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Flir PTU-E46 Computer Controlled Unit User Manual PDF
Summary of Content for Flir PTU-E46 Computer Controlled Unit User Manual PDF
HighPerformance
PanTilt Unit MODEL: PTUE46 VERSION: 1.00
REVISION DATE: September, 2014
User Manual
PTUE46 User Manual
DOCUMENTCONTROL
COPYRIGHTNOTICE PTUE46 Users Manual, version 1.00 (09/2014) 2014 by FLIR Systems, Inc., 70 Castilian Drive, Goleta, CA 93117, (805)9649797, FAX: (805)6905933 www.FLIR.com/MCS
All rights reserved. Protected under numerous U.S. patents, including 5463432 and 5802412 with other patents pending. No part of this book may be reproduced, stored in a retrieval system, or transcribed in any form or by any means including but not limited to electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of FLIR Systems, Inc.
The information in this manual is subject to change without notice and, except for the warranty, does not represent a commitment on the part of FLIR Systems, Inc. FLIR Systems, Inc. cannot be held liable for any mistakes in this manual and reserves the right to make changes.
Date Author Rev. # Changes
09/2014 A. Hernandez 1.00 Initial release
Copyright 2014, FLIR Commercial Systems, Inc.
Table of Contents
1 Introduction ................................................................................................................................. 1 1.1 General PTUE46 Features ................................................................................................................ 1 1.2 E Series Features ........................................................................................................................... 2 1.3 Applications ....................................................................................................................................... 2 1.4 About This Manual ............................................................................................................................ 3
1.4.1 Formatting Conventions ........................................................................................................... 3 1.5 Models ............................................................................................................................................... 4 1.6 PTUE46 Package Contents ............................................................................................................... 4 1.7 Related Documentation .................................................................................................................... 5 1.8 Additional Resources ......................................................................................................................... 5 1.9 Technical Support .............................................................................................................................. 5
2 Safety ........................................................................................................................................... 7 2.1 Overview ........................................................................................................................................... 7 2.2 Safety Warnings and Cautions ........................................................................................................... 7
3 Quick Start ................................................................................................................................... 9 3.1 System Overview ............................................................................................................................... 9 3.2 Setup Example ................................................................................................................................. 10 3.3 Basic Setup ...................................................................................................................................... 10 3.4 Ethernet Connection ....................................................................................................................... 11 3.5 Serial Connection ............................................................................................................................ 12
4 Installation & Setup .....................................................................................................................15 4.1 Mounting the Unit ........................................................................................................................... 15 4.2 Power Sources ................................................................................................................................. 16 4.3 Fusing .............................................................................................................................................. 17 4.4 Interface and Host Settings ............................................................................................................. 17
4.4.1 Ethernet Connection .............................................................................................................. 17 4.4.2 RS232 Electrical Connection .................................................................................................. 17 4.4.3 RS485 Electrical Connection .................................................................................................. 18
4.5 Initial PowerUp and Test ................................................................................................................ 19 4.5.1 Web Interface ......................................................................................................................... 19 4.5.2 Terminal Interface .................................................................................................................. 19
4.6 Payload Mounting ........................................................................................................................... 20 4.6.1 Side Bracket Attachment ........................................................................................................ 21 4.6.2 Payload Attachment ............................................................................................................... 23
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5 Configuring & Programming ....................................................................................................... 25 5.1 Range of Motion .............................................................................................................................. 25
5.1.1 Nodal Rotation ....................................................................................................................... 26 5.1.2 Default Limits ......................................................................................................................... 27
5.2 Resolution and Step Modes ............................................................................................................ 27 5.3 UserProgrammable Settings .......................................................................................................... 28
5.3.1 HighSpeed Operation ............................................................................................................ 28 5.3.2 HeavyPayload Operation ....................................................................................................... 29 5.3.3 Battery Powered Operation ................................................................................................... 30
6 Web Interface ............................................................................................................................. 31 6.1 PTU Configuration Page .................................................................................................................. 31 6.2 Network Page .................................................................................................................................. 34 6.3 PTU Control Page ............................................................................................................................. 35
A Electrical Specifications .............................................................................................................A1
B Mechanical Drawings ................................................................................................................ B1 2.1 Payload Mounting Pattern .............................................................................................................B1 2.2 PTUE46 Dimensions ......................................................................................................................B2 2.3 PTUE46 Controller Dimensions .....................................................................................................B3
C Networking ............................................................................................................................... C1 3.1 Ethernet ..........................................................................................................................................C1 3.2 Serial ...............................................................................................................................................C1
3.2.1 Serial Networking Connections .............................................................................................C2 3.2.2 ASCII Command Syntax .........................................................................................................C3 3.2.3 Serial Command List ..............................................................................................................C4
D Troubleshooting ........................................................................................................................D1 4.1 Mechanical .....................................................................................................................................D1 4.2 Networking .....................................................................................................................................D1 4.3 Technical Support ...........................................................................................................................D2
E Regulatory & Warranty Information .......................................................................................... E1 5.1 Regulatory Information .................................................................................................................. E1 5.2 About FLIR Systems, Inc. ................................................................................................................ E2 5.3 Limited Warranty ........................................................................................................................... E2
Copyright 2014, FLIR Commercial Systems, Inc.iv
1Introduction
The PTUE46 PanTilt Unit (PTUE46) from FLIR Systems, Inc. provides lowcost, fast, and accurate posi tioning of cameras and other payloads. This User Manual contains setup, general configuration, wiring, and mechanical interface information that is intended for use by design engineers and integrators who are configuring, installing, and programming the PTUE46. Please see Related Documentation on page 5 for a list of other documents related to the PTUE46.
1.1GeneralPTUE46Features The PTUE46 series offers the following general features:
Small form factor
Serial communication capability via terminal or computer
PTUE4617 performance highlights include:
Payload capacity: 6lbs
Speed: over 300 per second
Resolution: 0.129
PTUE4670 performance highlights include:
Payload capacity: 9lbs
Speed: over 60 per second
Resolution: 0.0032
Precise position, speed, and acceleration control
Onthefly position and speed changes
Selfcalibration on reset with reduced motion
Hostcontrollable power consumption
Simple ASCII command mode
Note: This manual describes setting up and using the PTUE46 unit. Optional modules are not included in these instructions. If your PTUE46 includes any optional modules, please refer to the documentation included with those modules for help with their setup and use.
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PTUE46 User Manual
Highspeed binary command interface
Constantcurrent DMOS motor drives for increased performance and control
Unregulated 1230 VDC power input
Flexible connectivity options
Please refer to the PTUE46 Product Datasheet for complete specifications.
1.2ESeriesFeatures The PTUE46 includes the following new features:
Builtin Ethernet/Web IP interface for easy configuration, control, and diagnostics
Builtin geopointing (GPM) support
PelcoD support
Compatible with the PTUSDK software development kit
Higher command rates with lower latency and jitter
Reduced calibration movement
Full backward compatibility with previous PTUD46 models that includes:
Mounting pattern
ASCII and binary application command interface
Overlapped capabilities with previous PTUD46 models.
1.3Applications The PTUE46 is well suited for the following applications:
Robotics & computer vision
Webcam
Security camera control
Teleconferencing
Advanced monitoring systems
tracking
Photography, videography, and special effects
E
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Chapter 1: Introduction
1.4AboutThisManual This section describes the formatting conventions and information contained in this manual.
1.4.1FormattingConventions This manual uses several formatting conventions to present information of special importance.
Commands and other information that is new for the E Series PTUs include the E icon shown here.
