FLIR PTU-5 User Manual

High-Performance

Pan-Tilt Unit

MODEL: PTU-5

VERSION: 1.00

REVISION DATE: March 31, 2017

User Manual

PTU-5 User Manual

DOCUMENT CONTROL

Date Author Rev. # Changes

03/2017 A. Hernandez 1.00 Initial production release

All rights reserved. Protected under numerous U.S. patents, including 5463432 and 5802412 with other patents pending. No part of this book may be reproduced, stored in a retrieval system, or transcribed in any form or by any means including but not limited to electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of FLIR Systems, Inc.

The information in this manual is subject to change without notice and, except for the warranty, does not represent a commitment on the part of FLIR Systems, Inc. FLIR Systems, Inc. cannot be held liable for any mistakes in this manual and reserves the right to make changes.

Tabl e of Co nten ts

1 - Introduction ................................................................................................................................. 1

1.1 - General PTU Features ........................................................................................................................ 1

1.2 - PTU-5 Features .................................................................................................................................. 2

1.3 - Applications ....................................................................................................................................... 2

1.4 - What’s Different About the PTU-5 .................................................................................................... 3

1.5 - About This Manual ............................................................................................................................ 3

1.5.1 - Formatting Conventions ........................................................................................................... 3

1.6 - Model Number .................................................................................................................................. 4

1.7 - PTU Package Contents ...................................................................................................................... 4

1.8 - Related Documentation .................................................................................................................... 5

1.9 - Additional Resources ......................................................................................................................... 5

1.10 - Technical Support ............................................................................................................................ 5

2 - Safety ........................................................................................................................................... 7

2.1 - Overview ........................................................................................................................................... 7

2.2 - Safety Warnings and Cautions ........................................................................................................... 7

3 - Quick Start ................................................................................................................................... 9

3.1 - System Overview ............................................................................................................................... 9

3.2 - Installation Components ................................................................................................................. 10

3.3 - Basic Setup ...................................................................................................................................... 10

3.4 - Ethernet Connection ....................................................................................................................... 11

3.5 - Serial Connection ............................................................................................................................ 13

4 - Installation & Setup .....................................................................................................................15

4.1 - Mounting the Unit ........................................................................................................................... 15

4.2 - Wiring and Connectors .................................................................................................................... 16

4.2.1 - Mechanical Overview ............................................................................................................. 16

4.2.2 - Wiring ..................................................................................................................................... 16

4.3 - Power Sources ................................................................................................................................. 17

4.4 - Fusing .............................................................................................................................................. 17

4.5 - Shielding .......................................................................................................................................... 17

4.6 - Interface and Host Settings ............................................................................................................. 18

4.6.1 - Ethernet Connection .............................................................................................................. 18

4.6.2 - RS-485 Electrical Connection .................................................................................................. 18

4.7 - Initial Power-Up and Test ................................................................................................................ 19

4.7.1 - Web Interface ......................................................................................................................... 19

4.7.2 - Terminal Interface .................................................................................................................. 19

4.8 - Payload Mounting ........................................................................................................................... 20

4.8.1 - Side Bracket Attachment ........................................................................................................ 20

4.8.2 - Payload Attachment ............................................................................................................... 21

iii

PTU-5 User Manual

5 - Configuring & Programming ....................................................................................................... 25

5.1 - Range of Motion .............................................................................................................................. 25

5.1.1 - Default Limits ......................................................................................................................... 26

5.2 - Resolution and Step Modes ............................................................................................................ 26

5.2.1 - Resolution ............................................................................................................................... 27

5.3 - User-Programmable Settings .......................................................................................................... 27

5.3.1 - High-Speed Operation ............................................................................................................ 27

5.3.2 - Heavy-Payload Operation ....................................................................................................... 28

5.3.3 - Battery Powered Operation ................................................................................................... 29

F - Electrical Specifications ................................................................................................................. 1

6.1 - 26-Pin Base Connector ...................................................................................................................... 2

6.2 - 12-Pin Payload Connector ................................................................................................................. 3

6.3 - 26-Pin Breakout Cable ....................................................................................................................... 4

6.4 - PTU-5 Internal Wiring ........................................................................................................................ 5

