Programmers User Manual

52
12.26 Pan/Tilt Angle Request Pedestal Control Command Type 1
Function To request angle (position) in Pan/Tilt direction.
Command 0063h
Parameter None
Length 8 byte (Pan angle: 4 bytes, tilt angle: 4 bytes) Status
Range Within range of Pan and Tilt Movable Range
Reference •Parameter value (1LSB) of both Pan/Tilt is equal to approx. 0.1125 by
converting to angle. (see 12.17 and 12.18)
•Status section (8 byte) splits s0~s3 as Pan (position) section, and s4~s7
as Tilt (position) section.
•The value of each status is indicated as angle at Home Position (8000h)
(See 12.25 Pan/Tilt Angle Assignment.)
•This command returns the angle (position), at the moment of receipt of
Command even though Pan/Tilt is in action except executing Pedestal
Initialize 1 & 2.
Note : After power ON, in case of receipt of this command without executing
Pedestal Initialize 1 & 2, return mode error.
 Format of Control Code
d0 d1 d2 d3 d4 d5
Header Device Num Command End mark
FFh 30h 3Xh 00h 63h EFh
 Answer Format
 In case of No Error
d0 d1 d2 d3 d4
Header Device Num Error Code
EFh 30h 3Xh 30h 30h
d5 d6 d7 d8 d9 d10 d11 d12 d13
Pan Angel Status Tilt Angle Status End mark
s0 s1 s2 s3 s4 s5 s6 s7 EFh
⇓
The present position indicates in hexadecimal 8 figures and its ASCII is as parameter
value.
Example: Pan right 90 degrees Tilt lower 30 degrees
Pan s0 s1 s2 s3
+800 ⇒ 8320h ⇒ 38h 33h 32h 30h
Tilt s4 s5 s6 s7
–267 ⇒ 7EF5h ⇒ 37h 45h 46h 35h