E Series Command Reference Manual

HighPerformancePanTiltUnit(ESeries)

CommandReferenceManual

Version5.00(08/2012)

PanTiltCommandReferenceManualDOCUMENTCONTROL

COPYRIGHTNOTICEPanTiltCommandReferenceManual,version5.00(08/2012)1991, 2012 by FLIR Commercial Systems, Inc., 890C Cowan Road, Burlingame, California 94010,(650)6923900,FAX:(650)6923930,www.FLIR.com/MCSAllrightsreserved.ProtectedundernumerousU.S.patents,including5463432and5802412withotherpatentspending.Nopartofthisbookmaybereproduced,storedinaretrievalsystem,ortranscribedinanyformorbyanymeansincludingbutnotlimitedtoelectronic,mechanical,photocopying,recording,orotherwise,withoutthepriorwrittenpermissionofFLIRCommercialSystems,Inc.Theinformationinthismanualissubjecttochangewithoutnoticeand,exceptforthewarranty,doesnotrepresentacommitmentonthepartofFLIRCommercialSystems, Inc.FLIRCommercialSystems,Inc.cannotbeheldliableforanymistakesinthismanualandreservestherighttomakechanges.

Date Author Rev.# Changes09/2010 A.Hernandez 4.00 InitialESeriesrelease12/2011 A.Hernandez 4.10 UpdatedESeriesrelease08/2012 A.Hernandez 5.00 Reformatdocument,GPM,otherupdatesCopyright2012,FLIRCommercialSystems,Inc.

1Introduction ................................................................................................................................. 11.1Safety................................................................................................................................................. 11.2ESeriesFeatures ............................................................................................................................... 21.3AboutThisManual ............................................................................................................................ 2

1.3.1FormattingConventions ........................................................................................................... 22WebInterface .............................................................................................................................. 52.1NetworkPage .................................................................................................................................... 62.2PTUConfigurationPage..................................................................................................................... 72.3PTUControlPage............................................................................................................................. 102.4GPMConfigPage ............................................................................................................................. 123ASCIISerialCommands................................................................................................................153.1ASCIICommandSyntax ................................................................................................................... 153.2SerialCommandList ........................................................................................................................ 16

3.2.1Position................................................................................................................................... 163.2.2Speed ...................................................................................................................................... 173.2.3ContinuousAxisRotation ....................................................................................................... 173.2.4Limits ...................................................................................................................................... 173.2.5UnitControls .......................................................................................................................... 183.2.6Power ..................................................................................................................................... 183.2.7Serial&ExpandedI/O ............................................................................................................ 183.2.8StepModes............................................................................................................................. 193.2.9IPNetwork .............................................................................................................................. 193.2.10ControlMode ....................................................................................................................... 193.2.11GeoPointingModule(GPM) ................................................................................................ 203.2.12PelcoD.................................................................................................................................. 203.2.13Firewall ................................................................................................................................. 203.2.14CompatibilityMode.............................................................................................................. 203.2.15Timestamp............................................................................................................................ 21

4Position.......................................................................................................................................234.1AbsolutePosition............................................................................................................................. 23

4.1.1Commands.............................................................................................................................. 234.1.2Syntax ..................................................................................................................................... 234.1.3Example .................................................................................................................................. 234.1.4SeeAlso .................................................................................................................................. 24

4.2OffsetPosition ................................................................................................................................. 244.2.1Commands.............................................................................................................................. 244.2.2Syntax ..................................................................................................................................... 244.2.3Example .................................................................................................................................. 244.2.4SeeAlso .................................................................................................................................. 25Copyright2012,FLIRCommercialSystems,Inc. i

PanTiltCommandReferenceManual4.3ResolutionperPosition ................................................................................................................... 254.3.1Commands.............................................................................................................................. 254.3.2Syntax ..................................................................................................................................... 254.3.3Example .................................................................................................................................. 254.3.4SeeAlso .................................................................................................................................. 26

4.4LimitPositionQueries ..................................................................................................................... 264.4.1Commands.............................................................................................................................. 264.4.2Syntax ..................................................................................................................................... 264.4.3Example .................................................................................................................................. 264.4.4SeeAlso .................................................................................................................................. 26

4.5PositionLimitEnforcement ............................................................................................................. 274.5.1Commands.............................................................................................................................. 274.5.2Syntax ..................................................................................................................................... 274.5.3Example .................................................................................................................................. 274.5.4SeeAlso .................................................................................................................................. 28

4.6PositionExecutionMode ................................................................................................................ 284.6.1Commands.............................................................................................................................. 284.6.2Syntax ..................................................................................................................................... 284.6.3Example .................................................................................................................................. 28

4.7AwaitPositionCompletion .............................................................................................................. 294.7.1Command ............................................................................................................................... 294.7.2Syntax ..................................................................................................................................... 294.7.3Example .................................................................................................................................. 294.7.4SeeAlso .................................................................................................................................. 30

4.8Halt .................................................................................................................................................. 304.8.1Command ............................................................................................................................... 304.8.2Syntax ..................................................................................................................................... 304.8.3Example .................................................................................................................................. 304.8.4SeeAlso .................................................................................................................................. 30

4.9Monitor(Autoscan) ........................................................................................................................ 314.9.1Commands.............................................................................................................................. 314.9.2Syntax ..................................................................................................................................... 314.9.3Example .................................................................................................................................. 314.9.4SeeAlso .................................................................................................................................. 32

4.10MonitorStatus .............................................................................................................................. 324.10.1Command ............................................................................................................................. 324.10.2Syntax ................................................................................................................................... 324.10.3Example ................................................................................................................................ 324.10.4SeeAlso ................................................................................................................................ 33

4.11PositionPresets ............................................................................................................................. 334.11.1Commands............................................................................................................................ 334.11.2Syntax ................................................................................................................................... 334.11.3Example ................................................................................................................................ 34Copyright2012,FLIRCommercialSystems,Inc.ii

TableofContents4.12Query/SetPTUSpeed/Position ..................................................................................................... 344.12.1Command ............................................................................................................................. 344.12.2Syntax ................................................................................................................................... 344.12.3Example ................................................................................................................................ 34

5SpeedControl .............................................................................................................................355.1AbsoluteSpeed................................................................................................................................ 36


5.2RelativeSpeed ................................................................................................................................. 375.2.1Commands.............................................................................................................................. 375.2.2Syntax ..................................................................................................................................... 375.2.3Example .................................................................................................................................. 375.2.4SeeAlso .................................................................................................................................. 38

5.3Acceleration..................................................................................................................................... 385.3.1Commands.............................................................................................................................. 385.3.2Syntax ..................................................................................................................................... 385.3.3Example .................................................................................................................................. 385.3.4SeeAlso .................................................................................................................................. 39

5.4Base(StartUp)Speed ..................................................................................................................... 395.4.1Commands.............................................................................................................................. 395.4.2Syntax ..................................................................................................................................... 395.4.3Example .................................................................................................................................. 395.4.4SeeAlso .................................................................................................................................. 40

5.5SpeedBounds ................................................................................................................................. 405.5.1Commands.............................................................................................................................. 405.5.2Syntax ..................................................................................................................................... 405.5.3Example .................................................................................................................................. 415.5.4SeeAlso .................................................................................................................................. 41

5.6SpeedControlModes ...................................................................................................................... 415.6.1Commands.............................................................................................................................. 425.6.2Syntax ..................................................................................................................................... 425.6.3Example .................................................................................................................................. 425.6.4SeeAlso .................................................................................................................................. 43

6ContinuousAxisRotation ............................................................................................................456.1ContinuousRotation........................................................................................................................ 45

6.1.1Syntax ..................................................................................................................................... 456.1.2Example .................................................................................................................................. 46Copyright2012,FLIRCommercialSystems,Inc. iii

PanTiltCommandReferenceManual7UserDefinedLimits .................................................................................................................... 477.1PositionLimitQueries ..................................................................................................................... 48


7.2PositionLimitEnforcement ............................................................................................................. 497.2.1Commands.............................................................................................................................. 507.2.2Syntax ..................................................................................................................................... 507.2.3Example .................................................................................................................................. 507.2.4SeeAlso .................................................................................................................................. 51

8UnitCommands.......................................................................................................................... 538.1ResetPTU ........................................................................................................................................ 53

8.1.1Commands.............................................................................................................................. 538.1.2Syntax ..................................................................................................................................... 548.1.3Example .................................................................................................................................. 54

8.2DefaultSave/Restore ...................................................................................................................... 558.2.1Commands.............................................................................................................................. 558.2.2Syntax ..................................................................................................................................... 56

8.3Echo ................................................................................................................................................. 568.3.1Commands.............................................................................................................................. 568.3.2Syntax ..................................................................................................................................... 568.3.3Example .................................................................................................................................. 56

