserved.ProtectedundernumerousU.S.patents,including5463432and5802412 withotherpatentspending.Nopartofthisbookmaybereproduced,storedinaretrieval system,ortranscribedinanyformorbyanymeansincludingbutnotlimitedtoelectronic, mechanical,photocopying,recording,orotherwise,withoutthepriorwrittenpermissionof FLIRMotionControlSystems,Inc. Theinformationinthismanualissubjecttochangewithoutnoticeand,exceptforthe warranty,doesnotrepresentacommitmentonthepartofFLIRMotionControlSystems,Inc. FLIRMotionControlSystems,Inc.cannotbeheldliableforanymistakesinthismanualand reservestherighttomakechanges.

PTUD48ESeriesUserManual

TableofContents
1 Introduction...............................................................................................1
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 GeneralPTUD48Features........................................................................................1 ESeriesFeatures........................................................................................................2 Applications...............................................................................................................2 AboutThisManual ....................................................................................................3 .
1.4.1 FormattingConventions ....................................................................................................3 . Models.......................................................................................................................4 PTUD48PackageContents.......................................................................................4 RelatedDocumentation ............................................................................................5 . AdditionalResources.................................................................................................5 TechnicalSupport......................................................................................................5

2 3

Safety........................................................................................................7
2.1 3.1 3.2 3.3 3.4 3.5 SafetyWarningsandCautions...................................................................................7 SystemOverview.......................................................................................................9 InstallationComponents.........................................................................................10 BasicSetup...............................................................................................................10 EthernetConnection ...............................................................................................11 . SerialConnection.....................................................................................................13 MountingtheUnit...................................................................................................15 WiringandConnectors............................................................................................16

QuickStart.................................................................................................9

InstallationandSetup..............................................................................15
4.1 4.2
4.2.1 MechanicalOverview.......................................................................................................16 4.2.2 WiringOptions.................................................................................................................17 4.3 PowerSources.........................................................................................................17 4.4 Fusing.......................................................................................................................18 4.5 Shielding...................................................................................................................18 4.6 InterfaceandHostSettings.....................................................................................18 4.6.1 EthernetConnection........................................................................................................18 4.6.2 RS232ElectricalConnection...........................................................................................19 4.6.3 RS485ElectricalConnection...........................................................................................19 4.7 InitialPowerUpandTest........................................................................................20 4.7.1 WebInterface..................................................................................................................20 4.7.2 TerminalInterface............................................................................................................20 4.8 PayloadMounting ...................................................................................................21 . 4.8.1 SideBracketAttachment.................................................................................................21 4.8.2 PayloadAttachment.........................................................................................................22 4.9 PayloadWiringConnector(Optional).....................................................................24

Configuring&Programming....................................................................25
5.1 RangeofMotion......................................................................................................25 5.1.1 DefaultLimits...................................................................................................................26 5.2 ResolutionandStepModes.....................................................................................27 5.3 UserProgrammableSettings ..................................................................................27 . 5.3.1 HighSpeedOperation......................................................................................................27 5.3.2 HeavyPayloadOperation................................................................................................28 5.3.3 BatteryPoweredOperation.............................................................................................29

WebInterface..........................................................................................31
6.1 6.2 6.3 PTUConfigurationPage...........................................................................................31 NetworkPage..........................................................................................................34 PTUControlPage.....................................................................................................35

A. ElectricalSpecifications...........................................................................37
A.132PinBaseConnector ..................................................................................................38 . A.219PinPayloadConnector.............................................................................................39 A.3PL01WiringDiagram.....................................................................................................40 A.4PL02WiringDiagram.....................................................................................................41 A.532PinBreakoutCable...................................................................................................42

B. MechanicalDrawings ..............................................................................43 .
B.1PayloadMountingPattern.............................................................................................44 B.2PTUD48Dimensions(Standard)...................................................................................46 B.2PTUD48Dimensions(ISM)............................................................................................47

C. Networking .............................................................................................49 .
C.1Ethernet.........................................................................................................................49 C.2Serial ..............................................................................................................................49 .
C.2.1SerialNetworkingConnections..........................................................................................50 C.2.2ASCIICommandSyntax......................................................................................................51 C.2.3SerialCommandList...........................................................................................................52

D. Troubleshooting.......................................................................................53
D.1Mechanical ....................................................................................................................53 . D.2Power.............................................................................................................................53 D.3Networking....................................................................................................................53 D.4TechnicalSupport..........................................................................................................54

E. RegulatoryInformation...........................................................................57
ClassA.....................................................................................................................................57 FCCNotice...............................................................................................................................57 CENotice.................................................................................................................................57

PTUD48ESeriesUserManual

TableofFigures
Figure1:PanTiltSystemOverview.....................................................................9 Figure2:HoleMountingPattern.......................................................................15 Figure3:BracketingOptions.............................................................................21 Figure4:PanTiltDefaultFactoryLimits............................................................26 Figure5:PTUNetworkConfiguration................................................................50

Thispageintentionallyleftblank.

1Introduction
ThePTUD48ESeriesPanTiltUnit(PTUD48)fromFLIRMotionControlSystemsprovidesfast, accurate,anddurablepositioningofcameras,antennas,lasers,andotherpayloads.ThisUser Manualcontainssetup,generalconfiguration,wiring,andmechanicalinterfaceinformation thatisintendedforusebydesignengineersandintegratorswhoareconfiguring,installing,and programmingthePTUD48.Pleasesee1.7foralistofotherdocumentsrelatedtothePTUD48.
Note:ThismanualdescribessettingupandusingthePTUD48ESeriesunit.Optional modulesarenotincludedintheseinstructions.IfyourPTUD48includesanyoptional modules,pleaserefertothedocumentationincludedwiththosemodulesforhelpwith theirsetupanduse.

1.1 GeneralPTUD48Features
ThePTUD48seriesoffersthefollowinggeneralfeatures: Serialcommunicationcapabilityviaterminalorcomputer Payloadcapacityof10lbs(topmount)or15lbs(sidemount) Panresolutionof0.006 Tiltresolutionof0.003 Preciseposition,speed&accelerationcontrol Ontheflypositionandspeedchanges Selfcalibrationonresetwithreducedmotion Hostcontrollablepowerconsumption SimpleASCIIcommandmode Highspeedbinarycommandinterface Constantcurrentmotordrivesforincreasedperformanceandcontrol Unregulated1230VDCpowerinput Flexibleconnectivityoptions Sealedforoutdooroperation(IP67) Slipringforcontinuous360panoperation(optional).

PleaserefertothePTUD48ESeriesProductDatasheetforcompletespecifications.

PTUD48ESeriesUserManual

1.2 ESeriesFeatures
ThePTUD48ESeriesincludesthefollowingnewfeatures: BuiltinEthernet/WebIPinterfaceforeasyconfiguration,control,anddiagnostics Improvedpowerprotectioncircuitry 32pinbaseconnectorforsimplifiedwiring Integrateddigitalencoderformorerobustpositioning Programmablerangesofmotion Highercommandrateswithlowerlatencyandjitter Reducedcalibrationmovement FullbackwardcompatibilitywithpreviousPTUD48modelsthatincludes: Mountingpattern Payloadconnector/pinouts(PL01,PL02) ASCIIandbinaryapplicationcommandinterface Optional19to32pinadaptercable(32pinbreakoutcablealsoavailable) OverlappedcapabilitieswithpreviousPTUD48models.

1.3 Applications
ThePTUD48ESeriesiswellsuitedforthefollowingapplications: Midandshortrangesurveillancesystems Automateddetectionandtracking Multisensorperimetermonitoringsystems ThermalandIRcameras Marine/shipboardsensorsystems Harborandportsecurity Bordersecurity&lawenforcement Highway&transportationmonitoring Militaryspecialoperations Satellitecommunicationssystems Microwaveantennasystems(passive,active) Robotics&computervision.

Introduction

1.4 AboutThisManual
Thissectiondescribestheformattingconventionsandinformationcontainedinthismanual.

1.4.1FormattingConventions
Thismanualusesseveralformattingconventionstopresentinformationofspecialimportance. Listsofitems,pointstoconsider,orproceduresthatdonotneedtobeperformedinaspecific orderappearinbulletformat: Item1 Item2

Proceduresthatmustbefollowedinaspecificorderappearinnumberedsteps: 1. Performthisstepfirst. 2. Performthisstepsecond. Specifickeyboardkeysaredepictedinsquarebracketsandarecapitalized,forexample:[ESC].If morethanonekeyshouldbepressedsimultaneously,thenotationwillappearas[KEY1]+[KEY 2],forexample[ALT]+[F4]. Interfaceelementssuchasdocumenttitles,fields,windows,tabs,buttons,commands,options, andiconsappearinboldtext. MenusandsubmenushavethenotationMenu>Submenu.Forexample,SelectFile>Save meansthatyoushouldfirstopentheFilemenu,andthenselecttheSaveoption. SpecificcommandsappearinstandardCourierfont.Sequencesofcommandsappearinthe orderinwhichyoushouldexecutethemandincludehorizontalorverticalspacesbetween commands. Thismanualalsocontainsimportantsafetyinformationandinstructionsinspeciallyformatted calloutswithaccompanyinggraphicsymbols:
WARNING:WARNINGSALERTYOUTOTHEPOSSIBILITYOFPERSONALINJURYOR DEATHIFTHESEINSTRUCTIONSARENOTFOLLOWED. CAUTION:CAUTIONSALERTYOUTOTHEPOSSIBILITYOFEQUIPMENTORPROPERTY DAMAGEIFTHESEINSTRUCTIONSARENOTFOLLOWED.

Note:Notesprovidehelpfulinformation.

ISM

ISM:ISMcalloutsalertyoutodifferencesbetweenstandardPTUsandPTUsequipped withtheoptionalInertialStabilizationModule(ISM)andreferyoutotheappropriate documentation.

PTUD48ESeriesUserManual

1.5 Models
EachPTUD48Eseriesunitincludesamodelnumberthatislocatedonthebaseoftheunit.This numberliststheoptionspresentonthatparticularunit.Differentoptionsmayrequire specializedinstructions,andthismanualwillrefertothissectionwherenecessarytoensure thatyouarefollowingtheappropriatedirections. ThePTUD48Eseriesmodelnumberappearsasfollows:

D48E S S S S 000 S S
Bracket Mount S = Top bracket Slip Ring S = Standard C = Continuous pan with slip ring Wiring S = None 1 = PL01 2 = PL02

ISM

ISM:ISMequippedPTUshaveadditionalmodelnumberoptions.Pleaserefertothe PTUD48ISMConfigurationGuideforadditionalinformation.

1.6 PTUD48PackageContents
YourPTUD48ESeriespackageincludesthefollowingitems: PTUD48ESeriesunit Payloadmatingconnectorkit(withvariouspayloadpassthroughconfigurations) PayloadmountingbracketsOptional PanTiltbreakoutcable(PTUCABE25BO)Optional AC/DCpowersupply(PTUACAPS30V)Optional RS232toRS485converter(PTUCONVRS485C)Optional PTUD48ESeriesUsersManual(thisdocument) PanTiltESeriesCommandReferenceManual CDcontainingthePTUFinderutilityandotherdocumentation.