G - Mechanical Drawings ................................................................................................................... 1

H - Networking .................................................................................................................................. 1

8.1 - Ethernet ............................................................................................................................................. 1

8.2 - Serial .................................................................................................................................................. 1

8.2.1 - Serial Networking Connections ................................................................................................ 2

8.2.2 - ASCII Command Syntax ............................................................................................................ 3

8.2.3 - Serial Command List ................................................................................................................. 4

I - Troubleshooting ............................................................................................................................ 1

9.1 - Mechanical ........................................................................................................................................ 1

9.2 - Power ................................................................................................................................................ 1

9.3 - Networking ........................................................................................................................................ 1

9.4 - Technical Support .............................................................................................................................. 2

J - Regulatory & Warranty Information .............................................................................................. 1

10.1 - Regulatory Information ................................................................................................................... 1

10.2 - About FLIR Systems, Inc. ................................................................................................................. 2

10.3 - Limited Warranty ............................................................................................................................ 3

1 - Introduction

The PTU-5 provides the fastest, most accurate pan-tilt unit in its size class that allows you to mount and aim cameras, antennas, lasers, and other payloads. This User Manual contains setup, general configuration, wiring, and mechanical interface information that is intended for use by design engineers and integrators who are configuring, installing, and programming the PTU. Please see “Related

Documentation” on page 5 for a list of other documents related to FLIR PTUs.

1.1 - General PTU Features

The PTU-5 offers the following general features:

• Extra small, rugged, portable MIL-spec design with low weight and high performance

• Turn on and begin slewing to track moving targets in seconds (<5 seconds startup time)

• Reduced calibration movement (PTU-5 does not need to home to 0,0).

• Programmable ranges of motion

• Output shaft encoders ensure reliability and accuracy

• High holding torque with no “droop” on power off

• MIL-STD shock and vibration tested

• Flexible design supports a wide range of applications and sensors

• Shared common firmware and command set with other FLIR PTUs

• 26-pin base connector for simplified wiring with direct connections to power and the host PC

• Slip ring for continuous 360° pan operation with no external payload cables.

• Serial communication capability via terminal or computer

• Simple ASCII command mode

• High-speed binary command interface

• Constant-current motor drives for increased performance and control

• Flexible connectivity options

• Unregulated 12-30 VDC power input

PTU-5 User Manual

1.2 - PTU-5 Features

In addition to the general features listed above, the PTU-5 offers the following features:

• Payload (top mount): 5lbs

• Payload (side mount): 6lbs (two 3lb loads)

• Dimensions: 6.2” x 4.9” x 6” (approximately 158mm x 125mm x 153mm)

• Swept volume: 0.17 cubic feet, with no external motor cable

• Weight: 4lbs (approximately 1.81kg)

• Pan and Tilt Resolution: 0.005° in eighth-step mode

• Accuracy/Repeatability: 0.1°

• Range of Motion: 360° continuous pan, +/-180° tilt (side mount only)

• Axis Speeds: 100°/second continuous

• Slip Ring Channels: 11 (including power, video, serial, and Ethernet)

• Connectors: HD26 (base), M12 (payload; Phoenix Contact #1411979, mates to #1411987)

• Voltage: 12-30VDC input, 24VDC internal, with built-in reverse polarity protection

Please refer to the PTU-5 Product Datasheet for complete specifications.

1.3 - Applications

The PTU-5 is well suited for the following applications:

• Mid- and short-range surveillance systems

• Automated detection and tracking

• Visible and thermal cameras

• Industrial automation

• Harbor and port security

• Border security & law enforcement

• Highway & transportation monitoring

• Military special operations

• Robotics & computer vision.

Chapter 1: Introduction

1.4 - What’s Different About the PTU-5

Users who are familiar with other FLIR pan tilts will notice the following differences in the PTU-5:

• The PTU-5 uses different connectors than those used on other PTUs; however, these connectors also conform to established industry standards.

• The PTU-5 uses a hybrid drive with both belts and gears.

• Encoders included on the output axes allow the PTU-5 to reset to locations other than home.

• The encoders correct for backlash and other nonlinearities for a more accurate output angle measurement.

• The Web interface shows motion in both degrees and steps.