Lists of items, points to consider, or procedures that do not need to be performed in a specific order appear in bullet format:
Item 1
Item 2
Procedures that must be followed in a specific order appear in numbered steps:
1. Perform this step first.
2. Perform this step second.
Specific keyboard keys are depicted in square brackets and are capitalized, for example: [ESC]. If more than one key should be pressed simultaneously, the notation will appear as [KEY1]+[KEY 2], for example [ALT]+[F4].
Interface elements such as document titles, fields, windows, tabs, buttons, commands, options, and icons appear in bold text.
Menus and submenus have the notation Menu>Submenu. For example, Select File>Save means that you should first open the File menu, and then select the Save option.
Specific commands appear in standard Courier font. Sequences of commands appear in the order in which you should execute them and include horizontal or vertical spaces between commands.
This manual also contains important safety information and instructions in specially formatted callouts with accompanying graphic symbols:
WARNING: CAUTIONS ALERT YOU TO THE POSSIBILITY OF PERSONAL INJURY IF THESE INSTRUCTIONS ARE NOT FOLLOWED.
CAUTION: CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED.
Note: Notes provide helpful information.
E
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PTUE46 User Manual
1.5Models Each PTUE46 unit includes a model number that is located on the base of the unit. This number lists the options present on that particular unit. Different options may require specialized instructions, and this manual will refer to this section where necessary to ensure that you are following the appropriate direc tions.
The PTUE46 model number appears as follows:
Figure 11: PTUE46 Part Numbering
1.6PTUE46PackageContents Your PTUE46 package includes the fol lowing items:
PTUE46 pantilt unit (1) with external controller (PTUE46) (2)
7ft cable (PTCABLECE or PTCABLE CEW) (3)
RS232 cable (4)
User Manual (NS)
Command Reference Manual (NS)
CD containing the PTU Finder utility (NS)
(Optional) AC/DC power supply (PT PSINT30VNA or EC) (5)
Figure 12: PTUE46 components
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Chapter 1: Introduction
(Optional) USB to RS485 adapter cable (PTUCONVUSBRS485) (6)
(Optional) Alternate length controller cables (not shown)
(Optional) Software Development Kit (PTUSDK) (not shown)
(Optional) Side bracket (D46BKTZSTD) (7)
1.7RelatedDocumentation The following additional documentation is available for your PTUE46 unit:
PTUE46 Configuration Guide: options and accessories ordering guide
PTUE46 Product Datasheet: product specifications
PanTilt E Series Command Reference Manual: command instructions
1.8AdditionalResources FLIR Systems, Inc. also maintains a technical support Web site with additional resources for customers in the Support section at www.FLIR.com/MCS. Resources include electronic copies of user manuals, firm ware downloads, 3D CAD models, technical notes, and other information.
1.9TechnicalSupport FLIR Systems, Inc. provides a range of technical support options:
Email: SBAApplicationsEng@flir.com
Web: www.FLIR.com/MCS
Phone: (888)7473547
The preferred method of contacting Technical Support is via email, which helps ensure proper dispatch ing and tracking to address your questions promptly.
When contacting Technical Support, please provide the following information:
PTU model and configuration
Payload (Please include photos, if possible.)
Parameter settings
Description of issue/symptoms
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PTUE46 User Manual
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2Safety
2.1Overview This chapter contains important safety instructions. You must read, understand, and comply with all of these safety instructions in order to protect both persons and property. The benefits of a safe installa tion include increased usability, reliability, and reduced damage to the PTU, payload, and/or other prop erty.
2.2SafetyWarningsandCautions PTUE46 installation and setup should be only be performed by qualified personnel.
The installation must comply with all applicable codes (such as building codes, marine safety codes, etc.).
The installation must be free of obstructions throughout the entire range of pantilt motion. When planning the installation, make sure to take the payload into account to ensure that the PTUE46 and payload remain unobstructed at all times.
All mounting methods and materials must be capable of supporting at least four times the combined weight of the PTUE46, mounted payloads, and cabling.
Corrosionresistant hardware (such as stainless steel screws) must be used for all outdoor installa tions.
Do not install the PTUE46 in any location that exceeds the PTUE46s environmental specifications.
Always incorporate a readily accessible power disconnect into the installation wiring. (See Sections 3.4 and 3.5.)
Removing power by disconnecting the power cable or cable harness is not recommended and can result in damage to the system.
All service procedures must be performed by qualified service personnel in accordance with all appli cable instructions.
If the PTUE46 is damaged, immediately remove power and contact FLIR Systems, Inc.
Only use replacement parts recommended by FLIR Systems, Inc.
Use caution when lifting the PTUE46 and/or payload.
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PTUE46 User Manual
Keep all persons and objects well away from the PTUE46s panning and tilting radius with payload installed.
Do not touch or otherwise handle the PTUE46 while in motion or if there is a possibility of motion. Always remove power before servicing the PTUE46 and/or payload.
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3QuickStart
The PTUE46 provides direct Ethernet and serial control for all motions. You may also use a joystick or proprietary controller.
This chapter helps you power up your PTUE46 and test direct communications from a host computer.
3.1SystemOverview The PTUE46 includes an integrated controller that can be accessed using a Web/Ethernet interface. The controller will also accept control commands from any host computer over a serial (RS232 or RS485) connection. The basic connections are:
DC power
Pantilt control via either Ethernet or RS232/485 serial connection
The PTUE46 also allows payload passthrough wiring that internally routes payload signals (payload power, video, etc.) from a single stationary connector in the PTUE46 base to a single payload connector that moves with your payload.
Figure 31: PanTilt System Overview
You may control the PTUE46 from any host computer using either the builtin Web interface or the ASCII protocol described in the included Series PanTilt Command Reference Manual. The PTUE46 also supports a binary protocol via a C Software Development Kit (PTUSDK) for high speed, hard realtime controls such as tracking. Drivers are also available using thirdparty software packages such as LabVIEW and digital video control systems.
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PTUE46 User Manual
3.2SetupExample Figure 32 displays a typical PTUE46 setup:
Figure 32: Sample PTUE46 installation
In this example:
The PTUE46 unit (1) connects via the controller cable (2) to the PTUE46 controller, which uses the optional RS485 to USB adapter cable (4) to connect to the host PC (5). The power supply (6) pro vides DC power to the PTUE46 unit and controller.
3.3BasicSetup To perform a basic PTUE46 setup and installation:
1. Mount the PTUE46 securely to a lab bench, tripod, or other stable platform. Verify that there is enough clearance around the unit. See Section 4.1 for detailed mounting instructions.
CAUTION: ONLY MOVE THE PANTILT AXES USING THE KNOBS MOUNTED ON THE PTU MOTORS WHILE THE UNIT IS POWERED OFF. MANUAL ROTATION OF PANTILT AXES (CALLED BACKDRIVING) CAN DEGRADE UNIT PERFORMANCE AND ACCURACY.
CAUTION: REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTUE46.
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Chapter 3: Quick Start
2. Attach one end of the included controller cable to the connector at the base of the PTUE46 unit, and then attach the other end of the cable to the PTUE46 controller.
3. Establish Ethernet or serial wiring to the PTUE46 as appropriate for your needs.
Please see Section 3.4 for Ethernet/Web instructions.
Please see Section 3.5 for serial/ASCII instructions.
4. Power on and test the PTUE46.
3.4EthernetConnection The PTUE46 contains a Webbased interface that allows you to test and program various functions. This interface is accessible via the Ethernet connection on the breakout cable.
To connect, power on, and test the PTUE46 using the Ethernet connection and Web interface:
1. Connect one end of an RJ45 Ethernet cable to the PTUE46 controller, and then connect the other end of the cable to the host computer, either directly or through a router/hub.
2. Connect a power source to the PTUE46, making sure to incorporate a readily accessible power dis connect (such as a power strip) to allow safe power removal from the system. See Section 4.3.