8.4Feedback ......................................................................................................................................... 578.4.1Commands.............................................................................................................................. 578.4.2Syntax ..................................................................................................................................... 578.4.3Example .................................................................................................................................. 57

8.5ControllerFirmwareVersion ........................................................................................................... 588.5.1Commands.............................................................................................................................. 588.5.2Syntax ..................................................................................................................................... 588.5.3Example .................................................................................................................................. 58

8.6VoltageandTemperatureQuery .................................................................................................... 598.6.1Command ............................................................................................................................... 598.6.2Syntax ..................................................................................................................................... 598.6.3Example .................................................................................................................................. 59

9PowerControl ............................................................................................................................ 619.1HoldPowerMode ........................................................................................................................... 61

9.1.1Commands.............................................................................................................................. 629.1.2Syntax ..................................................................................................................................... 629.1.3Example .................................................................................................................................. 62Copyright2012,FLIRCommercialSystems,Inc.iv

TableofContents9.2InMotionPowerMode ................................................................................................................... 629.2.1Commands.............................................................................................................................. 639.2.2Syntax ..................................................................................................................................... 639.2.3Example .................................................................................................................................. 63

10HostSerialPort .........................................................................................................................6510.1BaudRate ...................................................................................................................................... 65

10.1.1Command ............................................................................................................................. 6510.1.2Syntax ................................................................................................................................... 6610.1.3Example ................................................................................................................................ 6610.1.4SeeAlso ................................................................................................................................ 66

11ExpandedI/O ............................................................................................................................6711.1SerialCommunicationsTarget ...................................................................................................... 67

11.1.1Commands............................................................................................................................ 6711.1.2Syntax ................................................................................................................................... 6811.1.3Example ................................................................................................................................ 6811.1.4SeeAlso ................................................................................................................................ 68

11.2ExpandedSerialPort ..................................................................................................................... 6911.2.1Commands............................................................................................................................ 6911.2.2Syntax ................................................................................................................................... 6911.2.3Example ................................................................................................................................ 6911.2.4SeeAlso ................................................................................................................................ 70

11.3ASCIITTLControl ....................................................................................................................... 7011.3.1Commands............................................................................................................................ 7011.3.2Syntax ................................................................................................................................... 7111.3.3Example ................................................................................................................................ 71

12StepModes ...............................................................................................................................7312.1ConfiguringStepMode.................................................................................................................. 73

12.1.1Command ............................................................................................................................. 7312.1.2Syntax ................................................................................................................................... 7312.1.3Example ................................................................................................................................ 73

13PTUSerialNetworks..................................................................................................................7513.1UnitNetworkID............................................................................................................................. 75

13.1.1Command ............................................................................................................................. 7513.1.2Syntax ................................................................................................................................... 7513.1.3Example ................................................................................................................................ 7513.1.4SeeAlso ................................................................................................................................ 76

13.2UnitSelect/Deselect ...................................................................................................................... 7613.2.1Commands............................................................................................................................ 7613.2.2Syntax ................................................................................................................................... 7613.2.3Example ................................................................................................................................ 7613.2.4SeeAlso ................................................................................................................................ 77Copyright2012,FLIRCommercialSystems,Inc. v

PanTiltCommandReferenceManual14IPNetwork ............................................................................................................................... 7914.1MACAddress ................................................................................................................................. 79

14.1.1Command ............................................................................................................................. 7914.1.2Syntax ................................................................................................................................... 7914.1.3Example ................................................................................................................................ 80

14.2IPAddress...................................................................................................................................... 8014.2.1Command ............................................................................................................................. 8014.2.2Syntax ................................................................................................................................... 8014.2.3Example ................................................................................................................................ 80

14.3NetworkMode .............................................................................................................................. 8114.3.1Commands............................................................................................................................ 8114.3.2Syntax ................................................................................................................................... 8114.3.3Example ................................................................................................................................ 81

14.4RedirectPort ................................................................................................................................. 8114.4.1Command ............................................................................................................................. 8114.4.2Syntax ................................................................................................................................... 8214.4.3Example ................................................................................................................................ 82

14.5NetworkGateway.......................................................................................................................... 8214.5.1Command ............................................................................................................................. 8214.5.2Syntax ................................................................................................................................... 8214.5.3Example ................................................................................................................................ 82

14.6NetworkHostName ...................................................................................................................... 8314.6.1Commands............................................................................................................................ 8314.6.2Syntax ................................................................................................................................... 8314.6.3Example ................................................................................................................................ 83

14.7NetworkMask ............................................................................................................................... 8314.7.1Command ............................................................................................................................. 8314.7.2Syntax ................................................................................................................................... 8314.7.3Example ................................................................................................................................ 84

15ControlModes.......................................................................................................................... 8515.1Commands .................................................................................................................................... 8615.2Syntax ............................................................................................................................................ 8715.3Example ......................................................................................................................................... 8716ESeriesTCP/IPControl ............................................................................................................. 8916.1UsingTCP/IPControl ..................................................................................................................... 8916.2LegacyApplications ....................................................................................................................... 90

16.2.1UsingHyperTerminal ............................................................................................................ 9016.2.2UsingTeraTerm ................................................................................................................... 9016.2.3UsingPutty ........................................................................................................................... 91

16.3ChannelA/B................................................................................................................................... 92Copyright2012,FLIRCommercialSystems,Inc.vi

TableofContents17GeoPointingModule ................................................................................................................9317.1SettingPTUOrientation ................................................................................................................ 94

17.1.1DirectOrientation: ............................................................................................................... 9417.1.2LandmarkOrientation .......................................................................................................... 9417.1.3EulerAnglesandSingularities .............................................................................................. 95

17.2GeneralGPMSettings ................................................................................................................... 9517.2.1Commands............................................................................................................................ 9517.2.2Syntax ................................................................................................................................... 9617.2.3Example ................................................................................................................................ 9617.2.4SeeAlso ................................................................................................................................ 97

17.3PositionandAltitude ..................................................................................................................... 9717.3.1Commands............................................................................................................................ 9717.3.2Syntax ................................................................................................................................... 9717.3.3Example ................................................................................................................................ 9817.3.4SeeAlso ................................................................................................................................ 98

17.4Roll/Pitch/Yaw ............................................................................................................................... 9817.4.1Commands............................................................................................................................ 9817.4.2Syntax ................................................................................................................................... 9917.4.3Example ................................................................................................................................ 9917.4.4SeeAlso .............................................................................................................................. 100

17.5Landmarks ................................................................................................................................... 10017.5.1Commands.......................................................................................................................... 10017.5.2Syntax ................................................................................................................................. 10117.5.3Example .............................................................................................................................. 10117.5.4SeeAlso .............................................................................................................................. 102

18PelcoDProtocol ......................................................................................................................10318.1Configuration............................................................................................................................... 103

18.1.1Commands.......................................................................................................................... 10318.1.2Syntax ................................................................................................................................. 10318.1.3Example .............................................................................................................................. 104

18.2StandardPelcoDCommands ...................................................................................................... 10418.3ExtendedPelcoDCommands...................................................................................................... 10418.4AuxiliaryPelcoDIDs .................................................................................................................... 105ATCP/IPFirewall .........................................................................................................................107A.1Rules.............................................................................................................................................. 107

A.1.1RuleSyntax ........................................................................................................................... 107A.1.2Examples ........................................................................................................................... 108

A.2Management................................................................................................................................. 108A.2.1RuleLists.............................................................................................................................. 108A.2.2ManagingRuleLists.............................................................................................................. 109Copyright2012,FLIRCommercialSystems,Inc. vii

PanTiltCommandReferenceManualA.3UsingtheFirewall.......................................................................................................................... 109A.4.1Commands ........................................................................................................................... 109A.4.2Syntax................................................................................................................................... 110

A.5Precautions ................................................................................................................................... 110A.5.1HTTP ..................................................................................................................................... 110A.5.2DHCP .................................................................................................................................... 110A.5.3TCPControl .......................................................................................................................... 110

A.6ExampleConfigurations ................................................................................................................ 111A.6.1BlockEverything................................................................................................................... 111A.6.2BlockEverythingExceptDHCP ............................................................................................. 111A.6.3HTTPOnly............................................................................................................................. 111A.6.4TCP/IPControl...................................................................................................................... 111A.6.5ListingRules.......................................................................................................................... 111

BCompatibilityMode ................................................................................................................. 113B.1Commands .................................................................................................................................... 113B.2Syntax ............................................................................................................................................ 113B.3Effects............................................................................................................................................ 114

B.3.1FirmwareVersion3.0.0 ........................................................................................................ 114B.3.2FirmwareVersion3.1.4andLater ........................................................................................ 114

CTimestamps.............................................................................................................................. 117C.1Commands .................................................................................................................................... 117C.2Syntax ............................................................................................................................................ 117C.3Example ......................................................................................................................................... 117Copyright2012,FLIRCommercialSystems,Inc.viii

1Introduction

EachPanTiltUnit(PTU)fromFLIRCommercialSystems,Inc.includesacomprehensivesetofavailablecommandsthatgiveyoufullcontroloverallfunctionality.TheESeriesofPTUsfeaturesanexpandedcommandsetforevenmorecontroloptions.ThisPanTiltESeriesCommandReferenceManualcoversthesoftwarecontrolinterfaceforthefollowingESeriesPTUs: PTUD48ESeries PTUD100ESeries PTUD300ESeriesEachPTUalsoincludesaPTUUserManualspecifictothatunitmodel(suchasPTUD48ESeriesUserManual).ThePTUUserManualdescribestheelectricalandmechanicalinterfacesandincludesgeneralsetupanduseinstructions.TheESeriescommandsetdescribedinthismanualisbackwardscompatiblewithpriorPTUmodelswiththefollowingexceptions: Rangeofmotioncommandsyntaxhasbeenupdated(Section7). NetworkcommandshavebeenaddedtosupporttheEthernetinterface(Section14).

