External Control
Command Specifications

Remote Controlled Pan & Tilt Head

1

2

3

Table of contents

External control protocol ..................................................................................................................................................................................... 3

1.1
1.2
1.3
1.4

Communication device .................................................................. 3
Communication setting ................................................................. 3
Communication protocol ................................................................ 3
Packet format .......................................................................... 3

2.1
2.2

Setting command ....................................................................... 5
Status request command ................................................................ 5

3.1
3.2
3.3

Command overview ..................................................................... 6
Pan/Tilt operation command execution conditions ......................................... 7
System command ...................................................................... 7

3.4

Pan/Tilt control ........................................................................ 11

1.4.1
Command and response packet ....................................................................................................................................................... 3
1.4.2
Detail of packet fields ............................................................................................................................................................................ 4
1.4.3
Response code ....................................................................................................................................................................................... 4
Communication sequence .................................................................................................................................................................................. 5

Command................................................................................................................................................................................................................. 6

3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
3.3.9
3.3.10

Reboot ........................................................................................................................................................................................................ 7
Get version information ........................................................................................................................................................................ 7
Network address setting ....................................................................................................................................................................... 7
Get network information ....................................................................................................................................................................... 7
TCP keep-alive setting.......................................................................................................................................................................... 8
Get TCP keep-alive information ........................................................................................................................................................ 8
Get model name ..................................................................................................................................................................................... 9
Get serial number ................................................................................................................................................................................... 9
Get system down factor ...................................................................................................................................................................... 10
Factory reset .......................................................................................................................................................................................... 10

3.4.1
Mount mode setting ............................................................................................................................................................................. 11
3.4.2
Get mount mode ................................................................................................................................................................................... 11
3.4.3
Get maximum speed value................................................................................................................................................................ 12
3.4.4
Get motor information ......................................................................................................................................................................... 12
3.4.5
Speed (IR remote control) setting ................................................................................................................................................... 13
3.4.6
Get speed (IR remote control) .......................................................................................................................................................... 13
3.4.7
Control mode setting ........................................................................................................................................................................... 13
3.4.8
Get control mode .................................................................................................................................................................................. 13
3.4.9
Movement limit range (user limit) setting ...................................................................................................................................... 14
3.4.10 Get movement limit range (user limit) ............................................................................................................................................ 14
3.4.11 Speed button setting............................................................................................................................................................................ 15
3.4.12 Get speed button .................................................................................................................................................................................. 15
3.4.13 Origin movement speed setting ....................................................................................................................................................... 16
3.4.14 Get origin movement speed .............................................................................................................................................................. 16
3.4.15 Trigger move .......................................................................................................................................................................................... 17
3.4.16 Get motor/tally status .......................................................................................................................................................................... 18
3.4.17 Trigger movement and get motor/tally status .............................................................................................................................. 19
3.4.18 Origin moves .......................................................................................................................................................................................... 19
3.4.19 Specified position move ..................................................................................................................................................................... 19
3.4.20 User home position setting ................................................................................................................................................................ 20
3.4.21 Get user home position ...................................................................................................................................................................... 20
3.4.22 Move user home position ................................................................................................................................................................... 20
3.4.23 Preset position setting......................................................................................................................................................................... 21
3.4.24 Get preset position ............................................................................................................................................................................... 21
3.4.25 Move to preset position ...................................................................................................................................................................... 21
3.4.26 LED setting ............................................................................................................................................................................................. 22
3.4.27 Get LED status ...................................................................................................................................................................................... 22
Appendix A. Initial value/fixed value ........................................................................................................................................................................ 23
Appendix B. Command example - basic operation............................................................................................................................................. 25
1.
Get maximum speed number ........................................................................................................................................................... 25
2.
Pan move ................................................................................................................................................................................................ 26
3.
Pan/Tilt move ......................................................................................................................................................................................... 27
4.
Pan/Tilt stop ........................................................................................................................................................................................... 28
5.
Pan/Tilt origin move ............................................................................................................................................................................. 29
6.
Pan/Tilt move, Get status - Detail type command ..................................................................................................................... 30

2

1 External control protocol
1.1 Communication device
The PT-LAN51 (device) and an external control device (host) such as a PC can be connected via serial
communication (RS-232C) or Ethernet.
(*) Do not control from both RS-232C and Ethernet at the same time.
(*) Do not make TCP connections to one device from multiple hosts.

1.2 Communication setting
Communication specifications of serial communication
Baud rate
38400bps

Data length
8 bitsStop Bit
1 bit

Parity Bit
No

Flow
No

Communication specifications of Ethernet communication
When using for the first time, it is necessary to connect with serial communication and set the IP address.
Default
Default
Default
Port
IP address
Subnet mask
Gateway
192.168.1.100
255.255.255.0
192.168.1.254
0xD002

1.3 Communication protocol
The communication protocol between the device and the host is a master-slave method in which the device responds
to host requests.

Device
1.4 Packet format
The packet format sent and received between the host and device is independent of the communication medium.
Data in each area is stored in Big Endian.
(*) For serial communication, send each communication data within 100msec.
(*) For Ethernet communication, send STX to BCC in one TCP/IP packet.