Introduction

1.7 RelatedDocumentation
ThefollowingadditionaldocumentationisavailableforyourPTUD48ESeriesunit: PTUD48ESeriesConfigurationGuide:optionsandaccessoriesorderingguide PTUD48ESeriesProductDatasheet:productspecifications PanTiltESeriesCommandReferenceManual:commandinstructions

1.8 AdditionalResources
FLIRMotionControlSystems,Inc.alsomaintainsatechnicalsupportWebsitewithadditional resourcesforcustomersintheSupportsectionatwww.FLIR.com/MCS.Resourcesinclude electroniccopiesofusermanuals,firmwaredownloads,3DCADmodels,technicalnotes,and otherinformation.

1.9 TechnicalSupport
FLIRMotionControlSystems,Inc.providesarangeoftechnicalsupportoptions: Email:MCSsupport@FLIR.com Web:www.FLIR.com/MCS Phone:(650)6923900,thenselectTechnicalSupport

ThepreferredmethodofcontactingTechnicalSupportisviaemail,whichhelpsensureproper dispatchingandtrackingtoaddressyourquestionspromptly. WhencontactingTechnicalSupport,pleaseprovidethefollowinginformation: PTUmodelandconfiguration Payload(Pleaseincludephotos,ifpossible.) Parametersettings Descriptionofissue/symptoms

PTUD48ESeriesUserManual Thispageintentionallyleftblank.

2Safety
Thischaptercontainsimportantsafetyinstructions.Youmustread,understand,andcomply withallofthesesafetyinstructionsinordertoprotectbothpersonsandproperty.Thebenefits ofasafeinstallationincludeincreasedusability,reliability,andreduceddamagetothePTU, payload,and/orotherproperty.

2.1 SafetyWarningsandCautions
PTUD48installationandsetupshouldbeonlybeperformedbyqualifiedpersonnel. Theinstallationmustcomplywithallapplicablecodes(suchasbuildingcodes,marinesafety codes,etc.). Theinstallationmustbefreeofobstructionsthroughouttheentirerangeofpantiltmotion. Whenplanningtheinstallation,makesuretotakethepayloadintoaccounttoensurethat thePTUD48andpayloadremainunobstructedatalltimes. Allmountingmethodsandmaterialsmustbecapableofsupportingatleastfourtimesthe combinedweightofthePTUD48,mountedpayloads,andcabling. Corrosionresistanthardware(suchasstainlesssteelscrews)mustbeusedforalloutdoor installations. DonotinstallthePTUD48inanylocationthatexceedsthePTUD48senvironmental specifications. Alwaysincorporateareadilyaccessiblepowerdisconnectintotheinstallationwiring.(See Sections3.4and3.5.) Removingpowerbydisconnectingthepowercableorcableharnessisnotrecommended andcanresultindamagetothesystem. Allserviceproceduresmustbeperformedbyqualifiedservicepersonnelinaccordancewith allapplicableinstructions. IfthePTUD48isdamaged,immediatelyremovepowerandcontactFLIRMotionControl Systems,Inc. OnlyusereplacementpartsrecommendedbyFLIRMotionControlSystems,Inc. UsecautionwhenliftingthePTUD48and/orpayload. KeepallpersonsandobjectswellawayfromthePTUD48spanningandtiltingradiuswith payloadinstalled. DonottouchorotherwisehandlethePTUD48whileinmotionorifthereisapossibilityof motion.AlwaysremovepowerbeforeservicingthePTUD48and/orpayload.

PTUD48ESeriesUserManual Thispageintentionallyleftblank.

3QuickStart
ThePTUD48providesdirectEthernetandserialcontrolforallmotions.Youmayalsousea joystickorproprietarycontroller. ThischapterhelpsyoupowerupyourPTUD48andtestdirectcommunicationsfromahost computer.

3.1 SystemOverview
ThePTUD48includesanintegratedcontrollerthatcanbeaccessedusingaWeb/Ethernet interface.Thecontrollerwillalsoacceptcontrolcommandsfromanyhostcomputerovera serial(RS232orRS485)connection.Thebasicconnectionsare: DCpower PantiltcontrolviaeitherEthernetorRS232/485serialconnection

ThePTUD48alsoallowspayloadpassthroughwiringthatinternallyroutespayloadsignals (payloadpower,video,etc.)fromasinglestationaryconnectorinthePTUD48basetoasingle payloadconnectorthatmoveswithyourpayload.

Basic Ptu-D48 Connections  Pan-Tilt Control (RS485/RS232) 7C  D300-Power 2C  Ethernet 4C Host Payload Pass-Through Video 1 2C Video 2 2C General Pass Through Lines 6C Payload Power 2C Optional Controls CHA RS232 CHB RS232

Figure1:PanTiltSystemOverview YoumaycontrolthePTUD48fromanyhostcomputerusingeitherthebuiltinWebinterfaceor theASCIIprotocoldescribedintheincludedPanTiltCommandReferenceManual.ThePTUD48 alsosupportsabinaryprotocolviaaCProgrammersInterface(PTUCPI)forhighspeed,hard realtimecontrolssuchastracking.Driversarealsoavailableusingthirdpartysoftware packagessuchasLabVIEWanddigitalvideocontrolsystems.

ISM

ISM:ISMequippedPTUsusethesameconnectionsdescribedinthischapter.

PTUD48ESeriesUserManual

3.2 InstallationComponents
AcompletePTUD48systemconfigurationrequiresthefollowingcomponents:
PTUD48unit(1) Payloadmatingconnectorkitfor passthroughmodelsonly(2) PTUD48UsersManual(this document;notshown) PanTiltCommandReference Manual(notshown) Payloadmountingbrackets (D48ACBKTLSTD)Optional(3) Breakoutcable(PTUCABE25BO) Optional(4) RS232toRS485converter(PTU CONVRS485C)Optional(5) AC/DCpowersupply(PTUACAPS 30V)Optional(6)

3 1 2 5

4 3

3.3 BasicSetup
ToperformabasicPTUD48setupand installation:

1. MountthePTUD48securelytoalabbench, tripod,orotherstableplatform.Verifythat thereisenoughclearancearoundtheunit. SeeSection4.1fordetailedmounting instructions. 2. Attacheithertheoptionalbreakoutcableor customersuppliedcabletothe32pin connectoratthebaseofthePTUD48by insertingtheconnectoraskeyedandthen twistingtosecuretheconnection.
CAUTION:DISCONNECTINGTHECABLEWHILETHEPTUD48ISPOWEREDONCAN DAMAGETHEUNIT.ALWAYSPOWERDOWNTHEPTUD48BEFOREDISCONNECTING THECABLE.

10

QuickStart

3. EstablishEthernetorserialwiringtothePTUD48asappropriateforyourneeds. PleaseseeSection3.4forEthernet/Webinstructions. PleaseseeSection3.5forserial/ASCIIinstructions.

4. PoweronandtestthePTUD48.

3.4 EthernetConnection
ThePTUD48containsaWebbasedinterfacethatallowsyoutotestandprogramvarious functions.ThisinterfaceisaccessibleviatheEthernetconnectiononthebreakoutcable.
Note:YoumayusesimultaneousEthernetandserialconnections.

Toconnect,poweron,andtestthePTUD48usingtheEthernetconnectionandWebinterface: 1. ConnecttheRJ45Ethernetjackonthebreakoutcabletothehostcomputereitherdirectly orthrougharouter/hub. 2. ConnectapowersourcetothePTUD48,makingsuretoincorporateareadilyaccessible powerdisconnect(suchasapowerstrip)toallowsafepowerremovalfromthesystem.

CAUTION:REMOVINGPOWERBYPULLINGTHEPLUGCANDAMAGETHEPTUD48.

3. EnsurethatthePTUD48iscleartomoveinbothaxes(panandtilt)withouthittingany obstructionsbeforeapplyingpower.
WARNING:HITTINGANOBSTACLEWHILETHEPTUD48ISINMOTIONCOULDCAUSE AMOUNTINGOROTHERSTRUCTURALFAILURETHATCOULDRESULTININJURYOR DEATH.

4. PoweronthePTUD48.Bydefault,thePTUD48willbeginacalibrationsequencethatwill causeittomovefromitscurrentpositiontothecenter(0)positionsinbothaxes. 5. LaunchaWebbrowser.ThePTUD48supportsmodernversionsoftheMicrosoftInternet Explorer,MozillaFirefox,andGoogleChromebrowserswithJavaScriptenabled. 6. RunthePTUFinderutilityfromtheCDincludedwithyourPTUD48package.Alistofthe individualPTUD48unitscurrentlyconnectedtothenetworkandtheircorrespondingIP addresseswillappearintheapplicationwindow.

Note:IfyouhavesimultaneousEthernetandserialconnectionstoaPTUD48unit,you mayenterNIintheterminaltoretrievetheIPaddressofthePTUD48unit.

11

PTUD48ESeriesUserManual 7. InyourWebbrowser,navigate totheappropriateIPaddress (suchas http://192.168.1.101).AWeb pageappearswhenyouare connectedtotheselected PTUD48unit.ThePTUD48 Webinterfaceallowsyouto configurethenetwork interface,configurevarious parameters,andcontrolthe PTUD48. 8. NavigatetothePTUControl page. 9. Clickthearrowstopanandtilt thePTUD48andverifythatit isworkingproperly. PleaserefertoSection6forinstructionsonusingtheWebinterface.

ISM

ISM:TheISMWebinterfaceincludesadditionalcommandandconfigurationoptions tosupportthestabilizationfunction.PleaserefertotheISMUserManualfor instructionsonusingtheISMWebinterface.

12

QuickStart

3.5 SerialConnection
Note:YoumayusesimultaneousEthernetandserialconnections.

Toconnect,poweron,andtestthePTUD48usingtheserialinterface: 1. CheckwhichwiringoptionyourPTUD48isconfiguredwith. IfitisPL01,thePTUD48providesdirectRS232support.SkiptoStep3. IfitisPL02,youmayhavetoconnecttothePTUD48throughanRS485converter. ProceedtoStep2. AttachtheDB25toDB9converteron onesideoftheRS232toRS485 converter. AttachoneendofthefourpinRJ11 phonecabletotheothersideoftheRS 232toRS485adapter. SettheswitchesontheRS232toRS485 convertertoTRxONandDCE.

2. ConnectthePTUD48asfollows:
RS-232

RS-232 to RS-485 adapter DB9 to DB25 adapter

Phone cord AttachthefourpinRJ11femaleto femaleadaptertotheotherendofthe phonecable.Thisisimportantbecausetheadapterrearrangesthepins;thePTUD48 willnotfunctioniftheadapterisnotattachedcorrectly.

