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HighPerformance
PanTiltUnit(ESeries)
VERSION:4.00
REVISIONDATE:September,2010
CommandReferenceManual
ESeriesCommandReferenceManual
DOCUMENTCONTROL
Date
09/2010
Author
A.Hernandez
Rev.#
4.00
Changes
InitialESeriesrelease
COPYRIGHTNOTICE
PanTiltUnit(ModelPTUD48ESeries)UsersManual
1991,2010byFLIRMotionControlSystems,Inc.,890CCowanRoad,Burlingame,California
94010,(650)6923900,FAX:(650)6923930,www.FLIR.com./MCS
Allrightsreserved.ProtectedundernumerousU.S.patents,including5463432and580241with
otherpatentspending.Nopartofthisbookmaybereproduced,storedinaretrievalsystem,or
transcribedinanyformorbyanymeansincludingbutnotlimitedtoelectronic,mechanical,
photocopying,recording,orotherwise,withoutthepriorwrittenpermissionofFLIRMotion
ControlSystems,Inc.
Theinformationinthismanualissubjecttochangewithoutnoticeand,exceptforthe
warranty,doesnotrepresentacommitmentonthepartofFLIRMotionControlSystems,Inc.
FLIRMotionControlSystems,Inc.cannotbeheldliableforanymistakesinthismanualand
reservestherighttomakechanges.
TableofContents
1
Introduction...............................................................................................9
1.1
1.2
1.3
Safety.........................................................................................................................9
ESeriesFeatures.......................................................................................................9
AboutThisManual...................................................................................................10
1.3.1 FormattingConventions...................................................................................................10
GettingStarted........................................................................................13
2.1
2.2
2.3
2.4
ASCIICommandSyntax............................................................................................13
PowerLevels............................................................................................................14
Acceleration.............................................................................................................14
SerialCommandList................................................................................................15
2.4.1 Position.............................................................................................................................15
2.4.2 Speed................................................................................................................................15
2.4.3 ContinuousAxisRotation.................................................................................................15
2.4.4 Limits................................................................................................................................16
2.4.5 UnitControls....................................................................................................................16
2.4.6 Power...............................................................................................................................16
2.4.7 Serial&ExpandedI/O......................................................................................................17
2.4.8 StepModes......................................................................................................................17
2.4.9 SerialNetwork..................................................................................................................17
2.4.10IPNetwork........................................................................................................................17
Position...................................................................................................19
3.1
AbsolutePosition.....................................................................................................19
3.1.1
3.1.2
3.1.3
3.1.4
Commands.......................................................................................................................19
Syntax...............................................................................................................................19
Example............................................................................................................................19
SeeAlso............................................................................................................................19
3.2
OffsetPosition.........................................................................................................20
3.2.1 Commands.......................................................................................................................20
3.2.2 Syntax...............................................................................................................................20
3.2.3 Example............................................................................................................................20
3.2.4 SeeAlso............................................................................................................................20
3.3
ResolutionperPosition............................................................................................21
3.3.1 Commands.......................................................................................................................21
3.3.2 Syntax...............................................................................................................................21
3.3.3 Example............................................................................................................................21
3.3.4 SeeAlso............................................................................................................................21
3.4
LimitPositionQueries..............................................................................................21
3.4.1 Commands.......................................................................................................................21
3.4.2 Syntax...............................................................................................................................22
3.4.3 Example............................................................................................................................22
ESeriesCommandReferenceManual
3.4.4 SeeAlso............................................................................................................................22
3.5
PositionLimitEnforcement.....................................................................................22
3.5.1 Commands.......................................................................................................................22
3.5.2 Syntax...............................................................................................................................23
3.5.3 Example............................................................................................................................23
3.5.4 SeeAlso............................................................................................................................23
3.6
ImmediatePositionExecution.................................................................................23
3.6.1 Commands.......................................................................................................................23
3.6.2 Syntax...............................................................................................................................23
3.6.3 Example............................................................................................................................23
3.6.4 SeeAlso............................................................................................................................23
3.7
SlavedPositionExecution........................................................................................24
3.7.1 Commands.......................................................................................................................24
3.7.2 Syntax...............................................................................................................................24
3.7.3 Example............................................................................................................................24
3.7.4 SeeAlso............................................................................................................................24
3.8
AwaitPositionCompletion......................................................................................24
3.8.1 Commands.......................................................................................................................24
3.8.2 Syntax...............................................................................................................................24
3.8.3 Example............................................................................................................................25
3.8.4 SeeAlso............................................................................................................................25
3.9
Halt...........................................................................................................................25
3.9.1 Commands.......................................................................................................................25
3.9.2 Syntax...............................................................................................................................25
3.9.3 Example............................................................................................................................26
3.9.4 SeeAlso............................................................................................................................26
3.10 Monitor(Autoscan)................................................................................................26
3.10.1Commands.......................................................................................................................26
3.10.2Syntax...............................................................................................................................26
3.10.3Example............................................................................................................................27
3.10.4SeeAlso............................................................................................................................27
3.11 PositionPresets.......................................................................................................27
3.11.1Commands.......................................................................................................................27
3.11.2Syntax...............................................................................................................................28
3.11.3Example............................................................................................................................28
SpeedControl..........................................................................................29
4.1
AbsoluteSpeed........................................................................................................30
4.1.1
4.1.2
4.1.3
4.1.4
Commands.......................................................................................................................30
Syntax...............................................................................................................................30
Example............................................................................................................................30
SeeAlso............................................................................................................................31
4.2
RelativeSpeed.........................................................................................................31
4.2.1 Commands.......................................................................................................................31
4.2.2 Syntax...............................................................................................................................31
4.2.3 Example............................................................................................................................31
4.2.4 SeeAlso............................................................................................................................31
4.3
TableofContents
Acceleration.............................................................................................................32
4.3.1
4.3.2
4.3.3
4.3.4
Commands.......................................................................................................................32
Syntax...............................................................................................................................32
Example............................................................................................................................32
SeeAlso............................................................................................................................32
4.4
Base(StartUp)Speed..............................................................................................33
4.4.1 Commands.......................................................................................................................33
4.4.2 Syntax...............................................................................................................................33
4.4.3 Example............................................................................................................................33
4.4.4 SeeAlso............................................................................................................................33
4.5
SpeedBounds..........................................................................................................34
4.5.1 Commands.......................................................................................................................34
4.5.2 Syntax...............................................................................................................................34
4.5.3 Example............................................................................................................................34
4.5.4 SeeAlso............................................................................................................................34
4.6
SpeedControlModes..............................................................................................35
4.6.1 Commands.......................................................................................................................35
4.6.2 Syntax...............................................................................................................................35
4.6.3 Example............................................................................................................................36
4.6.4 SeeAlso............................................................................................................................36
ContinuousAxisRotation........................................................................37
5.1
ContinuousRotation................................................................................................37
5.1.1 Commands.......................................................................................................................37
5.1.2 Syntax...............................................................................................................................37
5.1.3 Example............................................................................................................................37
UserDefinedLimits.................................................................................39
6.1
PositionLimitQueries..............................................................................................39
6.1.1
6.1.2
6.1.3
6.1.4
Commands.......................................................................................................................39
Syntax...............................................................................................................................40
Example............................................................................................................................40
SeeAlso............................................................................................................................41
6.2
PositionLimitEnforcement.....................................................................................41
6.2.1 Commands.......................................................................................................................41
6.2.2 Syntax...............................................................................................................................42
6.2.3 Example............................................................................................................................42
6.2.4 SeeAlso............................................................................................................................43
UnitCommands.......................................................................................45
7.1
ResetPTU.................................................................................................................45
7.1.1 Commands.......................................................................................................................45
7.1.2 Syntax...............................................................................................................................45
7.1.3 Example............................................................................................................................46
7.2
DefaultSave/Restore...............................................................................................46
7.2.1 Commands.......................................................................................................................46
7.2.2 Syntax...............................................................................................................................47
7.3
Echo.........................................................................................................................47
ESeriesCommandReferenceManual
7.3.1 Commands.......................................................................................................................47
7.3.2 Syntax...............................................................................................................................47
7.3.3 Example............................................................................................................................47
7.4
Feedback..................................................................................................................47
7.4.1 Commands.......................................................................................................................47
7.4.2 Syntax...............................................................................................................................48
7.4.3 Example............................................................................................................................48
7.5
ControllerFirmwareVersion...................................................................................48
7.5.1 Commands.......................................................................................................................48
7.5.2 Syntax...............................................................................................................................48
7.5.3 Example............................................................................................................................48
7.6
VoltageandTemperatureQuery.............................................................................48
7.6.1 Commands.......................................................................................................................48
7.6.2 Syntax...............................................................................................................................48
7.6.3 Example............................................................................................................................48
PowerControl.........................................................................................49
8.1
HoldPowerMode....................................................................................................49
8.1.1 Commands.......................................................................................................................49
8.1.2 Syntax...............................................................................................................................50
8.1.3 Example............................................................................................................................50
8.2
InMotionPowerMode...........................................................................................50
8.2.1 Commands.......................................................................................................................50
8.2.2 Syntax...............................................................................................................................51
8.2.3 Example............................................................................................................................51
HostSerialPort........................................................................................53
9.1
BaudRate.................................................................................................................53
9.1.1
9.1.2
9.1.3
9.1.4
Commands.......................................................................................................................53
Syntax...............................................................................................................................53
Example............................................................................................................................54
SeeAlso............................................................................................................................54
10 ExpandedI/O...........................................................................................55
10.1
SerialCommunicationsTarget.................................................................................55
10.1.1Commands.......................................................................................................................55
10.1.2Syntax...............................................................................................................................55
10.1.3Example............................................................................................................................56
10.1.4SeeAlso............................................................................................................................56
10.2 ExpandedSerialPort................................................................................................56
10.2.1Commands.......................................................................................................................56
10.2.2Syntax...............................................................................................................................56
10.2.3Example............................................................................................................................57
10.2.4SeeAlso............................................................................................................................57
11 StepModes.............................................................................................59
11.1
ConfiguringStepMode............................................................................................59
11.1.1Commands.......................................................................................................................59
TableofContents
11.1.2Syntax...............................................................................................................................59
11.1.3Example............................................................................................................................59
12 PTUSerialNetworks................................................................................61
12.1
UnitNetworkID.......................................................................................................61
12.1.1Commands.......................................................................................................................61
12.1.2Syntax...............................................................................................................................61
12.1.3Example............................................................................................................................61
12.1.4SeeAlso............................................................................................................................61
12.2 UnitSelect/Deselect................................................................................................62
12.2.1Commands.......................................................................................................................62
12.2.2Syntax...............................................................................................................................62
12.2.3Example............................................................................................................................62
12.2.4SeeAlso............................................................................................................................62
13 IPNetwork..............................................................................................63
13.1
MACAddress...........................................................................................................63
13.1.1Commands.......................................................................................................................63
13.1.2Syntax...............................................................................................................................63
13.1.3Example............................................................................................................................63
13.2 IPAddress................................................................................................................63
13.2.1Commands.......................................................................................................................63
13.2.2Syntax...............................................................................................................................64
13.2.3Example............................................................................................................................64
13.3 NetworkMode.........................................................................................................64
13.3.1Commands.......................................................................................................................64
13.3.2Syntax...............................................................................................................................64
13.3.3Example............................................................................................................................64
13.4 NetworkHostName................................................................................................65
13.4.1Commands.......................................................................................................................65
13.4.2Syntax...............................................................................................................................65
13.4.3Example............................................................................................................................65
13.5 NetworkMask..........................................................................................................65
13.5.1Commands.......................................................................................................................65
13.5.2Syntax...............................................................................................................................65
13.5.3Example............................................................................................................................65
ESeriesCommandReferenceManual
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1Introduction
EachPanTiltUnit(PTU)fromFLIRMotionControlSystems,Inc.includesacomprehensiveset
ofavailablecommandsthatgiveyoufullcontroloverallfunctionality.TheESeriesofPTUs
featuresanexpandedcommandsetforevenmorecontroloptions.
