7
E2 (MS nibble)
30H - 3FH
Position data is 30H ored with data nibble
E11, E10, E09, E08 of elevation data.
8
E1
30H - 3FH
Position data is 30H ored with data nibble
E07, E06, E05, E04 of elevation data.
9
E0 (LS nibble)
30H - 3FH
Position data is 30H ored with data nibble
E03, E02, E01, E00 of elevation data.
10
Terminator and
Checksum
80H - 8FH Most significant bit is always 1. Least significant (LS) nibble is the XOR of all
previous bytes (LS nibble only) except for leading autobaud character F8H.
Notes on “Goto position” command:
Pan position has a range of 0 – 2880. This represents the range of 0 to 360 degrees in steps of .15 degree. A pan position of 000 represents the home
position.
Tilt position has a range of 0 to 950. This represents a range of 0 to 95 degrees in steps of .10 degree. Position 0 is the maximum down position and position
950 is the maximum up (horizontal) position. Home position is at 450.
3.6
Position Feedback
This command causes the platform to report the current pan and tilt position based on the motor encoders. Byte number 1 is the start of message F8H,
byte number 2 is the device address (default = 01), and byte number five is the message terminator byte.
FUNCTION
Byte #3
Byte #4
DESCRIPTION
REQUEST POSITION
“P”
“?”
Get position. ASCII character upper case “p” followed by the
“?” character.
The response to this command is shown in the table below:
BYTE
DATA
DESCRIPTION
1
F8H
Sync character
2
Address in hex
Camera address (01H - DFH)
3
“P”
Upper case “P”
4
A2 (MS nibble) 30H
- 3FH
Position data is 30H ored with data nibble
A11, A10, A09, A08 of azimuth data.
5
A1
30H - 3FH
Position data is 30H ored with data nibble
A07, A06, A05, A04 of azimuth data.
6
A0 (LS nibble)
30H - 3FH
Position data is 30H ored with data nibble
A03, A02, A01, A00 of azimuth data.
7
E2 (MS nibble)
30H - 3FH
Position data is 30H ored with data nibble
E11, E10, E09, E08 of elevation data.
8
E1
30H - 3FH
Position data is 30H ored with data nibble
E07, E06, E05, E04 of elevation data.
9
E0 (LS nibble)
30H -3FH
Position data is 30H ored with data nibble
E03, E02, E01, E00 of elevation data.
10
Terminator and
Checksum
80H - 8FH Most significant nibble is always 8. Least significant (LS) nibble is the XOR of all
previous bytes (LS nibble only) except for leading autobaud character F8H.
3.7
GoTo Lens Position Commands
This command causes the lens to go to an absolute position based on the motor encoders. The “GOTO LENS POSITION” is shown in its complete form in
the following table:
