Flir PTU-SDK Bruksanvisning

Flir Inte kategoriserad PTU-SDK

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890CCowanRoad,Burlingame,CA94010•(650)692‐3900•FAX:(650)692‐3930

 mcs@flir.com•www.FLIR.com/mcs 



OMPUTERCONTROLLED

PAN‐TILTUNIT

VERSION:3.02

EVISIONDATE:SEPTEMBER6,2011

COMMANDREFERENCEMANUAL



Pan‐TiltUnitCommandReferenceManual,August3,2011

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 pa rt 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MotionControl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 Motion Control Systems. FLIR Motion Control Systems cannot be held

liable for any mistakes in this manual and reserves the right to make

changes.



TableofContents

1. Overview...............................................................................................................................................6

2. BinaryCommandFormat......................................................................................................................6

3. GeneralASCIICommandFormat..........................................................................................................6

4. PositionalControlCommands&Queries.............................................................................................6

4.1 Position(absolute)........................................................................................................................6

4.2 OffsetPosition(relativeoffset).....................................................................................................7

4.3 ResolutionperPosition.................................................................................................................7

4.4 LimitPositionQueries...................................................................................................................8

4.5

PositionLimitEnforcement...........................................................................................................8

4.6 ImmediatePositionExecutionMode............................................................................................9 

4.7 SlavedPositionExecutionMode...................................................................................................9

4.8 AwaitPositionCommandCompletion..........................................................................................9

4.9 HaltCommand............................................................................................................................10

4.10 Monitor(Autoscan)Command...................................................................................................10

4.11 PositionPresets...........................................................................................................................11

5. Speed ControlCommands&Queries.................................................................................................12

5.1

 SpeedControl&RelevantTerms................................................................................................12

5.2 DeltaSpeed(relativeoffset).......................................................................................................13

5.3 Acceleration................................................................................................................................14

5.4 Base(Start‐Up)Speed.................................................................................................................14

5.5 SpeedBounds.............................................................................................................................15

5.6 SpeedControlModes..................................................................................................................15

6. ContinuousAxisRotation....................................................................................................................16

6.1 Enabling/DisablingContinuousRotation....................................................................................16

7. UserDefined

Pan‐TiltLimits................................................................................................................17

7.1 LimitPositionQueries.................................................................................................................18

7.2 PositionLimitEnforcement.........................................................................................................18

8. UnitCommands..................................................................................................................................20