ThisPanTiltESeriesCommandReferenceManualcoversthesoftwarecontrolinterfaceforthe
followingESeriesPTUs:
PTUD48ESeries
PTUD100ESeries
PTUD300ESeries
EachPTUalsoincludesaUserManualspecifictothatunitmodel(suchasPTUD48ESeriesUser
Manual).TheUserManualdescribestheelectricalandmechanicalinterfacesandincludes
generalsetupanduseinstructions.
TheESeriescommandsetdescribedinthismanualisbackwardscompatiblewithpriorPTU
modelswiththefollowingexceptions:
Rangeofmotioncommandsyntaxhasbeenupdated(Section6).
NetworkcommandshavebeenaddedtosupporttheEthernetinterface(Section13).
Note:ThismanualisnotintendedforusewiththePTUD46orPTUD47.Ifyou
haveaPTUD46orPTUD47,pleaserefertothePTUD46.47Command
ReferenceManual.
1.1 Safety
PleaserefertoandcomplywithallsafetywarningscontainedinyourPTUUserManual.
1.2 ESeriesFeatures E
TheESeriesofPTUsincludesthefollowingnewfeatures:
BuiltinEthernet/WebIPinterfaceforeasyconfiguration,control,anddiagnostics
Improvedpowerprotectioncircuitry
32pinbaseconnectorforsimplifiedwiring
Integrateddigitalencoderwithfeedbackinterfaceformorerobustpositioning
Programmablerangesofmotion
Highercommandrateswithlowerlatencyandjitter
Reducedcalibrationmovement
ESeriesCommandReferenceManual
Supportforfutureintegratedgeopointing(GPM)andstabilization(ISM)functionality
withouttheneedforexternalhardware
FullbackwardcompatibilitywithpreviousPTUmodels
1.3 AboutThisManual
Thissectiondescribestheformattingconventionsandinformationcontainedinthismanual.
1.3.1FormattingConventions
Thismanualusesseveralformattingconventionstopresentinformationofspecialimportance.
CommandsandotherinformationthatisnewfortheESeriesPTUsincludetheEicon
shownhere.
Listsofitems,pointstoconsider,orproceduresthatdonotneedtobeperformedinaspecific
orderappearinbulletformat:
Item1
Item2
Proceduresthatmustbefollowedinaspecificorderappearinnumberedsteps:
Performthisstepfirst.
Performthisstepsecond.
Specifickeyboardkeysaredepictedinsquarebracketsandarecapitalized,forexample:[ESC].If
morethanonekeyshouldbepressedsimultaneously,thenotationwillappearas[KEY1]+[KEY
2],forexample[ALT]+[F4].
Interfaceelementssuchasdocumenttitles,fields,windows,tabs,buttons,commands,options,
andiconsappearinboldtext.
MenusandsubmenushavethenotationMenu>Submenu.Forexample,SelectFile>Save
meansthatyoushouldfirstopentheFilemenu,andthenselecttheSaveoption.
SpecificcommandsappearinstandardCourierfont.Sequencesofcommandsappearinthe
orderinwhichyoushouldexecutethemandincludehorizontalorverticalspacesbetween
commands.
Thismanualalsocontainsimportantsafetyinformationandinstructionsinspeciallyformatted
calloutswithaccompanyinggraphicsymbols.Thesecalloutsandtheirsymbolsappearas
followsthroughoutthemanual:
10
WARNING:WARNINGSALERTYOUTOTHEPOSSIBILITYOFPERSONALINJURY
ORDEATHIFTHESEINSTRUCTIONSARENOTFOLLOWED.
Introduction
CAUTION:CAUTIONSALERTYOUTOTHEPOSSIBILITYOFEQUIPMENTOR
PROPERTYDAMAGEIFTHESEINSTRUCTIONSARENOTFOLLOWED.
Note:Notesprovidehelpfulinformation.
11
ESeriesCommandReferenceManual
Thispageintentionallyleftblank.
12
2GettingStarted
ThischapterdescribestheASCIIcommandsyntaxusedwhencontrollingaPTUviaaserial
connection,liststheavailablecommands,anddiscussespowerlevelandacceleration
considerations.PleasealsorefertotheQuickStartsectioninyourPTUUserManualfor
informationaboutgettingyourPTUupandrunningquickly.
2.1 ASCIICommandSyntax
APTUusesbothcommandsandqueries.AcommandtellsthePTUtodosomething(suchas
pantoaspecificangle).AqueryasksthePTUtoreturntherequestedvalue(suchasreporting
thecurrentpanangle).
ThebasicASCIIcommandsyntaxis<command><parameter><delimiter>,where:
<command>istheactualcommand(suchasPPforpanposition),
<parameter>isanalphanumericvalue(suchasthedesiredpanposition),and
<delimiter>isacharacterusedtodenotetheendofacommand.Validdelimiter
characterscanbeeither[SPACE]or[ENTER].
ThebasicASCIIquerysyntaxis<command><delimiter>,where:
<command>istheactualcommand(suchasPPforpanposition),
<delimiter>isacharacterusedtodenotetheendofaquery.Validdelimitercharacters
canbeeither[SPACE]or[ENTER].
Forexample:
Command:PP<position><delim>setsthedesiredabsolutepanposition.
Query:PP<delim>returnsthecurrentabsolutepanposition.
Commandsandqueriesreturnresultsthatdisplayontheterminalscreen,asfollows:
Asuccessfullyexecutedcommanddisplays*ontheterminalscreen(where<CR>isa
carriagereturn).
Asuccessfullyexecutedquerydisplays<QueryResult>(where<QueryResult>isthe
resultofthequeryyoujustexecuted).
Afailedcommanddisplays! <ErrorMessage>(where<ErrorMessage>describes
theerrorencountered).
Apanaxislimithitasynchronouslydisplays!P.
Atiltaxislimithitasynchronouslydisplays!T.
13
ESeriesCommandReferenceManual
Note:Youmayseeoneormultiple!Por!Terrors.Thisisnormalbehavior.
ThissamplecommandsequencepansthePTUtotheleft,waits,andthenpansitbacktothe
rightwithqueriesafterfinishingeachpanmovement:
PP-2500 *
A *
PP * (Current Pan position is -2500displaysontheterminalscreen)
PP2500 *
A *
PP * (Current Pan position is 2500 displaysontheterminalscreen)
2.2 PowerLevels
EachFLIRPTUmodelcanacceptpowerwithinapermissiblerangeofvoltages.Theabilityofany
PTUtosuccessfullymovethepayloaddependsupontheinertialpayloadfactorsandtheir
relationshiptopowersupplyvoltage,unitspeed,acceleration,position,motortorque,etc.In
general,highervoltagesallowthePTUtohandleheavierpayloads.
YourspecificinstallationwilldeterminetheamountofvoltageavailabletothePTU.Youmay
thencontrolhowthePTUusestheavailablepowerforeachaxiswhenthepayloadisatrest
(holdpower)orinmotion(movepower)byspecifyingHigh,Regular,orLowpowermode.
Pleasereferto:
Section8.2forinformationonsettingthePTUmovepower.
Section8.1forinformationonsettingthePTUholdpower.
PleasealsorefertoyourPTUUserManualandConfigurationGuideformoreinformationabout
permissiblepayloadandpowervoltageranges.
2.3 Acceleration
YoumayalsocontrolthePTUacceleration.Ingeneral,loweraccelerationsettingsplacelower
torquerequirementsonthePTUandmountingandallowheavierpayloadstobemounted.
Accelerationismeasuredinpositionspersecondpersecond.PleaseseeSection4.3formore
informationaboutsettingacceleration.
14
GettingStarted
2.4 SerialCommandList
Thesetableslisttheavailableserialcommands.Pleaserefertolatersectionswithinthismanual
forcompleteinformationabouttheavailablecommandsandtheirusage.