F-F adapter

ConnecttheRS485connectorfromthebreakoutcableintotheadapter. Providepowertotheconverterthroughtheincludedpowersupply.

3. AttachastandardRS232cablebetweenahostPCandtheDB9FconnectoronthePTUD48 labeledRS232. 4. OpenaterminalprogramsuchasHyperTerminalorTeraTerm.

Note:HyperTerminalisavailablewithMicrosoftWindowsXPandpreviousversions. YoumaydownloadTeraTermfromhttp://ttssh2.sourceforge.jp/.

13

PTUD48ESeriesUserManual 5. Createanewconnectionwiththefollowing communicationsparameters: 9600baud 8databits 1stopbit noparity nohandshaking

6. ProvideDCpowertothePTUD48.Thefactorycable(part numberPTUCABE25BO)allowseasypluginpowerfrom thefactoryAC/DCpowersupplymodelPTUACAPS30V. Alternatively,youmayprovideyourownDCpowersourceif appropriate,asdescribedinSection4.3.

CAUTION:USEANAPPROPRIATELYRATEDPOWERSTRIPWITHSURGEPROTECTION TOALLOWSAFEPOWERREMOVALWHENYOUAREREADYTOPOWERDOWN.

7. PoweronthePTUD48byturningontheswitchonthepowerstrip.Ifpowerisworking,the unitwillbeginaselfcalibrationandtextwillappearonyourterminalidentifyingtheunits configuration. 8. Testpantiltoperationbytypingcommandsintoyourterminalprogram.Thefollowing commandsequencewillfamiliarizeyouwithbasicPTUD48operation: pp2500 * Thissequence: setsthepanaxistoposition2500 setsthetiltaxistoposition900 setsthepanspeedto1900positionspersecond,and setsthepanpositionbackhome. tp-900 * PS1900 * pp0 *

9. PowerdownthePTUD48byturningofftheswitchonthepowerstrip. 10. Mountandwireyourpayload(e.g.camera)onthePTUD48,asdescribedinSections4.8 and4.9. PleaseseeAppendixC.2.2foranoverviewoftheASCIIcommandsyntaxandalistofcommonly usedcommands.ThePanTiltESeriesCommandReferenceManualcontainscomplete commandinterfaceinstructions.

ISM

ISM:TheISMserialinterfaceincludesadditionalcommandstosupportthe stabilizationfunction.Somestandardserialcommandsmayalsofunctiondifferently whenthePTUisinstabilizedmode.PleaserefertotheESeriesCommandReference ManualandtheISMUserManualforinstructionsonusingserialcommandswithISM equippedPTUs.

14

4InstallationandSetup
ThissectiondescribespropermechanicalandelectricalPTUD48installation.

4.1 MountingtheUnit
Thebasicmountingpatternusesfour#1/420socketheadcapscrewsina3.375(85.725mm) squarepattern.Allfourmountingscrewsmustbeused,andmountmustbestrongenoughto supportthecombinedloadofthePTUD48unit,payload,andadditionalforcesexertedonthe system(suchaswind,Gforces,etc.).Agoodruleofthumbisthatthemountmustbecapable ofsupportingatleastfourtimesthecombinedweightofthePTUD48andpayload.For example,amountforaPTUD48witha15lb.payloadmustbeabletosupportatleast104lbs.
WARNING:FAILURETOUSEALLFOURMOUNTINGSCREWSAND/ORTOSECURETHE PTUD48ANDITSPAYLOADTOASUFFICIENTLYSTRONGMOUNTINGCANCAUSE THEINSTALLATIONTOFAIL.THISCANRESULTINPERSONALINJURYORDEATH, AND/ORDAMAGETOTHEPTUD48UNITAND/ORPAYLOAD.

4.300"
3.375"

R=0.750"

4.300"

3.375" 4x 0.257"

Figure2:HoleMountingPattern

15

PTUD48ESeriesUserManual

4.2 WiringandConnectors
ThestandardPTUD48hasabaseconnectorandmayalsohaveanoptionalpayloadconnector forcustomerattachment.DifferentPTUD48wiringoptionsmayrequiredifferentconnectors. PleaseverifyyourwiringconfigurationandthenrefertoAppendixAfordetailedpinoutand connectorrequirements.

4.2.1MechanicalOverview
ThePTUD48containsoneortworeceptacles. BaseReceptacle:ThebaseofthePTUD48housesthe32pinbasereceptaclethatcomplies withMILstandardMILC26482. PayloadReceptacle(Optional):Ifequipped,thepayloadconnectorisa19pincircular receptaclethatcomplieswithMILstandardMILC26402.Theappropriatemaleconnector complieswithMS3126F1419P.EachPTUD48withpassthroughoptionincludesonemale connector.YoumayorderadditionalconnectorsfromFLIRMotionControlSystems,Inc.

BasiccontrolrequiresconnectingaDC powersourceandahostPCtothePTU D48.Thesuppliedbreakoutcableand powersupplyallowyoutohaveyourPTU D48pluggedinandrunningwithin minutes.AppendixAcontainsspecificpin outsandwiringdiagramsfortheavailable PTUD48wiringconfigurations;ifneeded, youmayusethisinformationtomake customcablestosuityourspecific installationrequirements.Pleasereferto Section3forbasicconnectionandpower oninstructions. ThePTUD48alsoprovidespayloadpass throughsignalsthatconnectbetween pinsinthebasereceptacleto correspondingpinsinthepayload receptacle.Additionalpinsinthepayload receptacleprovideotherpayloadcontrols tothePTUD48controllerboard, includingauxiliaryRS232ports.

Payload Receptacle

Base Receptacle

16

InstallationandSetup

CAUTION:ALWAYSFOLLOWALLAPPLICABLESPECIFICATIONS(INCLUDINGBUTNOT LIMITEDTOMAXIMUMVOLTAGEANDCURRENT)WHENATTACHINGPAYLOAD SIGNALSTOTHESYSTEM.

4.2.2WiringOptions
ThePTUD48isofferedwiththefollowingwiringoptions: PL01:ThisoptionprovidesanalternateRS232communicationoptionforcommunicating withthePTUD48inadditiontotheRS485lines,andincludesatotalof10payloadpass throughlinesthatprovide: 2videochannels(4C) 1powercircuit(3C) 3generalI/Olines(3C).

ThePTUD48alsoprovidestwoauxiliaryserialportstothepayloadconnectorthatcanbe controlledusingspecialcommandsforusecontrollingcamerasorotherperipheralswithout anadditionalserialport.PleaserefertoAppendixA.3formoreinformationaboutthePL01 wiringoption. PL02:Thestandardwiringoptionprovidesthemaximumavailablepassthroughlinesfrom thePTUD48tothepayload,including: 2videochannels(4C) 1setofpowerlines(3C) 6generalI/Olines(6C)

ThePTUD48alsoprovidesRS232controltothepayload,whichallowsthePTUD48tobe controlledbyamoduleonthepayloadside.PleaserefertoAppendixA.4formore informationaboutthePL02wiringoption. Witheitheroption,thestandardslipringandconnectorsoffer32terminationpinsatthebase and19pinsatthepayload(includingthroughaslipring,ifequipped).ThePTUD48requiresa minimumofsevenconnectionsatthebaseforpower,RS485communications,andshielding.

4.3 PowerSources
ThePTUD48requiresanunregulated1230VDCpowersourcecapableof48continuouspeak watts. FormaximumPTUD48performance,usethehighestmotorvoltagewithintheallowable range. ForthequietestandsmoothestPTUD48operation,youcanusealowermotorvoltage, suchas24VDC.

ThePTUD48pantiltmaximumspeeddependsontheinputvoltage.30VDCprovidesthe highestmaximumspeed;lowervoltageswillreducethemaximumachievablespeed.

17

PTUD48ESeriesUserManual
CAUTION:THEPTUD48CONTAINSOVERVOLTAGEANDOVERCURRENT PROTECTION;HOWEVER,SUSTAINEDOVERLOADCANDAMAGETHEUNIT.

4.4 Fusing
IfyouareusingaDCpowersourcethatiscapableofsupplyingcurrentbeyondthePTUD48 ratedmaximums,youmustaddanappropriatefuseinserieswiththeDCpowersource.For example,youmustfuseaconnectionmadetoavehiclebatteryorlighterplug.
WARNING:FAILURETOPROPERLYFUSETHEPTUD48POWERSOURCECOULD OVERLOADINTERNALPROTECTIONDEVICESANDCAUSEDEATH,PERSONALINJURY, AND/ORDAMAGETOTHEUNIT.

4.5 Shielding
ShieldingprotectsthePTUD48fromexternalElectromagneticInterference(EMI)andprevents radiationemissionfrominternalandexternalcabling.Propershieldingmustbeusedtomeet theregulatoryrequirementsdescribedinAppendixE.AllPTUD48wiringconfigurationsprovide ashieldpinatboththebaseandthepayload,asdescribedinAppendixA.Thisshieldisalso attachedtothePTUD48housing.Theshieldpinisnotconnectedtogroundinternally.The shieldpotentialwillvaryfromgroundandmustnotbeconfusedwithagroundpin. Ideally,eitherthePTUD48chassisortheshieldpinatthebaseconnectorshouldberoutedtoa longgroundingrodthatisembeddedintheground.Ifneeded,itisalsoacceptabletoroutethe shieldpintothepowergroundthroughasurgeprotectiondevice.
CAUTION:THEPTUD48WILLNOTBEPROPERLYSHIELDEDUNTILTHESHIELDPINIS PROPERLYCONNECTED.

4.6 InterfaceandHostSettings
ThePTUD48includesbothanEthernetconnectionandeitherRS232orRS485 communications.YoumayconnecttoyourPTUD48usingeitherorbothofthesemethods;the WebinterfaceisonlyavailablewhenusinganEthernetconnection,andtheterminalinterface isonlyavailablewhenusingaserialconnection.

4.6.1EthernetConnection
ThePTUD48EthernetconnectionusesastandardCat5(RJ45)networkcable. YoumayconnectthePTUD48directlytoahostcomputerorindirectlythrougharouter, hub,etc. ThePTUD48willeitheracceptIPaddressesfromaDHCPserverorselectitsownIPaddress ifconnecteddirectlytothehostcomputer. Youdonotneedacrossovercable.

18

InstallationandSetup

Ifneeded,youmayuseacouplingtoextendtheEthernetconnectiononthebreakoutcable.
Note:TheEthernetandserialinterfacesmaybeconnectedsimultaneously;however, youshouldonlyuseoneinterfaceatatimeforcommandandcontrolofthePTUD48.

Connect,poweron,andtestthePTUD48usingtheEthernetconnectionandWebinterfaceas describedinSection3.4.

4.6.2RS232ElectricalConnection
PTUD48unitswithRS232communicationshavethefollowingconnections: TxD:Pin2(carriesdatafromthePTUD48) RxD:Pin3(carriesdatatothePTUD48) GND:Pin5
Note:TxDandRxDassignmentscanvarydependingonyourhostcomputer.Ifyour initialconnectiondoesnotwork,tryusinganullmodem.