1.4.1 Command and response packet
Command packet
STX

DIR

ADR

TYPE

LEN

CODE1

CODE2

DATA

EXT

BCC

LEN

CODE1

CODE2

DATA

EXT

BCC

Command response packet
RES
Status request response packet
STX

DIR

ADR

TYPE

3

1.4.2 Detail of packet fields
Name
STX

Length
1byte

Bit
-

DIR

1byte

-

ADR
TYPE
LEN

1byte
1byte
2byte

[7]
[6:5]

CODE1

1byte

[4]

[3:0]
CODE2

1byte

-

DATA

0 - LEN

-

ETX
BCC

1byte
1byte

-

Name
RES

Length1byte

Definition
Packet starts code (fixed at 0x02)
Packet direction code
0x80: Command
0x40: Response
Device address number (fixed at 0x00)
Model code (fixed at 0x01)
Byte length of transmission data (not including CODE1 and CODE2)
Command type
0: Setting command
1: Getting command
Unused (fix at 0)
Switch location information
0: Pulse value
1: Angle value (Angle x 100 times value)(*) Valid only for command category = 0x05<Pan/Tilt>. Otherwise fixed at 0.
Command category
0x0: System commands
0x5: Pan/Tilt control
Command code
Send data for data length(This field does not exist if the data length is 0)
Packet end code (fixed at 0x03)
Check code (XOR value from STX to ETX)
Definition

Command response

1.4.3 Response code
Name
RES_ACKRES_NAK_RCV_TO
RES_NAK_BCC
RES_NG_NO_CMD
RES_NG_INIT

Value
0x20
0x41
0x42
0x81
0x82

RES_NG_STATE

0x83

RES_NG_DATA_LEN
RES_NG_PARA
RES_NG_MOVE

0x84
0x85
0x86

Definition
Success of receiving
Timeout error
BCC error
Unknown command
Before initialization
Impossible to receive(In case equipment cannot
execute command)
Incorrect data length
Incorrect parameter
Failed in command movement4

2 Communication sequence

There are two types of commands. The first is a command to set the main unit, and the second is a command torequest the current state.

2.1 Setting command
The setting command returns only a 1-byte response code.
DeviceCameraHost
HostCommand
Settingcommand
2 ~– 30msec
22ms

RES_ACK/NAK/NG
After receiving
After receiving RES_xxx,
RES_xxx, send
Send next commandnext command*Note
Command isIssuedignoredbefore
if next receiving
RES_xxx
command sends
command is ignored
before recieving
2 ~– 30msec
22ms

Command
Settingcommand

RES_ACK/NAK/NG

2.2 Status request commandA status request command returns a 1-byte response code, and then returns the requested response data.
DeviceCameraHost
Host

StatusCommand
Status Request
request command

RES_ACK/NAK/NG~ 5ms
1 – 5ms

Response
StatusAfter
After receiving
thereceiving
status,Status, send
Send next commandnext command2~– 30msec
22ms

In case status request
Setting command or
Status request
commandCommand

RES_ACK/NAK/NG

5

2~– 30msec
22ms

3 Command
3.1 Command overview
CommandCategory

CODE1
0x00

0x00
(System)
0x80

0x05(Pulse value),
0x15(Angle value)

0x05(Pan/Tilt)

0x85(Pulse value),
0x95(Angle value)

CODE2
0x00
0x02
0x03
0x0F
0x01
0x02
0x03
0x05
0x06
0x0E
0x01
0x04
0x05
0x06
0x07
0x08
0x20
0x21
0x22
0x23
0x24
0x25
0x26
0x27
0x28
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x20
0x24
0x26
0x28

CommandType
Setting

StatusrequestSetting

Statusrequest6

ActionRebootNetwork address setting
TCP keep-alive setting
Factory reset
Get version information
Get network information
Get TCP keep-alive information
Get model nameGet serial number
Get system down factor
Mount mode setting
Speed (IR remote control) setting
Control mode setting
Movement limit range (user limit) setting
Speed button setting
Origin movement speed setting
Trigger move
Trigger movement and get motor/tally status
Origin moves
Specified position moveUser home position settingMove user home position
Preset position settingMove to preset position
LED setting
Get mount modeGet maximum speed value
Get motor information
Get speed (IR remote control)
Get control modeGet movement limit range (user limit)
Get speed button
Get origin movement speed
Get motor/tally status
Get user home position
Get preset position
Get LED status

3.2 Pan/Tilt operation command execution conditions
Request command
Trigger move Trigger
movement andget motor/tally
status✓✓✓✓Runningcommand

Originmoves

Specifiedposition
move

Move
user
home
position✓✓

Move topresetposition

Trigger move✓✓✓
Trigger movement✓✓✓
and get motor/tally
statusOrigin moves
- (*)
- (*)
- (*)
- (*)
- (*)
- (*)
Specified position
✓
✓
✓
✓
✓
✓
move
Move user home
✓
✓
✓
✓
✓
✓
position
Move to preset
✓
✓
✓
✓
✓
✓
position(*) Returns RES_ACK, but pan/tilt continues to move to the origin. After completing the origin movement, please resend the command.

