PELCO D_P协议参考模板

1、PELCO D、P通讯协议一、PELCO协议介绍1、PELCO主控与前端解码器是通过RS422RS485通信格式传输。2、除PELCO原装设备支持RS422和RS485兼容接口，国内大部分厂家主控和接收设备仅支持RS485接口，RS485接口是半双工通信模式，即发送端发过去的控制命令，只管发出去，不管你收不收得到，有的厂家连续发，有的间隔发，总类很多。停止命令往往发1、2条。如PELCOPANASONIC、三星等大厂做的通信接口，主控发出去命令，接收端收到命令返回SCK命令给主控，叫回答命令，告知发送端我已收到命令，不用再发了，这就是RS422通信模式的一种用途。3、PELCO协议内容包括云台

2、控制命令、摄像机控制命令、辅助控制命令、预置位设置和调用命令。注意：网上PELCO协议版本众多，建议看家选择英文版本，中文版本很多错误。4、Pelco P protocol details are proprietary, non-public documents. In almost all cases, Pelco's publicly available ASCII, G, or D protocols can be used in place of Pelco P with the appropriate translator. Pelco Product Support te

3、chnicians may be able to assist you in obtaining the use of these protocols for your application. ASCII, G, and D protocols can be obtained be filling out our online registration form located here. For further assistance please contact Pelco Product Support at (800)298-9100 or (559)292-1981. 二、

4、PELCO-D协议数据格式：1位起始位、8位数据、1位停止位，无效验位。波特率：2400bps.命令格式：Byte 1Byte 2Byte 3Byte 4Byte 5Byte 6Byte 7同步字地址码命令字1命令字2数据1数据2校验码1.该协议中所有数值都为十六进制数 2.同步字节始终为FFH 3.地址码为摄像机的逻辑地址号，地址范围：00HFFH 4.指令码表示不同的动作，在有关预制点的操作时，数据2表示预制点值5.数据1、2分别表示水平、垂直方向速度（00-3FH），FFH表示“turbo”速度6.校验码 = MOD（字节2 + 字节3 + 字节4 + 字节5 + 字节6）/100H&#

5、160;   命令字 1和命令字2设置如下：  Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0命令字1Sence码00自动/手动扫描摄像机打开/关闭光圈关闭光圈打开焦距拉远1 / 9命令字2焦距拉近视角变宽视角变窄下上左右0Sence码与Bit4和Bit3有关。在Bit4和Bit3为1的情况下，如果Sence码为1，则命令就是自动扫描和和摄像机打开；如果Sence码为0，则命令就是手动扫描和摄像机关闭。当然如果Bit4或Bit3为0的话那命令就无效了。 常用命令列表：序号命令字功能10x00 0x08上 20x00 0x

6、10下 30x00 0x04左 40x00 0x02右 50x00 0x20变倍短 60x00 0x40变倍长 70x00 0x80聚焦近 80x01 0x00聚焦远 90x02 0x00光圈小 100x04 0x00光圈大 110x00 0x0b灯光关 120x00 0x09灯光开 130x00 0x07转至预置点140x00 0x03设置预置点150x00 0x05删除预置点160x00 0x00停止关于云台自动功能如何实现，云台的自动功能是做到解码板电路，有多种硬件电路方法，也有软件检测限位开关或者光耦中断来控制左和右自动扫描。但上面协议表是没有自动命令，在P协议里AUTO P

7、AN命令是CALL 99号预置位。在D协议里是没有定义，编程者可以定义CALL #NO来实现。D协议特殊命令控制表：CommandWord 3Word 4Word 5Word 6Set Preset000300 常用01 to 20Clear Preset000500 常用01 to 20Go To Preset000700 常用01 to 20Flip (180° about)000700 常用21Go To Zero Pan000700 常用22Set Auxiliary000900 常用01 to 08Clear Auxiliary000B00 常用01 to 08Remote

8、 Reset000F00 常用00Set Zone Start001100 不常用01 to 08Set Zone End001300 不常用01 to 08Write Char. To Screen0015X Position 00 to 28 不常用ASCII ValueClear Screen001700不常用00Alarm Acknowledge001900不常用Alarm No.Zone Scan On001B00不常用00Zone Scan Off001D00不常用00Set Pattern Start001F00不常用00Set Pattern Stop002100不常用00Ru

9、n Pattern002300不常用00Set Zoom Speed002500不常用00 to 03Set Focus Speed002700不常用00 to 03 以地址码0x01为例： 0xff,0x01,0x00,0x08,0x00,0xff,0x08,/上 0xff,0x01,0x00,0x10,0x00,0xff,0x10,/下 0xff,0x01,0x00,0x04,0xff,0x00,0x04,/左 0xff,0x01,0x00,0x02,0xff,0x00,0x02,/右 0xff,0x01,0x00,0x20,0x00,0x00,0x21,/变倍短 0xff,0x01,0x

10、00,0x40,0x00,0x00,0x41,/变倍长 0xff,0x01,0x00,0x80,0x00,0x00,0x81,/聚焦近 0xff,0x01,0x01,0x00,0x00,0x00,0x02,/聚焦远 0xff,0x01,0x02,0x00,0x00,0x00,0x03,/光圈小 0xff,0x01,0x04,0x00,0x00,0x00,0x05,/光圈大 0xff,0x01,0x00,0x0b,0x00,0x01,0x0d,/灯光关 0xff,0x01,0x00,0x09,0x00,0x01,0x0b,/灯光开 0xff,0x01,0x00,0x07,0x00,0x01,0x