2.4.1Position
Theavailablepositioncommandsare:
CMD
DESCRIPTION
CMD
DESCRIPTION
CMD
DESCRIPTION
PP
Panposition
XS
Setpreset
Immed.executionmode
TP
Tiltposition
XG
Gotopreset
Slavedmode
PO
Panoffset
XC
Clearpreset
Haltall
TO
Tiltoffset
Monitor
HP
Haltpan
PR
Panresolution
ME
Monitorautoenable
HT
Halttilt
TR
Tiltresolution
MD
Monitorautodisable
Await
MQ
Monitorautoquery
PleaseseeSection3formoreinformationaboutthepositioncommands.
2.4.2Speed
Theavailablespeedcommandsare:
CMD
DESCRIPTION
CMD
DESCRIPTION
CMD
DESCRIPTION
PS
Panspeed
TA
Tiltacceleration
TU
Tiltupperspeed
TS
Tiltspeed
PB
Panbasespeed
TL
Tiltlowerspeed
PD
Panspeedoffset
TB
Tiltbasespeed
Querycontrolmode
TD
Tiltspeedoffset
PU
Panupperspeed
CI
Settopositioncontrol
PA
Panacceleration
PL
Panlowerspeed
CV
Settovelocitycontrol
PleaseseeSection4formoreinformationaboutthespeedcommands.
2.4.3ContinuousAxisRotation
Theavailablecontinuousaxisrotationcommandsare:
CMD
PC
DESCRIPTION
CMD
Pancontinuous
PCD
DESCRIPTION
Pancontinuousdisable
CMD
PCE
DESCRIPTION
Pancontinuousenable
PleaseseeSection5formoreinformationaboutthecontinuousaxiscommands.
15
ESeriesCommandReferenceManual
2.4.4Limits
Theavailablelimitcommandsare:
CMD
DESCRIPTION
CMD
DESCRIPTION
CMD
DESCRIPTION
PN
Minimumpanposition
PNU
Userdefinedpanmin.
Querylimitstatus
PX
Maximumpanposition
PXU
Userdefinedpanmax.
LE
Enablelimits1
TN
Minimumtiltposition
TNU
Userdefinedtiltmin.
LD
Disablelimits2
TX
Maximumtiltposition
TXU
Userdefinedtiltmax.
LU
Userlimits
NOTES
1:Factorylimits.
2:Thiscommandisretainedforbackwardcompatibility.ForESeriesPTUs,itisbesttoeither
usecontinuouspanmodetoexceedlimitsorenableuserlimitstoreducerangeofmotion.
PleaseseeSection6formoreinformationaboutthelimitcommands.
2.4.5UnitControls
Theavailableunitcontrolcommandsare:
CMD
R
RD
DESCRIPTION
Reset
Disablereset
3
RT
Resettilt
RP
RE
CMD
Resetpan
4
Resetbothaxes
DESCRIPTION
CMD
DESCRIPTION
Queryfeedbackmode
DS
Defaultsave
FV
Enableverbosefeedback
DR
Restoresavedsettings
FT
Enabletersefeedback
DF
Restorefactorydefaults
Queryfirmwareversion
EE
Enablehostcmd.echo
Queryechomode
ED
Disablehostcmd.echo
NOTES
3:Subsequentresetsandanypoweronresetwillonlyaffectthisaxis.
4:Thisalsoenablesresetonpowerup.
PleaseseeSection7formoreinformationabouttheunitcommands.
2.4.6Power
Theavailablepowercommandsare:
CMD
DESCRIPTION
CMD
DESCRIPTION
CMD
PH
Querypanholdpower
THL
Tiltholdpowerlow
PHR
Panholdpowerregular
THO
Tiltholdpoweroff
TMH Tiltmovepowerhigh
PHL
Panholdpowerlow
PM
Querypanmovepower
TMR Tiltmovepowerregular
PHO
Panholdpoweroff
PMH Panmovepowerhigh
TH
Querytiltholdpower
PMR Panmovepowerregular
THR
Tiltholdpowerregular
PML
Panmovepowerlow
TM
DESCRIPTION
TML
Tiltmovepowerlow
QueryVDCandtemp
PleaseseeSection8formoreinformationaboutthepowercommands.
16
Querytiltmovepower
GettingStarted
2.4.7Serial&ExpandedI/O
TheavailableserialandExpandedI/Ocommandsare:
CMD DESCRIPTION
CMD DESCRIPTION
DESCRIPTION
Unitselect
JE
Joystickenable
QuerynetworkID
JD
Joystickdisable
Serialportsettings
@A
ChannelA
@B
ChannelB
_<id>
CMD
Pleasesee:
Section9formoreinformationaboutthehostserialcommands.
Section10formoreinformationabouttheexpandedI/Ocommands.
2.4.8StepModes
Theavailablestepmodecommandsare:
CMD DESCRIPTION
CMD DESCRIPTION
CMD
DESCRIPTION
WPE
Panaxiseighthstep
WTH
Tiltaxishalfstep
WPF Panaxisfullstep
WPA
Panaxisautostep
WTQ Tiltaxisquarterstep
WPH Panaxishalfstep
WT
Querytiltstepmode
WTE
Tiltaxiseighthstep
WPQ Panaxisquarterstep
WTF
Tiltaxisfullstep
WTA
Tiltaxisautostep
WP
Querypanstepmode
PleaseseeSection11formoreinformationaboutthestepmodecommands.
2.4.9SerialNetwork
TheavailablePTUserialnetworkcommandis:U.PleaseseeSection12formoreinformation
aboutthiscommand.
2.4.10
IPNetwork
TheavailableIPnetworkcommandsare:
CMD
DESCRIPTION
CMD
DESCRIPTION
CMD
NA
MACaddress
NMS Networkmodestatic
NN
Networkhostname
NI
IPaddress
NMD Networkmodedynamic
NS
Networkmask
NM
Querynetworkmode
DESCRIPTION
PleaseseeSection13formoreinformationabouttheIPnetworkcommands.
17
ESeriesCommandReferenceManual
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18
3Position
ThischapterdescribestheavailablePTUpositioncommandsandqueries.
3.1 AbsolutePosition
Specifyorquerytheabsolutepanortiltaxisposition.Desiredpositionscanbechangedonthe
flywithoutwaitingforpreviouspositioncommandstocomplete.
3.1.1Commands
Theavailableabsolutepositioncommands/queriesare:
PP
TP
3.1.2Syntax
Querycurrentabsolutepanposition:
PP<delim>
Setdesiredabsolutepanposition:
PP<position><delim>
Querycurrentabsolutetiltposition:
TP<delim>
Setdesiredabsolutetiltposition:
TP<position><delim>
3.1.3Example
Thefollowingcommandsequencesendsthepanaxistotheleft,waits,thensendsittothe
right:
PP-2500 *
A *
PP * Current Pan position is -2500
PP2500 *
A *
PP * Current Pan position is 2500
3.1.4SeeAlso
Pleaserefertothefollowingsectionsformoreinformation:
Position(relativeoffsetanddesiredpositionqueries):Section3.2
Positionresolution(units):Section3.3
Positionlimits:Section3.4
Positionexecutionmodes:Section3.6andSection3.7.
Positionlimitenforcementmodes:Section3.5
19
ESeriesCommandReferenceManual
3.2 OffsetPosition
Specifythedesiredpanortiltaxispositionasanoffsetrelativetothecurrentposition,orquery
thecurrentaxisposition.Youmaychangedesiredoffsetpositionsontheflywithoutwaitingfor
previouspositioncommandstocomplete.
3.2.1Commands
Theavailableoffsetpositioncommands/queriesare:
PO
TO
Note:StandardESeriesPTUsmaynotsupportoffsetcommands.ESeries
PTUswithoptionalhardstopsinstalledmaysupportthesecommands.
3.2.2Syntax
Querydesiredpanposition:
Setdesiredoffsetpanposition: PO<position><delim>
Querydesiredtiltposition:
Setdesiredoffsettiltposition: TO<position><delim>
PO<delim>
TO<delim>
3.2.3Example
Thefollowingcommandsequencesendsthepanaxistoposition500,thensendsit1500
positionstotheleftofposition500:
PP-500 *
A *
PO * Current Pan position is -500
PO1500 *
A *
PP * Current Pan position is 1000
3.2.4SeeAlso
Positionresolution(units):Section3.3
Positionlimits:Section3.4
Positionexecutionmodes:Section3.6andSection3.7
Positionlimitenforcementmodes:Section3.5
20
Position
3.3 ResolutionperPosition
Thisqueryreturnstheaxisresolutionperpositionmovedinsecondsofarc.
Note:Adegreeofarcisdividedinto60minutesofarc,andeachminuteofarc
isfurtherdividedinto60secondsofarc.Adegreeofarcthereforecontains
3600secondsofarc,andeachsecondofarcisequalto1/3600ofadegreeor
0.0002778.
3.3.1Commands
Theavailableresolutionperpositionqueriesare:
PR
TR
3.3.2Syntax
Querypanresolution:
PR<delim>
Querytiltresolution:
TR<delim>
3.3.3Example
TopanthePTU21.3degreestotheleft:
PR * 92.5714 seconds arc per position
PO828 *
Tocalculatethenumberofdegreesperposition,usetheformulaResolution/3600.Inthis
example,eachpositionequals0.025714,whichis92.5714/3600.
DividingthenumberofdegreesyouwanttomovethePTUbythenumberofdegreesper
positionyieldsthenumberofpositionstomovethePTU.Usingthisresolution,ifyouwantto
panthePTU21.3leftfromitscurrentposition,youmustfirsttranslatethedesirednumberof
degreesintopositions.Dividing21.3by0.025714yields828positions.
3.3.4SeeAlso
StepModes:Section11
3.4 LimitPositionQueries
Thesequeriesreturntheaxispositionlimits(eitherfactorysetoruserlimits).Pleasereferto
yourPTUUserManualformoreinformationaboutlimits.