1.1SafetyPleaserefertoandcomplywithallsafetywarningscontainedinyourPTUUserManual.

Note:ThismanualisnotintendedforusewiththePTUD46orPTUD47.IfyouhaveaPTUD46orPTUD47,pleaserefertothePTUD46.47CommandReferenceManual.

Note:TheCompatibilityModefeatureallowsyoutoswitchfromDSeriescompatibilitytotheslightlydifferentESeriesbehavior.PleaseseeAppendixAfordetails.Copyright2012,FLIRCommercialSystems,Inc. 1

PanTiltCommandReferenceManual1.2ESeriesFeaturesTheESeriesofPTUsincludesthefollowingnewfeatures: BuiltinEthernet/WebIPinterfaceforeasyconfiguration,control,anddiagnostics Improvedpowerprotectioncircuitry 32pinbaseconnectorforsimplifiedwiring Integrateddigitalencoderformorerobustpositioning Programmablerangesofmotion Highercommandrateswithlowerlatencyandjitter Reducedcalibrationmovement Integratedgeopointing(GPM)support Availablestabilization(ISM)functionality FullbackwardcompatibilitywithpreviousPTUmodels.

1.3AboutThisManualThissectiondescribestheformattingconventionsandinformationcontainedinthismanual.1.3.1FormattingConventionsThismanualusesseveralformattingconventionstopresentinformationofspecialimportance.CommandsandotherinformationthatisnewfortheESeriesPTUsincludetheEiconshownhere.

Listsofitems,pointstoconsider,orproceduresthatdonotneedtobeperformedinaspecificorderappearinbulletformat: Item1 Item2Proceduresthatmustbefollowedinaspecificorderappearinnumberedsteps:1. Performthisstepfirst.2. Performthisstepsecond.Specifickeyboardkeysaredepictedinsquarebracketsandarecapitalized,forexample:[ESC].Ifmorethanonekeyshouldbepressedsimultaneously,thenotationwillappearas[KEY1]+[KEY2],forexample[ALT]+[F4].

Interfaceelementssuchasdocumenttitles,fields,windows,tabs,buttons,commands,options,andiconsappearinboldtext.

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Chapter1:IntroductionMenusandsubmenushavethenotationMenu>Submenu.Forexample,SelectFile>SavemeansthatyoushouldfirstopentheFilemenu,andthenselecttheSaveoption.SpecificcommandsappearinstandardCourierfont.Sequencesofcommandsappearintheorderinwhichyoushouldexecutethemandincludehorizontalorverticalspacesbetweencommands.Thismanualalsocontainsimportantsafetyinformationandinstructionsinspeciallyformattedcalloutswithaccompanyinggraphicsymbols.Thesecalloutsandtheirsymbolsappearasfollowsthroughoutthemanual:

WARNING:CAUTIONSALERTYOUTOTHEPOSSIBILITYOFEQUIPMENTORPROPERTYDAMAGEIFTHESEINSTRUCTIONSARENOTFOLLOWED.

CAUTION:CAUTIONSALERTYOUTOTHEPOSSIBILITYOFEQUIPMENTORPROPERTYDAMAGEIFTHESEINSTRUCTIONSARENOTFOLLOWED.

Note:Notesprovidehelpfulinformation.Copyright2012,FLIRCommercialSystems,Inc. 3

2WebInterface

ThischapterdescribeshowtoconfigureandprogramyourESeriesPTUusingtheWebinterface.

FollowtheinstructionsinyourPTUUserManualtoconnectthePTUtothehostcomputerandpoweriton,obtaintheIPaddress,andlaunchtheWebinterfaceinabrowserwindow.IfyourPTUincludestheoptionalISMmodule,pleaserefertotheISMdocumentation.

Note:DSeriesPTUsdonotsupporttheWebinterface.ThischapterisforESeriesPTUsonly.

Note:Youmayalsohaveasimultaneousserialconnectiontoaterminal,asdescribedinSection13.

ISM:TheISMWebinterfaceincludesadditionalcommandandconfigurationoptionstosupportthestabilizationfunction.PleaserefertotheISMUserManualforinstructionsonusingtheISMWebinterface.

Note:CommandsissuedviatheWebinterfacecorrespondtocommandsissuedviatheserialinterface.

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PanTiltCommandReferenceManual2.1NetworkPageTheNetworkpageappearswhenyouclicktheNetworklinkinthetopmenu.ThispageallowsyoutoconfigurethefollowingoptionsforyourPTU: HostName:NameofthePTU.Ifyou

havemultiplePTUsonthenetwork,youmayenterauniquenameforthecurrentlyselectedPTUtomakereconnectingfaster.

MAC:DisplaystheuniqueMediaAccessControl(MAC)addressforthePTU.Youmaychangethisaddressifnecessary.

AutomaticIPAddress:CheckingtheObtainIPaddressAutomaticallyradiobuttonallowsthePTUtoeitheracceptIPinformationfromaDHCPserver(suchasarouter)orselectitsownIPinformation(ifconnecteddirectlytoahostcomputer).

ManualIPAddress:CheckingtheManualIPAddressradiobuttonletsyouspecifythefollowinginformation:

IPAddress:IPaddressforthePTU. SubnetMask:SubnetmaskofthenetworkthePTUisconnectedto. Gateway:Specifythegatewaytoforwardoutgoingpackets.

Afterchangingnetworkinformation,clicktheappropriateactionbuttonatthebottomofthepage: Set:ClickingSetimplementsyourchangesbutdoesnotsavethemtothePTU.Thisisaglobalfunc

tionthatsetsallspecifiedparameters. Reset:ClickingResetrevertsthePTUtofactorydefaultsettings.Thisisaglobalfunctionthatresets

allspecifiedparameters. Save:ClickingSaveimplementsyourchangesandsavesthemtothePTU.Copyright2012,FLIRCommercialSystems,Inc.6

Chapter2:WebInterface2.2PTUConfigurationPageThePTUConfigpageappearswhenyouclickthePTUConfiglinkinthetopmenu.AllchangesenteredonthispageareinstantlyimplementedbythePTU.Enteringaninvalidvaluehighlightstheerrorinredtext.

Tousethispage:1. Makeyourdesiredchanges.2. ClicktheappropriateApplybuttonto

applycertainchanges(seebelow).3. Clicktheappropriateactionbuttonat

thebottomofthepage.ThispageallowsyoutoviewandconfigurethefollowingoptionsforyourPTU: General:TheGeneralsectionofthe

PTUConfigpagedisplaysthefollowinginformation: Firmware:ThePTUinstalledfirm

warerevision. Model:ThePTUmodelnumber. PanResolution:Horizontal

motionresolutionindegrees.Thisnumbervariesdependingonyourselectedstepmode(seebelow).Eachunitofresolutionequalsoneposition.

TiltResolution:Verticalmotionresolutionindegrees.Thisnumbervariesdependingonyourselectedstepmode(seebelow).Eachunitofresolutionequalsoneposition.

MotionConfiguration:TheMotionConfigurationsectionofthePTUConfigpageallowsyoutospecifythefollowingmotionoptionsforbothpanandtiltinpositions.Onepositionequalsoneunitofresolution: Accel:Panandtiltaccelerationanddecelerationinpositionspersecondpersecond.ThePTU

willaccelerateatthisratetotheselectedspeed,maintainthisspeedaslongasnecessary,andthenslowbackdownatthesamerate.