3.3 System command
3.3.1 Reboot
Reboot PT-LAN51.
< Setting command >
LEN
CODE1
0
0x00

CODE2
0x00

DATA
-

3.3.2 Get version information
Get the version information of the firmware.
< Status request command >LEN
CODE1 CODE2
0
0x80
0x01
< Response >
LEN
CODE1
4

0x80

DATA
-

CODE2

DATA 10x01

Major version

DATA 2
Reserved(0x00)DATA 3-4
Minor version

3.3.3 Network address setting
Make Ethernet setting for the main unit.
This unit does not support DHCP. Please set a valid network address.
The setting will be reflected after a reboot.
< Setting command >
LEN
CODE1
12

0x00

CODE2

DATA 1-4

DATA 5-8

0x02

IP address

Subnet mask

DATA 9-12
Default
gateway

3.3.4 Get network information
Get current Ethernet setting information.
< Status request command >LEN
CODE1 CODE2
0
0x80
0x02

DATA
-

< Response >
LEN
CODE1

CODE2

DATA 1-4

DATA 5-8

DATA 9-12

DATA 13-18

0x02

IP address

Subnet mask

Default
gateway

MAC address

20

0x80

7

DATA 19-20
Port number(Fixed
0xD002)

3.3.5 TCP keep-alive setting
Set the TCP keep-alive function.
The setting will be reflected after a reboot.
When this function is enabled, if no data transmission/reception continues for <Time> period while TCP connection isestablished, TCP keep-alive packet will be sent and response packet or sequence data communication to the same
packet will be sent for <Interval> wait duration. This "packet transmission + response wait" is repeated <Number oftransmissions> times until a response is obtained. If the response is not finally obtained, the device closes the current
TCP connection and returns to the state of waiting for connection establishment.
< Setting command >
LEN
CODE1
7

0x00

CODE2

DATA 1DATA 2-3

DATA 4-50x03

Enable/Disable

TimeInterval

DATA 6-7
Number oftransmissions

Enable/Disable
Enables (1) / Disables (0) the TCP keep-alive function.
If disable is selected, set dummy data (e.g., 0) to <Time>, <Interval> and < Number of transmissions>.
Time
Sets the time from the last data transmission/reception to the first TCP keep-alive packet.
The unit is seconds (*). If 0 is specified, 1 is set.
Interval
Sets the time to wait for a Response to TCP keep-alive packets.
The unit is seconds (*). If 0 is specified, 1 is set.
Number of transmissions
Set the number of "TCP keep alive packet transmission + wait for response".
If set to 0, closes the TCP connection without sending a TCP keep-alive packet <Time> after the last data wassent or received.
(*) Due to the internal counter, a time lag may occur depending on the operating conditions.

3.3.6 Get TCP keep-alive information
Get the current TCP keepalive feature setting.
< Status request command >LEN
CODE1 CODE2
0
0x80
0x03

DATA
-

< Response >
LEN
CODE1

CODE2

DATA 1DATA 2-3

DATA 4-50x03

Enable/Disable

TimeInterval

70x80

Enable/Disable
TimeInterval
Number of transmissions
Same as 0x00_0x03 command (TCP keep-alive setting)

8

DATA 6-7
Number oftransmissions

3.3.7 Get model nameGet the model’s name.
< Status request command >LEN
CODE1 CODE2
0
0x80
0x05

DATA
-

< Response >
LEN
CODE1
24
0x80

DATA 1-8
Series name

CODE2
0x05

DATA 9-16
Model’s name

DATA 17-24
OptionSeries name
You can get the series name "PT" of this unit as a fixed value.
Model’s name
You can get the model name "LAN51" of this unit as a fixed value.
OptionUsed to identify derived models.

3.3.8 Get serial number
Get the serial number.
< Status request command >LEN
CODE1 CODE2
0
0x80
0x06

DATA
-

< Response >
LEN
CODE1
9
0x80

DATA 1
Reserved(0x00)

CODE2
0x06

DATA 2-9
Serial number

Serial number
Serial number (ASCII Character code)93.3.9 Get system down factor
Get the current system down factor.
< Status request command >LEN
CODE1 CODE2
0
0x80
0x0E
< Response >
LEN
CODE1
2

CODE2

0x80

0x0E

DATA
DATA 1
System down
factor 1

DATA 2
System down
factor 2

System down factor
1: There is a system down factor
0: There is no system down factor (or the factor has already been resolved)
System down
factor 1
[7-2]
[1]
[0]
System down
factor 2
[7]
[6]
[5]
[4]
[3-0]

Definition(Unused)Abnormal access to non-volatile memory
Abnormal temperature
Definition
Pan/Tilt emergency stop
Power failure (DC-OUT)
Power failure (Power Input)
PoE class fault(Unused)3.3.10 Factory reset
Initializes the non-volatile memory that retains user settings and restores the factory defaults.
After initialization, the device will automatically restart.
< Setting command >LEN
CODE1 CODE2
DATA
0 or 1 (*)
0x00
0x0F
Mode
(*) Initialize all items without DATA (Mode) if LEN=0
Mode

DATA
0x10
Other

Definition
Initialize settings other than Ethernet settings
Initialize all items

103.4 Pan/Tilt control
Command for Pan/Tilt head.
CODE1 selects whether to process setting/getting and position information with pulse values or angle values.
CODE1
0x05
0x85

Set
✓
-

Get
✓

Pulse
✓
✓

Angle
-

0x15

✓

-

-

✓

0x95

-

✓

-

✓

Definition
Setting command. Position information is pulse value.
Getting command. Position information is pulse value.
Setting command. Position information is an angle value(angle x 100 times value)
Getting command. Position information is an angle value(angle x 100 times value)

Angle values can be calculated from pulse values.
Angle value = pulse value * step angle / gear ratio
The step angle and gear ratio can be obtained with the 0x85_0x03 command (Get motor information).