3.4.1Commands
Theavailablelimitpositionqueriesare
PN
PX
21
ESeriesCommandReferenceManual
TN
TX
3.4.2Syntax
Queryminimumpanposition: PN<delim>
Querymaximumpanposition: PX<delim>
Queryminimumtiltposition:
TN<delim>
Querymaximumtiltposition:
TX<delim>
3.4.3Example
Thefollowingquerysequenceenableslimits,resetsthePTU,queriesthepanandtiltaxislimits,
andthenattemptstopanthePTUbeyonditslimitstoreturnanerrormessage.
LE *
RE *
PN * Minimum Pan position is -3090
PX * Maximum Pan position is 3090
TN * Minimum Tilt position is -907
TX * Maximum Tilt position is 604
PP3200 ! Maximum allowable Pan position is 3090
3.4.4SeeAlso
Positionresolution(units):Section3.3
Achievinglargeraxisbounds:Section6
3.5 PositionLimitEnforcement
Determineswhetherpositioncommandsbeyondthedetectedpanaxislimitsareallowable.
Whenlimitsareenabled(default),commandsoutsideofthelimitsreturnanerrormessageand
arenotexecuted.Inthismode,thePTUonlyreacheslimitswhenithaslostsynchronization,a
conditionthatrequiresaunitreset(seeSection7.1).ThePTUdisplays!Ponthehostcomputer
portwhenitreachesitspanaxislimitsand!Twhenitreachesitstiltaxislimits.
Note:Youmayseeoneormultiple!Por!Terrors.Thisisnormalbehavior.
3.5.1Commands
LD
LE
22
Position
3.5.2Syntax
Querycurrentpanpositionlimitmode: L<delim>
Enablepanpositionlimits:
LE<delim>
Disablepanpositionlimits:
LD<delim>
3.5.3Example
Thiscommandsequencequeriesthecurrentlimitstatusandmaximumpanlimit,attemptsto
panthePTUbeyonditspanlimittoreturnanerrormessage,thendisableslimitsandrepeats
thepancommand,whichnowexecutessuccessfullybecauseofthedisabledlimits.
L * Limit bounds
PX * Maximum Pan
PP3200 ! Maximum
LD *
PP3200 *
A *
PP * Current Pan
position is 3200
3.5.4SeeAlso
Positioncommands:Section3.1andSection3.2
3.6 ImmediatePositionExecution
InstructsthePTUtoimmediatelyexecutepositionalcommands.Thisisthedefaultmode.When
switchingfromslavedexecutionmode(seeSection3.7),anyqueuedcommandswillbe
executed.
3.6.1Commands
3.6.2Syntax
Enableimmediateexecutionmode:
I<delim>
3.6.3Example
Thiscommandsequenceenablesimmediateexecutionmodeandthensendsapancommand
tothePTU,whichwillbeginmovingimmediately.
I *
PP1000 *
3.6.4SeeAlso
Alternativeslavedpositionexecutionmode:Section3.7
23
ESeriesCommandReferenceManual
3.7 SlavedPositionExecution
InstructsthePTUtoonlyexecutepositionalcommandsonlyafteranAwaitPositionCompletion
commandisexecuted(seeSection3.8)orwhenputintoImmediateExecutionmode(see
Section3.6).Thismodeisusefulwhenyouneedcoordinatedpanandtiltaxismovements.
3.7.1Commands
3.7.2Syntax
Toenableslavedexecutionmode:
S<delim>
3.7.3Example
Thiscommandsequencechangesthepositionexecutionmode,movetheaxestospecified
positions,thenaddsanAwaitPositionCompletioncommandtomovethePTUinbothaxes
simultaneously:
DR *
S *
PP1500 *
TP-900 *
PP * Current
TP * Current
A *
PP * Current
TP * Current
Pan position is 0
Tilt position is 0
Pan position is 1500
Tilt position is -900
3.7.4SeeAlso
Alternativeimmediatepositionexecutionmode:Section3.6
3.8 AwaitPositionCompletion
Awaitsthecompletionofthemostrecentlyissuedpanandtiltaxispositioncommands.Usethis
commandtocoordinateaxismotions.
3.8.1Commands
3.8.2Syntax
TocommandthePTUtoawaitthecompletionofpreviouspositioncommands:A<delim>
24
Position
3.8.3Example
Thiscommandssequenceinstructsthepanaxistomovetoaposition,thenmovetoanother
position:
I *
PP * Current Pan position is 0
PP2000 *
A *
PP * Current Pan position is 2000
PP0 *
A *
PP * Current Pan position is 0
Comparethepreviousexampletothisone,inwhichthePTUwillbegintomovetothefirst
positionandthen,whilestillintransit,beginmovingtothesecondposition(anonthefly
positionchange):
I *
PP * Current Pan position is 0
PP2000 *
PP0 *
3.8.4SeeAlso
Youmayusethiscommandwitheither:
ImmediatePositionExecutionmode:Section3.6
SlavedPositionExecutionmode:Section3.7
3.9 Halt
ImmediatelydeceleratesandhaltsPTUmovement.
3.9.1Commands
3.9.2Syntax
HaltallPTUmovementinbothaxes:
H<delim>
Haltpanaxismovementonly:
HP<delim>
Halttiltaxismovementonly:
HT<delim>
25
ESeriesCommandReferenceManual
3.9.3Example
ThiscommandsequencepansthePTUtotherightandthentotheleft.ThePTUmustbein
motionforyoutoseetheHcommandinaction.
PP2500 *
A *
PP-2500
EnterthefollowingcommandwhilethePTUismoving:
H *
PP * Current pan position is <pos>
(where<pos>isthecurrentpanposition,whichwillbebetween2500and2500)
3.9.4SeeAlso
Youmayusethiscommandwitheither:
ImmediatePositionExecutionmode:Section3.6
SlavedPositionExecutionmode:Section3.7
3.10 Monitor(Autoscan)
ThiscommanddefinesandinitiatesrepetitivePTUmonitoring(autoscanning).Autoscanning
stopsimmediatelyandthePTUreturnstoitshomepositionuponreceivingacharacterfrom
thehostcomputer.
3.10.1
ME
MD
MQ
3.10.2
Commands
Syntax
Initiatemonitoring(panaxisonly):
2><delim>
Initiatemonitoring(bothaxes):
Initiatethelastdefinedmonitorcommand:
M<delim>
Note:Thepowerupmonitoringdefaultisthemostrecentlysavedautoscan
mode.
Beginmonitoring:
26
M<delim>
Position
Enablemonitoratpowerup:
ME<delim>
Disablemonitoratpowerup:
MD<delim>
Querypowerupmonitorstatus:
MQ<delim>
3.10.3
Example
ExecutingthefollowingcommandatpowerupstartsthePTUscanningbetweenitsmost
recentlysaveddefaultlimits:
M *
TostopscanningandreturnthePTUtothehomeposition:
<delim>
Thisexampleenablespanaxismonitoringbetweenthespecifiedpositions:
M-2500,100 *
Thisexampleenablespanandtiltmonitoringbetweenthespecifiedpositions:
M-2500,100,-800,600 *
Thisexampleenablestiltaxismonitoringbetweenthespecifiedpositions:
M0,0,-300,300 *
3.10.4
SeeAlso
LimitPositionQueries(Section3.4)
3.11 PositionPresets
PositionpresetfunctionalityisprovidedforbackwardcompatibilitywithlegacyCCTV
applications.ESeriesPTUssupport33positionpresets,whichallowyoutocommandthePTU
toapositionusinganystandardmotioncontrolcommandsandthenstorethatpositionasa
presetnumberedfrom0to32.YoucanthencommandthePTUtoanypreviouslystoredpreset
usingaGotocommand.PresetsareretainedwhenthePTUispowereddown.
Note:Whenmovingtoapreset,thePTUwillfollowthecurrentlysetmotion
parameterssuchasacceleration,baserate,etc.
3.11.1
XS
XG
XC
Commands
27
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3.11.2
Syntax
Setpreset:
XS<index><delim>
Gotopreset:
XG<index><delim>
ClearPreset:
XC<index><delim>
Intheaboveexamples,<index>isthenumberofthestoredpresetposition.Validindex
numbersareintegersbetween0and32.
3.11.3
Example
ThefollowingcommandsequencesetsthePTUtoposition500/400,storethatpositionas
preset0,movethePTUtoposition600/800,andthenreturnittothepreviouslystoredpreset0
position.
PP500
TP400
A *
XS0 *
PP600
TP800
A *
XG0
28
*
*
*
*
4SpeedControl
EachPTUcombinesprecisepositioncontrolwithprecisespeedandaccelerationcontrol.This
allowsyoutoquicklyandaccuratelypredictanygivenPTUpositionatanygiventime.
Thebase(startup)speedistheinstantaneousvelocitythatthePTUaxiscanachieve
withoutlosingsynchronizationwhenstartingfromafullstop.Basespeedcapabilitiesare
moreafunctionofthemotorsratherthanloadcharacteristics.
TheupperspeedlimitisthemaximumspeedthatthePTUaxiscanachieve.
Motorslosetorqueasspeedincreasesandaccelerationisthereforenecessarytoachieve
speedsabovethebaserate.ThePTUusestrapezoidalaccelerationanddecelerationfor
speedsbetweenthebaseandmaximumspeed,meaningthataccelerationanddeceleration
occuratthesamerate.Accelerationismeasuredinpositionspersecondpersecond.For
example,aPTUacceleratingfrom500positionspersecondatarateof150positionsper
secondpersecondwillbemovingat650positionspersecondafteronesecond,800
positionspersecondaftertwoseconds,etc.
Figure1(nextpage)displaystherelationshipsbetweenlower(base)speedlimits,upperspeed
limits,andvelocitychanges(acceleration)underthreescenariosfromlefttoright:
Inthefirstscenario,aPTUaxisstartsatthebasespeedandacceleratestoadesired
constantspeed(slewrate)whichitholdsforsometimebeforedeceleratingtothebase
rate.
Inthesecondscenario,additionalspeedchangesarerequiredthatarebelowthebase
speed.ThePTUinstantaneouslychangesspeed.
Inthethirdscenario,thePTUdoesnothaveenoughtimetoacceleratetothedesiredslew
speedbeforehavingtodeceleratetostopatthedesiredposition.
Theupperspeed,basespeed,andaccelerationparametersareinterrelated.Dependingonhow
oneormoreoftheseparametersareset,attemptingtosetanotherparametermayreturnan
error.Forexample,thedefinedbaseandupperspeedsmaymakecertainaccelerationsettings
impossible;changingthebaseandupperspeedsmaythenmakeyourdesiredacceleration
feasible.ThePTUreturnsanerrormessagewhennecessary.
ThePTUallowsontheflyposition,speed,anddirectionalchanges.Whenchangingdirection
onthefly,thePTUmanagesalldeceleration,directionreversal,andaccelerationtoachievethe
mostrecentlyspecifiedtargetspeedandaccelerationrates.
29
ESeriesCommandReferenceManual
SCENARIO 1
Upper Speed Limit
SCENARIO 2
SCENARIO 3
Base Speed
Time
Figure1:AxisSpeedduringOnTheFlyDesiredSpeedandPositionChanges
4.1 AbsoluteSpeed
Specifythedesiredaxisspeedinpositionspersecond,orquerythedesiredspeedforthe
selectedaxis.SpeedistherateatwhichthePTUmovestoexecutemovementcommands.You
canchangespeedsonthefly.Speedcommandsoutsidethespeedboundsreturnanerrorand
arenotexecuted.
4.1.1Commands
PS
TS
4.1.2Syntax
Querydesiredpanspeed:PS<delim>
Setdesiredpanspeed: PS<positions/sec><delim>
Querydesiredtiltspeed:TS<delim>
Setdesiredtiltspeed:
TS<positions/sec><delim>
4.1.3Example
Thefollowingcommandsequenceinstructsthepanaxistomovetothefarleft,thenslowly
moverightandspeeduponthefly:
I *
PS1900 *
PP2600 *
A *
PS600 *
PP-2600 *
PS1900 *
30
SpeedControl
4.1.4SeeAlso
Positioncommands:Section3.1andSection3.2
Positionresolution(units):Section3.3
Speedbounds:Section4.5
4.2 RelativeSpeed
Specifydesiredaxisspeedinpositionspersecondrelativetothecurrentspeed,orquerythe
currentaxisspeed.Therelativespeed(changeordelta)ismeasuredinpositionspersecond
relativetothespeedbeforethecommandisissued.Forexample,ifthePTUismovingat1,000
positionspersecond,addingadeltaof300usingarelativespeedcommandwillincreasethe
speedto1,300positionspersecond.Youcanchangespeedsonthefly.Speedchangesthatwill
resultinaspeedoutsidethespeedboundsreturnanerrorandarenotexecuted.
4.2.1Commands
PD
TD
4.2.2Syntax
Querycurrentpanspeed:
Setdesireddelta(offset)panspeed:
PD<positions/sec><delim>
Querycurrenttiltspeed:
TD<delim>
Setdesireddelta(offset)tiltspeed:
PD<delim>
TD<positions/sec><delim>
4.2.3Example
Thefollowingcommandsequenceinstructsthepanaxistomovetothefarleft,thenslowly
moveright,decreasespeedontheflyby150positions/second,andthenquerythecurrent
speed:
I *
PS1900 *
PP2600 *
A *
PS600 *
PP-2600 *
PD-150 *
PD * Current Pan speed is 450 positions/sec
4.2.4SeeAlso
Positioncommands:Section3.1andSection3.2
Positionresolution(units):Section3.3
Speedbounds:Section4.5
31
ESeriesCommandReferenceManual
4.3 Acceleration
Specifyorqueryaxisaccelerationanddecelerationforspeedsabovethebasespeed.
Accelerationisspecifiedinpositionspersecondpersecond.
Note:ThePTUrequiresseveralsecondstorecomputetheinternaltablesused
torapidlyexecutespeedrampingwhencalculatingaccelerationand
deceleration.Accelerationthereforecannotbechangedonthefly.IfthePTUis
movingandyouattempttochangetheacceleration,thePTUwillimmediately
slowtoahalt.
4.3.1Commands
PA
TA
4.3.2Syntax
Querydesiredpanacceleration:PA<delim>
Setdesiredpanacceleration:
Querydesiredtiltacceleration: TA<delim>
Setdesiredtiltacceleration:
PA<positions/sec2><delim>
TA<positions/sec2><delim>
4.3.3Example
Thefollowingcommandsequenceillustratesdifferentratesofacceleration:
PA * Pan acceleration is 2000 positions/sec/sec
PB * Current Pan base speed is 1000 positions/sec
PU * Maximum Pan speed is 2902 positions/sec
A *
PP0 *
PS1900 *
PP2600 *
A *
PA1500 *
PP0 *
A *
4.3.4SeeAlso
Positionresolution(units):Section3.3
32
SpeedControl
4.4 Base(StartUp)Speed
Specifyorquerytheaxisbase(startup)speed,inpositionspersecond.Thedefaultbasespeed
is0positionspersecond.
Note:ThePTUrequiresseveralsecondstorecomputetheinternaltablesused
torapidlyexecutespeedrampingwhencalculatingspeeds.Thebasespeed
thereforecannotbechangedonthefly.IfthePTUismovingandyouattempt
tochangethebasespeed,thePTUwillimmediatelyslowtoahalt.
4.4.1Commands
PB
TB
4.4.2Syntax
Querydesiredpanbasespeed: PB<delim>
Setdesiredpanbasespeed:
Querydesiredtiltbasespeed: TB<delim>
Setdesiredtiltbasespeed:
PB<positions/sec><delim>
TB<positions/sec><delim>
4.4.3Example
Thefollowingcommandsequencehomesthepanaxis,movesitfarleft,changesthebaserate,
thenmovesbacktohome:
I *
PP0 *
PB * Current Pan base speed is 0 positions/sec
PP2600 *
A *
PB1000 *
PP0 *
A *
4.4.4SeeAlso
Positionresolution(units):Section3.3
Acceleration:Section4.3
Speedbounds:Section4.5
33
ESeriesCommandReferenceManual
4.5 SpeedBounds
Setandquerytheupperandlowerspeedboundsfordesiredspeedcommands.
Note:ThePTUrequiresseveralsecondstorecomputetheinternaltablesused
torapidlyexecutespeedrampingwhencalculatingspeeds.Theupperspeed
boundthereforecannotbechangedonthefly.IfthePTUismovingandyou
attempttochangetheupperspeed,thePTUwillimmediatelyslowtoahalt.
4.5.1Commands
PU
PL
TU
TL
4.5.2Syntax
Queryupperpanspeedlimit:
PU<delim>
Setupperpanspeedlimit:
PU <positions/sec><delim>
Querylowerpanspeedlimit:
PL<delim>
Setlowerpanspeedlimit:
PL<positions/sec><delim>
Queryuppertiltspeedlimit:
TU<delim>
Setuppertiltspeedlimit:
TU<positions/sec><delim>
Querylowertiltspeedlimit:
TL<delim>
Setlowertiltspeedlimit:
TL<positions/sec><delim>
4.5.3Example
Thiscommandsequencequeriestheupperandlowerpanspeedsandattemptstoexceedthose
limitsinordertoreturnanerrormessage.
PU * Maximum
PS3300 ! Pan
PS1985 *
PL * Minimum
PL20 ! Motor
PL40 *
4.5.4SeeAlso
Positionresolution(units):Section3.3
34
SpeedControl
4.6 SpeedControlModes
PTUpositionandspeedcontrolareindependentlycontrolledbydefault.Inthismode,speed
commandsrepresentunsignedmagnitudesthatdeterminehowfastthePTUtravelsbetween
independentlycommandedpositionswhilenotaffectingthecommandedpositionsthemselves.
Thismodeisappropriateforboth
purepositioncontrolmethods(whenpantiltcontrolisaffectedsolelybycommandingpan
tiltposition),and
hybridpositionvelocitycontrolmethods(whenbothpantiltpositionsandtherateatwhich
thePTUtravelsbetweenthemarecontrolled).
Note:ESeriesPTUscanbesettopurevelocitycontrolmodewhenuserlimits
arespecified.
YourPTUalsosupportscontrollingpanandtiltviaapurevelocitycontrolmodethatuses
signedchangesinthecommandedaxisspeed.Inthismode,thespeedcommandisasigned
valuewherethesigndeterminesthedirectionofmovementandthevaluedeterminesthe
speedofmovementinthatdirection,asfollows:
Ifthecommandedspeedisnegative,theaxisisautomaticallycommandedtotheminimum
axisposition.
Ifthecommandedspeedispositive,theaxisisautomaticallycommandedtothemaximum
axisposition.
Ifthecommandedspeedis0,axismovementishalted.
Inpurevelocitycontrolmode,issuingaspeedcommandforagivenaxiseffectivelyoverrides
anypositioncommandsthatarecurrentlybeingexecuted.Bydefault,thePTUdefaultstothe
independentcontrolmodeonpowerup;thespeedcontrolmodeisnotsavedwhenthePTU
powersdown.
4.6.1Commands
CI
CV
4.6.2Syntax
Querythecurrentspeedcontrolmode:
C<delim>
Settoindependentcontrolmode(default):
CI<delim>
Settopurevelocitycontrolmode:
CV<delim>
35
ESeriesCommandReferenceManual
4.6.3Example
ThiscommandsequenceplacesthePTUintothedefaultindependentcontrolmodeandpansto
position3000atarateof1,000positionspersecond.Whenplacedintothepurevelocity
controlmode,thePTUwillfinishontheoppositepanside.Thefactoryrestore(DF)command
restoresindependentcontrolmode.