3. Ensure that the PTUE46 is clear to move in both axes (pan and tilt) without hitting any obstructions before applying power.
4. Power on the PTUE46. By default, the PTUE46 will begin a calibration sequence that will cause it to move from its current position to the center (0) positions in both axes.
5. Launch a Web browser. The PTUE46 supports modern versions of the Microsoft Internet Explorer, Mozilla Firefox, and Google Chrome browsers with JavaScript enabled.
CAUTION: DISCONNECTING THE CABLE WHILE THE PTUE46 IS POWERED ON CAN DAMAGE THE UNIT. ALWAYS POWER DOWN THE PTUE46 BEFORE DISCONNECTING THE CABLE.
Note: You may use simultaneous Ethernet and serial connections.
CAUTION: REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTUE46.
WARNING: HITTING AN OBSTACLE WHILE THE PTUE46 IS IN MOTION COULD CAUSE A MOUNTING OR OTHER STRUCTURAL FAILURE THAT COULD RESULT IN INJURY OR DEATH.
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6. Run the PTU Finder utility from the CD included with your PTUE46 package. A list of the individual PTUE46 units currently connected to the network and their corresponding IP addresses will appear in the application window.
7. In your Web browser, navigate to the appropriate IP address (such as http://192.168.1.101). A Web page appears when you are connected to the selected PTUE46 unit. The PTUE46 Web inter face allows you to configure the network interface, configure various parameters, and control the PTUE46.
8. Navigate to the PTU Control page.
9. Click the arrows to pan and tilt the PTUE46 and verify that it is working properly.
Please refer to Section 6 for instructions on using the Web interface.
3.5SerialConnection
To connect, power on, and test the PTUE46 using the serial interface:
1. Connect the PTUE46 as follows:
Attach one end of the RS232 cable to the PTUE46 controller.
Attach the other end of the RS232 cable to a serial port on the host PC.
2. Open a terminal program such as HyperTerminal or TeraTerm.
Note: If you have simultaneous Ethernet and serial connections to a PTUE46 unit, you may enter NI in the terminal to retrieve the IP address of the PTUE46 unit.
Note: You may use simultaneous Ethernet and serial connections.
Note: Alternatively, you may connect one end of an RS485 to USB converter to the PTU E46 controller and the other end to a USB port on the host computer. Driver installation should be automatic; if not, you may download a driver from http://www.ftdichip.com/ Drivers/VCP.htm.
Note: HyperTerminal is available with Microsoft Windows XP and previous versions. You may download TeraTerm from http://ttssh2.sourceforge.jp/.
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Chapter 3: Quick Start
3. Create a new connection with the following communications parameters:
9600 baud
8 data bits
1 stop bit
no parity
no handshaking
4. Provide DC power to the PTUE46. You may use the factory AC/DC power supply (PTPSINT30VNA or EC). Alternatively, you may provide your own DC power source if appropriate, as described in Section 4.3.
5. Power on the PTUE46 by turning on the switch on the power strip. If power is working, the unit will begin a selfcalibration and text will appear on your terminal identifying the units configuration.
6. Test pantilt operation by typing commands into your terminal program. The following command sequence will familiarize you with basic PTUE46 operation:
pp2500 * tp-900 * PS1900 * pp0 *
This sequence:
sets the pan axis to position 2500
sets the tilt axis to position 900
sets the pan speed to 1900 positions per second, and
sets the pan position back home.
7. Power down the PTUE46 by turning off the switch on the power strip.
8. Mount and wire your payload (e.g. camera) on the PTUE46, as described in Section 4.8.
Please see Appendix C.2.2 for an overview of the ASCII command syntax and a list of commonly used commands. The PanTilt E Series Command Reference Manual contains complete command interface instructions.
CAUTION: USE AN APPROPRIATELY RATED POWER STRIP WITH SURGE PROTECTION TO ALLOW SAFE POWER REMOVAL WHEN YOU ARE READY TO POWER DOWN.
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4Installation&Setup
This section describes proper mechanical and electrical PTUE46 installation.
4.1MountingtheUnit The basic mounting pattern uses two #1/420 sockethead cap screws in a 0.75 (19.05mm) side by side pattern. Both mounting screws must be used, and the mount must be strong enough to support the combined load of the PTUE46 unit, payload, and additional forces exerted on the system (such as wind, G forces, etc.). A good rule of thumb is that the mount must be capable of supporting at least four times the combined weight of the PTUE46 and payload. For example, a mount for a PTUE46 with a 15 lb. pay load must be able to support at least 104 lbs.
Figure 41: Hole Mounting Pattern
WARNING: FAILURE TO USE BOTH MOUNTING SCREWS AND/OR TO SECURE THE PTU E46 AND ITS PAYLOAD TO A SUFFICIENTLY STRONG MOUNTING CAN CAUSE THE INSTALLATION TO FAIL. THIS CAN RESULT IN PERSONAL INJURY OR DEATH, AND/OR DAMAGE TO THE PTUE46 UNIT AND/OR PAYLOAD.
1.721"
1.220"
.475"
.75"
20
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PTUE46 User Manual
4.2PowerSources The PTUE46 requires an unregulated 1230VDC power source capable of 17 continuous peak watts.
For maximum PTUE46 performance, use the highest motor voltage within the allowable range.
For the quietest and smoothest PTUE46 operation, you can use a lower motor voltage, such as 24VDC.
Alternative power sources that can supply at least 17W continuous can be used by attaching a 2.1/ 5.5mm coaxial connector cable to a suitable DC power source (e.g., battery power, vehicle power, or an AC/DC converter). In order to achieve the highest pantilt unit performance, use the highest motor volt age within the allowable range. To achieve the quietest pantilt operation, use a lower motor voltage (e.g., 12VDC). Operation at 12VDC limits the highest unloaded pantilt speed to about 2/3 the rated max imum speed (i.e., 600/second for the PTUE4617, and 60/second for the PTUE4670).
Figure 42: Power supply wiring
If you are providing your own DC power source, then either:
The power source must never supply more than 3A of current.
You must add a 3A fastblow fuse in series with your DC power source.
For example, when connecting to a vehicle battery or lighter plug, you must fuse the incoming DC source. Failure to properly fuse your input power source could cause overloading of internal protection devices, pose a safety hazard, or void product warranties.
CAUTION: WHEN WIRING YOUR OWN POWER SOURCE, FAILURE TO COMPLY WITH WIRING AND POWER SOURCE REQUIREMENTS DESCRIBED IN THIS MANUAL CAN RESULT IN DECREASED UNIT PERFORMANCE OR DAMAGE NOT COVERED UNDER THE LIMITED WARRANTY.
CAUTION: REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTUE46.
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Chapter 4: Installation & Setup
4.3Fusing If you are using a DC power source that is capable of supplying current beyond the PTUE46 rated maxi mums, you must add an appropriate fuse in series with the DC power source. For example, you must fuse a connection made to a vehicle battery or lighter plug.
4.4InterfaceandHostSettings The PTUE46 includes both an Ethernet connection and either RS232 or RS485 communications. You may connect to your PTUE46 using either or both of these methods; the Web interface is only available when using an Ethernet connection, and the terminal interface is only available when using a serial con nection.
4.4.1EthernetConnection The PTUE46 Ethernet connection uses a standard Cat5 (RJ45) network cable.
You may connect the PTUE46 directly to a host computer or indirectly through a router, hub, etc.
The PTUE46 will either accept IP addresses from a DHCP server or select its own IP address if con nected directly to the host computer.
You do not need a crossover cable.
If needed, you may use a coupling to extend the Ethernet connection on the breakout cable.
Connect, power on, and test the PTUE46 using the Ethernet connection and Web interface as described in Section 3.4.
