FLIR PTU-D300 User Manual
Computer Controlled
PAN-TILT UNIT
Model PTU-D300
USER’S MANUAL
Version 2.19
www.flir.com/mcs
Pan-Tilt Unit (Model PTU-D300) User’s Manual, Version 2.19,
June 25, 2012
©1991,2006 by FLIR Commercial Systems, Inc., 890C Cowan
Road, Burlingame, California 94010, (650)692-3900, FAX:
(650)692-3930, www.flir.com/mcs.
All rights reserved. Protected under numerous U.S. Patents
including 5463432 and 5802412, and patents pending. No part of
this book may be reproduced, stored in a retrieval system, or
transcribed, in any form or by any means, electronic, mechanical,
photocopying, recording, or otherwise, without the prior written
permission of FLIR Commercial 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 Commercial Systems, Inc. FLIR Commercial
Systems, Inc. cannot be held liable for any mistakes in this manual
and reserves the right to make changes.
1 INTRODUCTION .................................................................................................1
1.1 IMPORTANT SAFEGUARDS AND WARNINGS....................................2
1.2 Models .........................................................................................................2
2 QUICK START......................................................................................................3
2.1 Overview......................................................................................................3
2.2 Installation Components ..............................................................................3
2.3 Basic Setup Steps.........................................................................................4
3 INSTALLATION & INITIAL SETUP ................................................................5
3.1 Pan-Tilt Mounting........................................................................................5
3.2 Wiring and Connectors................................................................................5
3.3 Power Sources..............................................................................................6
3.4 RS-232 Interface and Host Settings.............................................................7
3.5 Initial Power-up and Test.............................................................................8
3.6 Basic Pan-Tilt Unit Commands...................................................................8
3.7 Mounting Your Payload...............................................................................8
3.7.1 Over-the-Top Bracket Mounting......................................................9
3.7.2 Side-Mount Bracket Mounting........................................................9
3.8 Payload Wiring Connections .....................................................................10
4 COMMAND REFERENCE................................................................................11
4.1 Binary Command Format ..........................................................................11
4.2 General ASCII Command Format.............................................................11
4.3 Positional Control Commands & Queries .................................................11
4.3.1 Position (absolute) .........................................................................11
4.3.2 Offset Position (relative offset)......................................................12
4.3.3 Resolution per Position..................................................................12
4.3.4 Limit Position Queries...................................................................13
4.3.5 Position Limit Enforcement...........................................................13
4.3.6 Immediate Position Execution Mode.............................................14
4.3.7 Slaved Position Execution Mode...................................................14
4.3.8 Await Position Command Completion ..........................................15
4.3.9 Halt Command...............................................................................15
4.3.10 Monitor (Autoscan) Command......................................................16
4.3.11 Position Presets..............................................................................16
4.4 Speed Control Commands & Queries........................................................17
4.4.1 Speed Control & Relevant Terms..................................................17
4.4.2 Speed (absolute).............................................................................17
4.4.3 Delta Speed (relative offset) ..........................................................18
4.4.4 Acceleration...................................................................................19
4.4.5 Base (Start-Up) Speed....................................................................19
4.4.6 Speed Bounds ................................................................................20
4.4.7 Speed Control Modes.....................................................................20
4.5 Unit Commands.........................................................................................21
4.5.1 Reset Pan-Tilt Unit ........................................................................21
4.5.2 Default Save/Restore .....................................................................22
4.5.3 Echo Query/Enable/Disable...........................................................22
4.5.4 Feedback Verbose/Terse/Off..........................................................23
4.5.5 Controller Firmware Version Query ..............................................23
4.5.6 Outside Supply Voltage and Controller Temperature Query.........23
4.6 Power Control Commands & Queries .......................................................23
4.6.1 Stationary Power Mode..................................................................24
4.6.2 In-Motion Power Mode .................................................................24
4.7 Host Serial Port and Control......................................................................25