CI *
PS1000 *
PP-3000 *
A *
CV *
PP-3000 *
PS1000 *
A *
PP * Current pan position is <pos>
DF *
RE *
(where<pos>isthecurrentpanposition)
4.6.4SeeAlso
Positioncommands:Section3.1andSection3.2
Speedcommands:Section4.1andSection4.2
36
5ContinuousAxis
Rotation
ThePTUD300,PTUD100,andPTUD48(withoptionalslipring)supportcontinuousrotationin
bothofthecontrolmodesdescribedinSection4.6.Thissectiondescribesthecommandsyntax
andsemanticsthatsupportcontinuousaxisrotation.Youdonotneedtodisablelimitsinorder
toenablecontinuousrotation.
5.1 ContinuousRotation E
Thesecommandsallowyoutoenableordisablecontinuous(360degree)panrotation.
5.1.1Commands
PCE
PCD
Note:Thesecommandssupersedetheprevious%%1CPTcommand.Executing
thiscommandonanESeriesPTUwillreturnanerrormessage.ESeriesPTUs
computethefastestsaferesetspeedbasedonuserspecifiedparameterssuch
aslimits,speed,acceleration,etc.
5.1.2Syntax
Toenablecontinuouspanrotation:PCE<delim>
Todisablecontinuouspanrotation:PCD<delim>
5.1.3Example
Thiscommandsequencedisablescontinuouspanning,resetsthepanaxis,queriesthepan
minimumandmaximumlimits,thenenablescontinuouspanningandstartscontinuousrotation
ataspeedof1,000positionspersecond.
PCD *
RP *
PN * Minimum Pan position is 6999
PX * Maximum Pan position is 7000
PCE *
CV *
PS1000 *
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38
6UserDefinedLimits
ESeriesPTUsallowuserdefinedlimitsoncommandedpositions.ThePTUmustperforma
powerupcalibrationtoestablishitsaxiscoordinates,afterwhichtheuserdefinedlimitsrestrict
allsubsequentmovementcommandsforthataxistothespecifiedallowablerangeofmotion.
Whenuserlimitsareactivated,movementscommandedoutsidethoselimitswillreturnan
errormessage.
Factorylimitsdefinethepossiblerangeofmotionallowedforanaxiswhenlimitsareenabled,
andthataxiscannottravelbeyondthoselimits.Userdefinedlimitsareasubsetoffactorylimits
thatcanbedefinedbyissuingcommandstothePTU.Youcanstoreuserlimitsandhavethe
PTUrestorethemonpowerup.Userlimitsmustcontainanorigin(0),whichmeansthatyou
cannotsetaminimumpositionabove0oramaximumpositionbelow0.
Note:IfyourPTUhasaninternalslipring,itiscapableoffull360degreepan
motion.
Origin
User Range
Factory Range
Hard Range
Negative max.
Positive max.
Non-Overlapping,
Non-Continuous
Range of Motion
Overlapping
Range of Motion
Figure2:Rangeofmotionandlimits
6.1 PositionLimitQueries
Querybothfactoryanduseraxispositionlimits.
6.1.1Commands
PN
PX
TN
39
ESeriesCommandReferenceManual
TX
PNU
PXU
TNU
TXU
6.1.2Syntax
Queryminimumpanfactory/userlimitposition:
PN<delim>
Querymaximumpanfactory/userlimitposition:
PX<delim>
Queryminimumtiltfactory/userlimitposition:
TN<delim>
Querymaximumtiltfactory/userlimitposition:
TX<delim>
Queryminimumpanuserdefinedlimitposition:
PNU<delim>
Querymaximumpanuserdefinedlimitposition:
PXU<delim>
Queryminimumtiltuserdefinedlimitposition:
TNU<delim>
Querymaximumtiltuserdefinedlimitposition:
TXU<delim>
Setminimumpanuserdefinedlimitposition:
PNU<value><delim>
Setmaximumpanuserdefinedlimitposition:
PXU<value><delim>
Setminimumtiltuserdefinedlimitposition:
TNU<value><delim>
Setmaximumtiltuserdefinedlimitposition:
TXU<value><delim>
Note:ThePN,PX,TN,andTXcommandsreturneitherfactorylimits(ifuser
limitsarenotenabled)oruserlimits(ifuserlimitsareenabled).
6.1.3Example
ThiscommandsequenceresetsthePTUtofactorydefaults,queriesthelimitsforeachaxis,
thencommandsamovementbeyondthespecifiedlimitstoreturnanerrormessageand
queriestheuserdefinedminimumpanposition.
R *
PN * Minimum Pan position is -3090
PX * Maximum Pan position is 3090
TN * Minimum Tilt position is -907
TX * Maximum Tilt position is 604
LE *
PP3200 ! Maximum allowable Pan position is 3090
PNU * Minimum Pan user defined position is -1000
40
UserDefinedLimits
6.1.4SeeAlso
Positionresolution(units):Section3.3
Achievinglargeraxisbounds:Section6.2
6.2 PositionLimitEnforcement
Thesecommandsspecifywhetherpositioncommandsbeyondthefactoryoruserdefinedlimits
areallowable.
Note:Factorylimitsareenabledandenforcedbydefault.
Whenlimitsareenabled,commandsbeyondthoselimitsreturnanerrormessageandarenot
executed.
Whenfactorylimitsareenabled,thePTUwillonlyreachthoselimitswhenithaslost
synchronization.Thiserrorconditionrequiresaunitreset,asdescribedinSection7.1.APTU
thatreachesafactorylimitsends!Por!Ttotheserialporttoindicatethatthespecifiedlimit
washit.
Note:Youmayseeoneormultiple!Por!Terrors.Thisisnormalbehavior.
Youmaydisablelimitenforcementwhenlargeroperationalpanrangesarerequired,as
describedinSection5.ThePTUacceptspositionalcommandsbeyondthespecifiedlimitswhen
limitsaredisabled.
EnablinguserdefinedlimitstriggersanerrormessagewhenthePTUiscommandedto
positionsbeyondthoselimits.ThePTUrespectsuserlimitsinbothindependentandpure
velocitymodes,asdescribedinSection4.6.
6.2.1Commands
LE
LU
LD
PN
PX
TN
TX
41
ESeriesCommandReferenceManual
6.2.2Syntax
Querycurrentlimitenforcement:
L<delim>
Enablefactorylimits:
LE<delim>
Enableuserdefinedlimits:
LU<delim>
Disablelimitenforcement:
LD<delim>
Setminimumpanuserdefinedlimit:
PN<panpos><delim> <status>
Setmaximumpanuserdefinedlimit:
PX<panpos><delim> <status>
Setminimumtiltuserdefinedlimit:
TN<tiltpos><delim> <status>
Setmaximumtiltuserdefinedlimit:
TX<tiltpos><delim> <status>
Note:Userdefinedlimitsmustbewithinthefactorylimitrange.
6.2.3Example
ThiscommandsequenceresetsthePTU,queriesthepanaxislimits,setsuserpanaxislimits,
enableslimitenforcement,commandsthePTUbeyondpanlimitstoreturnanerrormessage,
enablesuserlimitenforcement,andqueriesthepanpositionafterthePTUfinishespanningto
comewithintheuserlimits.
Note:Inthisexample,thePTUpanpositionisbeyondhespecifieduserlimit.In
ThePTUthereforeautomaticallypanstotheappropriateuserlimitwhenuser
limitenforcementisenabled.
R *
PN * Minimum Pan position is -3090
PX * Maximum Pan position is 3090
PNU-1000 *
PNU * Minimum user defined Pan Position is -1000
PXU1500 *
PXU * Maximum user defined Pan Position is 1500
LE *
L * Limit bounds are ENABLED
PP-3000 *
A *
PP * Current Pan position is -3000
PP3200 ! Maximum allowable Pan position is 3090
LU *
L * Limit user defined bounds are enabled
42
UserDefinedLimits
A *
PP * Current Pan position is -1000
6.2.4SeeAlso
Positioncommands:Section3.1.andSection3.2
43
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44
7UnitCommands
Thecommandsandquerieslistedinthischapterallowyoutoissuehousekeepingcommands
andqueriestothePTU.
7.1 ResetPTU
ThiscommandcontrolsPTUcalibration.Bydefault,thePTUresetsbothaxesautomatically
uponpowerup.YoumayalsoissuearesetmodecommandtocontrolhowthePTUresetson
powerupandallowyoutoresetindividualaxes.
AresetcalibrationallowsthePTUtodeterminethehomepositionandshouldthereforeoccur
beforeyouissueanyaxispositioncommands.AnoncalibratedPTUhasaxisminimumand
maximumpositionssetto0,meaningthatanypositioncommandsissuedwhenlimitsare
enabled(seeSection6.2)willreturnanerrormessage.
PayloadsbeyondthePTUshandlingcapacitymaycausetheresettofail.Alwaystestload
handlingabilityasdescribedinyourPTUUserManual.
7.1.1Commands
RD
RT
RP
RE
7.1.2Syntax
PerformResetcalibration:
R<delim>
ThePTUsavesthefollowingresetmodesforpowerupresetcontrol:
Disableresetuponpowerup:
RD<delim>
Resettiltaxisonly:
RT<delim>
Resetpanaxisonly:
RP<delim>
Resetbothpanandtiltaxesuponpowerup:
RE<delim>
Note:IssuinganREcommandfollowedbyaDScommand(seeSection7.2)
restoresthedefaultofcalibratingbothaxesatpowerup.
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7.1.3Example
Thiscommandsequenceswitchesresetmodesandperformsaresetcalibrationbetweeneach
modechange.
RT *
R *
RP *
R *
RD *
R *
RE *
R *
7.2 DefaultSave/Restore
SavecurrentaxissettingsasdefaultsthatarepreservedwhenthePTUispoweredup,and/or
restorefactorydefaults.