4.4.2RS232ElectricalConnection PTUE46 units with RS232 communications have the following connections:
25pin serial:
TxD: Pin 2 (carries data from the PTUE46)
RxD: Pin 3 (carries data to the PTUE46)
GND: Pin 7
WARNING: FAILURE TO PROPERLY FUSE THE PTUE46 POWER SOURCE COULD OVER LOAD INTERNAL PROTECTION DEVICES AND CAUSE DEATH, PERSONAL INJURY, AND/ OR DAMAGE TO THE UNIT.
Note: The Ethernet and serial interfaces may be connected simultaneously; however, you should only use one interface at a time for command and control of the PTUE46.
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DTR: Pin 20
DSR: Pin 6
9pin serial:
RxD: Pin 2 (carries data to the PTUE46)
TxD: Pin 3 (carries data from the PTUE46)
GND: Pin 5
DTR: Pin 4
DSR: Pin 6
8pin serial (Macintosh miniDIN):
TxD: Pin 3 (carries data from the PTUE46)
RxD: Pin 5 (carries data to the PTUE46)
GND: Pin 4
DTR: Pin 1
DSR: Pin 2:
Serial communication between the PTUE46 and your host computer should be set as follows:
Baud rate: 9600. You may adjust the baud rate using software commands. Please refer to the Pan Tilt E Series Command Reference Manual for instructions.
Start bit: 1
Data bits: 8
Stop bit: 1
Handshaking: off
XON/XOFF: not used
4.4.3RS485ElectricalConnection PTUE46 units with RS485 communications have the following connections:
Duplex: full
Connections: Tx+, Tx, Rx+, and Rx
Voltage: RS422 or RS485 levels
Note: TxD and RxD assignments can vary depending on your host computer. If your ini tial connection does not work, try using a null modem.
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Chapter 4: Installation & Setup
Serial communication between the PTUE46 and your host computer should be set as follows:
Baud rate: 9600. You may adjust the baud rate using software commands. Please refer to the Pan Tilt E Series Command Reference Manual for instructions.
Start bit: 1
Data bits: 8
Stop bit: 1
Handshaking: off
XON/XOFF: not used
4.5InitialPowerUpandTest This section describes how to power up and test your PTUE46 using either the Web or serial interface. Test and verify all cable connections and connector wiring before powerup.
4.5.1WebInterface To test the PTUE46 using the Web interface, follow the procedure in Section 3.4 to connect the PTU E46, power on the unit, and access the Web interface.
The Web interface has the following pages:
PTU Config: Allows you to configure speed, acceleration, and power options.
Network: Allows you to configure the PTUE46 units IP and MAC addresses.
PTU Control: Allows you to control the PTUE46.
Please see Section 6 for more information about the Web interface. Use the PTU Control page (see Sec tion 6.3) to test PTUE46 motion and exercise the unit.
4.5.2TerminalInterface To test the PTUE46 using the serial interface:
1. Configure the RS232 or RS485 port on the host computer as described in Section 3.5.
2. Power up the PTUE46. A boot message will appear on your terminal screen and the unit will begin a reset cycle. An asterisk (*) appears on your screen when the reset cycle is finished. If the PTUE46 did not reset properly, please refer to the troubleshooting instructions below.
Note: Complete the initial installation and testing, then exercise the PTUE46 and famil iarize yourself with its operations and commands before mounting your payload (such as a camera).
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PTUE46 User Manual
3. Please see Appendix C.2.3 for a list of basic commands, and the PanTilt E Series Command Refer ence Manual for a complete list of commands and associated parameters and other usage instruc tions.
4.6PayloadMounting The PTUE46 payload bracket system can be configured in a number of ways to support a variety of pay loads including cameras, lasers, antennas, and other equipment. Figure 3 shows all bracket configura tions available for the PTUE46.
The following guidelines apply to all payload mounts:
The maximum payload mounting screw size is .
Always use washers, lock washers, etc. as appropriate.
If the PTUE46 is being mounted in an outdoor location, use corrosionresistant hardware (such as stainless steel).
Apply thread locking compound to all screws, such as Loctite 242, which is suitable for applications that are field serviceable since it is easily removable with common hand tools and works with both stainless and plated metals. Consider other compounds for highshock/vibration applications where field service is not a concern.
WARNING: FAILURE TO FOLLOW ALL PAYLOAD MOUNTING INSTRUCTIONS COULD RESULT IN A STRUCTURAL FAILURE THAT MAY RESULT IN DEATH, PERSONAL INJURY, AND/OR DAMAGE TO THE UNIT.
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Chapter 4: Installation & Setup
The PTUE46 allows the following bracket mounting options:
Figure 43: Bracketing Options
4.6.1SideBracketAttachment Please refer to the images on the following page when attaching the side bracket. The numbered call outs in these images correspond to the numbered steps in the following procedure. To attach side mounting brackets:
1. Verify that the PTUE46 has been powered on and allowed to reset, which places the mounting hub in its home position (not shown).
2. Power off the PTUE46 (not shown).
3. Remove the 1/4 bolt from the center of the top bracket.
4. Remove the four socket head cap screws (not shown) securing the top bracket to the PTUE46 using a 7/64 hex head drive.
5. Tilt and slide the top bracket to remove it from the PTUE46.
6. Remove the 6/32 x 3/16 stainless steel truss screw from the side of the PTUE46 (see images).
7. Insert the 1/4 x 3/8 bolt that you removed from the top bracket in Step 4 through any of the holes in the side bracket, from the bottom.
8. Place two drops of thread locking compound (such as Loctite 242) in each of the four screw holes that will secure the side bracket.
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9. Lay the side bracket on top of the PTUE46, and then attach the side bracket using the four socket head screws that you removed in Step 3, above (not shown). Torque these screws to 12 inchpounds.
10. Insert 12 drops of thread locking compound into the truss screw hole on the side of the PTUE46.
11. Insert the 6/32 x 3/16 stainless steel truss screw, and then tighten until finger tight. Next, torque the screw to between 1 and 4 inchpounds.
12. Mount your payload onto the side bracket using the 1/4 bolt you inserted in Step 6, above, and then mount the PTUE46 in a location that ensures adequate clearance for the payload throughout the entire ranges of pan and tilt motion.
13. Reset the PTUE46 and ensure that the bracket moves properly throughout the entire range of motion by testing in increments of 100 pan and tilt units to ensure that the payload does not strike any portion of the PTUE46 or any other object or obstacle.
Figure 44: PTUE46 side bracket mounting
CAUTION: YOU MUST SECURE THESE SCREWS NOW IN ORDER TO ENSURE PROPER PRELOADING. FAILURE TO DO THIS CAN DAMAGE THE PTUE46.
CAUTION: USE THE H COMMAND IF THE PAYLOAD IS ABOUT TO STRIKE AN OSTACLE TO IMMEDIATELY HALT THE PTUE46.
Note: If you ordered your PTUE46 with a top bracket, the unit will arrive with the bracket already attached.
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Chapter 4: Installation & Setup
4.6.2PayloadAttachment The following guidelines apply to all payload attachments:
Mount all payloads as close to the PTUE46 as possible. This minimizes the distance between the payload Center of Gravity (CG) and the center of rotation of the axes, which reduces stress on the PTUE46 unit and mounting. It also improves performance by reducing the amount of torque required to move the payload.
Verify that the payload will clear the PTUE46 housing and all surrounding objects throughout the entire range of motion.
The PTUE46 is rated for a maximum load of 6 lbs (PTUE4617) or 9 lbs (PTUE4670); however, load distribution affects the actual weight that the PTUE46 can safely move. The amount of torque needed to move a payload depends on a number of factors such as payload weight, distance from the payload CG to the center of rotation, acceleration and speed settings, power levels, environmen tal factors, etc.
