Operation & Installation Manual Serial Receiver Driver Model CP-SRD

Transcription

1 Operation & Installation Manual Serial Receiver Driver Model CP-SRD

2 Table of Contents 1.0 Scope Introduction Specifications Control Commands Mounting Options Hook-Up Power Serial Data Connection Control/Power Connector Function Dip Switch Settings For Lens...9

3 1.0 Scope This manual contains installation and operational information for the Telemetrics Serial Receiver Driver Model CP-SRD, Part No The unit is a pan/tilt and lens controller that is used with a single camera. 2.0 Introduction The CP-SRD is a serially addressable pan/tilt and lens controller. It receives RS- 232 or RS-422 input commands from either a control panel or computer. The output signals are used to control pan, tilt, zoom and focus servos for a single robotic camera control unit and camera. These functions can operate in proportional mode or in preset mode. The unit incorporates external DC power and control signals for the pan/tilt onto one cable. Optional output functions such as Iris Control and Trolley Control are also available. 3.0 Specifications Communications Proportional Control Operating Modes Preset Control Preset Feedback Voltage Weight Dimensions Power RS-232 or RS-422 bi-directional serial port ,400 BPS (9600 default), 8 bits, no parity, 1 stop bit 15 bit resolution Simultaneous control of pan, tilt, zoom and focus Open loop (proportional velocity) or closed loop (positional) 64 Presets ±0.25 error (12 bit resolution) 0 to 10VDC nominal (up to ±170 Pan and Tilt) 3 lbs. 6 W x 2 H x 10½ D 120 VAC, 10 Watts 1

4 4.0 Control Commands Control is accomplished by sending commands consisting of ASCII characters terminated by an ASCII carriage return (<CR>, hex 0D). In most cases, several commands may be sent together on the same line before sending the <CR>. However, in the case of the recall preset command, other commands may precede it but any commands following it on the same line are ignored. A command line will not be executed until the <CR> is received. ASCII backspace (<BS>, hex 08) can be used to correct errors in the command line. After the command line has been executed, a <CR> will be sent back to the host to acknowledge completion. Communication rate is 9600 BAUD. Protocol is 8 data bits, one stop bit, and no parity. 5.0 Mounting Options The Serial Receiver Driver is a chassis mount unit. It can be shelf mounted or pedestal mounted. In addition, the Telemetrics Compact Pan/Tilt can be mounted directly to the unit using adapter plate (Note: Adapter plate supplied upon request.) Figure 1 Mounting Arrangement 2

5 Pan/Tilt Head B C Pan/Tilt Mounting Plate A Serial Receiver Driver D E A (4) ¼ -20 x / FH Socket Cap Screws 5 8 B (4) x ¾ PH Screws C (4) #10 Flat Washer D (4) #10 Split Lock Washer E (4) #10 Nut Figure 2 Mounting Compact P/T to Unit 3

6 6.0 Hook-Up 6.1 Power Power to the head is made via a 6 pin XLR cable CA-PWR-6XLR ( XXX) to the power connector on the rear of the unit. The other end of interconnect cable connects to the external power supply. (Note: Power on Pins 3 and 4 are for optional trolley assembly.) Figure 3 Power Supply Cable 6.2 Serial Data Connection Communication to the unit is made via serial data cable CA-RS ( XXX) to the 9 pin serial data connector located on the rear of the unit. The other end of the cable connects to the control panel. Units built for RS-232 can have a maximum distance of 100 feet between the unit and the control panel. Units built for RS-422 can have a maximum distance of 4000 feet between the unit and the control panel. (Note: Units are built to accept either RS-232 or RS-422 at the factory.) Figure 4 Serial Data Cable 4