ThePTUcansaveandrestorethefollowingsettings:
Serialportsettings(Host,CHA,CHB)
Maximumspeed
Desiredspeed
Basespeed
Acceleration
Holdpower
Movepower
Monitorpositions
Continuousrotationmode
Stepmode
Userlimits
Echomode
CAUTION:THEPTUSAVESDEFAULTSTOEEPROM,WHICHHASALIFETIME
MAXIMUMNUMBEROFWRITESBEFOREMEMORYFAILUREOCCURS.WHILE
ITISVERYUNLIKELYTHAYYOUWILLREACHTHESELIMITS,YOUSHOULD
AVOIDEXCESSIVESAVINGOFCURRENTDEFAULTSDURINGTHEPTULIFE.
7.2.1Commands
DS
DR
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UnitCommands
DF
7.2.2Syntax
Savecurrentsettingsasdefaults:
DS<delim>
Restorestoreddefaults:
DR<delim>
Restorefactorydefaults:
DF<delim>
7.3 Echo
SpecifyorquerywhetherthePTUwillechoincomingcommandsfromthehost.
7.3.1Commands
EE
ED
7.3.2Syntax
Querycurrentechomode:
Enablehostcommandechoing: EE<delim>
Disablehostcommandechoing: ED<delim>
7.3.3Example
E<delim>
Thiscommandsequencequeriesthepanposition,disablesechoing,andreattemptsthequery
todemonstratethatechoingisdisabled.(22isnotreturnedwhenthepanpositionisqueried
afterdisablingechoing.)
PP * 22
ED *
PP *
7.4 Feedback
CommandandquerytheASCIIfeedbackreturnedbyPTUcommands.
7.4.1Commands
FV
FT
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7.4.2Syntax
EnableverboseASCIIfeedback: FV<delim>
EnableterseASCIIfeedback:
FT<delim>
QueryASCIIfeedbackmode:
F<delim>
7.4.3Example
Thiscommandsequencedemonstratesverboseandtersefeedback,thenqueriesthecurrent
feedbackmode.
FV *
PP * Current pan position is 0
FT *
PP * 0
F * ASCII terse mode
7.5 ControllerFirmwareVersion
QuerythePTUfirmwareversionandcopyrights.
7.5.1Commands
V
7.5.2Syntax
QueryPTUfirmwareversion:
V<delim>
7.5.3Example
ThiscommandqueriesthePTUfirmwareversion.
V * Pan-Tilt Controller v2.12.1d1(C14/E), (C)2003 Directed
Perception, Inc., All Rights Reserved
7.6 VoltageandTemperatureQuery
ThePTUincludessensorsforbothinputvoltageandinternaltemperature.
7.6.1Commands
O
7.6.2Syntax
QueryPTUvoltageandinternaltemperature:
O<delim>
7.6.3Example
ThiscommandqueriesthePTUinputvoltageandtemperature:
O * Input 30 VDC @ 86 degF
48
8PowerControl
TheconstantcurrentmotorsusedinFLIRPTUsallowyoutocontrolpowerconsumptionusing
simplecommands.Thisisusefulforbatterypoweredoperation,reducinginternal
temperatures,andextendingmotorlife.
8.1 HoldPowerMode
Setandquerythecurrentpowerlevelappliedtoaxismotorswhenholdingposition
(stationary).
RegularPoweristhehighestamountofholdpoweravailablebecausesteppermotorsgenerate
significantlymoreholdingtorquethandynamictorque.ThisallowsyoutousetheLowPower
holdmodeinmostsituations.Ifneeded,youmayuseRegularPowerholdmodeforbrief
periodswhenmaximumholdingtorqueisrequired.
CAUTION:EXTENSIVEUSEOFREGULARPOWERHOLDMODECANGENERATE
SIGNIFICANTHEATANDPOSSIBLYSHORTENPTUCOMPONENTLIFE.
Ifyourpayloadislightenoughand/orsuitablypositioned,youmaybeabletoshutpoweroff
completelywhenholding.Beforedoingthis,verifythatyourpayloadwillnotbackdrivethe
PTUwhenholdingunderallexpectedconditions.BackdrivingcausesthePTUtolosetrackof
panandtiltposition,whichrequiresaunitreset(SeeSection7.1).
Note:Backdrivingusuallyoccursonthetiltaxisbecauseofthehighertorque
loadsappliedbythepayload.
8.1.1Commands
PH
PHR
PHL
PHO
TH
THR
THL
THO
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8.1.2Syntax
Querypanholdpowermode:
Regularpanholdpowermode: PHR<delim>
Lowpanholdpowermode:
PHL<delim>
Offpanholdpowermode:
PHO<delim>
Querytiltholdpowermode:
TH<delim>
Regulartiltholdpowermode: PHR<delim>
Lowtiltholdpowermode:
PHL<delim>
Offtiltholdpowermode:
PHO<delim>
PH<delim>
8.1.3Example
Thefollowingcommandsequencequeriesthepanholdpowermode,setsthemodetoLOW,
andthenverifiesthechange.
PH * Pan in REGULAR hold power mode
PHL *
PH * Pan in LOW hold power mode
8.2 InMotionPowerMode
Setandquerythecurrentpowerlevelappliedtoaxismotorswheninmotion(transiting).
CAUTION:THEHIGHPOWERSETTINGISINTENDEDONLYFORINTERMITTENT
DUTYCYCLES(<20%).EXTENDEDHIGHPOWERCYCLESCANOVERHEATTHE
PTUMOTORS.
8.2.1Commands
PM
PMH
PMR
PML
TM
TMH
TMR
TML
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PowerControl
8.2.2Syntax
Querypanmovepowermode:
PM<delim>
Highpanmovepowermode:
PMH<delim>
Regularmovepowermode:
PMR<delim>
Lowpanmovepowermode:
PML<delim>
Querytiltmovepowermode:
TM<delim>
Hightiltmovepowermode:
TMH<delim>
Regulartiltmovepowermode:
TMR<delim>
Lowtiltmovepowermode:
TML<delim>
8.2.3Example
Thefollowingcommandsequencequeriesthepanmovepowermode,setsthemodetoLOW,
andthenverifiesthechange
PM * Pan in REGULAR move power mode
PML *
PM * Pan in LOW move power mode
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9HostSerialPort
SerialPTUcommunicationsalwaysusethefollowingsettings:
Startbits:1
Stopbits:1
Databits:8
Handshaking:None
Inaddition,youmayspecifythefollowingserialcommunicationssettings:
Baudrate(upto115200baud;defaultis9600)
Parity(defaultisnone)
9.1 BaudRate
ThiscommandspecifiesthebaudratefortheRS232/RS485serialcommunicationsbetween
thePTUandthehostcomputerwhenthePTUisnotnetworkedandhasthedefaultunitIDof0.
Note:SeriallynetworkedPTUsautomaticallyusethedefaultcommunications
settingsdescribedabove.
Note:ESeriesPTUsdonotsupporthostbytedelays.
9.1.1Commands
@
9.1.2Syntax
Specifybaudanddefault:
@(<baud>,<startup default>)<delim>
where:
<baud>maybe600,1200,2400,4800,9600,19200,or115200bitspersecond.
<startup default>maybeeitherT(toapplyyourspecifiedbaudatpowerup)orFto
usethedefault9600baud.
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ESeriesCommandReferenceManual
9.1.3Example
ThefollowingcommandsetsthehostserialportRS232/RS485to19200baudwith8databits
perbyte,noparity,nohandshaking,andkeepsthepowerupbaudrateatthedefault9600.
@(19200,F) *
ThefollowingcommandsetsthehostserialportRS232/RS485to19200baudwith8databits
perbyte,noparity,nohandshaking,andchangesthepowerupbaudto19200.
@(19200, T) *
9.1.4SeeAlso
SettingthePTUcontrollerunitID:Section12.1
54
10 ExpandedI/O
Manyusagescenariosrequireadditionalserialunitsthatareattachedtoorlocatednearthe
PTU.Thesedevicescanbeconnecteddirectlytothehostcomputer,whichrequiresadditional
serialportsonthehostplusadditionalserialcabling.
SomeESeriesPTUconfigurationsofferanoptionalExpandedInput/Output(EIO)optionthat
addsCHA/CHB/TTLlinesthroughthepayloadinterface.PleaserefertoyourPTUUserManual
formoreinformationaboutavailablelinesandwiring.
ThePTUcontrolsserialportexpansionchannels.YoumayconfigureCHAandCHBRS232
communicationsforexpandedportbaudrates,databits,parity,andhandshaking.Eachchannel
operatesindependently,andthePTUfullybuffersbidirectionaldataflowtoallowfor
communicationsratemismatch.PointtopointcommunicationsbetweenthePTUserialport
andanexpansionchannel(e.g.,CHB)isinitiatedbythehostcomputer.Pointtopoint
communicationsisbrokenuponcommandfromthehostcomputer.
Communicationsfromaserialdeviceattachedtoanexpansionserialchannelisbufferedbyat
least200characters.Thisbuffercanoverflowwhenhardwarehandshakingisnotused;verify
thatattacheddevicesdonotexceedthebuffersizebeforethehostcomputercanreadtheir
serialdata.
10.1 SerialCommunicationsTarget
Thesecommandsestablishpointtopointcommunicationsbetweenthehostcomputer
connectedtothePTUserialportandeithertheexpandedserialport(CHA/CHB)orPTU.
SelectinganexpansionportchannelswitchesthehostcomputercommunicationsfromthePTU
totheexternaldeviceconnectedtotheselectedport.Toresumecommunicationswiththe
PTU,thehostcomputerissuesanothercommandthatselectsthePTUasthedesired
communicationtarget.
10.1.1
@A
@B
10.1.2
Note:Theexpansionportbaudratedoesnotaffectcommunicationswiththe
serialportconnectingthehostcomputertothePTU.ThedefaultPTUserial
communicationsbaudrateis9600.