SerialcommunicationbetweenthePTUD48andyourhostcomputershouldbesetasfollows: Baudrate:9600.Youmayadjustthebaudrateusingsoftwarecommands.Pleasereferto thePanTiltESeriesCommandReferenceManualforinstructions. Startbit:1 Databits:8 Stopbit:1 Handshaking:off XON/XOFF:notused

4.6.3RS485ElectricalConnection
PTUD48unitswithRS485communicationshavethefollowingconnections: Duplex:full Connections:Tx+,Tx,Rx+,andRx Voltage:RS422orRS485levels Baudrate:9600.Youmayadjustthebaudrateusingsoftwarecommands.Pleasereferto thePanTiltESeriesCommandReferenceManualforinstructions. Startbit:1 Databits:8

SerialcommunicationbetweenthePTUD48andyourhostcomputershouldbesetasfollows:

19

PTUD48ESeriesUserManual Stopbit:1 Handshaking:off XON/XOFF:notused

4.7 InitialPowerUpandTest
ThissectiondescribeshowtopowerupandtestyourPTUD48usingeithertheWeborserial interface.Testandverifyallcableconnectionsandconnectorwiringbeforepowerup.
Note:Completetheinitialinstallationandtesting,thenexercisethePTUD48and familiarizeyourselfwithitsoperationsandcommandsbeforemountingyourpayload (suchasacamera).

4.7.1WebInterface
TotestthePTUD48usingtheWebinterface,followtheprocedureinSection3.4toconnect thePTUD48,powerontheunit,andaccesstheWebinterface. TheWebinterfacehasthefollowingpages: PTUConfig:Allowsyoutoconfigurespeed,acceleration,andpoweroptions. Network:AllowsyoutoconfigurethePTUD48unitsIPandMACaddresses. PTUControl:AllowsyoutocontrolthePTUD48.

PleaseseeSection6formoreinformationabouttheWebinterface.UsethePTUControlpage (seeSection6.3)totestPTUD48motionandexercisetheunit.

4.7.2TerminalInterface
TotestthePTUD48usingtheserialinterface: 1. ConfiguretheRS232orRS485portonthehostcomputerasdescribedinSection3.5. 2. PowerupthePTUD48.Abootmessagewillappearonyourterminalscreenandtheunit willbeginaresetcycle.Anasterisk(*)appearsonyourscreenwhentheresetcycleis finished.IfthePTUD48didnotresetproperly,pleaserefertothetroubleshooting instructionsbelow. 3. PleaseseeAppendixC.2.3foralistofbasiccommands,andthePanTiltESeriesCommand ReferenceManualforacompletelistofcommandsandassociatedparametersandother usageinstructions.

20

InstallationandSetup

4.8 PayloadMounting
ThePTUD48payloadbracketsystemcanbeconfiguredinanumberofwaystosupporta varietyofpayloadsincludingcameras,lasers,antennas,andotherequipment.Figure3shows allbracketconfigurationsavailableforthePTUD48.
WARNING:FAILURETOFOLLOWALLPAYLOADMOUNTINGINSTRUCTIONSCOULD RESULTINASTRUCTURALFAILURETHATMAYRESULTINDEATH,PERSONAL INJURY,AND/ORDAMAGETOTHEUNIT.

Thefollowingguidelinesapplytoallpayloadmounts: Themaximumpayloadmountingscrewsizeis. Alwaysusewashers,lockwashers,etc.asappropriate. IfthePTUD48isbeingmountedinanoutdoorlocation,usecorrosionresistanthardware (suchasstainlesssteel). Applythreadlockingcompoundtoallscrews,suchasLoctite242,whichissuitablefor applicationsthatarefieldserviceablesinceitiseasilyremovablewithcommonhandtools andworkswithbothstainlessandplatedmetals.Considerothercompoundsforhigh shock/vibrationapplicationswherefieldserviceisnotaconcern.

ThePTUD48allowsthefollowingbracketmountingoptions:
TOP ONLY SIDE ONLY TOP & SIDE

Figure3:BracketingOptions

4.8.1SideBracketAttachment
Toattachsidemountingbrackets: 1. VerifythatthePTUD48hasbeenpoweredonandallowedtoreset,whichplacesthe mountinghubinitshomeposition. 2. PoweroffthePTUD48. 3. Orientthebracketsothehorizontalmountingarmisonthebottom. 4. Attachthebracketusing4screwstorqueto12inchpounds.Thethreadholesinthehub comewiththreadlockingcompoundappliedtothem.Reapplythreadlocktothehub wheneveryouremovethebracket. 5. ResetthePTUD48andensurethatthebracketmovesproperlythroughouttheentirerange ofmotion.

21

PTUD48ESeriesUserManual

Note:IfyouorderedyourPTUD48withatopbracket,theunitwillarrivewiththe bracketalreadyattached.

4.8.2PayloadAttachment
Thefollowingguidelinesapplytoallpayloadattachments: MountallpayloadsasclosetothePTUD48aspossible.Thisminimizesthedistance betweenthepayloadCenterofGravity(CG)andthecenterofrotationoftheaxes,which reducesstressonthePTUD48unitandmounting.Italsoimprovesperformanceby reducingtheamountoftorquerequiredtomovethepayload. VerifythatthepayloadwillclearthePTUD48housingandallsurroundingobjects throughouttheentirerangeofmotion. ThePTUD48isratedforamaximumloadof15lbs;however,loaddistributionaffectsthe actualweightthatthePTUD48cansafelymove.Theamountoftorqueneededtomovea payloaddependsonanumberoffactorssuchaspayloadweight,distancefromthepayload CGtothecenterofrotation,accelerationandspeedsettings,powerlevels,environmental factors,etc. ThePTUD48allowsfullcontroloveracceleration,speed,andpowerlevels.Mountyour payloadandconfiguretheseparametersappropriatelytoensurereliableoperation.

Toattachandtestyourpayload: 1. Mountyour payload.Side mountingis preferablefor heavyloads becausethiskeeps thepayloadCG closertothetilt axis,thereby minimizingtorque requirements. 2. Verifythatthe payloadissecurely attachedtothe payloadbracket. 3. MovethePTUD48tiltaxisthroughitsentirerangetotestitsabilitytocarrytheload.
CAUTION:THECGOFTOPMOUNTEDPAYLOADSISFURTHERFROMTHETILTAXIS ANDMAYREQUIREMORETORQUETHANASIMILARSIDEMOUNTEDPAYLOAD.

Top-mounted payload CG is above the tilt axis center of rotation and requires more torque.

Side-mounted payload CG is closer to the tilt axis center of rotation and requires less torque.

22

InstallationandSetup

IfyouareusingtheWebinterface,openthePTUControlpageandclickthearrowsto movethePTUD48throughitsfullrangeoftiltmotion,asdescribedinSection6.3.If needed,clickHalttostopthePTUD48immediately. Ifyouareusingtheterminalinterface,enterTN TX toquerythetiltminimumand maximumlimits,thenenterTP<min> A TP<max>tocyclethePTUD48throughits entiretiltrange(where<min>isthenumberreturnedbytheTNqueryand<max>is thenumberreturnedbytheTXquery).Ifneeded,enterHtostopthePTUD48 immediately.
WARNING:STOPTHEPTUD48IMMEDIATELYBYEITHERCLICKINGHALT(WEB INTERFACE)ORISSUINGANHCOMMAND(SERIALINTERFACE)IFTHEPAYLOADIS ABOUTTOCOLLIDEWITHTHEPTUD48AND/ORANOTHEROBSTACLE.ACOLLISION COULDCAUSEASTRUCTURALFAILURETHATMAYRESULTININJURYORDEATH. ISM:VerifythatthepayloadwillclearallobstacleswhenthePTUisinbothnormal andstabilizedmodes.

ISM

Iftheloadistooheavyormovingtooquickly,thePTUD48willlosesynchronization,which willbeaudibleasagrindingsoundfromthePTUD48motors.Stopthetestimmediatelyif thisoccurs,andrefertoSections5.3.2and5.3.3.ThisdoesnotdamagethePTUD48but doesindicatethatthepayloadisnotmountedand/orthePTUD48isnotconfigured correctlytomovethepayload.

Note:PleaserefertoSection5.3.2formoreinformationonconfiguringthePTUD48 forheavierpayloads. CAUTION:DONOTPROCEEDBEYONDTHISSTEPUNLESSANDUNTILTHEPTUD48 PASSESTHETILTAXISMOTIONTEST.

4. MovethePTUD48panaxisthroughitsentirerangetotestitsabilitytocarrytheload. IfyouareusingtheWebinterface,openthePTUControlpageandclickthearrowsto movethePTUD48throughitsfullrangeofpanmotion,asdescribedinSection6.3.If needed,clickHalttostopthePTUD48immediately. Ifyouareusingtheterminalinterface,enterPN PX toquerythepanminimumand maximumlimits,thenenterPP<min> A PP<max>tocyclethePTUD48throughits entiretiltrange(where<min>isthenumberreturnedbythePNqueryand<max>is thenumberreturnedbythePXquery).Ifneeded,enterHtostopthePTUD48 immediately.

23

PTUD48ESeriesUserManual
WARNING:STOPTHEPTUD48IMMEDIATELYBYEITHERCLICKINGHALT(WEB INTERFACE)ORISSUINGANHCOMMAND(SERIALINTERFACE)IFTHEPAYLOADIS ABOUTTOCOLLIDEWITHTHEPTUD48AND/ORANOTHEROBSTACLE.ACOLLISION COULDCAUSEASTRUCTURALFAILURETHATMAYRESULTININJURYORDEATH.

Iftheloadistooheavyormovingtooquickly,thePTUD48willlosesynchronization,which willbeaudibleasagrindingsoundfromthePTUD48motors.Stopthetestimmediatelyif thisoccurs,andrefertoSections5.3.2and5.3.3. 5. IfthePTUD48passestheabovepanandtiltaxisloadhandlingtests,youarereadytobegin controllingyourpayloadusingthecommandsdescribedinthePanTiltESeriesCommand ReferenceManual.

4.9 PayloadWiringConnector (Optional)

ThePTUD48providespayloadpassthroughsignalsthatconnectbetweenpinsinthebase receptacletocorrespondingpinsinthepayloadreceptacle.Additionalpinsinthepayload receptacleprovideotherpayloadcontrols,includingauxiliaryRS232portsandTTLcontrol.The payloadconnectstothereceptacleviaamaleMS3126F1419Pplug.AppendixA.2displaysthis connectorandcorrespondingpinout.
CAUTION:FOLLOWALLAPPLICABLESPECIFICATIONSFORPASSTHROUGHSIGNALS, SUCHASMAXIMUMVOLTAGEANDCURRENTLEVELS.