4.7.1 Configuring Host Serial Port Baud and Communications.............25
4.8 Step Modes.................................................................................................26
4.8.1 Configuring Step Mode..................................................................26
5 SPECIAL CONFIGURATIONS ........................................................................27
5.1 High-Speed Operation ...............................................................................27
5.2 High-Payload Operation ............................................................................27
5.3 Battery-Powered Operation .......................................................................27
6 PTU OPTIONS ....................................................................................................28
6.1 EIO Option: Expansion Serial Ports and Control......................................28
7 NETWORKING...................................................................................................28
7.1 Basic Networking Setup Steps...................................................................28
7.2 PTU Network Connections........................................................................29
7.3 PTU Network Software Commands ..........................................................29
7.3.1 Unit Network ID............................................................................29
7.3.2 Unit Select/Deselect.......................................................................30
A. SPECIFICATIONS..............................................................................................31
A.1 D300 Mechanical Dimensions...................................................................31
A.2 D300 Payload Bracket Dimensions...........................................................32
A.3 D300 Base Connector Wiring....................................................................33
A.4 D300 Payload Wiring PL01.......................................................................34
A.5 D300 Payload Wiring PL02.......................................................................35
A.6 D300 Payload Mounting............................................................................36
REGULATORY INFORMATION.....................................................................37
LIMITED WARRANTY .....................................................................................38
PTU-D300 User’s Manual (v2.19) INTRODUCTION
1 INTRODUCTION
The PTU-D300 Pan-Tilt Unit from FLIR Commercial Systems, Inc. provides fast, accurate,
and durable positioning of cameras, antennas, lasers, and other large payloads. Some general
features:
• Simple to command from any RS-232 or RS-485 terminal or computer
• Payload capacity up to 35-70 lbs.
• Resolution of 0.02 degrees
• Precise control of position, speed & acceleration
• On-the-fly position and speed changes
• Self calibration upon reset
• Power consumption can be controlled from host
• ASCII command mode for simplicity, binary commands available for efficient program
control
• Constant current DMOS motor drives for increased performance and control
• DC power input from an unregulated source
• Flexible connectivity options.
Applications of the PTU-D300 include:
• Mid and Long-range Surveillance systems
• Automated detection and tracking
• Multi-sensor perimeter monitoring systems
• Thermal and IR cameras
• Marine/shipboard sensor systems
• Harbor and Port Security
• Border Security & Law Enforcement
• Highway & Transportation Monitoring
• Military special operations
• Satellite communications systems
• Microwave antenna systems (passive, active)
• Robotics & computer vision.
This User’s Manual provides information needed to set up and operate the PTU-D300 unit. The
next section provides a brief overview to allow you to get started as quickly as possible. More
detailed technical information is provided in the remaining sections.
page 1
INTRODUCTION PTU-D300 User’s Manual (v2.19)
1.1 IMPORTANT SAFEGUARDS AND WARNINGS
IMPORTANT SAFEGUARDS AND WARNINGS
1. Please read these instructions prior to use.
2. Please keep these instructions accessible.
3. Please heed all warnings.
4. Please follow all instructions.
5. Installation should be done only by qualified personnel and conform to all local codes.
CAUTION: These servicing instructions are for use by qualified service personnel only.
To reduce the risk of electric shock, do not perform any servicing other than that contained
in the operating instructions unless you are qualified to do so.
6. Use only mounting methods and materials capable of supporting at least four times the combined weight of the D300 pan-tilt, mounted payloads, and cabling.
7. For outdoor use, use only corrosion resistant hardware to fasten the mount and payloads (e.g., stainless steel screws).
8. The unit should not be installed in environments that present conditions beyond the
environmental specification of the D300. Installation near heat sources such as radiators,
heat registers, stoves, or other apparatus (including amplifiers) can exceed the unit’s
temperature ratings.
9. Refer all servicing to qualified service personnel. If the unit is damaged, remove power immediately, and contact FLIR Commercial Systems, Inc.
10. A readily accessible power disconnect shall be incorporated into the installation wiring.
11. Only use replacement parts recommended by FLIR Commercial Systems, Inc.
1.2 Models
PTU-D300 Standard base config uration. Includes basic slip-ring, integral controller, stan-
dard convertible “L” bracket.
page 2
PTU-D300 User’s Manual (v2.19) QUICK START
Figure 1: Pan-Tilt System Overview
2 QUICK START
2.1 Overview
Figure 1 shows a system overview. The PTU-D300 includes an integral controller and it
accepts control commands from any host computer over RS-232 or RS-485. The basic D300
connections are: D300-power from a DC power source, and Pan-Tilt Control via RS232/485.
