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7-3
7-3-2. Commands and Inquiries
Commands:
Instruct the PCS-C150/C150P to carry out operations.
Inquiries:
Instruct the PCS-C150/C150P to Inquire about the condition.
Command Packet
Note
Command
8X 01 RR ... FF
RR = category code*
Inquiry
8X 09 RR ... FF
RR = category code*
*category code = 00 (Interface) , 04 (camera), 06 (pan/tilter)
*X = 1 to 7 : Address of PCS-C150/C150P.
7-3-3. Responses to Commands and Inquiries
ACK message: Returned by PCS-C150/C150P when it has received a command.
Completion message: Returned by PCS-C150/C150P when it has completed execution of a command or inquiry. Please notice that it is
returned when the micon of the camera starts to carry out the operation. For example Pan/Tilt, Zoom Tele/Wide or
Focus Far/Near, it is returned before it has completed execution. Inspection for an inquiry instruction, the response
data is from the 3rd byte on of the message packet.
Reply Packet
Note
Ack
X0 4Y FF
Y = socket number
Completion (commands)
X0 5Y FF
Y = socket number
Completion (Inquiries)
X0 5Y ... FF
Y = socket number
X = 9 to F : PCS-C150/C150P a 8
Error message: The PCS-C150/C150P returnes an error message instead of a Completeion message when it cannot execute a command or
inquiry instruction, or execution fails.
Error Packet
Description
X0 6Y 01 FF
Message length error (>14bytes)
X0 6Y 02 FF
Syntax Error
X0 6Y 03 FF
Command buffer full
X0 6Y 04 FF
Command cancelled
X0 6Y 05 FF
No socket (to be cancelled)
X0 6Y 41 FF
Time out
X0 6Y 43 FF
Condition Error
X = 1 to 7 : PCS-C150/C150P address, Y = socket number
7-3-4. Socket Number
When a command message is sent to a PCS-C150/C150P, the controller usually waits for the completion message or error message from that
PCS-C150/C150P before sending the next message. However, in order to provide higher level usage, the PCS-C150/C150P has two com-
mand buffers (memories) so it can receive up to two commands (including the one it is executing) at a time. When the PCS-C150/C150P
receives a command, it sets the socket number in the ACK message to tell the controller which command buffer is used.
Since this socket number is also included in the completion message or error message, the controller can see which command was completed.
Even when the PCS-C150/C150P is using both commands and inquiries, no ACK message is returned, but rather a completion message with
Socket Number 0 is returned.
7-3-5. Command Execution Stop
To cancel a command that you have already sent, send the IF_Clear cammand. To cancel just one cammand when you have already sent two,
use a cancel.
Cancel Packet
Note
Cancel
8X 2Y FF
Y = socket number
X = 1 to 7 : PCS-C150/C150P address, Y = socket number