BaseSpeed:SpeedthePTUinstantlyacceleratesto. UpperSpeed:MaximumPTUspeedthatcanbecommanded. LowerSpeed:MinimumPTUspeedthatcanbecommanded.Copyright2012,FLIRCommercialSystems,Inc. 7

PanTiltCommandReferenceManual Speed:Panandtiltspeed,inpositionspersecond. PowerMode:ThePowerModesectionofthePTUConfigpageallowsyoutospecifythefollowing

poweroptionsforeachaxis: MovePower:AmountofpowerthePTUuseswhenmovingthepayload. HoldPower:AmountofpowerthePTUusesinordertoholdthepayloadinafixedposition.Thefollowingpowersettingsareavailableforpanand/ortiltpower: Off:SettingtheholdpowertoOffmeansthatthePTUmotor(s)arecompletelyoffwhenthepay

loadisnotmovingintheselectedaxisoraxes. Low:Settingtheholdand/ormovepowertoLowmeansthatthePTUmotorsdrawlowerpower

whilemovingand/orholding. Reg:Settingtheholdand/ormovepowertoRegmeansthatthePTUmotorsdrawnormalpower

whilemovingand/orholding. High:SettingthemovepowertoHighmeansthatthePTUmotorsdrawmaximumpowerwhile

movingthepayloadinthepanand/ortiltaxis.Thispowersettingshouldbeusedforintermittent(

Chapter2:WebInterface Disabled:EnablingcontinuouspanmodebycheckingtheDisabledradiobuttonoverridesthefactoryoruserpanlimits,allowingthePTUtopanafull360.CheckingtheDisabledradiobuttonlimitsthePTUpanrangeofmotiontothefactoryoruserlimitsyouspecifiedabove.Thisrequiresacalibrationreset.

Maximum:Enterthemaximumpanandtiltpositionsintheappropriatefields. Minimum:Entertheminimumpanandtiltpositionsintheappropriatefields.

Miscellaneous:TheMiscellaneoussectionofthePTUConfigpageallowsyoucontrolthefollowingmiscellaneousfunctions: ContinuousPan:EnableordisablecontinuouspanmodebyclickingtheEnabledorDisabled

radiobutton,asappropriate. ControlType:SelectthedesiredcontrolmodebyclickingtheOpenLoop,EncoderCorrection,or

EncoderCorrectionDisabledradiobutton,asappropriate.PleaseseeSection15formoreinformationaboutcontrolmodes.

PelcoD:EnableordisablethePelcoDprotocolbycheckingtheEnabledorDisabledradiobutton,asappropriate.

PelcoDAddress:EnterthePelcoDaddresstouseinthePelcoDAddressfield. Baudrate:SelectthedesiredbaudrateusingtheBaudratepulldownmenu.PleaseseeSection18formoreinformationaboutthePelcoDprotocol.

ActionButtons:TheactionbuttonsatthebottomofthePTUConfigpageallowyoutoperformthefollowingactions: Refresh:ClickingtheRefreshbuttonupdatesthePTUConfigpagewiththevaluesstoredonthe

PTU.

ResetAxes:ClickingtheResetAxesbuttoncyclesthePTUthroughacompletecalibrationresetcycle.

DefaultSave:ClickingtheDefaultSavebuttonsavesthechangesyoumadeonthePTUConfigpageasthedefaultsettingsforthePTU.

DefaultRestore:ClickingtheDefaultRestorebuttonrestoresthepreviouslysaveddefaults. ResetFactory:ClickingtheResetFactorybuttonrestoresfactorydefaultspeed,acceleration,

power,andlimitsettingstothePTU.Thiserasesanyuserlimits. Reprogramming:TheReprogrammingsectionofthePTUConfigpageallowsyoutouploadfirm

waretothePTU.CAUTION:ONLYREPROGRAMYOURPTUUSINGFIRMWARESUPPLIEDBYFLIRCOMMERCIALSYSTEMS,INC.UNDERTHEDIRECTGUIDANCEOFTECHNICALSUPPORT.FIRMWAREDOWNGRADESMAYNOTBESUPPORTED.Copyright2012,FLIRCommercialSystems,Inc. 9

PanTiltCommandReferenceManual2.3PTUControlPageThePTUControlpageappearswhenyouclickthePTUControllinkinthetopmenu.ThispageallowsyoutocontrolyourPTUasfollows:

Home:ClickingHomereturnsthePTUtoitshomepanandtiltpositions.

Directionalcontrols:ThedirectionalcontrolsallowyoutomovethePTUleftandright(pan),andupanddown(tilt). Halt:ClickingHaltimmediately

stopsthePTUinitscurrentposition.

SmallArrow:ClickingasmallarrowmovesthePTUbyeitherthesmallerpositionstepsizeoratthelowerspeed(seebelow).

BigArrow:ClickingabigarrowmovesthePTUbyeitherthelargerpositionstepsizeoratthehigherspeed(seebelow).

Speed/Positionselection:ChecktheappropriateradiobuttontocontrolthePTUbyPosition(thePTUwillmovebytheselectedamountwhenanarrowisclicked)orSpeed(thePTUwillaccelerateuptotheselectedspeedwhenanarrowisclicked,andwillcontinuemovingatthatspeeduntilthearrowisreleased).

SetArrowStepSize:TheSetArrowStepSizefieldsallowyoutospecifyeitherhowmanypositionsthePTUwillmoveeachtimeanarrowisclicked(ifyouselectedPosition),orhowfastitwillmove(ifyouselectedSpeed). Big:TheBignumberspecifieseitherthenumberofpositionsthePTUwillmoveeachtimeyou

clickabigarrow(ifyouselectedPosition)orthenumberofpositionspersecondthePTUwillmove(ifyouselectedSpeed).

Small:TheSmallnumberspecifieseitherthenumberofpositionsthePTUwillmoveeachtimeyouclickasmallarrow(ifyouselectedPosition)orthenumberofpositionspersecondthePTUwillmove(ifyouselectedSpeed).

Status:TheStatussectionofthePTUControlpagedisplaysthePTUpositionandspeedinrealtime.ClicktheappropriatelinktoseethisinformationinDegreesorPositions. Position:PanandtiltlocationofthePTUindegreesorpositions.Copyright2012,FLIRCommercialSystems,Inc.10

Chapter2:WebInterface Speed:PanandtiltspeedofthePTUindegreesorpositionspersecond. Start/Stop:ClickingtheStart/StopbuttontogglesupdatingthePTUstatusonandoff.

SetPosition:TheSetPositionsectionofthePTUControlpageallowsyoutomanuallyenterpositionand/orspeedinformation.PleaseseeSection7foranexplanationoflimittypesandforavisualdepictionofthePTUrangeofmotion. Speed:Enteryourdesiredpanand/ortiltspeedsintheSpeedfields. Position:Enteryourdesiredpanand/ortiltpositioninthePositionfields.

ClicktheApplybuttontomovethePTUtothespecifiedpositionatthespecifiedspeed. GPMPointing:TheGPMPointingsectionofthePTUControlpageallowsyoutoaimyourPTUbased

ongeographicallocation.PleaseseeSections2.4and17forinformationonconfiguringtheGeoPointingModule(GPM)inyourPTUusingthewebinterfaceand/orserialcommands,respectively. Lat:LatitudetoaimthePTUindegrees. Lon:LongitudetoaimthePTUindegrees. Alt(m):AltitudeofthePTUrelativetosealevelinmeters.ClicktheGobuttontoaimthePTUatthespecifiedgeographicallocation.

GPMLandmarks:TheGPMLandmarkssectionofthePTUControlpagedisplaysthelandmarksstoredinthePTU,allowsyoutopointthePTUatastoredlandmark,andadd/deletelandmarks.ThePTUcanstoreupto16landmarks. Quality:Displaysthelargestpointingerrortoanylandmarkindegrees.Thisdoesnotnecessarily

reflectthelargesterrorwhenpointingtoatruelocation. Landmarknumber:Displaystheuniquenumberforeachlandmarkinthe#column. Name:Uniquenameassignedtoeachlandmark.Namescanbeupto15characterslong. Lat:Latitudeofthelandmarkindegrees. Lon:Longitudeofthelandmarkindegrees. Alt(m):Altitudeofthelandmarkinmetersrelativetosealevel. Pan:PanangleofthePTUrequiredtopointatthelandmarkbasedonthecurrentlyconfigured

positionandorientationinpositions. Tilt:TiltangleofthePTUrequiredtopointatthelandmarkbasedonthecurrentlyconfigured

positionandorientationinpositions. Err():Pointingerrortothelandmarkindegrees.YoumayaimthePTUatalandmarkandaddorremovealandmarkasfollows: AddalandmarkbyaimingthePTUatthelandmark,enteringitsname,latitude,longitude,and

altitudeintheappropriatefieldandthenclickingtheAddbutton. RemovealandmarkbyclickingtheXfortheselectedlandmark.Copyright2012,FLIRCommercialSystems,Inc. 11

PanTiltCommandReferenceManual GPMCalibration:ClicktheCalibratebuttontocalculatethePTU'sorientation(roll,pitch,yaw),completeasixdimensionalpose(latitude,longitude,altitude,roll,pitch,yaw),andcalculatethecalibrationerror.Theerrorcanbedescribedashowmuchthelandmarksdisagreeabouteachother'slocationusingthecalculatedpose.