The PTUE46 allows full control over acceleration, speed, and power levels. Mount your payload and configure these parameters appropriately to ensure reliable operation.
To attach and test your payload:
1. Mount your payload. Side mounting is preferable for heavy loads because this keeps the payload CG closer to the tilt axis, thereby minimizing torque requirements.
2. Verify that the payload is securely attached to the payload bracket.
3. Move the PTUE46 tilt axis through its entire range to test its ability to carry the load.
If you are using the Web interface, open the PTU Control page and click the arrows to move the PTUE46 through its full range of tilt motion, as described in Section 6.3. If needed, click Halt to stop the PTUE46 immediately.
If you are using the terminal interface, enter TN TX to query the tilt minimum and maximum limits, then enter TP
CAUTION: THE CG OF TOPMOUNTED PAYLOADS IS FURTHER FROM THE TILT AXIS AND MAY REQUIRE MORE TORQUE THAN A SIMILAR SIDEMOUNTED PAYLOAD.
WARNING: STOP THE PTUE46 IMMEDIATELY BY EITHER CLICKING HALT (WEB INTER FACE) OR ISSUING AN H COMMAND (SERIAL INTERFACE) IF THE PAYLOAD IS ABOUT TO COLLIDE WITH THE PTUE46 AND/OR ANOTHER OBSTACLE. A COLLISION COULD CAUSE A STRUCTURAL FAILURE THAT MAY RESULT IN INJURY OR DEATH.
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PTUE46 User Manual
If the load is too heavy or moving too quickly, the PTUE46 will lose synchronization, which will be audible as a grinding sound from the PTUE46 motors. Stop the test immediately if this occurs, and refer to Sections 5.3.2 and 5.3.3. This does not damage the PTUE46 but does indicate that the pay load is not mounted and/or the PTUE46 is not configured correctly to move the payload.
4. Move the PTUE46 pan axis through its entire range to test its ability to carry the load.
If you are using the Web interface, open the PTU Control page and click the arrows to move the PTUE46 through its full range of pan motion, as described in Section 6.3. If needed, click Halt to stop the PTUE46 immediately.
If you are using the terminal interface, enter PN PP to query the pan minimum and maximum limits, then enter PN
If the load is too heavy or moving too quickly, the PTUE46 will lose synchronization, which will be audible as a grinding sound from the PTUE46 motors. Stop the test immediately if this occurs, and refer to Sections 5.3.2 and 5.3.3.
5. If the PTUE46 passes the above pan and tilt axis load handling tests, you are ready to begin con trolling your payload using the commands described in the PanTilt E Series Command Reference Manual.
Note: Please refer to Section 5.3.2 for more information on configuring the PTUE46 for heavier payloads.
CAUTION: DO NOT PROCEED BEYOND THIS STEP UNLESS AND UNTIL THE PTUE46 PASSES THE TILT AXIS MOTION TEST.
WARNING: STOP THE PTUE46 IMMEDIATELY BY EITHER CLICKING HALT (WEB INTER FACE) OR ISSUING AN H COMMAND (SERIAL INTERFACE) IF THE PAYLOAD IS ABOUT TO COLLIDE WITH THE PTUE46 AND/OR ANOTHER OBSTACLE. A COLLISION COULD CAUSE A STRUCTURAL FAILURE THAT MAY RESULT IN INJURY OR DEATH.
Copyright 2014, FLIR Commercial Systems, Inc.24
5Configuring& Programming
This chapter describes how to configure and program your PTUE46.
Follow the appropriate instructions to connect the PTUE46 to the host computer, power it on, and access it via:
Web: Section 3.4.
Serial: Section 3.5.
5.1RangeofMotion The PTUE46 range of motion can be limited in the following ways (see XX on bext page):
Hard: A hard limit physically cannot be exceeded. A physical pin on the PTU impedes movement.
Factory: Factory limits are smaller than hard limits to prevent physical damage to the PTUE46 and/ or payload.
User: User limits are programmable limits that are smaller than hard limits and can be as large as fac tory limits.
The PTUE46 uses highprecision optical limit sensors to determine the limits. It can also be equipped with optional mechanical stops that will limit pan/tilt motion to preset limits. It is possible to set these stops to allow overlapping limits, as shown in the image on the previous page.
Note: You may also have a simultaneous Ethernet connection to the Web interface, as described in Section 3.4.
Note: If needed for your application, order optional mechanical stops with your PTUE46 because they are installed during manufacturing.
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PTUE46 User Manual
Figure 51: Standard PTUE46 ranges of motion
5.1.1NodalRotation The PTUD46 can be configured for standard or nodal (gimbal) rotation. Nodal rotation allows the payload to be mounted at the center of rotation of both pan and tilt axes, which allows you to program payload movement as pure rotation in both axes without translation.
Figure 52: Standard (left) and nodal (right) rotation
User Range Factory Range Hard Range
Origin
-+
Negative max. Positive max.
Non-Overlapping, Non-Continuous Range of Motion
Overlapping Range of Motion
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Chapter 5: Configuring & Programming
5.1.2DefaultLimits In the following image:
The positive pan axis direction is clockwise when looking down at the top of the PTUE46.
The positive tilt axis direction is clockwise when looking sideways at the PTUE46 with the motors and connectors facing to the right.
Figure 53: PanTilt Default Factory Limits
5.2ResolutionandStepModes The PTUE46 uses stepper motors that drive the unit through a gear reduction system. The internal con troller allows stepper motor control in manual (, , and 1/8) or automatic step modes. The following table lists the pan and tilt axis resolution in degrees.
STEP STEP 1/8 STEP
PTUE4617 0.516 0.258 0.129
PTUE4670 0.0128 0.0064 0.0032
Note: Larger step modes increase torque and maximum speed vs. smaller step modes. The PTUE46 includes an automatic stepping mode (autostep) that optimizes this trade off for many applications. You may command the PTUE46 in 1/8 steps when in auto matic stepping mode.
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PTUE46 User Manual
5.3UserProgrammableSettings The PTUE46 has a number of userprogrammable parameters that can significantly affect performance for a given payload and application. These parameters should be set to values that are appropriate for your payload and application needs. This section provides an overview of how to optimize your PTUE46 for highpower and/or highspeed operation. Please refer to the PanTilt E Series Command Reference Manual for complete instructions.
5.3.1HighSpeedOperation The following factors should be considered when planning high speed operation:
Load weight, weight distribution, and dynamics.
Move the payload as close to the axis centers of rotation as possible. Doing this will reduce the torque required to move the payload and allow a higher top speed.
Balancing the load, such as by using a counterweight or splitting the payload into two pieces can also help significantly.
Desired upper speed limit.
Rate of acceleration.
The base (startup) speed.
Power supply voltage. Higher voltages within the permissible range significantly improve axis speed and acceleration performance.
Inmotion power modes. If the duty cycle is less than 20%, you may use high move power to increase the top speed.
Multiaxis dynamics. Simultaneously moving the tilt and pan axes affects the forces exerted on the PTUE46.
Always begin highspeed tests on each axis in isolation. Only perform simultaneous pantilt move ments once each individual axis is optimized.
The base speed is the PTUE46 minimum speed. In practice, the unit will instantly accelerate to this speed. Setting a base speed can help speed up movement by eliminating a segment of acceleration time.
CAUTION: USE HIGHSPEED AND/OR HIGHPOWER SETTINGS WITH CARE, PARTICU LARLY WHEN MOUNTING A HEAVY AND/OR BULKY PAYLOAD.