7 6.3 Control/Power Communication to the robotic camera control unit is made via control/power cable CA-CP ( XXX). The output signals are used to control pan, tilt, zoom and focus servos for a single and camera. 7.0 Connector Function Figure 5 Control/Power Cable There are three connector ports on the rear of unit which are identified below: DC IN SERIAL DATA OUTPUT CONTROLS Figure 6 Connector View 1. Output Controls (25 D-sub female) 2. Serial Data (9 Pin D-sub female) 3. DC In (6 Pin XLR Male) 5

8 Output Controls Pin Assignment Mating View of 25 Pin D Conn 1 Pan Control 2 P/T Enable 3 Zoom Control 4 Option (Iris) 5 P/T Signal Ground 6 Option (Trolley) 7 +24V Return 8 +24V Return 9 Pan Pot 10 Option (Trolley) V Return V V 14 Tilt Control 15 Pan/Tilt Mode 16 Focus Control 17 Zoom/Focus Mode V Serial Data 9 Pin D Type V Return 20 Tilt Pot 21 Zoom Pot 22 Focus Pot V Return V 25 Iris Mode RS No Connection 2 TX Data (From P/T) 3 RX Data (to P/T) 4 No Connection 5 Ground 1 TX Data + (From P/T) 2 TX Data - (From P/T) 3 RX Data - (to P/T) 4 RX Data + (to P/T) 5 Ground RS No Connection 7 No Connection 8 No Connection 9 No Connection 6 No Connection 7 No Connection 8 No Connection 9 No Connection 6

9 Power 6 Pin XLR Type Pin Assignment Mating View of Bulkhead 6 Pin XLR Male 1 +24VDC 2 +24V Return 3 +24VDC (Optional) 4 +24V Return (Optional) 5 NC 6 NC 7

10 Figure 7 PC Board Location 8

11 8.0 Dip Switch Settings for Lens The unit will be set for the appropriate lens at the factory. If the type of lens was unknown or has been changed from the original, the DIP switch may have to be reset. 1. Remove the top cover of the unit. 2. Locate the DIP switch on Bd. 3. Set the DIP switch to match the desired lens type (see below). 4. Reset the power to enable the microprocessor to read the new settings. 5. Reinstall the cover. Off On DIP Switch PC Board DIP Switch Assignments 1 Reverses Zoom Joystick direction 2 Reverses Zoom Pot polarity 3 Reverses Focus Joystick direction 4 Reverses Focus Pot polarity OFF OFF ON ON DIP Switch Settings for: Canon KTS Lens Canon KTS-B Lens Fujinon BMD Lens (all but those indicated below) ON DIP Switch Settings for: Canon KTS-A Lens Fujinon BMD Lens w/pc Bd # 110B (Identified by zoom/focus and Iris auto/man switches on front of servo box.) DIP Switch Settings for: Canon REA-1AII PZP Lens KOWA LMZ*** AMP-R Lens OFF Figure 8 DIP Switch Settings for Lenses 9

12 APPENDIX Telemetrics Serial Data Protocol Telemetrics provides for serial control of many of our camera control products. This summary briefly describes the protocol for serial control of these devices. In the summary, the Telemetrics controlled device will be referred to as the controller and the device commanding the controller will be referred to as the host. Control is accomplished by sending commands consisting of ASCII characters terminated by an ASCII carriage return (<CR>, hex 0D). In most cases, several commands may be sent together on the same line before sending the <CR>. However, in the case of the recall preset command, other commands may precede it but any commands following it on the same line are ignored. A command line will not be executed until the <CR> is received. ASCII backspace (<BS>, hex 08) can be used to correct errors in the command line. After the command line has been executed, a <CR> will be sent back to the host to acknowledge completion. Communication rate is 9600 BAUD. Protocol is 8 data bits, one stop bit, and no parity. Each command consists of either one or two letters, followed by any numerical parameters needed for the command. (Note: The commands are CASE SENSITIVE.) Numerical parameters are specified by the string of ASCII digits representing the decimal value. For example, a value of 26 is sent as a 2 followed by a 6, (i.e., hex 32, hex 36). Where a command has more than one parameter, the parameters should be separated by a space. No other spaces are necessary, though they may be used if desired. Important Note: In cases where the host does not monitor responding carriage returns from the controller, the host will not know whether a command line has been completed. The controller can receive new commands while it is processing previous commands except when the controller is processing a preset position recall. During a preset recall, all incoming characters are ignored except for an ASCII cancel character (<CAN>, control-x, hex 18) which tells the controller to abort the recall. Therefore, the host should send a <CAN> preceding all command lines. This way, if a recall was in progress, it will be aborted and the controller will accept the command. If no recall was in progress, the <CAN> will be ignored. The remainder of this summary describes the general methods for serial camera control. Commands will be introduced as they are needed. Note that while examples are shown enclosed in single quotes, only the characters within the quotes are to be sent; the quotes are simply for clarity. In addition, the examples may use unnecessary spaces for clarity, which need not be used for the actual application. Manual Camera Motion 10

