Dante DLM1971, Installation And Operation Manual

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27
3. RS-485 CONTROL AND FEEDBACK DATA PROTOCOL
(1). Pan & tilt angle calculation
●
● ●
●
Pan: 360
0
continuous rotation, divide into 2000 steps, each step 0.18
0
; each step divide into 60
micro steps, each micro step 0.003
0
. so pan precision is
± ± ± ±
0.003
0
● ● ● ●
Tilt: 90
0
rotation, divide into 200 steps, each step 0.45
0
; each step divide into 60 micro steps,
each micro step 0.0075
0
. so tilt precision is
± ± ± ±
0.0075
0
●
● ●
●
Example: (1) pan rotate 800, step: 80/0.18=444
micro step:
（
（ （
（
80-444
×
× ×
×
0.18
）
） ）
）
/0.003
＝
＝ ＝
＝
0.08/0.003
＝
＝ ＝
＝
27
Error
： ： ： ：
80-444
× × × ×
0.18-27
× × × ×
0.003=-0.001
0
(2) tilt rotate 500, step: 50/0.45=111
micro step:
（ （ （ （
50-111
× × × ×
0.45
） ） ） ）
/0.0075
＝ ＝ ＝ ＝
0.05/0.0075
＝ ＝ ＝ ＝
7
Error
：
： ：
：
50-111
×
× ×
×
0.45-7
×
× ×
×
0.0075=-0.0025
0
(3) Pan feedback step: 1889; micro step: 48
Pan angle: 1889
× × × ×
0.180+48
× × × ×
0.0030 =340.164
0
(4) tilt feedback step: 79; micro step: 36
Tilt angle: 79
× × × ×
0.450+36
× × × ×
0.00750 =35.82
0
(2). P protocol feedback data format:
1 2 3 4 5 6 7 8 9 10
A0h ADDR PMS PSL PSH TMS TSL TSH AFh CS
A0h: frame start
ADDR: camera address
PMS: pan micro step (range: 0-59)
PSL: pan micro step low byte
PSH: pan micro step high byte (range: 0-1999)
TMS: tilt micro step (range: 0-59)
TSL: tilt step low byte (range: 0-199)
AFh: frame stop
CS: checkout sum, 2-8 plus
(3). D protocol feedback data format:
1 2 3 4 5 6 7 8 9
FFh ADDR PMS PSL PSH TMS TSL TSH CS
FFh: frame start
ADDR: camera address
PMS: pan micro step (range: 0-59)
PSL: pan micro step low byte
PSH: pan micro step high byte (range: 0-1999)
TMS: tilt micro step (range: 0-59)
TSL: tilt step low byte (range: 0-199)
CS: checkout sum, 2-8 plus