WARNING: FAILURE TO ADEQUATELY SECURE THE PTUE46 TO A MOUNTING THAT CAN WITHSTAND THE FORCES APPLIED BY BOTH HIGHSPEED, HIGHPOWER MOVE MENT AND ENVIRONMENTAL FASCTORS SUCH AS VEHICLE MOVEMENT OR WIND CAN CAUSE A STRUCTURAL FAILURE RESULTING IN INJURY OR DEATH
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Chapter 5: Configuring & Programming
Aggressive acceleration settings with heavy payloads can cause increased wear on the PTUE46.
An example configuration string for high speed operations is:
PA9000 PU6000 TA9000 PU6000 DS
5.3.2HeavyPayloadOperation If the PTUE46 fails the initial load handling tests, you may be able to program it for higherpower opera tions. The speed and acceleration of a mechanical system depend on the inertial properties of the pay load. The ability of the PTUE46 to successfully move the payload without losing synchronization depends upon the inertial payload factors and their relationship to power supply voltage, unit speed, acceleration, position, motor torque, etc.
To increase payload capacity:
Configure the PTUE46 for increased motor current and torque. If your move duty cycle is less than 20%, you can set the Move Power to High (Web) or use the following serial commands: PPU2000 PA2000 PB60 TU2000 TA2000 TB60 PMR TMR %%1R600 DS.
You may also:
Move the payload CG closer to the PTUE46 tilt axis. See Section 4.8.2.
Use a highervoltage power source in the permissible range
Determine if the payload can be modified to lighten it.
Set the base speed to 0.
If the PTUE46 is having trouble resetting the tilt axis, try using user limits to reduce the tiltaxis range of motion.
Reduce speed and/or acceleration.
Please refer to the PanTilt E Series Command Reference Manual for more information.
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PTUE46 User Manual
5.3.3BatteryPoweredOperation The PTUE46 can be battery powered. Batterypowered applications must conserve as much power as possible. The PTUE46 includes commands that control pantilt motor power consumption both while moving and when stopped. Please refer to the PanTilt E Series Command Reference Manual for more information.
CAUTION: ALWAYS USE A FUSE WHEN CONNECTING THE PTUE46 TO A BATTERY.
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6WebInterface
This chapter describes how to configure and program your PTUE46 using the Web interface.
Follow the instructions in Section 3.4 to connect the PTUE46 to the host computer and power it on, obtain the IP address, and launch the Web interface in a browser window. If your PTUE46 includes the optional ISM module, please refer to the ISM documentation.
6.1PTUConfigurationPage The PTU Config page appears when you click the PTU Config link in the top menu. To use this page:
1. Make your desired changes.
2. Click the appropriate Apply button to apply certain changes (see below).
3. Click the appropriate action button at the bottom of the page.
This page allows you to view and configure the following options for your PTUE46:
General: The General section of the PTU Config page displays the following information:
Firmware: The PTUE46 installed firmware revision.
Model: The PTUE46 model number.
Pan Resolution: Horizontal motion resolution, in degrees. This number varies depending on your selected step mode (see below). Each unit of resolution equals one position.
Tilt Resolution: Vertical motion resolution, in degrees. This number varies depending on your selected step mode (see below). Each unit of resolution equals one position.
Note: You may also have a simultaneous serial connection to a terminal, as described in Section 3.4.
Note: Commands issued via the Web interface correspond to commands issued via the serial interface. Please refer to the PanTilt E Series Command Reference Manual for a complete list of serial commands.
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PTUE46 User Manual
Motion Configuration: The Motion Configuration section of the PTU Con fig page allows you to specify the fol lowing motion options for both pan and tilt in positions. One position equals one unit of resolution:
Speed: Pan and tilt speed, in posi tions per second.
Acceleration: Pan and tilt accelera tion and deceleration in positions per second per second. The PTU E46 will accelerate at this rate to the selected speed, maintain this speed as long as necessary, and then slow back down at the same rate.
Base Speed: Speed the PTUE46 instantly accelerates to.
Upper Speed: Maximum PTUE46 speed that can be commanded.
Lower Speed: Minimum PTUE46 speed that can be commanded.
Click Apply to make your desired speed/acceleration changes on the PTUE46.
Power Mode: The Power Mode section of the PTU Config page allows you to specify the following power options for each axis:
Move Power: Amount of power the PTUE46 uses when moving the payload.
Hold Power: Amount of power the PTUE46 uses in order to hold the payload in a fixed position.
The following power settings are available for pan and/or tilt power:
Off: Setting the hold power to Off means that the PTUE46 motor(s) are completely off when the payload is not moving in the selected axis or axes.
Low: Setting the hold and/or move power to Low means that the PTUE46 motors draw lower power while moving and/or holding.
Reg: Setting the hold and/or move power to Reg means that the PTUE46 motors draw normal power while moving and/or holding.
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Chapter 6: Web Interface
High: Setting the move power to High means that the PTUE46 motors draw maximum power while moving the payload in the pan and/or tilt axis. This power setting should be used for intermittent (<20%) duty cycles.
Step Mode: The Step Mode section of the PTU Config page allows you to specify the following reso lution options for each axis:
Full: Low resolution.
Half: Medium resolution.
Quarter: High resolution.
Eighth: Maximum resolution. This setting provides the greatest aiming accuracy.
Auto: Internally switches between step modes for optimal movements, but all commands and accuracy are in 1/8 step mode.
Changing the step mode requires a calibration reset. Please see Section 5.2 for more information about steps and fractional steps.
Limits: The Limits section of the PTU Config page allows you to specify the pan and tilt range of motion for your PTUE46. Please see Section 5.1 for an explanation of limit types and a visual depic tion of the PTUE46 range of motion.
Factory: Checking the Factory radio button sets the PTUE46 range of motion to its factory default. The range of motion appears below.
User: Checking the User radio button allows you to program your own range of motion. The Min imum and Maximum fields become editable, allowing you to enter your desired range for both pan and tilt.
Continuous Mode: The PTUE46 does not support this feature.
Click the Apply button after setting your desired range of motion to program the PTUE46.
Action Buttons: The action buttons at the bottom of the PTU Config page allow you to perform the following actions:
Reset Factory: Clicking the Reset Factory button restores factory default speed, acceleration, power, and limit settings to the PTUE46. This erases any user limits.
Save Default: Clicking the Save Default button saves the changes you made on the PTU Config page as the default settings for the PTUE46.
Refresh: Clicking the Refresh button updates the PTU Config page with the values stored on the PTUE46.
Reset Axes: Clicking the Reset Axes button cycles the PTUE46 through a complete calibration reset cycle.
CAUTION: USE HIGHSPEED AND/OR HIGHPOWER SETTINGS WITH CARE, PARTICU LARLY WHEN MOUNTING A HEAVY AND/OR BULKY PAYLOAD.
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PTUE46 User Manual
Reprogramming: The Reprogramming section of the PTU Config page allows you to upload firm ware to the PTUE46.
Dialogue: The Dialogue section of the PTU Config page displays information that can be useful when debugging the PTUE46.
6.2NetworkPage The Network page appears when you click the Network link in the top menu. This page allows you to configure the following options for your PTUE46:
Host Name: Name of the PTUE46 unit. If you have multiple PTUE46 units on the network, you may enter a unique name for the currently selected PTU E46 unit to make reconnection faster.
MAC: Displays the unique Media Access Control (MAC) address for the PTUE46 unit. You may change this address if necessary.
Automatic IP Address: Checking the Obtain IP address Automatically radio button allows the PTU E46 to either accept IP information from a DHCP server (such as a router) or select its own IP infor mation (if connected directly to a host computer).
Manual IP Address: Checking the Manual IP Address radio button lets you specify the following information:
IP Address: IP address for the PTUE46 unit.
Subnet Mask: Subnet mask of the network the PTUE46 is connected to.