1.5 - About This Manual

This section describes the formatting conventions and information contained in this manual.

1.5.1 - Formatting Conventions

This manual uses several formatting conventions to present information of special importance.

Lists of items, points to consider, or procedures that do not need to be performed in a specific order appear in bullet format:

•Item 1

•Item 2

Procedures that must be followed in a specific order appear in numbered steps:

1. Perform this step first.

2. Perform this step second.

Specific keyboard keys are depicted in square brackets and are capitalized, for example: [ESC]. If more than one key should be pressed simultaneously, the notation will appear as [KEY1]+[KEY 2], for example [ALT]+[F4].

Interface elements such as document titles, fields, windows, tabs, buttons, commands, options, and icons appear in bold text.

Menus and submenus have the notation Menu>Submenu. For example, “Select File>Save” means that you should first open the File menu, and then select the Save option.

Specific commands appear in standard Courier font. Sequences of commands appear in the order in which you should execute them and include horizontal or vertical spaces between commands.

PTU-5 User Manual

This manual also contains important safety information and instructions in specially formatted callouts with accompanying graphic symbols:

WARNING: CAUTIONS ALERT YOU TO THE POSSIBILITY OF PERSONAL INJURY IF THESE INSTRUCTIONS ARE NOT FOLLOWED.

CAUTION: CAUTIONS ALERT YOU TO THE POSSIBILITY OF EQUIPMENT OR PROPERTY DAMAGE IF THESE INSTRUCTIONS ARE NOT FOLLOWED.

Note: Notes provide helpful information.

1.6 - Model Number

Each PTU unit includes a model number that is located on the base of the unit. This number lists the options present on that particular unit. The PTU-5 model number is 445-0005-01-00.

1.7 - PTU Package Contents

Your PTU package includes the following items:

• PTU-5 unit

• AC/DC power supply with cord (PT-PS-30V-NA)

• Payload mounting brackets (top or side)

• Mating connector for payload (Phoenix Contact #1411987)

• Breakout cable (308-0278-XX-00, where XX is the cable length in feet); available in various lengths

• USB to RS-485 adapter cable

• PTU-5 Series User’s Manual (this document)

• Pan-Tilt E Series Command Reference Manual

• CD containing the PTU Finder utility and other documentation.

Chapter 1: Introduction

1.8 - Related Documentation

The following additional documentation is available for your PTU:

• PTU Configuration Guide: options and accessories ordering guide for your specific PTU model

• PTU Product Datasheet: product specifications for your specific PTU model

• Pan-Tilt E Series Command Reference Manual: command instructions

1.9 - Additional Resources

FLIR Systems, Inc. also maintains a technical support Web site with additional resources for customers in the Support section at www.FLIR.com/MCS. Resources include electronic copies of user manuals, firmware downloads, 3D CAD models, technical notes, and other information.

1.10 - Technical Support

FLIR Systems, Inc. provides a range of technical support options:

• Email: MCS-Support@flir.com

• Web: www.FLIR.com/MCS

• Phone: (888)747-3547

The preferred method of contacting Technical Support is via email, which helps ensure proper dispatching and tracking to address your questions promptly.

When contacting Technical Support, please provide the following information:

• PTU model and configuration

• Payload (Please include photos, if possible.)

• Parameter settings

• Description of issue/symptoms

PTU-5 User Manual

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2 - Safety

2.1 - Overview

This chapter contains important safety instructions. You must read, understand, and comply with all of these safety instructions in order to protect both persons and property. The benefits of a safe installation include increased usability, reliability, and reduced damage to the PTU, payload, and/or other property.

2.2 - Safety Warnings and Cautions

• PTU installation and setup should be only be performed by qualified personnel.

• The installation must comply with all applicable codes (such as building codes, marine safety codes, etc.).

• The installation must be free of obstructions throughout the entire range of pan-tilt motion. When planning the installation, make sure to take the payload into account to ensure that the PTU and payload remain unobstructed at all times.

• All mounting methods and materials must be capable of supporting at least four times the combined weight of the PTU, mounted payloads, and cabling.

• Corrosion-resistant hardware (such as stainless steel screws) must be used for all outdoor installations.

• Do not install the PTU in any location that exceeds the PTU’s environmental specifications.

• Always incorporate a readily accessible power disconnect into the installation wiring. (See “Basic

Setup” on page 10 and “Wiring and Connectors” on page 16.)

• Removing power by disconnecting the power cable or cable harness is not recommended and can result in damage to the system.

• All service procedures must be performed by qualified service personnel in accordance with all applicable instructions.

• If the PTU is damaged, immediately remove power and contact FLIR Systems, Inc.

• Only use replacement parts recommended by FLIR Systems, Inc.

• Use caution when lifting the PTU and/or payload.

PTU-5 User Manual

• Keep all persons and objects well away from the PTU panning and tilting radius with payload installed.

• Do not touch or otherwise handle the PTU while in motion or if there is a possibility of motion. Always remove power before servicing the PTU and/or payload.

3 - Quick Start

Basic PTU Connections

- Ethernet – 4C

- RS-485 Serial (w/USB adapter)

Host

PTU

The PTU provides direct Ethernet and serial control for all motions. You may also use a joystick or proprietary controller.

This chapter helps you power up your PTU and test direct communications from a host computer.

3.1 - System Overview

The PTU includes an integrated controller that can be accessed using a Web/Ethernet interface. The controller will also accept control commands from any host computer over a serial (RS-485) connection. The basic connections are:

•DC power

• Pan-tilt control via either Ethernet or RS485 serial connection

The PTU also allows payload pass-through wiring that internally routes payload signals (payload power, video, etc.) from a single stationary connector in the PTU base to a single payload connector that moves with your payload.

Figure 3-1: Pan-Tilt System Overview

You may control the PTU from any host computer using either the built-in Web interface or the ASCII protocol described in the included Pan-Tilt E Series Command Reference Manual. The PTU also supports a binary protocol via a C Software Development Kit (PTU-SDK) for high speed, hard real-time controls such as tracking. Drivers are also available using third-party software packages such as LabVIEW and digital video control systems.

PTU-5 User Manual

3.2 - Installation Components

A complete PTU-5 system configuration requires the following components:

• PTU-5 (not shown)

• AC/DC power supply (PT-PS-INT-30V) – Optional – (1)

• Breakout cable (308-0278-XX-00) – Optional – (2)

• USB to RS-485 converter (PTU-CONVUSB-RS485) – Optional – (3)

• Side payload mounting brackets (2612664-00)– Optional – (4)

• PTU-5 User’s Manual (this document; 5)

• Pan-Tilt E Series Command Reference Manual (5)

3.3 - Basic Setup

To perform a basic PTU setup and installation:

1. Mount the PTU securely to a lab bench, tripod, or other stable platform. Verify that there is enough clearance around the unit. See “Mounting the Unit” on page 15 for detailed mounting instructions.

2. Attach either the optional breakout cable or customersupplied cable to the 26-pin connector at the base of the PTU by inserting the cable into the connector and then tightening the mounting screws (one each on the left and right sides of the connector).

CAUTION: DISCONNECTING THE CABLE WHILE THE PTU IS POWERED ON CAN DAMAGE THE UNIT. ALWAYS POWER DOWN THE PTU BEFORE DISCONNECTING THE CABLE.

Chapter 3: Quick Start

3. Connect the AC plug on the power supply into a power strip with a switch, and then connect the DC connector to either the breakout cable or customer-supplied cable.

4. Establish Ethernet or serial wiring to the PTU as appropriate for your needs.

- Please see “Ethernet Connection” on page 11 for Ethernet/Web instructions.

- Please see “Serial Connection” on page 13 for serial/ASCII instructions.

5. Power on and test the PTU.

6. Attach a payload to the top or side brackets.

CAUTION: THE PTU-5 DOES NOT SUPPORT SIMULTANEOUS MOUNTING OF PAYLOADS ON BOTH THE TOP AND SIDE BRACKETS.

3.4 - Ethernet Connection

The PTU contains a Web-based interface that allows you to test and program various functions. This interface is accessible via the Ethernet connection on the breakout cable.

Note: You may use simultaneous Ethernet and serial connections.

