Directed Perception PTU-D46 Series - Speed Control Modes

PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE
page 17
Query upper tilt speed limit: TU<delim>
Set upper tilt speed limit: TU<positions/sec><delim>
Query lower tilt speed limit: TL<delim>
Set lower tilt speed limit: TL<positions/sec><delim>
Example
PU * Maximum Pan speed is 2902 positions/sec
PS3300 ! Pan speed cannot exceed 2902 positions/sec
PS2900 *
PL * Minimum Pan speed is 31 positions/sec
PL20 ! Motor speed cannot be less than 31 pos/sec
PL40 *
Related Topics
• Position resolution (units): See Section 4.3.3
• Changes in the upper speed limit cannot be made on-the-fly since it takes
several seconds to recompute the internal tables used to rapidly execute
speed ramping.
4.4.7 Speed Control Modes
Description
By default, position control commands are independent from the speed
control commands. In this independent control mode, the commanded speed
is an unsigned magnitude that determines the speed at which independently
commanded positions are effected, and the execution of these speed
commands do not affect the commanded desired positions themselves. This
mode is appropriate for pure position control methods (when pan-tilt control
is effected solely by commanding pan-tilt position) and hybrid position-
velocity control methods (when pan-tilt positions and the rate at which they
are achieved are both controlled).
An alternative pan-tilt control method uses a pure velocity control mode
in which all pan-tilt control is effected by signed changes in command axis
speed. In this mode, the speed command specifies a signed velocity in which
the sign determines the direction of axis movement, and the ordinal value
specifies the speed of movement in this direction. In this mode, if the
commanded speed is negative, the axis is automatically commanded to the
minimum axis position. Conversely, if the speed command is positive, the
axis is automatically commanded to the maximum axis position. A speed of
zero is applied by halting the axis motion. It is important to note that that in
pure velocity control mode, a speed command for a given axis effectively
overrides currently executing position commands. As a result, the speed
control mode at power up is always set to independent control mode; the
speed control mode is not saved as defaults that are preserved when the unit
is powered back up.
These commands are available in PTU firmware versions 1.09.7 and
higher.
Syntax
Query the current speed control mode: C<delim>
Set to independent control mode (default): CI<delim>
Set to pure velocity control mode: CV<delim>