After changing network information, click the appropriate action button at the bottom of the page:
Set: Clicking Set implements your changes but does not save them to the PTUE46.
Reset: Clicking Reset reverts the PTUE46 to factory default settings.
Save: Clicking Save implements your changes and saves them to the PTUE46.
CAUTION: REPROGRAMMING NEW FIRMWARE IN THE PTUE46 CAN DAMAGE THE UNIT IF NOT DONE PROPERLY. ONLY REPROGRAM YOUR UNIT UNDER THE DIRECT GUIDANCE OF FLIR TECHNICAL SUPPORT.
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Chapter 6: Web Interface
6.3PTUControlPage The PTU Control page appears when you click the PTU Control link in the top menu. This page allows you to control your PTUE46 as follows:
Home: Clicking Home returns the PTUE46 to its home pan and tilt positions.
Directional controls: The directional controls allow you to move the PTU E46 left and right (pan), and up and down (tilt).
Halt: Clicking Halt immediately stops the PTUE46 in its current position.
Small Arrow: Clicking a small arrow moves the PTUE46 by either the smaller position step size or at the lower speed (see below).
Big Arrow: Clicking a big arrow moves the PTUE46 by either the larger position step size or at the higher speed (see below).
Speed/Position selection: Check the appropriate radio button to control the PTUE46 by Position (the unit will move by the selected amount when an arrow is clicked) or Speed (the unit will accel erate up to the selected speed when an arrow is clicked, and will continue mov ing at that speed until the arrow is released).
Set Arrow Step Size: The Set Arrow Step Size fields allow you to specify either how many positions the PTUE46 will move each time an arrow is clicked (if you selected Position), or how fast it will move (if you selected Speed).
Big: The Big number specifies either the number of positions the PTUE46 will move each time you click a big arrow (if you selected Position) or the number of positions per second the PTU E46 will move (if you selected Speed).
Small: The Small number specifies either the number of positions the PTUE46 will move each time you click a small arrow (if you selected Position) or the number of positions per second the PTUE46 will move (if you selected Speed).
Status: The Status section of the PTU Control page displays the PTUE46 position and speed in real time. Click the appropriate link to see this information in Degrees or Positions.
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PTUE46 User Manual
Position: Pan and tilt location of the PTUE46 in degrees or positions.
Speed: Pan and tilt speed of the PTUE46 in degrees or positions per second.
Start/Stop: Clicking the Start/Stop button toggles updating the PTUE46 status on and off.
Set Position: The Set Position section of the PTU Control page allows you to manually enter position and/or speed information. Please see Section 5.1 for an explanation of limit types and for a visual depiction of the PTUE46 range of motion.
Speed: Enter your desired pan and/or tilt speeds in the Speed fields.
Position: Enter your desired pan and/or tilt position in the Position fields.
Click the Apply button to move the PTUE46 to the specified position at the specified speed.
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AElectricalSpecifications
This Appendix describes the base connector and host computer wiring. In general:
TX lines carry data from the PTUE46.
RX lines carry data to the PTUE46.
25pin serial host connector
9pin serial host connector
8pin serial (Macintosh mini
DIN) host connector
PTUE46 base connector
TxD Pin 2 Pin 2 Pin 3 Pin 2
RxD Pin 3 Pin 3 Pin 5 Pin 3
GND Pin 7 Pin 5 Pin 4 Pin 5
DTR Pin 20 Pin 4 Pin 1 Pin 4
DSR Pin 6 Pin 6 Pin 2 Pin 6
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BMechanicalDrawings
The PTUE46 can use side and/or top payload mounting brackets. This Appendix describes the payload mounting patterns for the different brackets and displays the PTUE46 unit dimensions.
B.1PayloadMountingPattern The following images display the dimensions and mounting patterns for both the top and side brackets.
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B.2PTUE46Dimensions This image displays the PTUE46 dimensions.
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Appendix B: Mechanical Drawings
B.3PTUE46ControllerDimensions his image displays the PTUE46 controller dimensions.
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CNetworking
This section describes the basic installation and setup steps required to network your pantilt units.
C.1Ethernet To connect multiple PTUE46 units to a single host computer via Ethernet:
1. Plan the physical placement of each PTUE46 and the host computer.
2. Connect each PTUE46 to your network using the Ethernet connection on each unit.
3. On the host computer, run the PTU Finder utility to locate the PTUE46 unit IP addresses.
4. Launch a Web browser and point it to the IP address of the unit you want to connect to. You may open multiple browser windows/tabs to connect to multiple units at once.
Please see Section 3.4 for more information about connecting to a PTUE46 using the Web interface.
C.2Serial You may connect up to 127 PTUE46 units to a single host computer port. The host computer can then address each connected PTUE46 as if it were the only unit on the network. This makes it easy to migrate code developed for a single PTUE46 to a network of PTUE46 units controlled by one host computer.
To connect multiple PTUE46 units to a single host computer via serial:
1. Assign a unique network ID number to each PTUE46.
2. Connect the PTUE46 units and host computer to the serial network.
3. Test the configuration by addressing each PTUE46 by its unit ID and issuing commands and queries.
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PTUE46 User Manual
C.2.1SerialNetworkingConnections Multiple PTUE46 units can be networked and connected to the host computers RS232 port. All net work communications use RS485, meaning that you must have an RS232 to RS485 adapter if the host computer does not directly support fullduplex RS485 I/O. The host computer functions as the network host, meaning that its TX and RX lines define the directions of data traffic flow. Each PTUE46 on the net work is a client that communicates with the host using a fullduplex connection.
Figure C1: PTU Network Configuration
When making your own data cables, FLIR Systems, Inc. recommends using a good quality twisted pair cable with about 100 impedance, which provides good noise immunity for RS485 connections.
The following RS232 to RS485 converters are recommended:
ATEN IC485S
Moxa A50
Both adapters require a flipped RJ12 connector (such as a standard phone cord).
Terminate the serial network by placing 120 1% resistors between the RS485 Transmit+/Transmit (Tx+/Tx) and Receive+/Receive (Rx+/Rx) wires at each end of the network, as shown in Figure 5.
Copyright 2014, FLIR Commercial Systems, Inc.C2
Appendix C: Networking
C.2.2ASCIICommandSyntax This section provides a brief overview of the ASCII command syntax. Please refer to the PanTilt E Series Command Reference Manual for complete information and instructions.
The PTUE46 uses both commands and queries. A command tells the PTUE46 to do something (such as pan to a specific angle). A query asks the PTUE46 to return the requested value (such as reporting the current pan angle).
The basic ASCII command syntax is
The basic ASCII query syntax is
For example:
Command: PP
Query: PP
Commands and queries return results that display on the terminal screen, as follows:
A successfully executed command displays * on the terminal screen.
A successfully executed query displays
A failed command displays!
A pan axis limit hit asynchronously displays !P.
A tilt axis limit hit asynchronously displays !T.
This sample command sequence pans the PTUE46 to the left, waits, and then pans it back to the right:
S PP-2500 * A * PP * Current Pan position is -2500 PP2500 * A * PP * Current Pan position is 2500
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C.2.3SerialCommandList These tables list the most commonly used serial commands. Please refer to the PanTilt E Series Com mand Reference Manual for complete information about the available commands and their usage.
LIMITS
POSITION
SPEED
MISCELLANEOUS
CMD DESCRIPTION CMD DESCRIPTION
PN Minimum pan position L Query limit status
PX Maximum pan position LE Enable limits
TN Minimum tilt position LD Disable limits
TX Maximum tilt position LU User limits
CMD DESCRIPTION CMD DESCRIPTION
PP Pan position PR Pan resolution
TP Tilt position TR Tilt resolution
PO Pan offset
TO Tilt offset
CMD DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION
PS Pan speed PA Pan acceleration PU Pan upper speed
TS Tilt speed TA Tilt acceleration PL Pan lower speed
PD Pan speed offset PB Pan base speed TU Tilt upper speed
TD Tilt speed offset TB Tilt base speed TL Tilt lower speed
CMD DESCRIPTION
A Await
R Reset
DF Restore factory defaults
H Halt.