2.4GPMConfigPageTheGPMConfigpageappearswhenyouclicktheGPMConfiglinkinthetopmenu.ThispageallowsyoutoconfigurethebuiltinGeoPointingModule(GPM)inyourPTUasfollows:Status:DisplaysthecurrentstatusoftheGPM.

PTUGPSLocationandCameraOffset:section:Allowsyoutoenterthegeographicallocationandpayload(camera)offsetofthePTU. Lat:EnterthelatitudeofthePTU

locationindegrees. Lon:EnterthelongitudeofthePTU

locationindegrees. Alt(m):Enterthealtitudeofthe

PTUrelativetosealevelinmeter. CameraPitchOffset:Enterthedif

ferencebetweenthepayloadlineofsightandthePTUlineofsightindegrees.

ClicktheApplybuttontosetthePTUlocationandcamera(payload)offset.

GPMLandmarks:TheGPMLandmarkssectionoftheGPMConfigpagedisplaysthelandmarksstoredinthePTU,allowsyoutopointthePTUatastoredlandmark,andadd/deletelandmarks.ThePTUcanstoreupto16landmarks. Quality:Displaysthelargestpointingerrortoanylandmarkindegrees.Thisdoesnotnecessarily

reflectthelargesterrorwhenpointingtoatruelocation. Landmarknumber:Displaystheuniquenumberforeachlandmarkinthe#column. Name:Uniquenameassignedtoeachlandmark.Namescanbeupto15characterslong. Lat:Latitudeofthelandmarkindegrees.Copyright2012,FLIRCommercialSystems,Inc.12

Chapter2:WebInterface Lon:Longitudeofthelandmarkindegrees. Alt(m):Altitudeofthelandmarkinmetersrelativetosealevel. Pan:PanangleofthePTUrequiredtopointatthelandmarkbasedonthecurrentlyconfigured

positionandorientationinpositions. Tilt:TiltangleofthePTUrequiredtopointatthelandmarkbasedonthecurrentlyconfigured

positionandorientationinpositions. Err():Pointingerrortothelandmarkindegrees.YoumayaimthePTUatalandmarkandaddorremovealandmarkasfollows: AimthePTUatalandmarkbyclickingtheselectedlandmark. RemovealandmarkbyclickingtheXfortheselectedlandmark. Addalandmarkbyenteringitsname,latitude,longitude,andaltitudeintheappropriatefield

andthenclickingtheAddbutton. GPMCalibration:ClicktheCalibratebuttontocalculatethePTU'sorientation(roll,pitch,yaw),com

pleteasixdimensionalpose(latitude,longitude,altitude,roll,pitch,yaw),andcalculatethecalibrationerror.Theerrorcanbedescribedashowmuchthelandmarksdisagreeabouteachother'slocationusingthecalculatedpose.

GPMPointing:TheGPMPointingsectionoftheGPMConfigpageallowsyoutoaimyourPTUbasedongeographicallocation. Lat:LatitudetoaimthePTUindegrees. Lon:LongitudetoaimthePTUindegrees. Alt(m):AltitudeofthePTUrelativetosealevelinmeters.ClicktheGobuttontoaimthePTUatthespecifiedgeographicallocation.

Options:TheOptionssectionoftheGPMConfigpageiswhereyouspecifyhowthePTUshouldrespondifyoucommandittoaimatapointbeyonditsrangeofmotion. Erroroutsideoflimits:ThePTUwillreportanerrorifthedesiredpointingpositionisoutof

rangeofthePTUmotion. Closestpossible:ThePTUwillgetascloseaspossibletothedesiredpointingpositionwithout

reportinganerror GPMActions:TheGPMActionssectionoftheGPMConfigpageletsyoureset,save,andrestore

GPMsettings. ResetGPM:ClickingtheResetGPMbuttonresetsallGPMconfigurationinthePTU(latitude,lon

gitude,altitude,pitch,roll,yaw,andcameraoffset)tofactorydefaults. SaveGPM:ClickingtheSaveGPMbuttonsavesthecurrentGPMconfigurationtothePTU. RestoreGPM:ClickingtheRestoreGPMbuttonrestoresthepreviouslysavedGPMconfiguration

tothePTU.Copyright2012,FLIRCommercialSystems,Inc. 13

3ASCIISerialCommands

ThischapterdescribestheASCIIcommandsyntaxusedwhencontrollingaPTUviaaserialconnection,liststheavailablecommands,anddiscussespowerlevelandaccelerationconsiderations.PleasealsorefertotheQuickStartchapterinyourPTUUserManualforinformationaboutgettingyourPTUupandrunningquickly.

3.1ASCIICommandSyntaxAPTUusesbothcommandsandqueries.AcommandtellsthePTUtodosomething(suchaspantoaspecificangle).AqueryasksthePTUtoreturntherequestedvalue(suchasreportingthecurrentpanangle).

ThebasicASCIIcommandsyntaxis,where: istheactualcommand(suchasPPforpanposition), isanalphanumericvalue(suchasthedesiredpanposition),and isacharacterusedtodenotetheendofacommand.Validdelimitercharacterscan

beeither[SPACE]or[ENTER].ThebasicASCIIquerysyntaxis,where: istheactualcommand(suchasPPforpanposition), isacharacterusedtodenotetheendofaquery.Validdelimitercharacterscanbe

either[SPACE]or[ENTER].Forexample: Command:PPsetsthedesiredabsolutepanposition. Query:PPreturnsthecurrentabsolutepanposition.Commandsandqueriesreturnresultsthatdisplayontheterminalscreen,asfollows: Asuccessfullyexecutedcommanddisplays* ontheterminalscreen(where isa

carriagereturnandisanewline). Asuccessfullyexecutedquerydisplays * (where

istheresultofthequeryyoujustexecuted). Afailedcommanddisplays ! (where

describestheerrorencountered).Copyright2012,FLIRCommercialSystems,Inc. 15

PanTiltCommandReferenceManual Apanaxislimithitasynchronouslydisplays!P. Atiltaxislimithitasynchronouslydisplays!T.

ThissamplecommandsequencepansthePTUtotheleft,waits,andthenpansitbacktotherightwithqueriesafterfinishingeachpanmovement:PP-2500 *A *PP * Current Pan position is -2500PP2500 *A *PP * Current Pan position is 2500

3.2SerialCommandListThesetableslisttheavailableserialcommands.Pleaserefertolatersectionswithinthismanualforcompleteinformationabouttheavailablecommandsandtheirusage.3.2.1PositionTheavailablepositioncommandsare:

PleaseseeSection4formoreinformationaboutthepositioncommands.

Note:Youmayseeoneormultiple!Por!Terrors.Thisisnormalbehavior.

CMD DESCRIPTION CMD DESCRIPTION CMD DESCRIPTION

PP Set/querypanposition XS Setpreset MS MonitorstatusTP Set/querytiltposition XG Gotopreset I Immed.executionmodePO Set/querypanoffset XC Clearpreset S SlavedmodeTO Set/querytiltoffset M Monitor H HaltallPR Panresolution ME Monitorautoenable HP HaltpanTR Tiltresolution MD Monitorautodisable HT HalttiltA Await MQ MonitorautoqueryCopyright2012,FLIRCommercialSystems,Inc.16

Chapter3:ASCIISerialCommands3.2.2SpeedTheavailablespeedcommandsare:

PleaseseeSection5formoreinformationaboutthespeedcommands.3.2.3ContinuousAxisRotationTheavailablecontinuousaxisrotationcommandsare:

PleaseseeSection6formoreinformationaboutthecontinuousaxiscommands.3.2.4LimitsTheavailablelimitcommandsare:

NOTES

1. Factorylimits.2. Thiscommandisretainedforbackwardcompatibility.ForESeriesPTUs,itisbesttoeitherusecon

tinuouspanmodetoexceedlimitsorenableuserlimitstoreducerangeofmotion.PleaseseeSection7formoreinformationaboutthelimitcommands.