24

5Configuring& Programming
ThischapterdescribeshowtoconfigureandprogramyourPTUD48.
Note:YoumayalsohaveasimultaneousEthernetconnectiontotheWebinterface,as describedinSection3.4.

FollowtheappropriateinstructionstoconnectthePTUD48tothehostcomputer,poweriton, andaccessitvia: Web:Section3.4. Serial:Section3.5.

5.1 RangeofMotion
ThePTUD48range ofmotioncanbe limitedinthe followingways:
Origin User Range + Hard:Ahard Factory Range limitphysically Hard Range cannotbe exceeded.For example,PTU Negative max. D48units Positive max. withoutaslip ringphysically Non-Overlapping, Overlapping cannotpan Non-Continuous Range of Motion acrossall360, Range of Motion andunitswith topmountedpayloadsmayhavesmallertiltlimitsthanunitswithsidemountedpayloads. AphysicalpinonthePTUimpedesmovement.

Factory:FactorylimitsaresmallerthanhardlimitstopreventphysicaldamagetothePTU D48and/orpayload.Theselimitsmaybeexceededincertaincircumstances,suchas disablingpanlimitsonaPTUD48withaslipring. User:Userlimitsareprogrammablelimitsthataresmallerthanhardlimitsandcanbeas largeasfactorylimits.

25

PTUD48ESeriesUserManual ThePTUD48useshighprecisionopticallimitsensorsthatallowfasterresetsequencesand userprogrammableranges.Itcanalsobeequippedwithoptionalmechanicalstopsthatwill limitpan/tiltmotiontopresetlimits.Itispossibletosetthesestopstoallowoverlappinglimits, asshownintheimageonthepreviouspage.

Note:Ifneededforyourapplication,orderoptionalmechanicalstopswithyourPTU D48becausetheyareinstalledduringmanufacturing.

5.1.1DefaultLimits
Inthefollowingimage: ThepositivepanaxisdirectionisclockwisewhenlookingdownatthetopofthePTUD48. ThepositivetiltaxisdirectionisclockwisewhenlookingsidewaysatthePTUD48withthe motorsandconnectorsfacingtotheright.

Figure4:PanTiltDefaultFactoryLimits
Note:Thedefaultpanaxisuserlimitsare+/168.Thedefaulttiltaxislimitsare+30 and90.

26

ConfigurationandProgramming

5.2 ResolutionandStepModes
ThePTUD48usessteppermotorsthatdrivetheunitthroughagearreductionsystem.The internalcontrollerallowssteppermotorcontrolinmanual(,,and1/8)orautomaticstep modes.Thefollowingtableliststhepanandtiltaxisresolutionindegrees.
PANAXIS TILTAXIS STEP 0.026 0.013 STEP 0.013 0.006 1/8STEP 0.006 0.003

Note:Largerstepmodesincreasetorqueandmaximumspeedvs.smallerstepmodes. ThePTUD48includesanautomaticsteppingmode(autostep)thatoptimizesthis tradeoffformanyapplications.YoumaycommandthePTUD48in1/8stepswhenin automaticsteppingmode.

5.3 UserProgrammableSettings
ThePTUD48hasanumberofuserprogrammableparametersthatcansignificantlyaffect performanceforagivenpayloadandapplication.Theseparametersshouldbesettovaluesthat areappropriateforyourpayloadandapplicationneeds.Thissectionprovidesanoverviewof howtooptimizeyourPTUD48forhighpowerand/orhighspeedoperation.Pleaserefertothe PanTiltESeriesCommandReferenceManualforcompleteinstructions.
CAUTION:USEHIGHSPEEDAND/ORHIGHPOWERSETTINGSWITHCARE, PARTICULARLYWHENMOUNTINGAHEAVYAND/ORBULKYPAYLOAD.

WARNING:FAILURETOADEQUATELYSECURETHEPTUD48TOAMOUNTINGTHAT CANWITHSTANDTHEFORCESAPPLIEDBYBOTHHIGHSPEED,HIGHPOWER MOVEMENTANDENVIRONMENTALFASCTORSSUCHASVEHICLEMOVEMENTOR WINDCANCAUSEASTRUCTURALFAILURERESULTINGININJURYORDEATH

5.3.1HighSpeedOperation
Thefollowingfactorsshouldbeconsideredwhenplanninghighspeedoperation: Loadweight,weightdistribution,anddynamics. Movethepayloadasclosetotheaxiscentersofrotationaspossible.Doingthiswill reducethetorquerequiredtomovethepayloadandallowahighertopspeed. Balancingtheload,suchasbyusingacounterweightorsplittingthepayloadintotwo piecescanalsohelpsignificantly.

Desiredupperspeedlimit. Rateofacceleration. Thebase(startup)speed.

27

PTUD48ESeriesUserManual Powersupplyvoltage.Highervoltageswithinthepermissiblerangesignificantlyimprove axisspeedandaccelerationperformance. Inmotionpowermodes.Ifthedutycycleislessthan20%,youmayusehighmovepowerto increasethetopspeed. Multiaxisdynamics.Simultaneouslymovingthetiltandpanaxesaffectstheforcesexerted onthePTUD48. Alwaysbeginhighspeedtestsoneachaxisinisolation.Onlyperformsimultaneouspantilt movementsonceeachindividualaxisisoptimized. ThebasespeedisthePTUD48minimumspeed.Inpractice,theunitwillinstantly acceleratetothisspeed.Settingabasespeedcanhelpspeedupmovementbyeliminatinga segmentofaccelerationtime. AggressiveaccelerationsettingswithheavypayloadscancauseincreasedwearonthePTU D48.

5.3.2HeavyPayloadOperation
IfthePTUD48failstheinitialloadhandlingtests,youmaybeabletoprogramitforhigher poweroperations.Thespeedandaccelerationofamechanicalsystemdependontheinertial propertiesofthepayload.TheabilityofthePTUD48tosuccessfullymovethepayloadwithout losingsynchronizationdependsupontheinertialpayloadfactorsandtheirrelationshipto powersupplyvoltage,unitspeed,acceleration,position,motortorque,etc. Toincreasepayloadcapacity: ConfigurethePTUD48forincreasedmotorcurrentandtorque.Ifyourmovedutycycleisless than20%,youcansettheMovePowertoHigh(Web)orusethefollowingserialcommands: PMH TMH PHR THR. Youmayalso: MovethepayloadCGclosertothePTUD48tiltaxis.SeeSection4.8.2. Useahighervoltagepowersourceinthepermissiblerange Determineifthepayloadcanbemodifiedtolightenit. Setthebasespeedto0. IfthePTUD48ishavingtroubleresettingthetiltaxis,tryusinguserlimitstoreducethetilt axisrangeofmotion. Reducespeedand/oracceleration.

PleaserefertothePanTiltESeriesCommandReferenceManualformoreinformation.

28

ConfigurationandProgramming

5.3.3BatteryPoweredOperation
ThePTUD48canbebatterypowered.Batterypoweredapplicationsmustconserveasmuch poweraspossible.ThePTUD48includescommandsthatcontrolpantiltmotorpower consumptionbothwhilemovingandwhenstopped.PleaserefertothePanTiltESeries CommandReferenceManualformoreinformation.
CAUTION:ALWAYSUSEAFUSEWHENCONNECTINGTHEPTUD48TOABATTERY.

29

PTUD48ESeriesUserManual Thispageintentionallyleftblank.

30

6WebInterface
ThischapterdescribeshowtoconfigureandprogramyourPTUD48usingtheWebinterface.
Note:Youmayalsohaveasimultaneousserialconnectiontoaterminal,asdescribed inSection3.4.

ISM

ISM:TheISMWebinterfaceincludesadditionalcommandandconfigurationoptions tosupportthestabilizationfunction.PleaserefertotheISMUserManualfor instructionsonusingtheISMWebinterface.

FollowtheinstructionsinSection3.4toconnectthePTUD48tothehostcomputerandpower iton,obtaintheIPaddress,andlaunchtheWebinterfaceinabrowserwindow.IfyourPTU D48includestheoptionalISMmodule,pleaserefertotheISMdocumentation.

Note:CommandsissuedviatheWebinterfacecorrespondtocommandsissuedviathe serialinterface.PleaserefertothePanTiltESeriesCommandReferenceManualfora completelistofserialcommands.

6.1 PTUConfigurationPage
ThePTUConfigpageappearswhenyouclickthePTUConfiglinkinthetopmenu.Tousethis page: 1. Makeyourdesiredchanges. 2. ClicktheappropriateApplybuttontoapplycertainchanges(seebelow). 3. Clicktheappropriateactionbuttonatthebottomofthepage. ThispageallowsyoutoviewandconfigurethefollowingoptionsforyourPTUD48: General:TheGeneralsectionofthePTUConfigpagedisplaysthefollowinginformation: Firmware:ThePTUD48installedfirmwarerevision. Model:ThePTUD48modelnumber. PanResolution:Horizontalmotionresolution,indegrees.Thisnumbervariesdepending onyourselectedstepmode(seebelow).Eachunitofresolutionequalsoneposition. TiltResolution:Verticalmotionresolution,indegrees.Thisnumbervariesdependingon yourselectedstepmode(seebelow).Eachunitofresolutionequalsoneposition.

MotionConfiguration:TheMotionConfigurationsectionofthePTUConfigpageallows youtospecifythefollowingmotionoptionsforbothpanandtiltinpositions.Oneposition equalsoneunitofresolution:

31

PTUD48ESeriesUserManual Speed:Panandtiltspeed, inpositionspersecond. Acceleration:Panandtilt accelerationand decelerationinpositions persecondpersecond. ThePTUD48will accelerateatthisrateto theselectedspeed, maintainthisspeedaslong asnecessary,andthen slowbackdownatthe samerate. BaseSpeed:Speedthe PTUD48instantly acceleratesto. UpperSpeed:Maximum PTUD48speedthatcanbe commanded. LowerSpeed:Minimum PTUD48speedthatcanbe commanded.

ClickApplytomakeyour desiredspeed/accelerationchangesonthePTUD48. PowerMode:ThePowerModesectionofthePTUConfigpageallowsyoutospecifythe followingpoweroptionsforeachaxis: MovePower:AmountofpowerthePTUD48useswhenmovingthepayload. HoldPower:AmountofpowerthePTUD48usesinordertoholdthepayloadinafixed position. Off:SettingtheholdpowertoOffmeansthatthePTUD48motor(s)arecompletelyoff whenthepayloadisnotmovingintheselectedaxisoraxes. Low:Settingtheholdand/ormovepowertoLowmeansthatthePTUD48motorsdraw lowerpowerwhilemovingand/orholding. Reg:Settingtheholdand/ormovepowertoRegmeansthatthePTUD48motorsdraw normalpowerwhilemovingand/orholding.

Thefollowingpowersettingsareavailableforpanand/ortiltpower:

32

WebInterface

High:SettingthemovepowertoHighmeansthatthePTUD48motorsdrawmaximum powerwhilemovingthepayloadinthepanand/ortiltaxis.Thispowersettingshouldbe usedforintermittent(<20%)dutycycles.