Copyright 2014, FLIR Commercial Systems, Inc.C4
DTroubleshooting
This appendix presents common mechanical, power, and networking challenges and resolutions, and also provides information about contacting FLIR Technical Support.
D.1Mechanical After powering on, the PTUE46 stops moving with a grinding noise.
If you have a payload attached:
The payload may be too heavy. Try moving the payload closer to the center of rotation of the affected axis and/or reducing the payload weight.
The movement settings may be too aggressive. Reduce the upper speed limit and/or accelera tion.
If you do not have a payload attached, contact FLIR Technical Support.
D.2Networking Unable to determine the PTUE46 IP address to access the onboard Web page.
If you are running Windows, use the PTU Finder tool included on the CD that shipped with your PTU E46.
If you are not running Windows, attach a serial device to the PTUE46 host port and then issue the NI command to query the IP address of the PTUE46.
PTUE46 Web page controls are sluggish.
Adjust the speeds and/or step size by clicking the Set Arrow Step Size or Set Arrow Speed headers in the PTU Control Web page, as described in Section 6.3.
Try closing other programs on your computer to free up resources.
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Unable to establish serial communications with the PTUE46.
If you are using RS232:
Make sure that the PTUE46 is equipped with RS232 communications at the port you are using. Units with PL01 wiring have RS232 at the base, while units with PL02 wiring have RS232 at the payload port.
Try using a nullmodem adapter.
If you are using a laptop, make sure that it is plugged in. RS232 will not work if the PTUE46 and host computer grounds are too far apart.
Verify that the RS232 port is working using a loopback adapter. If you do not have a loopback adapter, connect pins 2 and 3 of the DB9 RS232 connector. Any characters typed into the serial terminal should be echoed back when the loopback adapter is attached.
If you are using the RS232 to RS485 adapter provided by FLIR Systems, Inc:
Set the switches to T RxON and DCE.
Make sure the adapter is powered.
Try using a nullmodem adapter
If you are using a laptop, make sure that it is plugged in. RS232 will not work if the PTUE46 and host computer grounds are too far apart.
Verify that the RS232 port is working using a loopback adapter. If you do not have a loopback adapter, connect pins 2 and 3 of the DB9 RS232 connector. Any characters typed into the serial terminal should be echoed back when the loopback adapter is attached.
D.3TechnicalSupport FLIR Systems, Inc. provides a range of technical support options:
Email: SBAApplicationsEng@flir.com
Web: www.FLIR.com/MCS
Phone: (888)7473547
The preferred method of contacting Technical Support is via email, which helps ensure proper dispatch ing and tracking to address your questions promptly.
When contacting Technical Support, please provide the following information:
PTU model and configuration
Payload (Please include photos, if possible.)
Parameter settings
Description of issue/symptoms
Copyright 2014, FLIR Commercial Systems, Inc.C2
ERegulatory&Warranty Information
E.1RegulatoryInformation Electromagnetic Interference (EMI) is any signal or emission, either radiated in free space or conducted along power or signal leads, that endangers the function of a radio navigation or other safety service or that seriously degrades, obstructs, or repeatedly interrupts a licensed radio communications service.
Class A
Class A equipment has been tested and found to comply with the limits for a Class A digital device, pur suant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. Operation of this equipment in a residential area is likely to cause harmful interference, in which case the user will be required to correct the interference at his/her own expense.
FLIR PTUE46 pantilt devices using a cable length of 7 or less, and using the PTPSINT30V power supply have been tested to comply with FCC Class A requirements. Full compliance in systems using a 3 motor cable requires an external direct connection from either the controller or the PTU head to earth ground.
Caution: Changes or modifications of this equipment not expressly approved by manufacturer could result in violation of Part 15 of the Federal Communication Commissions rules. The FCC has prepared the following booklet: How to Identify and Resolve RadioTV Interference Problems. It is available from the US Government Printing Office, Washington DC, 20402. Stock Number 00400003454.
FCC Notice
According to 47CFR, Parts 2 and 15, Subpart B Class A:
This device complies with FCC Part 15, Subpart B Class A of the FCC Rules. Operation is subject to the fol lowing two conditions: (1) This device may not cause harmful interference, (2) This device must accept any interference received including interference that may cause undesired operations.
CE Notice
This is a Class A product. In a domestic environment, this product may cause radio interference, in which case the user may be required to take adequate measures.
Copyright 2014, FLIR Commercial Systems, Inc. C1
E.2AboutFLIRSystems,Inc. FLIR Systems, Inc. is the worlds largest commercial infrared company with the more high quality thermal night vision systems in the field than all other manufacturers combined. Our rugged, stabi lized imagers are on thousands of civil and military surface and airborne platforms in the USA and around the world.
With thousands of our thermal cameras on the job in military, scientific, law enforcement, and secu rity applications, FLIR brings an unmatched level of experience and dedication to the creation of cut ting edge thermal night vision systems.
We design and manufacture all of the critical technologies inside our products, including detectors, electronics, special lenses, and pan/tilt motion control systems. All of our products are proudly assembled right here in the USA.
For additional technical information, or to see a demonstration of these revolutionary thermal night vision systems, contact a FLIR representative today. You can also visit www.FLIR.com to watch prod uct videos and see how thermal imaging can help you see night and day.
In 1992, FLIR MCS (formerly Directed Perception) created one of the first miniature computercon trolled pan/tilt tracking mounts and continues to lead the field in innovation, applied design, and service. Our patented pant/tilt units are in use in a wide range of industries including security and surveillance, industrial automation, robotics, communications, military/aerospace, law enforce ment, education, R&D, webcams, and teleconferencing/distance learning applications. Some of the payloads that can be precisely controlled include sensors like video cameras, thermal imagers, laser rangefinders, microwave antennas, and many more. FLIR MCS maintains engineering capabilities in mechanical design, electronics, and embedded and network software development. Find out more at www.FLIR.com/mcs.
E.3LimitedWarranty FLIR warrants that the Goods, at Delivery and for 365 days (Warranty Period), will conform to pub lished specifications and be free from defects in materials, unless another Warranty Period is stated on the Front of the Acknowledgment. Buyer shall report any claimed defect in writing to FLIR promptly upon discovery and within
the Warranty Period. FLIR shall elect either to repair or replace nonconforming Goods at the appro priate FLIR service center nearest to Buyer (Remedy).
This warranty does not extend to: (a) Goods repaired or modified in any manner by persons other than FLIR or FLIR's authorized designee; and (b) Goods that are defective due either to normal wear and tear, or Buyer's failure to properly store, install, operate or maintain the Goods. The Remedy is FLIR's sole obligation, and Buyer's
exclusive recourse, for all claims of defects with respect to the Goods.
If the Remedy is adjudicated insufficient, however, FLIR shall refund the Price paid without further liability to Buyer relating to the subject Goods. Buyer shall pay costs of returning Goods under a war
Appendix E: Regulatory Information
ranty claim, and FLIR shall pay the costs of sending Goods to Buyer after the Remedy is performed. SELLER MAKES NO OTHER WARRANTY OF ANY KIND WITH RESPECT TO THE GOODS OR SERVICES.
ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO, IMPLIED WARRAN TIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, and NONINFRINGEMENT ARE HEREBY DISCLAIMED.
Copyright 2014, FLIR Commercial Systems, Inc. C3
PTUE46 User Manual
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