To connect, power on, and test the PTU using the Ethernet connection and Web interface:

1. Connect one end of an RJ-45 Ethernet cable to the PTU, and then connect the other end of the cable to the host computer, either directly or through a router/hub.

2. Connect a power source to the PTU, making sure to incorporate a readily accessible power disconnect (such as a power strip) to allow safe power removal from the system. See “Fusing” on

page 17.

CAUTION: REMOVING POWER BY PULLING THE PLUG CAN DAMAGE THE PTU.

3. Ensure that the PTU is clear to move in both axes (pan and tilt) without hitting any obstructions before applying power.

WARNING: HITTING AN OBSTACLE WHILE THE PTU IS IN MOTION COULD CAUSE A MOUNTING OR OTHER STRUCTURAL FAILURE THAT COULD RESULT IN INJURY OR DEATH.

4. Power on the PTU. When the PTU-5 is powered up, it goes through a short reset in both axes. The amount of motion on reset will vary at different areas of the axis, but generally it will move no more than 12 degrees in either direction.

PTU-5 User Manual

5. Launch a Web browser. The PTU supports modern versions of the Microsoft Internet Explorer®, Mozilla® Firefox®, and Google® Chrome® browsers with JavaScript enabled.

6. Run the PTU Finder utility from the CD included with your PTU package. A list of the individual PTUs currently connected to the network and their corresponding IP addresses will appear in the application window.

Note: If you have simultaneous Ethernet and serial connections to a PTU, you may enter NI in the terminal to retrieve the IP address of the PTU.

7. In your browser, navigate to the appropriate IP address (such as http:/ /192.168.1.101). A web page appears when you are connected to the selected PTU. The PTU Web interface allows you to configure the network interface, configure various parameters, and control the PTU.

8. Navigate to the PTU Control page.

9. Click the arrows to pan and tilt the PTU and verify that it is working properly. You can use the Units radio buttons to specify the units to use (either Degrees or Steps).

Please refer to the Pan-Tilt E Series Command Reference Manual for instructions on using the Web interface.

Chapter 3: Quick Start

RS-232 to RS-485

adapter

DB9 to DB25 adapter

F-F adapter

RS-232

Phone cord

3.5 - Serial Connection

Note: You may use simultaneous Ethernet and serial connections.

To connect, power on, and test the PTU using the serial interface:

1. Connect the PTU as follows:

- Attach the DB25 to DB9 converter on one side of the RS-232 to RS-485 converter.

- Attach one end of the four-pin RJ-11 phone cable to the other side of the RS-232 to RS-485 adapter.

- Set the switches on the RS-232 to RS-485 converter to T RxON and DCE.

- Attach the four-pin RJ-11 female-to-female adapter to the other end of the phone cable. This is important because the adapter rearranges the pins; the PTU will not function if the adapter is not attached correctly.

- Connect the RS485 connector from the breakout cable into the adapter.

- Provide power to the converter through the included power supply.

- Alternatively, you can connect the USB to RS-485 cable (PTU-CONV-USB-RS485) to a USB port on the host PC and the RJ-11 connector on the breakout cable.

2. Attach a standard RS-232 cable between a host PC and the DB9F connector on the PTU labeled RS-

232.

3. Open a terminal program such as HyperTerminal® or TeraTerm®.\

4. Create a new connection with the following communications parameters:

- 9600 baud

-8 data bits

- 1 stop bit

-no parity

- no handshaking

Note: HyperTerminal is available with Microsoft® Windows XP® and previous versions. You may download TeraTerm from http://ttssh2.sourceforge.jp/.

+ 37 hidden pages

FLIR PTU-5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Pan-Tilt Unit

User Manual

1 - Introduction

1.1 - General PTU Features

1.2 - PTU-5 Features

1.3 - Applications

1.4 - What’s Different About the PTU-5

1.5 - About This Manual

1.5.1 - Formatting Conventions

1.6 - Model Number

1.7 - PTU Package Contents

1.8 - Related Documentation

1.9 - Additional Resources

1.10 - Technical Support

2 - Safety

2.1 - Overview

2.2 - Safety Warnings and Cautions

3 - Quick Start

3.1 - System Overview

3.2 - Installation Components

3.3 - Basic Setup

3.4 - Ethernet Connection

3.5 - Serial Connection