13 The procedure for manually moving a camera is as follows: Reset motion voltages with the R command. Select and enable the camera with an L command. Move the camera using P, T Z and F commands. Disable the camera with an L command. The following 2 sections discuss the commands used. Camera Selection and Enable The L command is used to enable the camera. It has a single numerical parameter which corresponds to bits that are used to control switching of the camera. A pair of bits is used to switch control to a given camera, and another bit determines whether that camera is enabled for motion. The following table shows the selections performed by the L command: Disabled Enabled Select Camera 1 L 0 L 1 Camera Control Voltages Camera motion is controlled by four voltages corresponding to the velocity of pan, tilt, zoom and focus which are set using the P, T Z and F; commands respectively. (An X command is also available to control the trolley, if used.) The commands have a single numerical parameter determining the voltage to which the output is set. The value of the parameter is in the range of 0 to A parameter value of is the point at which no motion occurs. As the value moves away from 16383, the speed of motion increases, and the direction of motion is determined by whether the value is greater or less than as follows: Command < Less than > Greater than P Pan Right Left T Tilt Down Up Z Zoom In (Tele) Out (Wide) F Focus Near Far X Trolley Track Right Track Left In addition, the R command, which has no parameters, will reset all four control voltages to the no motion value. This is useful to use before enabling a camera to ensure that no motion will occur when it is first enabled. There are many methods for determining control voltages. For instance, a joystick can be used and the value it outputs converted to the range 0 to for control voltages. Another example is with buttons. Each function has two buttons, one for each direction 11

14 of motion (i.e. pan left and pan right). When a button is pressed, the camera is enabled. Initially the control voltage for the function is set for slow movement. Then the longer the button is held down, the faster the camera moves. If there is limited processing ability, button control can be done with simple on/off type control where pressing a button moves the corresponding function at a fixed speed. Preset Position Control NOTE: Due to heavy filtering of the position feedback voltages, proper preset storage requires that the desired camera be selected for at least ¼ second before the camera position is read. This delay allows the position voltages to stabilize through the filters before the preset position is read and stored. The host programming must ensure that this delay is present. For applications where the user must first select the camera then choose a preset, the human delay between these actions is sufficient to allow the filter to stabilize. Therefore, no programmed delay is necessary. There are 64 preset positions, numbered 0 to 63, available in the SRD s non-volatile memory. The normal method for preset control is as follows: Disable camera using an L command, delay ¼ second. Read and store preset position with the E command. Enable camera using an L command. Recall position using the C command. * If necessary as described in note above. The host can also store presets in its own memory by reading the position of the camera and using a variant of the recall command to recall the position: Disable camera using an L command, delay ¼ second. Read position using p, t, z, and f commands. Store data reported by controller. Enable camera using an L command. Recall position using CX command with stored data. * If necessary as described in note above. There are two additional commands related to presets. The e command, whose parameter is a preset number, which reports to the host the position data stored in that preset number, in pan, tilt, zoom, focus order. The EX command is a variant of the enter command. It stores external data in the controller s preset storage. Its first parameter is the preset number in which to store the data, followed by the four position data to be stored, in pan, tilt, zoom, focus order. The detailed descriptions of preset related commands follow in the next three sections. 12

15 Preset Storing Commands The E command stores the position of the camera. Its single parameter is the preset number into which to store the position. As indicated earlier, it is important to ensure that the camera has been disabled for at least ¼ second prior to sending the E command. For example, to store the current position of the camera into preset number 23: L 0 <CR> Wait ¼ second. E 23 <CR> The EX variant of the enter preset command allows host supplied data to be stored into a preset. The first parameter of this command is the preset number into which to store the data. This parameter is followed by the four position data corresponding to pan, tilt, zoom and focus to be stored into the preset. These data are all in the range of 0 to They are actually 12 bit two s complement values. Consequently, the range is to 2047, which when viewed as unsigned numbers would progress from 2048 to 4095, then 0 up to All position data for the SRD is in this format. In most installations, the 0 position is approximately the center position of the full range of motion of a given function. Positive values (0 to 2047) are toward the left for pan and up for tilt. Lenses vary as to which direction is which so data for the lens type used in the particular installation must be consulted if the application requires knowledge of the directions. Here s an example of this command: EX <CR> Stores a pan position of 123, tilt position of 456, zoom position of 789 and focus position of 10 into preset number 5. 13

16 Preset Recalling Commands The C command recalls the preset position stored in the preset number given as its parameter. As noted earlier in this document, once the controller begins a recall command, any commands remaining on the command line are ignored. While the recall is in progress, the only character that will be acted upon is the <CAN> character to abort the shot. If the controller receives a <CAN> while in the midst of a recall, the camera will stop where it is and processing will continue as though the camera had actually reached the shot. After the recall is complete, the controller responds with a <CR>. For example to recall the position stored in preset number 41 for the camera: L 1 C 41 <CR> The CX variant of the recall command allows position data to be supplied directly by the host. The command has four parameters corresponding to the pan, tilt, zoom and focus positions, respectively. These data are in the same range for position data as described in the previous section: CX <CR> Preset Position Data Reporting The e command, whose parameter is a preset number, sends back to the host the four position data stored in that preset number, in pan, tilt, zoom, focus order. These data are in the range for position data described earlier. For example, after externally entering the data in the example in the Preset Storing Commands section: Host sends: e 5 <CR> Controller responds: <CR> The p, t, z and f commands, having no parameters, read the current position of the pan, tilt, zoom and focus, respectively, for the camera. As with the E command, the camera must have been disabled for at least a quarter second prior to reading these data to ensure that they have become stable. These data are also in the range for position data. For example, to read the camera: Host sends: L 0 <CR> Host waits ¼ second. Host sends: p t z f <CR> Controller responds: <CR> 14

17 Command Reference for Standard Receivers Syntax?<CR> Q Description Obtain command of controller in dual-host system. Release command of controller to other host. L <num.> Set camera Disable/Enable latch to value of <num.> to control enabling and disabling of cameras. P <control voltage> Set pan control voltage to <control voltage>. T, Z, F, X R p t, z, f Set tilt, zoom, focus, trolley control voltage, respectively, as in P command. Set all control voltages to no motion. Read pan position of currently selected camera. Read tilt, zoom, focus respectively, as in p command. C <preset num.> Move the camera to position stored in <preset num>. CX <pan pos> <tilt pos> <zoom pos> <focus pos> Move the camera to <pan pos>, <tilt pos>, <zoom pos>, <focus pos>. E <preset num.> Store position of the camera in preset <preset num.>. EX <preset num.> <pan pos> <tilt pos> <zoom pos> <focus pos> Store <pan pos>, <tilt pos>, <zoom pos>, <focus pos> into preset <preset num.>. e <preset num.> Report position stored in preset <preset num.>. <CTRL>X Abort call. If no call was in progress, this command will simply be ignored. 15