PS Set/querypanspeed TA Tiltacceleration TU TiltupperspeedTS Set/querytiltspeed PB Panbasespeed TL TiltlowerspeedPD Set/querypanspeed

offsetTB Tiltbasespeed C Querycontrolmode

TD Set/querytiltspeedoffset

PU Panupperspeed CI Settopositioncontrol

PA Panacceleration PL Panlowerspeed CV Settovelocitycontrol


PC QueryPancontinuous PCD Pancontinuousdisable PCE Pancontinuousenable


PN Minimumpanposition PNU Userdefinedpanmin. L QuerylimitstatusPX Maximumpanposition PXU Userdefinedpanmax. LE Enablelimits1TN Minimumtiltposition TNU Userdefinedtiltmin. LD Disablelimits2TX Maximumtiltposition TXU Userdefinedtiltmax. LU UserlimitsCopyright2012,FLIRCommercialSystems,Inc. 17

PanTiltCommandReferenceManual3.2.5UnitControlsTheavailableunitcontrolcommandsare:

NOTES

3. Subsequentresetsandanypoweronresetwillonlyaffectthisaxis.4. Thisalsoenablesresetonpowerup.PleaseseeSection8formoreinformationabouttheunitcommands.3.2.6PowerTheavailablepowercommandsare:

PleaseseeSection9formoreinformationaboutthepowercommands.3.2.7Serial&ExpandedI/OTheavailableserialandexpandedI/Ocommandsare:


R Reset F Queryfeedbackmode DS DefaultsaveRD Disablereset FV Enableverbosefeed

backDR Restoresavedsettings

RT Resettilt3 FT Enabletersefeedback DF RestorefactorydefaultsRP Resetpan3 V Queryfirmwareversion EE Enablehostcmd.echoRE Resetbothaxes4 E Queryechomode ED Disablehostcmd.echo


PH Querypanholdpower THL Tiltholdpowerlow TM QuerytiltmovepowerPHR Panholdpowerregular THO Tiltholdpoweroff TMH TiltmovepowerhighPHL Panholdpowerlow PM Querypanmovepower TMR TiltmovepowerregularPHO Panholdpoweroff PMH Panmovepowerhigh TML TiltmovepowerlowTH Querytiltholdpower PMR Panmovepowerregular O QueryVDCandtempTHR Tiltholdpowerregular PML Panmovepowerlow


@ Serialportsettings _ Unitselect JE Joystickenable@A ChannelA U QuerynetworkID JD Joystickdisable@B ChannelBCopyright2012,FLIRCommercialSystems,Inc.18

Chapter3:ASCIISerialCommandsPleasesee: Section10formoreinformationaboutthehostserialcommands. Section11formoreinformationabouttheexpandedI/Ocommands.

3.2.8StepModesTheavailablestepmodecommandsare:

PleaseseeSection12formoreinformationaboutthestepmodecommands.3.2.9IPNetworkTheavailableIPnetworkcommandsare:

PleaseseeSection14formoreinformationabouttheIPnetworkcommands.3.2.10ControlModeTheavailablecontrolmodecommandsare:

PleaseseeSection15formoreinformationaboutthecontrolmodecommands.


WP Querypanstepmode WPE Panaxiseighthstep WTH TiltaxishalfstepWPF Panaxisfullstep WPA Panaxisautostep WTQ TiltaxisquarterstepWPH Panaxishalfstep WT Querytiltstepmode WTE TiltaxiseighthstepWPQ Panaxisquarterstep WTF Tiltaxisfullstep WTA Tiltaxisautostep


NA MACaddress NMS Networkmodestatic NN NetworkhostnameNI IPaddress NMD Networkmodedynamic NS NetworkmaskNM Querynetworkmode NG Networkgateway


B Query/setPTUmotion BT GetPTUmotionw/timestamp

CNT Timestamp

CNF Timestampfrequency CEC Controlencodercorrection

COL Controlopenloop

CT Querycontroltype IQ Queryimmed/slave RQ Queryresettype

ECopyright2012,FLIRCommercialSystems,Inc. 19

PanTiltCommandReferenceManual3.2.11GeoPointingModule(GPM)TheavailableGPMcommandsare:

PleaseseeSection17formoreinformationaboutthegeopointingcommands.3.2.12PelcoDTheavailablePelcoDcommandsare:

PleaseseeSection18formoreinformationaboutthePelcoDcommands.3.2.13FirewallTheavailablefirewallcommandsare:

PleaseseeAppendixAformoreinformationaboutthefirewallcommands.

3.2.14CompatibilityModeTheavailablecompatibilitymodecommandsare:


GC CalibratePTU GCQ Querycalibrationquality GDF ResetGPMtofactoryGDR Restorelastsavedset

tingsGDS SaveallGPMsettings GT Query/setGPMpoint

typeGS GPMstatus GL GPMlatitude GO GPMlongitudeGA GPMaltitude GLLA GPMposition&altitude GCP GPMcameraoffsetGR PTUroll GP PTUpitch GY PTUyawGRPY PTUroll/pitch/yaw GM GPMlandmarks GMA AddlandmarkGMN Numberoflandmarks GMD Deletenewestlandmark GMC DeletealllandmarksGG Query/setaimlandmark GGD Distancetoaimpoint


QP QueryPelcoDparsing QPE EnablePelcoDparsing QPD DisablePelcoDparsingQA PelcoDaddress


NFU Pushruletorulelist NFO Remove/returnlastrule NFF RemoveallrulesNFI Index NFC Returnnumberofrules NFA Applystagingtocurrent


CM Checkcompat.status CME Enablecompat.mode CMD Disablecompat.mode

E

E

ECopyright2012,FLIRCommercialSystems,Inc.20

Chapter3:ASCIISerialCommandsPleaseseeAppendixBformoreinformationaboutthecompatibilitymodecommands.3.2.15TimestampTheavailabletimestampcommandsare:

PleaseseeAppendixCformoreinformationaboutthetimestampcommands.


CNT Querytimestampcount CNF Querycounterfrequency

BT PTUspeed/pos.w/stamp

ECopyright2012,FLIRCommercialSystems,Inc. 21

4Position

ThischapterdescribestheavailablePTUpositioncommandsandqueries.

4.1AbsolutePositionSpecifyorquerytheabsolutepanortiltaxisposition.Desiredpositionscanbechangedontheflywithoutwaitingforpreviouspositioncommandstocomplete.4.1.1CommandsTheavailableabsolutepositioncommandsare:

4.1.2Syntax

4.1.3ExampleThefollowingcommandsequencesendsthepanaxistotheleft,waits,thensendsittotheright:PP-2500 *A *PP * Current Pan position is -2500PP2500 *A *PP * Current Pan position is 2500

PP TP

Querycurrentabsolutepanposition: PP Setdesiredabsolutepanposition: PP Querycurrentabsolutetiltposition: TP Setdesiredabsolutetiltposition: TPCopyright2012,FLIRCommercialSystems,Inc. 23

PanTiltCommandReferenceManual4.1.4SeeAlsoPleaserefertothefollowingsectionsformoreinformation: Position(relativeoffsetanddesiredpositionqueries):Section4.2 Positionresolution(units):Section4.3 Positionlimits:Section4.4 Positionlimitenforcementmodes:Section4.5 Positionexecutionmodes:Section4.6

4.2OffsetPositionSpecifythedesiredpanortiltaxispositionasanoffsetrelativetothecurrentposition,orquerythedesiredaxisposition.Youmaychangedesiredoffsetpositionsontheflywithoutwaitingforpreviouspositioncommandstocomplete.4.2.1CommandsTheavailableoffsetpositioncommandsare:

4.2.2Syntax

4.2.3ExampleThefollowingcommandsequencesendsthepanaxistoposition500,thensendsit1500positionstotheleftofposition500:PP-500 *A *PO * Current Pan position is -500PO1500 *A *PP * Current Pan position is 1000

PO TO

Querydesiredpanposition: PO Setdesiredoffsetpanposition: PO Querydesiredtiltposition: TO Setdesiredoffsettiltposition: TOCopyright2012,FLIRCommercialSystems,Inc.24

Chapter4:Position4.2.4SeeAlso Positionresolution(units):Section4.3 Positionlimits:Section4.4 Positionlimitenforcementmodes:Section4.5 Positionexecutionmodes:Section4.6

4.3ResolutionperPositionThisqueryreturnstheaxisresolutionperpositionmovedinsecondsofarc.

4.3.1CommandsTheavailableresolutionperpositionqueriesare:

4.3.2Syntax

4.3.3ExampleTopanthePTU21.3degreestotheright:PR * 92.5714 seconds arc per positionPO828 *Tocalculatethenumberofdegreesperposition,usetheformulaResolution/3600.Inthisexample,eachpositionequals0.025714,whichis92.5714/3600.DividingthenumberofdegreesyouwanttomovethePTUbythenumberofdegreesperpositionyieldsthenumberofpositionstomovethePTU.Usingthisresolution,ifyouwanttopanthePTU21.3rightfromitscurrentposition,youmustfirsttranslatethedesirednumberofdegreesintopositions.Dividing21.3by0.025714yields828positions.

Note:Adegreeofarcisdividedinto60minutesofarc,andeachminuteofarcisfurtherdividedinto60secondsofarc.Adegreeofarcthereforecontains3600secondsofarc,andeachsecondofarcisequalto1/3600ofadegreeor0.0002778.