In addition to pan-tilt control connections, “Payload Pass-Thru” internally routes payload
signals such as video, payload power, and other payload connections from a single stationary
connector in the PTU base to a single payload connector that moves with your payload.
The PTU-D300 can be controlled from any host computer using the built-in ASCII protocol
described in this manual. For high speed, hard real-time controls (such as tracking), a binary
protocol is supported via a C Programmers Interface (PTU-CPI). Drivers are also available in 3rd
party software packages such as LabView and digital video control systems.
2.2 Installation Components
Components supplied with this manual are:
• Pan-Tilt Unit
• Standard Payload Mounting Bracket
• Pan-Tilt Cable Harness - Optional
• AC/DC Power Supply - Optional
page 3
QUICK START PTU-D300 User’s Manual (v2.19)
2.3 Basic Setup Steps
The following outlines the basic pan-tilt set-up and installation steps. Section 3 details each
of these steps.
1. Unpack the D300 pan-tilt. Mount the pan-tilt securely. See section 3.1 for details on mounting.
2. Establish wiring to the pan-tilt. Factory cable with breakouts for power and other connections makes this easy (model PTU-CAB-25BO). Or you can make your own cables that better suit your installation.
3. Connect an RS-232 or RS-485 cable between Pan-Tilt Control input and a host computer.
When using factory cable PTU-CAB-25BO, standard RS232 connection (DB9F) is
provided. HyperTerminal (built into Windows) is the most commonly used comm program.
Communications parameters are: 9600 baud, no parity, no handshaking. (see Section 3.4).
4. Provide DC power to the pan-tilt. When using factory cable PTU-CAB-25BO, easy plug-in
power is provided by AC/DC power supply model PTU-APS-30V. Or you can obtain your
own DC power source that better suits your installation. Always incorporate a readilyaccessible power disconnect into the installation wiring. Removing power by disconnecting
the power cable or cable harness is not recommended and can cause damage to the system.
5. Power up the pan-tilt. If power is working, the unit will go through a power-up calibration.
At power up, the pan-tilt defaults to providing splash text on your terminal that will identify
the unit configuration. Pan-tilt operation can then be tested by typing commands into your
terminal program.
6. Section 3.6 describes some basic pan-tilt commands to get you going. Section 4 provides a full description of all pan-tilt unit commands and queries.
7. You can now mount and wire your payload (e.g., camera) on the pan-tilt unit (see Section
3.8).
page 4
PTU-D300 User’s Manual (v2.19) INSTALLATION & INITIAL SETUP
Figure 2: Wiring Overview
PAYLOAD
CONNECTOR
D300 BASE
CONNECTOR
3 INSTALLATION & INITIAL SETUP
This section describes the basic installation and setup steps required to get your pan-tilt
operational as quickly as possible.
3.1 Pan-Tilt Mounting
Appendix 1 shows the mounting pattern for the PTU-D300. The basic mounting pattern is
four #1/4-20 socket-head cap screws in a 3.375” (85.725mm) square pattern. All four mounting
screws should be used. The mount strength must be able to hold the weight of the unit plus the
payload plus any additional forces exerted on the system (e.g., wind, G forces). A good rule of
thumb: the mount must support at least four times the combined weight of the payload plus the
weight of the pan-tilt (e.g., a 25 lb. payload mounted to the D300 must support at least 205 lbs).
CAUTION: FAILURE TO SECURE THE PAN-TILT AND ITS PAYLOAD
TO A SUFFICIENTLY STRONG MOUNTING CAN RESULT IN
DAMAGE TO THE PA N-TILT, THE PAYLOAD, OR POSSIBLE INJURY
OR DEATH. YOU MUST ENSURE THE MOUNTING IS CAPABLE OF
HOLDING THE LOADS!