3.4.1 Mount mode setting
Sets the Pan/Tilt installation status.
< Setting command >
LEN
CODE1
1
0x05, 0x15
Mode

CODE2
0x01

DATA
Mode

Bit
[7:3]

Name
-

[2]

Tilt reverse mode[1]

pan reverse mode[0]

Mount mode

Definition
Unused (Fixed at 0)This bit is valid only when “Mount mode” is normal (0).
0: Normal
1: Reverse, tilt works in the opposite direction
This bit is valid only when “Mount mode” is normal (0).
0: Normal
1: Reverse, pan works in the opposite direction
0: Normal
1: Ceiling mounted; Pan/Tilt operates in the opposite direction

3.4.2 Get mount modeGet the Pan/Tilt installation status.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x01

DATA
-

< Response >
LEN
CODE1
1
0x85, 0x95

DATA
Mode

Mode

CODE2
0x01

Bit
[7:5]

Name
-

[4]

Stage mode

[3]

-

[2]

Tilt reverse mode[1]

pan reverse mode[0]

Mount mode

Definition(Unused)
0: Upper, set the stage up
1: Lower, set the stage down(*) This setting is done with the DIP switch on the main unit.
(Unused)This bit is valid only when “Mount mode” is normal (0).
0: Normal
1: Reverse, tilt works in the opposite direction
This bit is valid only when “Mount mode” is normal (0).
0: Normal
1: Reverse, pan works in the opposite direction
0: Normal
1: Ceiling mounted; Pan/Tilt operates in the opposite direction

11

3.4.3 Get maximum speed value
Get the maximum pan/tilt speed value.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x02

DATA
-

< Response >
LEN
CODE1
1
0x85, 0x95

DATA 1
Maximum speed value

CODE2
0x02

Maximum speed value
Maximum speed value (Common Pan/Tilt)

3.4.4 Get motor information
Get information of each motor such as operating range (limit position) of each axis, motor step angle, gear ratio, etc.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x03
< Response >
LEN
CODE1
16

0x85, 0x95

CODE2
0x03

DATA
DATA 1-2
Pan
step angle
DATA 9-10
Tilt
step angle

DATA 3-4
Pangear ratio
DATA 11-12
Tilt
gear ratio

DATA 5-6Pan
limit(right)
DATA 13-14
Tilt
limit(up)Pan step angle
Tilt step angle
It is the value obtained by multiplying the step angle of the motor by 1000.
Pan gear ratio
Tilt gear ratio
It is the value of the gear ratio of the mechanism.
Pan limit(right)
Pan limit(left)
It is the limit position value that Pan can operate (16bits signed integer).
Tilt limit (up)Tilt limit (down)
It is the limit position value that Tilt can operate (16bits signed integer)

12

DATA 7-8Pan
limit(left)
DATA 15-16
Tilt
limit(down)3.4.5 Speed (IR remote control) setting
Sets the speed at which the IR remote control operates.
< Setting command >
LEN
CODE1
2
0x05, 0x15

CODE2
0x04

DATA 1
Pan speed

DATA 2
Tilt speed

Pan speed
Tilt speed
Operation speed: maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_0x02 command (Get maximum speed value).

3.4.6 Get speed (IR remote control)
Get the operation speed that works with the IR remote control.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x04

DATA
-

< Response >
LEN
CODE1
2
0x85, 0x95

DATA 1
Pan speed

CODE2
0x04

DATA 2
Tilt speed

Pan speed
Tilt speed
Operation speed

3.4.7 Control mode setting
Sets the Pan/Tilt control mode.
< Setting command >
LEN
CODE1
1
0x05, 0x15
Control mode
Bit
[7:5]

CODE2
0x05
Name
-

[4]

Smart position
move

[3:0]

-

DATA 1
Control mode
Definition
Unused (Fixed at 0)
Adjust the speed of Pan/Tilt to the position specified by the position
movement command, move in a straight line as much as possible(0: off, 1: on)
Unused (Fixed at 0)

3.4.8 Get control mode
Gets the Pan/Tilt control mode.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x05

DATA
-

< Response >
LEN
CODE1
1
0x85, 0x95

DATA 1
Control mode

CODE2
0x05

Control mode
Same as 0x05_0x05 command (Control mode setting).