PR TR

Querypanresolution: PR Querytileresolution: TRCopyright2012,FLIRCommercialSystems,Inc. 25

PanTiltCommandReferenceManual4.3.4SeeAlsoStepModes:Section12

4.4LimitPositionQueriesThesequeriesreturntheaxispositionlimits(eitherfactorysetoruserlimits).PleaserefertoyourPTUUserManualformoreinformationaboutlimits.

4.4.1CommandsTheavailablelimitpositionqueriesare:

4.4.2Syntax

4.4.3ExampleThefollowingquerysequenceenablesfactorylimits,resetsthePTU,queriesthepanandtiltaxislimits,andthenattemptstopanthePTUbeyonditslimitstoreturnanerrormessage.LE *RE * !T!T!P!PPN * Minimum Pan position is -3090PX * Maximum Pan position is 3090TN * Minimum Tilt position is -907TX * Maximum Tilt position is 604PP3200 ! Maximum allowable Pan position is 3090

4.4.4SeeAlso Positionresolution(units):Section4.3 Achievinglargeraxisbounds:Section4.5

PN PX TN TX

Queryminimumpanposition: PN Querymaximumpanposition: PX Queryminimumtiltposition: TN Querymaximumtiltposition: TXCopyright2012,FLIRCommercialSystems,Inc.26

Chapter4:Position4.5PositionLimitEnforcementDetermineswhetherpositioncommandsbeyondthedetectedpanaxislimitsareallowable.Whenlimitsareenabled(default),commandsoutsideofthelimitsreturnanerrormessageandarenotexecuted.Inthismode,thePTUonlyreacheslimitswhenithaslostsynchronization,aconditionthatrequiresaunitreset(seeSection7.1).ThePTUdisplays!Ponthehostcomputerportwhenitreachesitspanaxislimitsand!Twhenitreachesitstiltaxislimits.

4.5.1CommandsTheavailablepositionlimitenforcementcommandsare:

4.5.2Syntax

4.5.3ExampleThiscommandsequencequeriesthecurrentlimitstatusandmaximumpanlimit,attemptstopanthePTUbeyonditspanlimittoreturnanerrormessage,thendisableslimitsandrepeatsthepancommand,whichnowexecutessuccessfullybecauseofthedisabledlimits.L * Limit bounds are ENABLED (soft limits enabled)PX * Maximum Pan position is 3090PP3200 ! Maximum allowable Pan position is 3090LD *R * !T!T!P!PPP3200 *

Note:Youmayseeoneormultiple!Por!Terrors.Thisisnormalbehavior.

L LD LE LU

Querycurrentpanpositionlimitmode: L Enablepanpositionlimits: LE Disablepanpositionlimits: LD Userlimits: LU

CAUTION:DISABLINGLIMITSMAYDAMAGEINTERNALPTUWIRINGANDISNOTRECOMMENDED,PARTICULARLYONPTUSWITHOUTHARDSTOPS.Copyright2012,FLIRCommercialSystems,Inc. 27

PanTiltCommandReferenceManualA *PP * Current Pan position is 3200

4.5.4SeeAlsoPositioncommands:Section4.1andSection4.2

4.6PositionExecutionModeInstructsthePTUtoeitherimmediatelyexecutepositionalcommands(default)orexecutethesecommandsonlyafteranAwaitPositionCompletioncommandisexecuted(slavedpositionexecution).Slavedpositionexecutionisrecommendedwhenyouneedcoordinatedpanandtiltaxismovements.Switchingfromslavedtoimmediateexecutionmodewillexecuteanyqueuedcommands.4.6.1CommandsTheavailablepositionexecutionmodecommandsare:

4.6.2Syntax

TheIQcommandreturnsoneofthefollowingresults: I:Immediatemode. S:Slavedmode.

4.6.3ExampleThiscommandsequenceenablesimmediateexecutionmodeandthensendsapancommandtothePTU,whichwillbeginmovingimmediately.Itthenchangestoslavedexecutionmode,commandstheaxestospecifiedpositions,andaddsanAwaitPositionCompletioncommandtostartmovingthePTUinbothaxessimultaneously.

Note:ThisexampledemonstratestheLDcommand.Thiscommandisnotrecommended,andisnotnecessaryforcontinuouspanmode.UsethePCEcommandinstead.

I S IQ

Enableimmediateexecutionmode: I Enableslavedexecutionmode: S Queryexecutionmode: IQCopyright2012,FLIRCommercialSystems,Inc.28

Chapter4:PositionI *PP1000 *IQ * IS *IQ * SPP1500 *TP-900 *PP * Current Pan position is 0TP * Current Tilt position is 0A *PP * Current Pan position is 1500TP * Current Tilt position is -900

4.7AwaitPositionCompletionAwaitsthecompletionofthemostrecentlyissuedpanandtiltaxispositioncommands.UsethiscommandtocoordinateaxismotionswhenthePTUisinslavedexecutionmode.4.7.1CommandTheavailableawaitpositioncompletioncommandis:

4.7.2Syntax

4.7.3ExampleThiscommandssequenceinstructsthepanaxistomovetoaposition,thenmovetoanotherposition:I *PP * Current Pan position is 0PP2000 *A *PP * Current Pan position is 2000PP0 *A *PP * Current Pan position is 0Comparethepreviousexampletothisone,inwhichthePTUwillbegintomovetothefirstpositionandthen,whilestillintransit,beginmovingtothesecondposition(anontheflypositionchange):I *PP * Current Pan position is 0PP2000 *PP0 *

A

TocommandthePTUtoawaitthecompletionofpreviouspositioncommands:

ACopyright2012,FLIRCommercialSystems,Inc. 29

PanTiltCommandReferenceManual4.7.4SeeAlsoYoumayusethiscommandwitheitherImmediateorSlavedPositionExecutionmodes(seeSection4.6).

4.8HaltImmediatelydeceleratesandhaltsPTUmovement.4.8.1CommandTheavailablehaltcommandis:

4.8.2Syntax

4.8.3ExampleThiscommandsequencepansthePTUtotherightandthentotheleft.ThePTUmustbeinmotionforyoutoseetheHcommandinaction.PP2500 *A *PP-2500EnterthefollowingcommandwhilethePTUismoving:H *PP * Current pan position is (whereisthecurrentpanposition,whichwillbebetween2500and2500)4.8.4SeeAlsoYoumayusethiscommandwitheitherImmediateorSlavedPositionExecutionmode(seeSection4.6).

H

HaltallPTUmovementinbothaxes: H Haltpanaxismovementonly: HP Halttiltaxismovementonly: HTCopyright2012,FLIRCommercialSystems,Inc.30

Chapter4:Position4.9Monitor(Autoscan)ThiscommanddefinesandinitiatesrepetitivePTUmonitoring(autoscanning).AutoscanningstopsimmediatelyandthePTUreturnstoitshomepositionuponreceivingacharacterfromthehostcomputer.Monitoringmayalsostopduetocommunicationsproblems,errors,and/orPTUmotorfaults(Section4.10).

4.9.1CommandsTheavailablemonitor(autoscan)commandsare:

4.9.2Syntax

4.9.3ExampleExecutingthefollowingcommandatpowerupstartsthePTUscanningbetweenitsmostrecentlysaveddefaultlimits:M *TostopscanningandreturnthePTUtothehomeposition:

M ME MD MQ MS

Initiatemonitoring(panaxisonly): M, Initiatemonitoring(bothaxes): M,,, Initiatethelastdefinedmonitorcommand: M

Note:Thepowerupmonitoringdefaultisthemostrecentlysavedautoscanmode.Thepanlimitsarethedefaultmonitorpositions.

Beginmonitoring: M Enablemonitoratpowerup: ME Disablemonitoratpowerup: MD Querypowerupmonitorstatus: MQCopyright2012,FLIRCommercialSystems,Inc. 31

PanTiltCommandReferenceManualThisexampleenablespanaxismonitoringbetweenthespecifiedpositions:M-2500,100 *Thisexampleenablespanandtiltmonitoringbetweenthespecifiedpositions:M-2500,100,-800,600 *Thisexampleenablestiltaxismonitoringbetweenthespecifiedpositions:M0,0,-300,300 *

4.9.4SeeAlsoLimitPositionQueries(Section4.4)

4.10MonitorStatusReturnsthecurrentstatusorreasonwhythemonitorcommand(M)stopped.Multiplevalueswillappearifmonitoringstoppedformorethanonereason.4.10.1CommandTheavailablemonitorstatuscommandis:

4.10.2Syntax

Thiscommandmayreturnoneormoreofthefollowingvaluestoindicatethecurrentmonitoringstatus: Monitornotstarted:NO_START 1 Monitorstarted:START 2 Monitoringstopped:STOP 4 ChannelI/Ointerrupt:CH_INT 8 Generalerror:ERROR 16 Motorfault:FAULT 214.10.3ExampleThefollowingexamplereportsthatmonitoringisalreadystarted.MS * STOP 4

MS

Viewmonitorstatus: MSCopyright2012,FLIRCommercialSystems,Inc.32

Chapter4:Position4.10.4SeeAlsoMonitor(autoscan):Section4.9

4.11PositionPresetsESeriesPTUssupport33positionpresets,whichallowyoutocommandthePTUtoapositionusinganystandardmotioncontrolcommandsandthenstorethatpositionasapresetnumberedfrom0to32.YoucanthencommandthePTUtoanypreviouslystoredpresetusingaGotocommand.PresetsareretainedwhenthePTUispowereddown.