CAUTION:THEHIGHPOWERSETTINGISINTENDEDONLYFORINTERMITTENTDUTY CYCLES(<20%).EXTENDEDHIGHPOWERCYCLESCANOVERHEATTHEPTUD48 MOTORS.

StepMode:TheStepModesectionofthePTUConfigpageallowsyoutospecifythe followingresolutionoptionsforeachaxis: Full:Lowresolution. Half:Mediumresolution. Quarter:Highresolution. Eighth:Maximumresolution.Thissettingprovidesthegreatestaimingaccuracy. Auto:Internallyswitchesbetweenstepmodesforoptimalmovements,butall commandsandaccuracyarein1/8stepmode.

Changingthestepmoderequiresacalibrationreset.PleaseseeSection5.2formore informationaboutstepsandfractionalsteps. Limits:TheLimitssectionofthePTUConfigpageallowsyoutospecifythepanandtilt rangeofmotionforyourPTUD48.PleaseseeSection5.1foranexplanationoflimittypes andavisualdepictionofthePTUD48rangeofmotion. Factory:CheckingtheFactoryradiobuttonsetsthePTUD48rangeofmotiontoits factorydefault.Therangeofmotionappearsbelow. User:CheckingtheUserradiobuttonallowsyoutoprogramyourownrangeofmotion. TheMinimumandMaximumfieldsbecomeeditable,allowingyoutoenteryourdesired rangeforbothpanandtilt. ContinuousMode:EnablingcontinuouspanmodebycheckingtheEnableradiobutton overridesthefactoryoruserpanlimits,allowingthePTUD48topanafull360ifithas theoptionalpanaxisslipringinstalled.CheckingtheDisableradiobuttonlimitsthe PTUD48panrangeofmotiontothefactoryoruserlimitsyouspecifiedabove.This requiresacalibrationreset.

ClicktheApplybuttonaftersettingyourdesiredrangeofmotiontoprogramthePTUD48.

ActionButtons:TheactionbuttonsatthebottomofthePTUConfigpageallowyouto performthefollowingactions: ResetFactory:ClickingtheResetFactorybuttonrestoresfactorydefaultspeed, acceleration,power,andlimitsettingstothePTUD48.Thiserasesanyuserlimits. SaveDefault:ClickingtheSaveDefaultbuttonsavesthechangesyoumadeonthePTU ConfigpageasthedefaultsettingsforthePTUD48.

33

PTUD48ESeriesUserManual Refresh:ClickingtheRefreshbuttonupdatesthePTUConfigpagewiththevalues storedonthePTUD48. ResetAxes:ClickingtheResetAxesbuttoncyclesthePTUD48throughacomplete calibrationresetcycle.

Reprogramming:TheReprogrammingsectionofthePTUConfigpageallowsyoutoupload firmwaretothePTUD48.
CAUTION:REPROGRAMMINGNEWFIRMWAREINTHEPTUD48CANDAMAGETHE UNITIFNOTDONEPROPERLY.ONLYREPROGRAMYOURUNITUNDERTHEDIRECT GUIDANCEOFFLIRTECHNICALSUPPORT.

Dialogue:TheDialoguesectionofthePTUConfigpagedisplaysinformationthatcanbe usefulwhendebuggingthePTUD48.

6.2 NetworkPage
TheNetworkpageappearswhen youclicktheNetworklinkinthe topmenu. Thispageallowsyoutoconfigure thefollowingoptionsforyour PTUD48: HostName:NameofthePTU D48unit.Ifyouhavemultiple PTUD48unitsonthenetwork, youmayenterauniquename forthecurrentlyselectedPTU D48unittomake reconnectionfaster. MAC:DisplaystheuniqueMediaAccessControl(MAC)addressforthePTUD48unit.You maychangethisaddressifnecessary. AutomaticIPAddress:CheckingtheObtainIPaddressAutomaticallyradiobuttonallows thePTUD48toeitheracceptIPinformationfromaDHCPserver(suchasarouter)orselect itsownIPinformation(ifconnecteddirectlytoahostcomputer). ManualIPAddress:CheckingtheManualIPAddressradiobuttonletsyouspecifythe followinginformation: IPAddress:IPaddressforthePTUD48unit. SubnetMask:SubnetmaskofthenetworkthePTUD48isconnectedto.

Afterchangingnetworkinformation,clicktheappropriateactionbuttonatthebottomofthe page: Set:ClickingSetimplementsyourchangesbutdoesnotsavethemtothePTUD48.

34

Reset:ClickingResetrevertsthePTUD48tofactorydefaultsettings.

WebInterface

Save:ClickingSaveimplementsyourchangesandsavesthemtothePTUD48.

6.3 PTUControlPage
ThePTUControlpageappears whenyouclickthePTUControl linkinthetopmenu. Thispageallowsyoutocontrol yourPTUD48asfollows: Home:ClickingHomereturns thePTUD48toitshomepan andtiltpositions. Directionalcontrols:The directionalcontrolsallowyou tomovethePTUD48leftand right(pan),andupanddown (tilt). Halt:ClickingHalt immediatelystopsthe PTUD48initscurrent position. SmallArrow:ClickingasmallarrowmovesthePTUD48byeitherthesmallerposition stepsizeoratthelowerspeed(seebelow). BigArrow:ClickingabigarrowmovesthePTUD48byeitherthelargerpositionstep sizeoratthehigherspeed(seebelow).

Speed/Positionselection:ChecktheappropriateradiobuttontocontrolthePTUD48by Position(theunitwillmovebytheselectedamountwhenanarrowisclicked)orSpeed(the unitwillaccelerateuptotheselectedspeedwhenanarrowisclicked,andwillcontinue movingatthatspeeduntilthearrowisreleased). SetArrowStepSize:TheSetArrowStepSizefieldsallowyoutospecifyeitherhowmany positionsthePTUD48willmoveeachtimeanarrowisclicked(ifyouselectedPosition),or howfastitwillmove(ifyouselectedSpeed). Big:TheBignumberspecifieseitherthenumberofpositionsthePTUD48willmove eachtimeyouclickabigarrow(ifyouselectedPosition)orthenumberofpositionsper secondthePTUD48willmove(ifyouselectedSpeed). Small:TheSmallnumberspecifieseitherthenumberofpositionsthePTUD48will moveeachtimeyouclickasmallarrow(ifyouselectedPosition)orthenumberof positionspersecondthePTUD48willmove(ifyouselectedSpeed).

35

PTUD48ESeriesUserManual Status:TheStatussectionofthePTUControlpagedisplaysthePTUD48positionandspeed inrealtime.ClicktheappropriatelinktoseethisinformationinDegreesorPositions. Position:PanandtiltlocationofthePTUD48indegreesorpositions. Speed:PanandtiltspeedofthePTUD48indegreesorpositionspersecond. Start/Stop:ClickingtheStart/StopbuttontogglesupdatingthePTUD48statusonand off.

SetPosition:TheSetPositionsectionofthePTUControlpageallowsyoutomanuallyenter positionand/orspeedinformation.PleaseseeSection5.1foranexplanationoflimittypes andforavisualdepictionofthePTUD48rangeofmotion. Speed:Enteryourdesiredpanand/ortiltspeedsintheSpeedfields. Position:Enteryourdesiredpanand/ortiltpositioninthePositionfields.

ClicktheApplybuttontomovethePTUD48tothespecifiedpositionatthespecifiedspeed.

36

A. ElectricalSpecifications
ThisAppendixdescribesthePL01andPL02wiringoptionsforthePTUD48.Pleaserefertothe appropriatesectionforyourunit,andtoSection4.2.1foramechanicaloverview.
CAUTION:DONOTEXCEEDMAXIMUMRATEDPASSTHROUGHAMPERAGES.FUSE PAYLOADSATRATEDTRIPVALUES.THEPTUD48WARRANTYDOESNOTCOVER DAMAGECAUSEDBYOVERCURRENTSITUATIONS.

CAUTION:ALWAYSTERMINATETHESHIELDLINETOANAPPROPRIATESYSTEM SHIELDORGROUNDCONNECTION.

Ingeneral: TXlinescarrydatafromthePTUD48. RXlinescarrydatatothePTUD48.

ISM:ISMequippedPTUsareequippedwiththePL02wiringoption.

ISM

37

PTUD48ESeriesUserManual

A.132PinBaseConnector
ThistabledisplaysthePTUD4832pinbaseconnector pinassignmentsforboththePL01andPL02wiring options.MILC26482.
PIN A B C D E F G H J K L M N P R S T U V W X Y Z a b c d e f g h j PL01 RESERVED HOSTRS232_RX HOSTRS232_TX D48 D48+ SHIELD HOSTRS485_RX+ HOSTRS485_RX ETHERNET_TX ETHERNET_RX+ ETHERNET_RX PT1 VIDEO1_GROUND VIDEO1_SIGNAL VIDEO2_GROUND VIDEO2_SIGNAL RESERVED RESERVED HOSTRS232_GND PAYLOAD PAYLOAD+ HOSTRS485_TX+ HOSTRS485_TX ETHERNET_TX+ PT2 PT3 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED PL02 RESERVED RESERVED RESERVED D48 D48+ SHIELD HOSTRS485_RX+ HOSTRS485_RX ETHERNET_TX ETHERNET_RX+ ETHERNET_RX PT1 VIDEO1_GROUND VIDEO1_SIGNAL VIDEO2_GROUND VIDEO2_SIGNAL PT4 RESERVED RESERVED PAYLOAD PAYLOAD+ HOSTRS485_TX+ HOSTRS485_TX ETHERNET_TX+ PT2 PT3 PT5 PT6 RESERVED RESERVED RESERVED RESERVED

B C D E F G H W X Y V

A U f g h

T e

S R d P N M L

j b

Z J

a K

38

ElectricalSpecifications

A.219PinPayloadConnector
ThistabledisplaysthePTUD4819pinpayload connectorpinassignmentsforboththePL01andPL02 wiringoptions.MILC26402.
PIN A B C D E F G H J K L M N P R S T U V PL01 CHA_RX CHA_TX CHB_RX CHB_TX CHB_DTR SHIELD VIDEO1_GROUND VIDEO1_SIGNAL TTL_OP2 CHA_TTL_RX CHA_TTL_TX RS232_GND PT3 PT2 PAYLOAD PAYLOAD+ VIDEO2_SIGNAL VIDEO2_GROUND PT1 PL02 HOST_RS232_TX HOST_RS232_RX TTL_OP2 TTL_OP3 TTL_OP4 SHIELD VIDEO1_GROUND VIDEO1_SIGNAL PT4 PT5 PT6 HOST_RS232_GND PT3 PT2 PAYLOAD PAYLOAD+ VIDEO2_SIGNAL VIDEO2_GROUND PT1

B C D E F R S P

A N V T G

M L U J H K

39

PTUD48ESeriesUserManual

A.3PL01WiringDiagram
ChannelARS232(CHA_TXandCHA_RX)andChannelATTL(TTL_TXandTTL_RX)aremutuallyexclusiveandoperateatdifferent voltagelevels.Donotconnecttobothportssimultaneously.TherearenoTTLsignalsavailableforChannelB.Thetwovideolinesare specificallyroutedtohavetheleastimpedanceofanypayloadlines;placeanyanalogvideolinesalongthesepayloadlines.

PL01
RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED HOST RS232_RX HOST RS232_GND

PAYLOAD CONNECTOR MS3126F14-19P

B C D E F R S P

A N V T G

M L U J H K

CHA_TX CHA_RX RS232_GND

HOST RS232_TX RESERVED RESERVED

B C D E W X F G H Y V

A U f g h

T e

BASE CONNECTOR MS3126F18-32P

S R d P N M L

CHA_TTL_RX CHA_TTL_TX TTL_OP2 (10mA)

PTU-D48 CONTROL BOARD

D48- (3A) D48+ (3A)

j b

SHIELD CHB_DTR CHB_TX CHB_RX HOST RS485_TX+ HOST RS485_RX+ HOST RS485_TXHOST_RS485_RX-

Z J

a K

PAYLOAD- (3A) PAYLOAD+ (3A) ETHERNET_TXETHERNET_TX+ ETHERNET_RX+ ETHERNET_RXPT2 (1A) PT1 (1A) PT3 (1A) VIDEO1_GROUND (1A LOW IMPEDANCE) VIDEO1_SIGNAL (1A LOW IMPEDANCE) VIDEO2_GROUND (1A LOW IMPEDANCE) VIDEO2_SIGNAL (1A LOW IMPEDANCE)

40

ElectricalSpecifications

A.4PL02WiringDiagram
PL02videolinesarespecificallyroutedtohavetheleastimpedanceofanypayloadlines;placeanyanalogvideolinesalongthese payloadlines. 0

PL02
PT5 (1A) PT6 (1A) PT4 (1A) RESERVED

PAYLOAD CONNECTOR MS3126F14-19P

RESERVED RESERVED RESERVED RESERVED RESERVED

B C D E F R S P

A N V T G

M L U J K

HOST_RS232_RX HOST_RS232_TX HOST_ RS232_GND

RESERVED RESERVED RESERVED

B C D E W X Y V

A U f g h

T e

BASE CONNECTOR MS3126F18-32P

S R d P N M L

PTU-D48 CONTROL BOARD

TTL_OP4 (10mA) TTL_OP3 (10mA) TTL_OP2 (10mA)

D48- (3A) D48+ (3A)

j b

SHIELD HOST RS485_TX+ HOST RS485_RX+ HOST RS485_TXHOST_RS485_RX-

F G

Z H J

a K

PAYLOAD- (3A) PAYLOAD+ (3A) ETHERNET_TXETHERNET_TX+ ETHERNET_RX+ ETHERNET_RXPT2 (1A) PT1 (1A) PT3 (1A) VIDEO1_GROUND (1A LOW IMPEDANCE) VIDEO1_SIGNAL (1A LOW IMPEDANCE) VIDEO2_GROUND (1A LOW IMPEDANCE) VIDEO2_SIGNAL (1A LOW IMPEDANCE)

41

PTUD48ESeriesUserManual

A.532PinBreakoutCable
Thisdiagramdisplaystheoptional32pinbreakoutcable(PTUCABE25BO)wiringandconnectors.

32-Pin Breakout Cable

PT1 BLACK 22AWG PT2 BLUE 22AWG PT3 RED 22AWG PT6 WHITE 22AWG

Note: Some of the signals shown here may not be used in your configuration.

PT4 ORANGE 22AWG PT5 PURPLE 22AWG

DB9 Female

RS-232_SGND 28AWG RS-232_IN 28AWG RS-232_OUT 28AWG

B C V W X F G H Y

A U f g h

T e

S R d P N M L

DIN5 Female
4 1 2 5 3 PAYLOAD- BLACK 16AWG PAYLOAD+ RED 16AWG SHIELD GREEN 22AWG PTU_GND ORANGE 16AWG PTU_9-30VDC YELLOW 16AWG

D E

j b

RJ11 6P4C, tab up

1 4

RS485_TX+ 28AWG RS485_TX- 28AWG RS485_RX- 28AWG RS485_RX+ 28AWG ETHERNET_TX+ 24AWG ETHERNET_TX- 24AWG ETHERNET_RX+ 24AWG ETHERNET_RX- 24AWG

Z J

a K

RJ45 8P8C, tab up RCA RCA

8 VIDEO1_GROUND COAX SHIELD VIDEO1_SIGNAL COAX VIDEO2_GROUND COAX-SHIELD VIDEO2_SIGNAL COAX

42

B. MechanicalDrawings
ThePTUD48canusesideand/ortoppayloadmountingbrackets.ThisAppendixdescribesthe payloadmountingpatternsforthedifferentbracketsanddisplaysthePTUD48unit dimensions.

43

PTUD48ESeriesUserManual

B.1PayloadMountingPattern
Thefollowingimagesdisplaythedimensionsandmountingpatternsforboththetopandsidebrackets.Theholesandbracket positionsrelativetothehubareidenticalforallmountingcombinations.

44

MechanicalDrawings

45

PTUD48ESeriesUserManual

B.2PTUD48Dimensions(Standard)
Thisimagedisplaysthestandard(nonISM)PTUD48dimensions.

46

MechanicalDrawings

B.2PTUD48Dimensions(ISM)
ThisimagedisplaystheISMequippedPTUD48dimensions.
TOP PAYLOAD MOUNTING

ROTATIO CENTER NAL

C L

C L CONNECTOR LOCATIONS

CONNECTOR LOCATIONS PA AXI N S

TILT AXIS

PA AXI N S C L ROTATIO CENTER NAL

PA AXI N S

C L

BASE MOUNTING BOLT PATTERN

47

PTUD48ESeriesUserManual

ROTATIO CENTER NAL

C L C L

C L

TILT AXIS

C L

C L

TILT AXIS

C PA L AXI N S

48

C. Networking
Thissectiondescribesthebasicinstallationandsetupstepsrequiredtonetworkyourpantilt units.

C.1Ethernet
ToconnectmultiplePTUD48unitstoasinglehostcomputerviaEthernet: 1. PlanthephysicalplacementofeachPTUD48andthehostcomputer. 2. ConnecteachPTUD48toyournetworkusingtheEthernetconnectiononeachunit. 3. Onthehostcomputer,runthePTUFinderutilitytolocatethePTUD48unitIPaddresses. 4. LaunchaWebbrowserandpointittotheIPaddressoftheunityouwanttoconnectto.You mayopenmultiplebrowserwindows/tabstoconnecttomultipleunitsatonce. PleaseseeSection3.4formoreinformationaboutconnectingtoaPTUD48usingtheWeb interface.

C.2Serial
Youmayconnectupto127PTUD48unitstoasinglehostcomputerport.Thehostcomputer canthenaddresseachconnectedPTUD48asifitweretheonlyunitonthenetwork.This makesiteasytomigratecodedevelopedforasinglePTUD48toanetworkofPTUD48units controlledbyonehostcomputer. ToconnectmultiplePTUD48unitstoasinglehostcomputerviaserial: 1. AssignauniquenetworkIDnumbertoeachPTUD48. 2. ConnectthePTUD48unitsandhostcomputertotheserialnetwork. 3. TesttheconfigurationbyaddressingeachPTUD48byitsunitIDandissuingcommandsand queries.

49

PTUD48ESeriesUserManual

C.2.1SerialNetworkingConnections
MultiplePTUD48unitscanbenetworkedandconnectedtothehostcomputersRS232port. AllnetworkcommunicationsuseRS485,meaningthatyoumusthaveanRS232toRS485 adapterifthehostcomputerdoesnotdirectlysupportfullduplexRS485I/O.Thehost computerfunctionsasthenetworkhost,meaningthatitsTXandRXlinesdefinethedirections ofdatatrafficflow.EachPTUD48onthenetworkisaclientthatcommunicateswiththehost usingafullduplexconnection.

Figure5:PTUNetworkConfiguration Whenmakingyourowndatacables,FLIRMotionControlSystems,Inc.recommendsusinga goodqualitytwistedpaircablewithabout100impedance,whichprovidesgoodnoise immunityforRS485connections. ThefollowingRS232toRS485convertersarerecommended: ATENIC485S MoxaA50

BothadaptersrequireaflippedRJ12connector(suchasastandardphonecord). Terminatetheserialnetworkbyplacing1201%resistorsbetweentheRS485 Transmit+/Transmit(Tx+/Tx)andReceive+/Receive(Rx+/Rx)wiresateachendofthe network,asshowninFigure5.

50

Networking

C.2.2ASCIICommandSyntax
ThissectionprovidesabriefoverviewoftheASCIIcommandsyntax.PleaserefertothePanTilt ESeriesCommandReferenceManualforcompleteinformationandinstructions. ThePTUD48usesbothcommandsandqueries.AcommandtellsthePTUD48todosomething (suchaspantoaspecificangle).AqueryasksthePTUD48toreturntherequestedvalue(such asreportingthecurrentpanangle). ThebasicASCIIcommandsyntaxis<command><parameter><delimiter>,where: <command>istheactualcommand(suchasPPforpanposition), <parameter>isanumericalvalue(suchasthedesiredpanposition),and <delimiter>isacharacterusedtodenotetheendofacommand.Validdelimiter characterscanbeeither[SPACE]or[ENTER].

ThebasicASCIIquerysyntaxis<command><delimiter>,where: <command>istheactualcommand(suchasPPforpanposition), <delimiter>isacharacterusedtodenotetheendofaquery.Validdelimitercharacters canbeeither[SPACE]or[ENTER].

Forexample: Command:PP<position><delim>setsthedesiredabsolutepanposition. Query:PP<delim>returnsthecurrentabsolutepanposition.

Commandsandqueriesreturnresultsthatdisplayontheterminalscreen,asfollows: Asuccessfullyexecutedcommanddisplays* ontheterminalscreen. Asuccessfullyexecutedquerydisplays<QueryResult>(where<QueryResult>isthe resultofthequeryyoujustexecuted). Afailedcommanddisplays! <ErrorMessage> (where<ErrorMessage>describes theerrorencountered). Apanaxislimithitasynchronouslydisplays!P. Atiltaxislimithitasynchronouslydisplays!T.