13

3.4.9 Movement limit range (user limit) setting
Sets the operating range of Pan/Tilt.
< Setting command >
LEN
CODE1
9
Mode

CODE2

DATA 10x06

Mode0x05, 0x15

Bit

Name

[7:4]

Tilt
Mode

[3:0]

Pan
Mode

DATA 2-3
Pan right(Max)

DATA 4-5
Pan left(Min)

DATA 6-7
Tilt up(Max)

DATA 8-9
Tilt down(Min)

Definition
0x0: Reset (the setting is canceled, and the unit operates within the limit range)
0x1: Setting
0x2 to 0xF: No change
0x0: Reset (the setting is canceled, and the unit operates within the limit range)
0x1: Setting
0x2 to 0xF: No change

If reset is selected at the Pan/Tilt mode, set dummy data (e.g., 0) to the reset parts of <Pan right (Max)>, <Pan left
(Min)>, <Tilt up (Max)> and <Tilt down (Min)>.
Pan right(max) limit
Pan left(min) limit
Tilt up(max) limit
Tilt down(min) limit
Specify the operating range. Set the configurable range within the limits of the 0x05_0x03 command (Getmotor information). It is recommended to include the origin in the setting range. Regardless of this setting
range, it will move to the origin-by-origin movement request.
(16bits signed integer)

3.4.10 Get movement limit range (user limit)
Get the Pan/Tilt operating range.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x06

DATA
-

< Response >
LEN
CODE1

CODE2

DATA 1

0x06

Mode

9
Mode

0x85, 0x95

Bit
[7:4]
[3:0]

Name
Tilt
Mode
Pan
Mode

DATA 2-3
Pan right(Max)

DATA 4-5
Pan left(Min)

DATA 6-7
Tilt up(Max)

DATA 8-9
Tilt down(Min)

Definition
0x0: Not set
0x1: Already set
0x0: Not set
0x1: Already set

Pan right(max) limit
Pan left(min) limit
Tilt up(max) limit
Tilt down(min) limit
If it has already been set, the operating range can be acquired. If not set, the same value as each limit of the
0x05_0x03 command (Get motor information) is returned. (16bits signed integer)143.4.11 Speed button setting
Sets the speed of the speed button on the IR remote control.
< Setting command >
LEN
CODE1
4
0x05, 0x15
Mode

CODE2
0x07

Bit
[7:5]

Name
-

[4]

Mode

[3:1]

-

[0]

Motor

DATA 1Mode

DATA 2
Speed 1DATA 3
Speed 2DATA 4
Speed 3

Definition
Unused (Fixed at 0)
0: Initialize (set to default value)
1: Setting
Unused (Fixed at 0)
0: Pan1: Tilt

If initialize is selected at the mode, set dummy data (e.g., 0) to <speed 1>, <speed 2>, and <speed 3>.
Speed 1-3
Setting speed for each button: Maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_0x02 command (Get maximum speed value).

3.4.12 Get speed button
Get the information of the speed button of the IR remote control.
< Status request command >
LEN
CODE1
CODE2
1
0x85, 0x95
0x07
Motor
Motor (axis) selection
Bit
Name
[7:1]
[0]

Motor

< Response >
LEN
CODE1
3
0x85, 0x95

DATA
Motor

(Unused)
0: Pan1: Tilt

CODE2
0x07

Definition

DATA 1
Speed 1DATA 2
Speed 2

Speed 1-3
Same as 0x05_0x07 command (Speed button setting).

15

DATA 3
Speed 33.4.13 Origin movement speed setting
Set the movement speed to the origin position.
< Setting command >
LEN
CODE1
2

0x05, 0x15

CODE2
0x08

DATA 1Pan
speed

DATA 2Tilt
speed

Pan speed
Tilt speed
Movement speed to origin position: Maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_0x02 command (Get maximum speed value).

3.4.14 Get origin movement speed
Get the movement speed to the origin position.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x08
< Response >
LEN
CODE1
2

0x85, 0x95

CODE2
0x08

DATA
DATA 1Pan
speed

DATA 2Tilt
speed

Pan speed
Tilt speed
It is the same as the 0x05_0x08 command (Origin movement speed setting).

16

3.4.15 Trigger move
Perform trigger action.
< Setting command >
LEN
CODE1
3
Mode

CODE2

DATA 10x20

Mode0x05, 0x15

Bit
[7]

Name
-

[6]

Pan valid

[5:4]

Pan
mode

[3]

-

[2]

Tilt valid

[1:0]

Tilt
mode

DATA 2Pan
speed

DATA 3Tilt
speed

Definition
Unused (Fixed at 0)
0: Pan specification invalid (Pan motor does not work)
1: Pan specification valid
0: Stop
1: Move left
2: Move right
3: Move to origin
Unused (Fixed at 0)
0: Tilt specification invalid (Tilt motor does not work)
1: Tilt specification valid
0: Stop
1: Move up
2: Move down
3: Move to origin

If invalid is selected at the pan/tilt valid, set dummy data (e.g., 0) to the disabled parts of <Pan mode>, <Tilt
mode>, <Pan speed> and <Tilt speed>.
Pan speed
Tilt speed
Operation speed: maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_0x02 command (Get maximum speed value).