3.2 Wiring and Connectors
Figure 2 shows a back view of the D300. The D300 base connector is a MIL-C-26482
compatible receptacle (19 pins). Appendix A.3 shows the D300 base connector signals and
wiring. Basic control requires that you connect a DC power source to the D300-power input, and
a host computer connection (to HOST-232 or HOST-485) to communicate and control the D300.
page 5
INSTALLATION & INITIAL SETUP PTU-D300 User’s Manual (v2.19)
The easiest way to wire into the D300 is to use the factory cable with breakouts for power
and other connections (model PTU-CAB-25BO), and to use the factory power supply (model
PTU-APS-30V). This allows you to plug in and run the D300 in minutes. Or you can use the
wiring diagram in Appendix A.3 to make your own cables that better suit your installation.
Connect an RS-232 or RS-485 cable between the D300 and a host computer. When using the
factory cable PTU-CAB-25BO, standard RS232 connection (DB9F) is provided. HyperTerminal
(built into Windows) is the most commonly used communications program. Communications
parameters are: 9600 baud, no parity, no handshaking. (see Section 3.4).
The D300 provides payload pass-thru signals that connect between pins in the base
connector to corresponding pins in the payload connector. Additional pins in the payload
connector provide other payload controls (auxiliary RS232 ports and TTL control). Figure 2
shows this payload connector which is also a MIL-C-26482 compatible receptacle (19 pins).
Appendix A.4 details the payload connector pin-out.
Appendix A.4 shows the payload connector wiring. Pins highlighted in red indicate payload
pass-thru signals connected to corresponding pins in the base connector.
When attaching payload signals to the system, care must be taken to adhere to all
specifications for the pass-thru signals, such as maximum voltage and current
levels.
3.3 Power Sources
The PTU-D300 requires a 12-30VDC (unregulated) power source capable of 2.25A peak.
Less peak current is required if you do not use the higher motor current controls available (see
Sections 4.6.1 and 4.6.2). To achieve the highest pan-tilt unit performance, use the highest motor
voltage within the allowable range. To achieve the quietest and smoothest pan-tilt operation, you
can use a lower motor voltage (e.g., 12VDC).
When wiring your own power source, failure to comply with wiring and power source
requirements described in this manual can result in decreased unit
performance or damage not covered under the limited warranty.
If you are providing your own DC power source, the power source must never supply
more than rated current, and if so, you must add a fuse in series with your DC power
source. For example, when connecting to a vehicle battery or lighter plug, you must fuse the
incoming DC source. Failure to properly fuse your input power source could cause overloading of
internal protection devices, pose a safety hazard, or void product warranties.
page 6
PTU-D300 User’s Manual (v2.19) INSTALLATION & INITIAL SETUP
Figure 3: RS-232 Pan-Tilt Controller Connection to Common Hosts
RxD (pin 3)
TxD (pin 2)
GND (pin 5)
IBM PC
DB-25S
TxD (pin 2)
RxD (pin 3)
GND (pin 7)
PTU-CAB-25BO
(female DB-9)
TxD (pin 2)
GND (pin 5)
IBM PC
DB-9S
RxD (pin 2)
TxD (pin 3)
GND (pin 5)
(female DB-9)
TxD (pin 2)
RxD (pin 3)
GND (pin 5)
Apple Macintosh
8 Pin Mini-DIN
TxD (pin 3)
RxD (pin 5)
GND (pin 4)
RxD (pin 3)
Null modem may
be required.
DTR (pin 4)
DSR (pin 6)
DTR (pin 20)
DSR (pin 6)
(pin 4)
(pin 6)
(pin 4)
(pin 6)
DTR (pin 1)
(pin 4)
(pin 6)
DSR (pin 2)
PTU-CAB-25BO
(female DB-9)
PTU-CAB-25BO
RxD (pin 3)
TxD (pin 2)
GND (pin 5)
D300 Base Connector (19 pins)
MIL-C-26482 compatible receptacle
pin L
pin K
pin J
PTU-CAB-25BO
(female DB-9)
3.4 RS-232 Interface and Host Settings
An RS-232 terminal or host computer connects to the RS-232 Host Interface on the Pan-Tilt
Unit. The host terminal or computer should be set to 9600 baud, 1 start bit, 8 data bits, 1 stop bit,
and no parity. Hardware handshaking and XON/XOFF are not used.
The RS-232 connections to the Pan-Tilt are: TxD (pin 2), RxD (pin 3), and GND (pin 5).
Figure 3 shows cable configurations for some common computer hosts. Since TxD and RxD
assignments to pins 2 and 3 can vary on host computers, try using a null modem if your initial
connection does not work.
page 7
INSTALLATION & INITIAL SETUP PTU-D300 User’s Manual (v2.19)
3.5 Initial Power-up and Test
If you have the power source and Host computer connected described in Sections 3.3 and 3.4,
you are ready to power-up and test its operation. Test and verify all cable connections and
connector wiring before power-up. We suggest that you do not mount your payload (e.g., camera)
until this initial installation is completed and tested.
1. Using HyperT erminal or a simil ar terminal program, configure the RS-232/485 serial port of the Host Computer to 9600 baud, 1 start bit, 8 data bits, 1 stop bit, and no parity. Hardware handshaking and XON/XOFF are not used.
2. You are now ready to power up the pan-tilt unit and test its operation. Apply power. Upon
power up, introduction text should appear on your screen, and the pan-tilt unit should go
through a reset cycle (pan and tilt axes will cycle through their full range of motion). This
reset is completed when an asterisk (‘*’) appears. If the unit did not reset properly, recheck
your power source and cabling. If the unit went through its reset procedure, but no text or
garbled text appears on your screen, then:
• Check that the host RS-232/RS-485 host port settings are correct (see Section 3.4)
• Check that the RS-232/RS-485 cable is correct for your host (see Section 3.4)
3. You are now connected to the pan-tilt. Enter the character ‘?’ for a complete listing of
commands. The next section describes some basic commands to help you get going, and a
full command description may be found in Section 4. We suggest that you exercise the unit
and become familiar with its operation and commands before mounting your payload (e.g.,
camera) as described in Section 3.8. Special attention should be paid to acceleration and
speed commands, and they should be set at levels appropriate to your payload weight and
size.
3.6 Basic Pan-Tilt Unit Commands
Below are some pan-tilt commands that will familiarize you with the pan-tilt unit and its
operation:
pp2500 *
tp-900 *
PS1900 *
pp0 *
This sets the pan axis to position 2500, the tilt axis to position -900, the pan speed to 2500
positions a second, and sets the pan position back home.
When operating the pan-tilt unit, the available command menu is printed when you enter the
‘?’ character. A detailed description of pan-tilt commands and queries may be found in Section 4.
3.7 Mounting Your Payload
The PTU-D300 sports a flexible payload bracket system that can be configured in a number
of ways to support a variety of payloads including cameras, lasers, antennas, and other equipment.
Because of the heavy payload weights and high potential speeds supported by the PTU-D300, it is
very important that all guidance and instructions regarding payload mounting be followed
carefully.
page 8
PTU-D300 User’s Manual (v2.19) INSTALLATION & INITIAL SETUP
Figure 4: Payload Bracket Mounting
3.7.1 Over-the-Top Bracket Mounting
1. Ensure the pan-tilt has been through its calibration (at power up) so that the mounting hub is in a known home position.
2. Orient the bracket so the horizontal part of the bracket is topmost. When in the proper orientation, a peg in the bracket will locate into a hole in the D300 mounting hub.
3. Attach the bracket using 6pcs screws.
It is vital that thread lock is used for the bracket mounting screws. The thread
holes in the hub have thread lock applied to them. If the bracket is removed,
you should apply medium strength thread lock to the hub (e.g., Loctite 242).
4. Reset the pan-tilt and ensure that the bracket moves properly through its range of motion.
3.7.2 Side-Mount Bracket Mounting
1. Ensure the pan-tilt has been through its calibration (at power up) so that the mounting hub is in a known home position.
2. Orient the bracket so the horizontal part of the bracket is bottommost.
3. Attach the bracket using 6pcs screws.
It is vital that thread lock is used for the bracket mounting screws. The thread
holes in the hub have thread lock applied to them. If the bracket is removed,
you should apply medium strength thread lock to the hub (e.g., Loctite 242).
4. Reset the pan-tilt and ensure that the bracket moves properly through its range of motion.
page 9
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