Table of Contents
Pan-Tilt User’s Manual Version 2.14.0
1 INTRODUCTION ...................................................................................................1
2 QUICK START........................................................................................................2
2.1 Overview......................................................................................................2
2.2 Installation Components ..............................................................................2
2.3 Basic Setup Steps.........................................................................................3
3 INSTALLATION & INITIAL SETUP....................................................................4
3.1 Power Source...............................................................................................4
3.2 RS-232 Cable and Host Settings..................................................................5
3.3 Initial Installation and Connections.............................................................6
3.4 Basic Pan-Tilt Unit Commands ...................................................................6
3.5 Mounting Your Camera or Other Payload...................................................7
4 COMMAND REFERENCE ....................................................................................8
4.1 Binary Command Format ............................................................................8
4.2 General ASCII Command Format...............................................................8
4.3 Positional Control Commands & Queries ...................................................8
4.3.1 Position (absolute) ...........................................................................8
4.3.2 Offset Position (relative offset)........................................................9
4.3.3 Resolution per Position....................................................................9
4.3.4 Limit Position Queries...................................................................10
4.3.5 Position Limit Enforcement...........................................................10
4.3.6 Immediate Position Execution Mode.............................................11
4.3.7 Slaved Position Execution Mode...................................................11
4.3.8 Await Position Command Completion ..........................................12
4.3.9 Halt Command...............................................................................12
4.3.10 Monitor (Autoscan) Command......................................................13
4.4 Speed Control Commands & Queries........................................................13
4.4.1 Speed Control & Relevant Terms ..................................................13
4.4.2 Speed (absolute).............................................................................14
4.4.3 Delta Speed (relative offset) ..........................................................15
4.4.4 Acceleration...................................................................................15
4.4.5 Base (Start-Up) Speed....................................................................16
4.4.6 Speed Bounds ................................................................................16
4.4.7 Speed Control Modes.....................................................................17
4.5 Unit Commands.........................................................................................18
4.5.1 Reset Pan-Tilt Unit ........................................................................18
4.5.2 Default Save/Restore .....................................................................19
4.5.3 Echo Query/Enable/Disable...........................................................19
4.5.4 Feedback Verbose/Terse/Off..........................................................19
4.5.5 Controller Firmware Version Query ..............................................20
4.5.6 Outside Supply Voltage and Controller Temperature Query.........20
4.6 Power Control Commands & Queries .......................................................20
4.6.1 Stationary Power Mode..................................................................21
4.6.2 In-Motion Power Mode .................................................................21
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