______________________________________________________________________________

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

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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

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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

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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

are ENABLED (soft limits enabled)

position is 3090
allowable Pan position is 3090

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

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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>

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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):

M<pan pos 1>,<pan pos

2>,<tilt pos 1>,<tilt pos 2><delim>

Initiatethelastdefinedmonitorcommand:

M<pan pos 1>,<pan pos

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

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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.

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ESeriesCommandReferenceManual
SCENARIO 1
Upper Speed Limit

SCENARIO 2

SCENARIO 3

Base Speed

Lower Speed Limit

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

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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

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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 *

Pan speed is 1985 positions/sec

speed cannot exceed 1985 positions/sec
Pan speed is 31 positions/sec
speed cannot be less than 31 pos/sec

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>

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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

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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

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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

46

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

50

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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52

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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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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ResumecommunicationswiththePTUcontroller:

@<delim>

Thefollowingmodifiedcommandsensurethat<# raw bytes>byteswillpassdirectlyfrom

thehostcomputertotheexpandedserialportwithoutanyattempttochangethe
communicationstarget.Thisallowsstringslike@Btobeembeddedincommunications
betweenthehostcomputerandtheexpandedserialportdevicewithoutinadvertently
breakingcommunicationsinmidstream.

EstablishprotectedcommunicationswithCHA: @A<# raw bytes><delim>

EstablishprotectedcommunicationswithCHB: @B<# raw bytes><delim>

where<# raw bytes>isthenumberofbytestofollowthatwillbereceivedfromthehost

computerwithoutbeingbescannedforchangesintheserialcommunicationstarget.

10.1.3

Example

ThefollowingcommandsequenceestablishescommunicationswiththePTU,switches
communicationschannels,thenresumescommunicationswiththePTU.
@ *
PP *
@A *
This
@B *
This
@A20
This
@ *
PP *

Current pan position is 0

text is sent directly to the serial device on CHA
text is sent directly to the serial device on CHB
*
@B text is sent to CHA without choosing CHB
Current pan position is 0

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>

56

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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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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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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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

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ESeriesCommandReferenceManualv.4.00(09/2010)

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