Directed Perception PTU-D46 Series - 5 Special Configurations; 5.1 High-Speed Operation; 5.2 High-Payload Operation

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SPECIAL CONFIGURATIONS PTU-D46 User’s Manual (v2.14.0)
5 SPECIAL CONFIGURATIONS
5.1 High-Speed Operation
This section discusses how to improve high speed pan-tilt unit performance for your load.
The primary factors that affect high speed operation are:
• Load weight, weight distribution and dynamics
• Desired upper speed limit (see Section 4.4.6)
• Rate of acceleration (see Section 4.4.4)
• The base (start-up) speed (see Section 4.4.5)
• The voltage of the source power supply. Use of the highest available voltage in the range 9-
30VDC significantly improves axis speed and acceleration performance.
• The in-motion power mode (see Section 4.6.2) and stationery power mode (see Section
4.6.1).
• Multiaxis dynamics. Simultaneously moving the tilt and pan axes affects the forces exerted
on the pan axis.
High speed operation tests should always begin on each axis in isolation. When the best
performance for each axis in isolation is understood, high speed operation of simultaneous pan-tilt
axis movements can be performed.
An example configuration string for high speed operations is:
PA9000 PU6000 TA9000 PU6000 DS
5.2 High-Payload Operation
This section discusses how to improve high payload weight operation of the pan-tilt. The
payload factors listed in the previous section outlined factors that affect payload carry capacity.
The primary factor affecting payload capacity is the tilt axis, as it is a lever which is an
efficient force multiplier. The primary means to increase payload capacity are:
• Configure the pan-tilt controller for maximum torque. An example configuration string to
maximize payload capacity is:
PU2000 PA2000 PB60 TU2000 TA2000 TB60 PMR TMR %%1R600 DS
If your move duty cycle is less than 50%, you can alternatively use the highest move current
settings and regular hold power settings of PMH TMH PHR THR .
• Move the payload center of gravity closer to the tilt axis
• Use a higher voltage power source in the range 9-30VDC
• Use the PTU-D46-70 which has a higher payload rating than the PTU-D46-17
• Determine if the payload can be modified to lighten it.
5.3 Battery-Powered Operation
The Pan-Tilt Unit and Controller have been designed for battery powered operation. Battery
powered applications need to conserve power when possible. The pan-tilt unit has commands to
control pan-tilt motor power consumption while in transit and when stationery (see Sections 4.6.1
and 4.6.2). Careful testing can be used to determine the lowest power modes that assure your load
can be moved and held without losing synchrony (see Section 3.5).