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● Pan Angle Query Command for Pan-Tilt

Command Format: FF 01 00 51 00 00 52

Description: After this command is transmitted to the pan-tilt, the device will respond with its current pan   position data upon receiving valid command.

● Pan Angle Data Return Command

Command Format: FF 01 00 59 PMSB PLSB SUM

Where PMSB and PLSB are hexadecimal values; SUM is the low-order byte calculated from the sum of the five bytes excluding 0xFF.

Description: After the pan-tilt receives a valid pan position query command, it replies with a feedback command carrying pan position data.

● Steps to calculate the pan angle of the pan-tilt are as follows

A. Convert hexadecimal values of PMSB and PLSB into decimal numbers.

B. Calculate: Pdata = PMSB × 256 + PLSB.

C. Calculate actual pan angle: Pangle = Pdata ÷ 100.

Pangle stands for the real absolute pan position value of the pan-tilt.

Example 1:

After sending command FF 01 00 51 00 00 52 to the pan-tilt,

the device replies with the following command/data: FF 01 00 59 00 64 BE.

A. PMSB = 0x00, PLSB = 0x64; convert to decimal values: PMSB = 0, PLSB = 100.

B. Pdata = PMSB × 256 + PLSB = 0 × 256 + 100 = 100.

C. Pangle = Pdata ÷ 100 = 1; meaning the current actual absolute pan position of the pan-tilt is 1°.

Example 2:

After sending the command  FF 01 00 51 00 00 52 to the pan-tilt,

the pan-tilt responds with the command/data: FF 01 00 59 75 30 FF.

A、PMSB =0x75  PLSB = 0x30  Convert to decimal values  PMSB = 117  PLSB = 48；

B、Pdata = PMSB *256 + PLSB = 117*256+48 = 3000；

C、Pangle = Pdata÷100 = 300 ；which means the current actual absolute pan position of the pan-tilt is 300°。