Commands
Syntax
EstablishcommunicationswithCHA:
@A<delim>
EstablishcommunicationswithCHB:
@B<delim>
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ESeriesCommandReferenceManual
ResumecommunicationswiththePTUcontroller:
@<delim>
10.1.3
Example
ThefollowingcommandsequenceestablishescommunicationswiththePTU,switches
communicationschannels,thenresumescommunicationswiththePTU.
@ *
PP *
@A *
This
@B *
This
@A20
This
@ *
PP *
10.1.4
SeeAlso
Tosetexpandedserialportcommunicationsparameters:Section10.2
10.2 ExpandedSerialPort
Thesecommandsspecifythecommunicationsparametersfortheselectedexpandedserial
port.TheydonotaffectcommunicationsbetweenthePTUandthehostcomputer.
10.2.1
@A
@B
10.2.2
Commands
Syntax
SpecifyCHAparameters:
@A(<baud>,<databits>,<parity>,<handshaking>)<delim>
SpecifyCHBparameters:
@B(<baud>,<databits>,<parity>,<handshaking>)<delim>
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ExpandedI/O
Where:
AandBindicateRS232CexpansionportCHAandCHB
<baud>maybe300,1200,2400,4800,9600,19200,or115200bitspersecond
<databits>maybe7or8databitsperbyte
<parity>iscaseinsensitiveandmaybeN(none),E(even),orO(odd)
<handshaking>isnotcasesensitiveandmaybe:
N:(none)
H:(hardwarehandshaking)
X:(XON/XOFFsoftwarehandshaking)
F:(bothhardware/softwarehandshaking)
10.2.3
Example
ThefollowingcommandsetstheexpansionserialportchannelCHAtoabaudrateof9,600
bits/secondwith8databitsperbyte,noparity,andnohandshaking:
@A(9600,8,N,n) *
ThefollowingcommandsetstheexpansionserialportchannelCHBtoabaudrateof19,200
bits/secondwith8databitsperbyte,noparity,andhardwarehandshaking:
@B(19200,8,n,H) *
10.2.4
SeeAlso
Tocommunicatewithanexpansionserialportchannel:Section10.1
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58
11 StepModes
ESeriesPTUssupportvariousstepmodesforpreciseresolutioncontrol.
11.1 ConfiguringStepMode
Youmayconfigureseparatestepmodesforthepanandtiltaxes,includingautomaticstepping.
Whenautomaticsteppingisenabled,thecontrollerwillautomaticallyselectthecorrectstep
modebasedonthePTUscurrentspeedandprocessallunitsasthoughtheunitwereineighth
stepmodewhileallowingthePTUtomoveatthehigherspeedsallowedbythehalfstep
setting.
11.1.1
Commands
11.1.2
Syntax
W<axis><resolution>
where
<axis>canbeeitherT(Tiltaxis)orP(Panaxis)
<resolution>canbeeitherF|H|Q|E|A(forFull,Half,Quarter,EighthandAuto
stepresolution)
11.1.3
Example
ThefollowingcommandsetstheTiltaxistoeighthstepresolutionandrecalibratesthetiltaxis.
WTE *
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12 PTUSerialNetworks
Thissectiondescribesthecommandsusedtoconfigure,set,andquerythePTUserialnetwork
configuration.
12.1 UnitNetworkID
SpecifyorquerythePTUcontrollernetworkunitIDnumber.ThedefaultPTUunitIDis0when
thePTUisnotnetworkedandisinthedefaultinteractivecommunicationsmode.Besureto
assignauniqueunitIDnumbertoeachPTUonthenetwork.AssigningaunitIDof0toaPTU
placesthePTUbackinthedefaultinteractive(nonnetworked)communicationmode.
12.1.1
Commands
12.1.2
Syntax
QuerycurrentPTUnetworkunitID:
SetPTUtointeractivemode(nonnetworked): U0<delim>
SetPTUnetworkunitID:
U<delim>
U<unit_ID><delim>
where<unit_ID>isbetween1and127.
12.1.3
Example
ThefollowingqueriesaPTUunitID,thensetsandstorestheunitIDconfigurationsothatthe
PTUwillusethenewIDnumberwhenitpowersup.
U * Unit ID is 0
U1 *
U * Unit ID is 1
U1 *
DS *
12.1.4
SeeAlso
UnitSelect/Deselect:Section12.2
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ESeriesCommandReferenceManual
12.2 UnitSelect/Deselect
ThiscommandselectsthePTUtobecontrolled.APTUwillexecuteincominghostcomputer
commandsonlywhentheprecedingunit_IDselectedbythehostisequaltoeither:
ThePTUsassignedunitID
12.2.1
Note:Ahostcomputercanissuecommandsforsimultaneousexecutionbyall
networkedPTUsbyusingunitID0;however,onlyonePTUcanprovide
feedbacktothehostcomputeratatime.APTUonlyprovidesfeedbacktothe
hostcomputerwhenitsIDisselectedbythecomputer,andbuffersoutgoing
datauntilpolleduptoabout100bytes.
Commands
_<unit_ID>
12.2.2
Syntax
SelectaPTUforbidirectionaldata:
_<unit_ID><delim>
BroadcasttoallnetworkedPTUs:
_0<delim>
where<unit_ID>isbetween1and127.
12.2.3
Example
ThefollowingcommandsequenceselectsPTU#1,setsitspanpositionto300,thenselectsall
networkedPTUsandsimultaneouslysetstheirpanpositionsto300.
_1
PP300 *
_0
PP300
_1
*
12.2.4
SeeAlso
UnitNetworkID:Section12.1
62
13 IPNetwork
ThecommandsinthischaptersupporttheEthernetconnectivityincludedwithESeriesPTUs.
Note:DseriesPTUsandearlierdonotsupportEthernetconnectionsorthe
commandsdescribedinthischapter.
ESeriesPTUsaredesignedtoacceptanIPaddressassignedbyaDHCPserverbydefault.Ifthis
fails,thePTUwillattemptadirectconnectionwiththehostcomputer.Youmaydeterminethe
PTUIPaddressusingthePTUFinderutilityincludedontheCDthatshippedwithyourPTU.
PleaserefertoyourPTUUserManualformoreinformation.
13.1 MACAddress E
QueriesorsetsthePTUMediaAccessControl(MAC)address.
13.1.1
Commands
NA
13.1.2
Syntax
QuerycurrentPTUMACaddress:
NA<delim>
SpecifyPTUMACaddress:
NA<mac_address><delim>
Where<mac_address>isthedesiredMACaddress.AMACaddressconsistsof6pairsof
hexadecimalnumbersseparatedbycolons.Forexample,34:A0:CB:25:12:3E.
13.1.3
Example
ThefollowingcodesequencequeriesthePTUMACaddress,changesthataddress,andverifies
thatthechangehasoccurred.
NA * MAC address is D9:38:E8:21:94:AF
NA34:A0:CB:25:12:3E *
NA * MAC address is 34:A0:CB:25:12:3E
13.2 IPAddress E
QueriesorsetsthePTUInternetProtocol(IP)address.
13.2.1
Commands
NI
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ESeriesCommandReferenceManual
13.2.2
Syntax
QuerycurrentPTUIPaddress:
SpecifyPTUIPaddress:
NI<ip_address><delim>
NI<delim>
Where<ip_address>isthedesiredIPaddress.AnIPaddressconsistsof4groupsof13
decimalnumbersseparatedbyperiods,suchas192.168.1.1.
13.2.3
Example
ThefollowingcodesequencequeriesthePTUIPaddress,changesthataddress,andverifies
thatthechangehasoccurred.
NI * IP address is 192.168.1.1
NI10.0.0.3 *
NI * IP address is 10.0.0.3
13.3 NetworkMode E
QueriesorsetsthenetworkIPaddressingmode.Instaticmode,thePTUhasafixedIPaddress
thatcanbespecifiedusingtheNIcommand.Indynamicmode,thePTUacceptsanIPaddress
assignedbyaDynamicHostControlProtocol(DHCP)server.ManyEthernetrouterscontain
DHCPservers.
13.3.1
NM
NMD
NMS
13.3.2
Commands
Syntax
QuerycurrentPTUnetworkmode:
NM<delim>
Specifydynamicnetworkmode:
NMD<delim>
Specifystaticnetworkmode:
NMS<delim>
13.3.3
Example
Thefollowingcodesequencequeriesthenetworkmode,queriesthePTUIPaddress,switches
thenetworkmodetodynamic,andthenqueriesthePTUIPaddressagain.
NM * Network mode is static
NI * IP address is 192.168.1.1
NMD *
NI * IP address is 10.0.0.3
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IPNetwork
13.4 NetworkHostName E
QueryorspecifyanetworkhostnameforthePTU
13.4.1
Commands
NN
13.4.2
Syntax
QuerythePTUhostname:
NN<delim>
SpecifythePTUhostname:
NN<hostname><delim>
Where<hostname>isthenameofthePTU(suchasD48).
13.4.3
Example
ThefollowingcommandsequencequeriesthePThostname,specifiesanewname,andthen
verifiesthechange.
NN * Current host name is D48
NN UNIT1 *
NN* Current host name is UNIT1
13.5 NetworkMask E
QueryorspecifyaPTUnetwork(subnet)mask.AsubnetmaskdeterminesthesubnetanIP
addressbelongsto.
13.5.1
Commands
NS
13.5.2
Syntax
QueryPTUnetworkmask:
NS<delim>
SpecifyPTUnetworkmask:
MS<subnet><delim>
where<subnet>isthedesirednetworkmask.Anetworkmaskconsistsof4groupsof13
decimalnumbersseparatedbyperiods.Forexample,255.255.255.0.
13.5.3
Example
ThiscommandsequencequeriesthePTUnetworkmask,specifiesanewnetworkmask,and
thenverifiesthechange.
NS * The network mask is 255.255.0.0
NS255.255.255.0 *
NS * The network mask is 255.255.255.0
65
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