4.11.1CommandsTheavailablepositionpresetcommandsare:

4.11.2Syntax

Intheaboveexamples, isthenumberofthestoredpresetposition.Validindexnumbersareintegersbetween0and32.

Note:Whenmovingtoapreset,thePTUwillfollowthecurrentlysetmotionparameterssuchasacceleration,baserate,etc.

XS XG XC

Setpreset: XS Gotopreset: XG ClearPreset: XCCopyright2012,FLIRCommercialSystems,Inc. 33

PanTiltCommandReferenceManual4.11.3ExampleThefollowingcommandsequencesetsthePTUtoposition500/400,storethatpositionaspreset0,movethePTUtoposition600/800,andthenreturnittothepreviouslystoredpreset0position.PP500 *TP400 *A *XS0 *PP600 *TP800 *A *XG0 * (PTU moves to 500/400)

4.12Query/SetPTUSpeed/PositionYoumayquerythePTU'scurrentspeedand/orpositionandcommandthePTUtoaspecifiedspeedand/orposition.4.12.1CommandTheavailablePTUspeed/positioncommandis:

4.12.2Syntax

4.12.3ExampleThefollowingcommandqueriesthePTUpositionandspeedandthensendsnewpositionandspeedparameterstothePTU.B *B *P(256,-23) S(0,0) (PTUisatposition256/23andmovingatspeed0.)B256,-400,300,250 * (CommandsthePTUtoposition256/400atpanspeed300andtiltspeed250)

B

QueryPTUpositionandspeed: B SetPTUpositionandspeed: B,,,Copyright2012,FLIRCommercialSystems,Inc.34

5SpeedControl

EachPTUcombinesprecisepositioncontrolwithprecisespeedandaccelerationcontrol.ThisallowsyoutoquicklyandaccuratelypredictanygivenPTUpositionatanygiventime. Thebase(startup)speedistheinstantaneousvelocitythatthePTUaxiscanachievewithoutlosing

synchronizationwhenstartingfromafullstop.Basespeedcapabilitiesaremoreafunctionofthemotorsratherthanloadcharacteristics.

TheupperspeedlimitisthemaximumspeedthatthePTUaxiscanachieve. Motorslosetorqueasspeedincreasesandaccelerationisthereforenecessarytoachievespeeds

abovethebaserate.ThePTUusestrapezoidalaccelerationanddecelerationforspeedsbetweenthebaseandmaximumspeed,meaningthataccelerationanddecelerationoccuratthesamerate.Accelerationismeasuredinpositionspersecondpersecond.Forexample,aPTUacceleratingfrom500positionspersecondatarateof150positionspersecondpersecondwillbemovingat650positionspersecondafteronesecond,800positionspersecondaftertwoseconds,etc.

Figure1displaystherelationshipsbetweenlower(base)speedlimits,upperspeedlimits,andvelocitychanges(acceleration)underthreescenariosfromlefttoright: Inthefirstscenario,aPTUaxisstartsatthebasespeedandacceleratestoadesiredconstantspeed

(slewrate)whichitholdsforsometimebeforedeceleratingtothebaserate. Inthesecondscenario,additionalspeedchangesarerequiredthatarebelowthebasespeed.The

PTUinstantaneouslychangesspeed. Inthethirdscenario,thePTUdoesnothaveenoughtimetoacceleratetothedesiredslewspeed

beforehavingtodeceleratetostopatthedesiredposition.

Figure1:Axisspeedduringontheflydesiredspeedandpositionchanges

SCENARIO 1 SCENARIO 2 SCENARIO 3

Time

Lower Speed Limit

Base Speed

Upper Speed LimitCopyright2012,FLIRCommercialSystems,Inc. 35

PanTiltCommandReferenceManualTheupperspeed,basespeed,andaccelerationparametersareinterrelated.Dependingonhowoneormoreoftheseparametersareset,attemptingtosetanotherparametermayreturnanerror.Ifyoureceiveanerrorwhilesettinganacceleration,tryloweringtheupperspeedlimit.Ifyoureceiveanerrorwhilesettinganupperspeedlimits,tryincreasingtheacceleration.ThePTUallowsontheflyposition,speed,anddirectionalchanges.Whenchangingdirectiononthefly,thePTUmanagesalldeceleration,directionreversal,andaccelerationtoachievethemostrecentlyspecifiedtargetspeedandaccelerationrates.

5.1AbsoluteSpeedSpecifythedesiredaxisspeedinpositionspersecond,orquerythedesiredspeedfortheselectedaxis.SpeedistherateatwhichthePTUmovestoexecutemovementcommands.Youcanchangespeedsonthefly.Speedcommandsoutsidethespeedboundsreturnanerrorandarenotexecuted.

5.1.1CommandsTheavailableabsolutespeedcommandsare:

5.1.2Syntax

5.1.3ExampleThefollowingcommandsequenceinstructsthepanaxistomovetothefarleft,thenslowlymoverightandspeeduponthefly:PS1900 *PP2600 *A *PS600 *PP-2600 *PS1900 *

PS TS

Querydesiredpanspeed: PS Setdesiredpanspeed: PS Querydesiredtiltspeed: TS Setdesiredtiltspeed: TSCopyright2012,FLIRCommercialSystems,Inc.36

Chapter5:SpeedControl5.1.4SeeAlso Positioncommands:Section4.1andSection4.2 Positionresolution(units):Section4.3 Speedbounds:Section5.5

5.2RelativeSpeedSpecifydesiredaxisspeedinpositionspersecondrelativetothecurrentspeed,orquerythecurrentaxisspeed.Therelativespeed(changeordelta)ismeasuredinpositionspersecondrelativetothespeedbeforethecommandisissued.Forexample,ifthePTUismovingat1,000positionspersecond,addingadeltaof300usingarelativespeedcommandwillincreasethespeedto1,300positionspersecond.Youcanchangespeedsonthefly.Speedchangesthatwillresultinaspeedoutsidethespeedboundsreturnanerrorandarenotexecuted.5.2.1CommandsTheavailablerelativespeedcommandsare:

5.2.2Syntax

5.2.3ExampleThefollowingcommandsequenceinstructsthepanaxistomovetothefarleft,thenslowlymoveright,decreasespeedontheflyby150positions/second,andthenquerythecurrentspeed:I *PS1900 *PP2600 *A *PS600 *PP-2600 *PD-150 *PD * Current Pan speed is 450 positions/sec

PD TD

Querycurrentpanspeed: PD Setdesireddelta(offset)panspeed: PD Querycurrenttiltspeed: TD Setdesireddelta(offset)tiltspeed: TDCopyright2012,FLIRCommercialSystems,Inc. 37

PanTiltCommandReferenceManual5.2.4SeeAlso Positioncommands:Section4.1andSection4.2 Positionresolution(units):Section4.5 Speedbounds:Section5.5

5.3AccelerationSpecifyorqueryaxisaccelerationanddecelerationforspeedsabovethebasespeed.Accelerationisspecifiedinpositionspersecondpersecond.

5.3.1CommandsTheavailableaccelerationcommandsare:

5.3.2Syntax

5.3.3ExampleThefollowingcommandsequenceillustratesdifferentratesofacceleration:PA * Pan acceleration is 2000 positions/sec/secPB * Current Pan base speed is 1000 positions/secPU * Maximum Pan speed is 2902 positions/secA *PP0 *PS1900 *PP2600 *A *PA1500 *

Note:ThePTUrequiresabriefperiodtorecomputetheinternaltablesusedtorapidlyexecutespeedrampingwhencalculatingaccelerationanddeceleration.Accelerationthereforecannotbechangedonthefly.IfthePTUismovingandyouattempttochangetheacceleration,thePTUwillimmediatelyslowtoahalt.

PA TA

Querycurrentpanacceleration: PA Setdesiredpanacceleration: PA Querycurrenttiltacceleration: TA Setdesiredtiltacceleration: TACopyright2012,FLIRCommercialSystems,Inc.38

Chapter5:SpeedControlPP0 *A *

5.3.4SeeA

Documents

E Series Command Reference Manual