173.4.16 Get motor/tally status
Get the Pan/Tilt status and tally lamp status.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x20

DATA
-

< Response >
LEN
CODE1
5
0x85, 0x95

DATA 1
StatusStatus

Bit
[7]

Name
-

[6]

Tally

[5:4]

Pan

[3:2]

Tilt

[1:0]

-

CODE2
0x20

DATA 2-3
Pan position

DATA 4-5
Tilt position

Definition(Unused)
0: Off
1: On
0: Initializing (move commands cannot be accepted)
1: Initialization completed or stopped
2: Moving
3: Limit position reached
0: Initializing (move commands cannot be accepted)
1: Initialization completed or stopped
2: Moving
3: Limit position reached(Unused)Pan position
Pan current position
Tilt position
Tilt current position18

3.4.17 Trigger movement and get motor/tally status
This command performs trigger operation and motor/tally status acquisition at the same time.
< Setting & Status request command >The communication sequence is the same as "Status request command".
LEN
CODE1
CODE2
DATA 1DATA 2
Pan/Tilt
Pan
30x05, 0x15
0x21
mode
speed

DATA 3Tilt
speed

Pan/Tilt Mode
Pan speed
Tilt speed
Same as 0x05_0x20 command (Trigger move)< Response >
LEN
CODE1
5
0x05, 0x15

CODE2
0x21

DATA 1
StatusDATA 2-3
Pan position

DATA 4-5
Tilt position

StatusPan position
Tilt position
Same as 0x85_0x20 command (Get motor/tally status)

3.4.18 Origin moves
Move to the origin position.
< Setting command >
LEN
CODE1
0
0x05, 0x15

CODE2
0x22

DATA
-

3.4.19 Specified position move
Move to the specified position.
< Setting command >
LEN
CODE1
6
0x05, 0x15
Mode

CODE2
0x23

Bit
[7:2]

Name
-

[1]

Tilt valid[0]

Pan valid

DATA 1Mode

DATA 2
Speed

DATA 3-4
Pan position

DATA 5-6
Tilt position

Definition
Unused (Fixed at 0)
0: Tilt specification invalid (Tilt motor does not work)
1: Tilt specification valid
0: Pan specification invalid (Pan motor does not work)
1: Pan specification valid

If invalid is selected at the pan/tilt valid, set dummy data (e.g., 0) to the disabled parts of <Pan position> and<Tilt position>
Speed
Operation speed: maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_0x02 command (Get maximum speed value).
Pan position
Tilt position
Same as 0x85_0x20 command (Get motor/tally status)

193.4.20 User home position setting
Set or delete the user home position.
< Setting command >
LEN
CODE1
1 or 50x05, 0x15
Mode (*1)
Name

Mode

CODE2
0x24

DATA 1Mode

DATA 2-3
Pan position

DATA 4-5
Tilt position

Definition
0: Delete
Delete user home position information
1: Register current position
Register current position as user home position
2: Specified position setting
Sets the specified position as the user home position.

If delete is selected at the mode, set dummy data (e.g., 0) to <Pan position> and <Tilt position>.
Pan position
Pan position (Valid when “Mode” = 2) (*)
Tilt position
Tilt position (Valid when “Mode” = 2) (*)(*) When Mode=0,1, Pan/Tilt position can be omitted with LEN=1.
If Mode=2, be sure to set LEN=5.
Set the setting position within the range obtained by the 0x85_0x03 command (Get motor information).

3.4.21 Get user home position
Get user home position setting information.
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x24
< Response >
LEN
5

CODE1
0x85, 0x95

DATA
-

CODE2
0x24

DATA 1
StatusDATA 2-3
Pan position

DATA 4-5
Tilt position

StatusUser home position setting state (0: not set, 1: set)
Pan position
Pan position (Valid when “Status” = 1)
Tilt position
Tilt position (Valid when “Status” = 1)

3.4.22 Move user home position
Move to user home position.
It will not work if the user home position is not set.
< Setting command >
LEN
CODE1
CODE2
DATA 10 or 1 (*)
0x05, 0x15
0x25
Speed
(*) If LEN=0, it will operate at the speed specified on the main unit side (same speed as origin movement)
Speed
Operation speed: maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_02 command (Get maximum speed value).

20

3.4.23 Preset position setting
Sets the current Pan/Tilt position as a preset position.
< Setting command >
LEN
CODE1
1
0x05, 0x15

CODE2
0x26

DATA 1
Preset number

Preset number
15 presets can be set (1-15)

3.4.24 Get preset position
Get preset position information.
< Status request command >
LEN
CODE1
CODE2
1
0x85, 0x95
0x26

DATA 1
Preset number

Preset number
Same as 0x05_0x26 command (Preset position setting).
< Response >
LEN
CODE1
4
0x85, 0x95

CODE2
0x26

DATA 1-2
Pan position

DATA 3-4
Tilt position

Pan position
Pan preset position
Tilt position
Tilt preset position

3.4.25 Move to preset position
Move to preset position.
< Setting command >
LEN
CODE1
2
0x05, 0x15

CODE2
0x27

DATA 1
Preset number

DATA 2
Speed

Preset number
Same as 0x05_0x26 command (Preset position setting).
Speed
Operation speed: maximum speed value (highest speed) ~ 1 (lowest speed)
Get the maximum speed value that can be set with the 0x85_02 command (Get maximum speed value).

21

3.4.26 LED setting
Sets the LED (Tally).
< Setting command >
LEN
CODE1
1
0x05, 0x15
LED

Bit
[7:1]
[0]

CODE2
0x28
Name
Tally

DATA
LED
Definition
Unused (Fixed at 0)
Tally ( 0: Off, 1: On )Tally light turns to "0: Off" with power off/on.

3.4.27 Get LED status
Gets the status of the LED (Tally).
< Status request command >
LEN
CODE1
CODE2
0
0x85, 0x95
0x28

DATA
-

< Response >
LEN
CODE1
1
0x85, 0x95

DATA 1
LED

LED

CODE2
0x28

Same as 0x05_0x28 command (LED setting).

22

Appendix A. Initial value/fixed value

Initial value list
CommandCategory
0x00

0x05

CODE2

Command

0x02

Network address

0x03

TCP keep-alive

0x01

Mount mode

0x04

Speed
(IR remote control)
Control mode
Movement limit range(User limit)

0x05
0x06

0x07

IP address
Subnet mask
Default gateway
Enable/Disable
TimeInterval
Number of transmissions
Mount mode
Pan reverse mode
Tilt reverse mode
Pan speed
Tilt speed
Smart position move
Pan right
Pan left
Tilt up
Tilt down
Speed 1
(Pan & Tilt)
Speed2(Pan & Tilt)
Speed3(Pan & Tilt)
Pan speed
Tilt speed
Pan position
Tilt position
Pan position(Preset number 1-15)
Tilt position(Preset number 1-15)
Tally

Speed button

0x08

Origin movement speed

0x24

User home position

0x26

Preset position

0x28

Item

LED

Value
192.168.1.100
255.255.255.0
192.168.1.254
Disable7200 (second = 2hour)
75 (second)
9 (times)
NormalNormalNormal106
106
On
Not setNot set2500 (pulse) (*)-2500 (pulse) (*)
147
106
50
134
78
Not setNot set00
Off(*) Set during a factory reset. When reset by the movement restriction range Setting command, it becomes "notset".
Fixed value list
CommandCategory
0x05

CODE2
0x02
0x03

Command
Maximum speed value
Motor information

23

Item

Value

Pan step angle
Pan gear ratio
Pan limit(right)
Pan limit (left)
Tilt step angle
Tilt gear ratio
Tilt limit (up)Tilt limit (down)

147
1800 (pulse)
150
14300 (pulse)-14300 (pulse)
1800 (pulse)
150
14500 (pulse)-14500 (pulse)

Speed setting and rotation speed (excerpt)
Speed setting
Rotation speed (angle°/sec)
147
50.0175134
45.3375120
40.2975
10635.25759230.21757825.177564
20.137550
15.0975
43
12.577536
10.0575
29
7.537525
6.0975173.2175131.77757
0.36

24

Appendix B. Command example - basic operation
1.

Get maximum speed numberFirst, get the maximum speed number of the main unit. The speed value may vary depending on the settings, so be sure to
get it.
(CODE1:0x85, CODE2:0x02) Get maximum speed number
No command data

Command packet (Host -> PT-LAN51)
STX
DIR
ADR
TYPE
LEN1
LEN2
CODE1
0x02
0x80
0x00
0x01
0x00
0x00
0x05
BCC = 0x02^0x80^0x00^0x01^0x00^0x00^0x05^0x02^0x03=0x87

CODE2
0x02

ETX
0x03

BCC
0x87

CODE2
0x02

DATA1
0x93

ETX
0x03

Response code (PT-LAN51 -> Host)
RES
0x20
0x20 = RES_ACK: Successful receive
Response packet (PT-LAN51 -> Host)
STX
DIR
ADR
TYPE
LEN1
LEN2
CODE1
0x02
0x40
0x00
0x01
0x00
0x02
0x05
BCC = 0x02^0x40^0x00^0x01^0x00^0x02^0x05^0x02^0x93^0x03=0xD6
DATA1:Pan/Tilt max speed= 0x93 = 147

This value will be the maximum speed value.

25

BCC
0xD6

2.


Pan move(CODE1:0x05, CODE2:0x20) Trigger move
Pan (Enable, right, speed=100)DATA1
Pan/Tilt Mode = 0x60
Bit
Name
[7]
[6]
Pan valid[5:4]
Pan Mode[3][2]
Tilt valid[1:0]
Tilt Mode
DATA2
Pan Speed = 0x64 (=100)
DATA3
Tilt Speed = 0x00 (=0)

Value
0-------1-------10-------0-------0-------00

Definition
0: (Unused)
1: Pan specification valid
2: Move right0: (Unused)
0: Tilt specification invalid
0: Stop (Ignored because tilt specification is invalid)Command packet (Host -> PT-LAN51)
STX
0x02

DIR
0x80

ADR
0x00

TYPE
0x01

LEN1
0x00

LEN2
0x03

CODE1
0x05

CODE2
0x20

ETX
BCC
0x03
0xA2
BCC = 0x02^0x80^0x00^0x01^0x00^0x03^0x05^0x20^0x60^0x64^0x00^0x03=0xA2
Response (PT-LAN51 -> Host)
RES
0x20
0x20 = RES_ACK: Successful receive

26

DATA1
0x60

DATA2
0x64

DATA3
0x00

3.


Pan/Tilt move

(CODE1:0x05, CODE2:0x20) Trigger move
Pan (Enable, left, speed=147)
Tilt (Enable, down, speed=100)
No get status
DATA1
Pan/Tilt Mode = 0x56
Bit
Name
[7]
[6]
Pan valid[5:4]
Pan Mode[3][2]
Tilt valid[1:0]
Tilt Mode

Value
0-------1-------01-------0-------1-------10

Definition
0: (Unused)
1: Pan specification valid
1: Move left
0: (Unused)
1: Tilt specification valid
2: Move down

DATA2
Pan Speed = 0x93 (=147)
DATA3
Tilt Speed = 0x64 (=100)
Command packet (Host -> PT-LAN51)
STX
0x02

DIR
0x80

ADR
0x00

TYPE
0x01

LEN1
0x00

LEN2
0x03

CODE1
0x05

CODE2
0x20

ETX
BCC
0x03
0x07
BCC = 0x02^0x80^0x00^0x01^0x00^0x03^0x05^0x20^0x56^0x93^0x64^0x03=0x07
Response (PT-LAN51 -> Host)
RES
0x20
0x20 = RES_ACK: Successful receive

27

DATA1
0x56

DATA2
0x93

DATA3
0x64

4.


Pan/Tilt stop

(CODE1:0x05, CODE2:0x20) Trigger move
Pan (Enable, stop)
Tilt (Enable, stop)
DATA1
Pan/Tilt Mode = 0x44
Bit
Name
[7]
[6]
Pan valid[5:4]
Pan Mode[3][2]
Tilt valid[1:0]
Tilt ode

Value
0-------1-------00-------0-------1-------00

Definition
0: (Unused)
1: Pan specification valid
0: Stop
0: (Unused)
1: Tilt specification valid
0: StopDATA2
Pan Speed = 0x00
DATA3
Tilt Speed = 0x00
Command packet (Host -> PT-LAN51)
STX
0x02

DIR
0x80

ADR
0x00

TYPE
0x01

LEN1
0x00

LEN2
0x03

CODE1
0x05

CODE2
0x20

ETX
BCC
0x03
0xE2
BCC = 0x02^0x80^0x00^0x01^0x00^0x03^0x05^0x20^0x44^0x00^0x00^0x03=0xE2
Response (PT-LAN51 -> Host)
RES
0x20
0x20 = RES_ACK: Successful receive

28

DATA1
0x44

DATA2
0x00

DATA3
0x00

5.


Pan/Tilt origin move

(CODE1:0x05, CODE2:0x20) Trigger move
Pan (Enable, move to origin)Tilt (Enable, move to origin)
DATA1
Pan/Tilt Mode = 0x77
Bit
Name
[7]
[6]
Pan valid[5:4]
Pan Mode[3][2]
Tilt valid[1:0]
Tilt Mode

Value
0-------1-------11-------0-------1-------11

Definition
0: (Unused)
1: Pan specification valid
3: Move to origin
0: (Unused)
1: Tilt specification valid
3: Move to origin

DATA2
Pan Speed = 0x00
DATA3
Tilt Speed = 0x00
Command packet (Host -> PT-LAN51)
STX
0x02

DIR
0x80

ADR
0x00

TYPE
0x01

LEN1
0x00

LEN2
0x03

CODE1
0x05

CODE2
0x20

ETX
BCC
0x03
0xD1
BCC = 0x02^0x80^0x00^0x01^0x00^0x03^0x05^0x20^0x77^0x00^0x00^0x03=0xD1
Response (PT-LAN51 -> Host)
RES
0x20
0x20 = RES_ACK: Successful receive

29

DATA1
0x77

DATA2
0x00

DATA3
0x00

6.


Pan/Tilt move, Get status - Detail type command(CODE1:0x85, CODE2:0x20) Get motor/tally status
No command data

Command packet (Host -> PT-LAN51)
STX
DIR
ADR
TYPE
LEN1
LEN2
CODE1
0x02
0x80
0x00
0x01
0x00
0x00
0x85
BCC = 0x02^0x80^0x00^0x01^0x00^0x00^0x85^0x20^0x03=0x25

CODE2
0x20

ETX
0x03

BCC
0x25

Response (PT-LAN51 -> Host)
RES
0x20
0x20 = RES_ACK: Successful receive
Response packet (PT-LAN51 -> Host)
STX
0x02

DIR
0x40

ADR
0x00

TYPE
0x01

LEN1
0x00

LEN2
0x05

CODE1
0x85

CODE2
0x20

DATA1
DATA2-3
DATA4-5
EXT
BCC
0x28
0x3A
0x98
0xEC
0x78
0x03
0xFE
BCC = 0x02^0x40^0x00^0x01^0x00^0x05^0x85^0x20^0x28^0x3A^0x98^0xEC^0x78^0x03=0xFE
DATA1
Pan position = 0x28
Bit
Name
[7]
[6]
Tally
[5:4]
Pan
[3:2]
Tilt
[1:0]
-

Value
0-------0-------10-------10-------00

0: (Unused)
0: Off
2: Moving
2: Moving
0: (Unused)

Definition

DATA2-3
Pan position = 0x3A98 = 15000
DATA4-5
Tilt position = 0xEC78 = -5000(CODE1:0x84, CODE2:0xC3) The rotation angle can be calculated from the gear ratio and step angle obtained by motor
information.
Pan step angle = 1800 => 1.8°
Pan gear ratio = 150
Pan position = 15000
15000*1.8/150 = 180°
Tilt step angle = 1800 => 1.8°
Tilt gear ratio = 150
Tilt position = -5000-5000*1.8/150 = -60°30

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2nd Edition - May, 2024