ThissamplecommandsequencepansthePTUD48totheleft,waits,andthenpansitbackto theright: S PP-2500 * A * PP * Current Pan position is -2500 PP2500 * A * PP * Current Pan position is 2500

51

PTUD48ESeriesUserManual

C.2.3SerialCommandList
Thesetableslistthemostcommonlyusedserialcommands.PleaserefertothePanTiltESeries CommandReferenceManualforcompleteinformationabouttheavailablecommandsandtheir usage. LIMITS
CMD PN PX TN TX DESCRIPTION Minimumpanposition Maximumpanposition Minimumtiltposition Maximumtiltposition CMD L LE LD LU DESCRIPTION Querylimitstatus Enablelimits Disablelimits Userlimits

POSITION
CMD PP TP PO TO DESCRIPTION Panposition Tiltposition Panoffset Tiltoffset CMD PR TR DESCRIPTION Panresolution Tiltresolution

SPEED
CMD PS TS PD TD DESCRIPTION Panspeed Tiltspeed Panspeedoffset Tiltspeedoffset CMD PA TA PB TB DESCRIPTION Panacceleration Tiltacceleration Panbasespeed Tiltbasespeed CMD PU PL TU TL DESCRIPTION Panupperspeed Panlowerspeed Tiltupperspeed Tiltlowerspeed

MISCELLANEOUS
CMD A R DF H DESCRIPTION Await Reset Restorefactorydefaults Halt

52

D. Troubleshooting
Thisappendixpresentscommonmechanical,power,andnetworkingchallengesand resolutions,andalsoprovidesinformationaboutcontactingFLIRMCSTechnicalSupport.

D.1Mechanical
Afterpoweringon,thePTUD48stopsmovingwithagrindingnoise. Ifyouhaveapayloadattached: Thepayloadmaybetooheavy.Trymovingthepayloadclosertothecenterofrotation oftheaffectedaxisand/orreducingthepayloadweight. Themovementsettingsmaybetooaggressive.Reducetheupperspeedlimitand/or acceleration.

Ifyoudonothaveapayloadattached,contactFLIRMCSTechnicalSupport.

D.2Power
ThePTUD48ESeriesresetmovementsaredifferentthanolderPTUD48models. Thisisnormalbehavior.

D.3Networking
UnabletodeterminethePTUD48IPaddresstoaccesstheonboardWebpage. IfyouarerunningWindows,usethePTUFindertoolincludedontheCDthatshippedwith yourPTUD48. IfyouarenotrunningWindows,ttachaserialdevicetothePTUD48hostportandthen issuetheNIcommandtoquerytheIPaddressofthePTUD48.

PTUD48Webpagecontrolsaresluggish. Adjustthespeedsand/orstepsizebyclickingtheSetArrowStepSizeorSetArrowSpeed headersinthePTUControlWebpage,asdescribedinSection6.3 Tryclosingotherprogramsonyourcomputertofreeupresources.

53

PTUD48ESeriesUserManual UnabletoestablishserialcommunicationswiththePTUD48. IfyouareusingRS232: MakesurethatthePTUD48isequippedwithRS232communicationsattheportyou areusing.UnitswithPL01wiringhaveRS232atthebase,whileunitswithPL02wiring haveRS232atthepayloadport. Tryusinganullmodemadapter. Ifyouareusingalaptop,makesurethatitispluggedin.RS232willnotworkifthePTU D48andhostcomputergroundsaretoofarapart. VerifythattheRS232portisworkingusingaloopbackadapter.Ifyoudonothavea loopbackadapter,connectpins2and3oftheDB9RS232connector.Anycharacters typedintotheserialterminalshouldbeechoedbackwhentheloopbackadapteris attached. SettheswitchestoTRxONandDCE. Makesuretheadapterispowered. Tryusinganullmodemadapter Ifyouareusingalaptop,makesurethatitispluggedin.RS232willnotworkifthePTU D48andhostcomputergroundsaretoofarapart. VerifythattheRS232portisworkingusingaloopbackadapter.Ifyoudonothavea loopbackadapter,connectpins2and3oftheDB9RS232connector.Anycharacters typedintotheserialterminalshouldbeechoedbackwhentheloopbackadapteris attached.

IfyouareusingtheRS232toRS485adapterprovidedbyFLIRMotionControlSystems:

D.4TechnicalSupport
FLIRMotionControlSystems,Inc.providesarangeoftechnicalsupportoptionstoensurethat yourprojectisasuccess.ToaccessTechnicalSupport: Emailisthepreferredmethodofobtainingsupporttohelpensureproperdispatchingand trackingtoaddressyourquestionspromptly.WhenemailingTechnicalSupport,pleaseprovide thefollowinginformation: PTUmodelandconfiguration Payloadinformation,includingphotos VisittheSupportsectionatwww.FLIR.com/MCS. EmailTechnicalSupportatMCSsupport@FLIR.com. Call(650)6923900andselectTechnicalSupport.

54

 Parametersettings Detailedissue/symptomdescription

Troubleshooting

55

PTUD48ESeriesUserManual Thispageintentionallyleftblank.

56

E. RegulatoryInformation
ElectromagneticInterference(EMI)isanysignaloremission,eitherradiatedinfreespaceor conductedalongpowerorsignalleads,thatendangersthefunctionofaradionavigationor othersafetyserviceorthatseriouslydegrades,obstructs,orrepeatedlyinterruptsalicensed radiocommunicationsservice.

ClassA

ClassAequipmenthasbeentestedandfoundtocomplywiththelimitsforaClassAdigital device,pursuanttoPart15oftheFCCRules.Theselimitsaredesignedtoprovidereasonable protectionagainstharmfulinterferenceinacommercialenvironment.Thisequipment generates,uses,andcanradiateradiofrequencyenergyand,ifnotinstalledandusedin accordancewiththeinstructions,maycauseharmfulinterferencetoradiocommunications. However,thereisnoguaranteethatinterferencewillnotoccurinaparticularinstallation. Operationofthisequipmentinaresidentialareaislikelytocauseharmfulinterference,in whichcasetheuserwillberequiredtocorrecttheinterferenceathis/herownexpense. Caution:Changesormodificationsofthisequipmentnotexpresslyapprovedbymanufacturer couldresultinviolationofPart15oftheFederalCommunicationCommissionsrules.TheFCC haspreparedthefollowingbooklet:HowtoIdentifyandResolveRadioTVInterference Problems.ItisavailablefromtheUSGovernmentPrintingOffice,WashingtonDC,20402.Stock Number00400003454.

FCCNotice
Accordingto47CFR,Parts2and15,SubpartBClassA: ThisdevicecomplieswithFCCPart15,SubpartBClassAoftheFCCRules.Operationissubject tothefollowingtwoconditions:(1)Thisdevicemaynotcauseharmfulinterference,(2)This devicemustacceptanyinterferencereceivedincludinginterferencethatmaycauseundesired operations.

CENotice
ThisisaClassAproduct.Inadomesticenvironment,thisproductmaycauseradiointerference, inwhichcasetheusermayberequiredtotakeadequatemeasures.

57

PTUD48ESeriesUserManual ABOUTFLIRMOTIONCONTROLSYSTEMS FLIRMotionControlSystems,Inc.(formerlyDirectedPerception)isaleadingmanufacturerof innovativedevicesandsoftwarefortheintelligentcontrolofsensorsandsensorprocessing.In 1992,FLIRMCScreatedoneofthefirstminiaturecomputercontrolledpan/tilttrackingmounts andcontinuestoleadthefieldininnovation,applieddesign,andservice.Ourpatentedpant/tilt unitsareinuseinawiderangeofindustriesincludingsecurityandsurveillance,industrial automation,robotics,communications,military/aerospace,lawenforcement,education,R&D, webcams,andteleconferencing/distancelearningapplications.Someofthepayloadsthatcan bepreciselycontrolledincludesensorslikevideocameras,thermalimagers,laserrangefinders, microwaveantennas,andmanymore.FLIRMCSmaintainsengineeringcapabilitiesin mechanicaldesign,electronics,andembeddedandnetworksoftwaredevelopment.Findout moreatwww.FLIR.com/mcs. ABOUTFLIRSYSTEMS,INC. FLIRSystems,Inc.istheworldslargestcommercialinfraredcompanywiththemorehigh qualitythermalnightvisionsystemsinthefieldthanallothermanufacturerscombined.Our rugged,stabilizedimagersareonthousandsofcivilandmilitarysurfaceandairborneplatforms intheUSAandaroundtheworld. Withthousandsofourthermalcamerasonthejobinmilitary,scientific,lawenforcement,and securityapplications,FLIRbringsanunmatchedlevelofexperienceanddedicationtothe creationofcuttingedgethermalnightvisionsystems. Wedesignandmanufactureallofthecriticaltechnologiesinsideourproducts,including detectors,electronics,speciallenses,andpan/tiltmotioncontrolsystems.Allofourproducts areproudlyassembledrighthereintheUSA. Foradditionaltechnicalinformation,ortoseeademonstrationoftheserevolutionarythermal nightvisionsystems,contactaFLIRrepresentativetoday.Youcanalsovisitwww.FLIR.comto watchproductvideosandseehowthermalimagingcanhelpyouseenightandday.

58

 LIMITEDWARRANTY

FLIRMotionControlSystems,Inc.warrantsthisproductagainstdefectsinmaterialor workmanship,asfollows: Foraperiodofoneyearfromdateofpurchase,FLIRMotionControlSystems,Inc.willrepair thedefectiveproductandprovideneworrebuiltreplacementsatnocharge.Warrantyrepairs requiretheissuanceofarepairauthorizationnumberfromFLIRMotionControlSystemsprior tothereturnofmerchandise,andthebuyerassumesresponsibilityforfreightcharges. Aftertheoneyearperiod,thepurchasermustpayforallparts,labor,andfreight. Thiswarrantydoesnotcoveranydamageduetoaccident,misuse,abuse,ornegligence.You shouldretainyouroriginalbillofsaleasevidenceofthedateofpurchase. REPAIRORREPLACEMENTASPROVIDEDUNDERTHISWARRANTYISTHEEXCLUSIVEREMEDYOF THEPURCHASER.FLIRMOTIONCONTROLSYSTEMS,INC.SHALLNOTBELIABLEFORANY INCIDENTALORCONSEQUENTIALDAMAGESFORBREACHOFANYEXPRESSORIMPLIED WARRANTYONTHISPRODUCT,EXCEPTTOTHEEXTENTPROHIBITEDBYAPPLICABLELAW,ANY IMPLIEDWARRANTYOFMERCHANTABILITYORFITNESSFORAPARTICULARPURPOSEONTHIS PRODUCTISLIMITEDINDURATIONTOTHEDURATIONOFTHISWARRANTY. Somestatesdonotallowtheexclusionorlimitationofincidentalorconsequentialdamages,or allowlimitationsonhowlonganimpliedwarrantylasts,sotheabovelimitationsorexclusion maynotapplytoyou.Thiswarrantygivesyouspecificlegalrights,andyoumayalsohaveother rightswhichvaryfromstatetostate.

59

PTUD48ESeriesUserManual PTUD48ESeriesUserManualv.4.20(01/2011)

890CCowanRoad Burlingame,CA94010 p:(650)6923900 f:(650)6923930 www.FLIR.com/MCS