11、09,/转至预置点001 0xff,0x01,0x00,0x03,0x00,0x01,0x05,/设置预置点001 0xff,0x01,0x00,0x05,0x00,0x01,0x07,/删除预置点001 以上对应的停命令均是: 0xff,0x01,0x00,0x00,0x00,0x00,0x01,/停命令 三、PELCO-P协议PELCO-P协议一般采用RS-485传输。数据格式：波特率为4800，1位起始位和停止位，8位数据位，无校验。命令格式：ByteValueFunction1$A0起始码STX2$00 to $1F地址码3Data byte 1数据位1（指令码1）4Data byte

12、 2 数据位2（指令码2）5Data byte 3 数据位36Data byte 4 数据位47$AF 停止码ETX8$00-$FF校验码1.该协议中所有数值都为十六进制数2.STX始终为A0H3.地址码为摄像机的逻辑地址号，地址范围：00H1FH4.指令码表示不同的动作 5.数据码1、2分别表示水平、垂直方向速度（00-3FH）,在有关预制点的操作时，数据码2表示预制点值6.ETX始终为AFH7.校验码(XOR sum of Bytes 2-6) = 字节2 字节3 字节4 字节5 字节6指令码1和指令码2的设置：Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit

13、0Data 10相机开自动浏览器开相机开/关光圈关光圈开聚焦近聚焦远Data 20变倍远变倍近下上左右0 (for pan / tilt)常用命令列表：序号命令字功能10x00 0x08上 20x00 0x10下 30x00 0x04左 40x00 0x02右 50x00 0x20变倍短 60x00 0x40变倍长 70x02 0x00聚焦近 80x01 0x00聚焦远 90x08 0x00光圈小 100x04 0x00光圈大 110x00 0x96自动巡航 120x00 0x99关闭自动巡航130x00 0x07转至预置点140x00 0x03设置预置点150x00 0x05删除预置点160

14、x00 0x00停止P协议特殊命令控制表：CommandData byte 1Data byte 2Data byte 3Data byte 4Set Preset XX0003   常用0001 to FFClear Preset XX0005   常用0001 to FFGo To Preset XX0007   常用0001 to FFFlip (rotate 180o)0007   常用0021Zero Pan Position0007   常用0022Set Aux XX0009

15、60;  常用0001 to 08Clear Aux XX000B   常用0001 to 08Remote Reset000F  不常用0000Zone Start0011  不常用0001 to 08Zone End0013  不常用0001 to 08Write char to screen0015  不常用0 to 280 to 7FClear Screen0017  不常用0000Alarm Ack0019  不常用0001 to 08Zone Scan On001B  不常用0000

16、Zone Scan Off001D  不常用0000Pattern Start001F  不常用0000Pattern Stop0021  不常用0000Run Pattern0023  不常用0000Zoom Lens Speed0025  不常用0000 to 03Focus Lens Speed0027  不常用0000 to 03以地址码0x01为例： 0xa0,0x01,0x00,0x08,0x00,0x30,0xaf,0x39,/上 0xa0,0x01,0x00,0x10,0x00,0x30,0xaf,0x21,/下 0x

17、a0,0x01,0x00,0x04,0x10,0x00,0xaf,0x15,/左 0xa0,0x01,0x00,0x02,0x10,0x00,0xaf,0x13,/右 0xa0,0x01,0x00,0x40,0x00,0x00,0xaf,0x41,/变倍短 0xa0,0x01,0x00,0x20,0x00,0x00,0xaf,0x21,/变倍长 0xa0,0x01,0x02,0x00,0x00,0x00,0xaf,0x03,/聚焦近 0xa0,0x01,0x01,0x00,0x00,0x00,0xaf,0x00,/聚焦远 0xa0,0x01,0x08,0x00,0x00,0x00,0xaf,0

18、x09,/光圈小 0xa0,0x01,0x04,0x00,0x00,0x00,0xaf,0x05,/光圈大 无命令字发送/灯光关 无命令字发送/灯光开 0xa0,0x01,0x00,0x96,0x00,0x20,0xaf,0xb7,/自动巡航 0xa0,0x01,0x00,0x99,0x00,0x20,0xaf,0xb8,/关闭自动巡航 0xa0,0x01,0x00,0x07,0x00,0x01,0xaf,0x07,/转至预置点001 0xa0,0x01,0x00,0x03,0x00,0x01,0xaf,0x03,/设置预置点001 0xa0,0x01,0x00,0x05,0x00,0x01,

19、0xaf,0x01,/删除预置点001 以上对应的停命令均是（上下左右、变倍、聚焦、光圈均有停命令）: 0xa0,0x01,0x00,0x00,0x00,0x00,0xaf,0x01,PELCO "P" PROTOCOLGENERALThis section describes the protocol used when sending commands to an Intercept Dome in the “P” version protocol. The protocol uses no parity, one start bit, eight data bits,

20、 and one stop bit. The recommended baud rate is 4800 (4800, 8, N, 1, 1). MESSAGE FORMATByteValueFunction1$A0STX (start transmission)2$00 to $1FAddress3Data byte 1 (see below)4Data byte 2 (see below)5Data byte 3 (see below)6Data byte 4(see below)7$AFETX (end transmission)8$00-$FFCheck SumByte 1 is al

21、ways $A0Byte 2 is the receiver address, set by DIP switch in the receiverByte 3-6, see belowByte 7 is always $AFByte 8 is an XOR sum of Bytes 1-7The protocol is “zero indexed” so that the hexadecimal address sent in the protocol for the first receiver is $00 which corresponds to address 1.The bits w

22、ithin the “Data bytes” are broken up into two main groups. For Pan and Tilt commands, the functions are determined as follows:PAN AND TILT COMMANDSBit number76543210Data 10Camera OnAutoscan OnCamera on / offIris CloseIris OpenFocus NearFocus FarData 20Zoom WideZoom TeleTilt DownTilt UpPan LeftPan Ri

23、ght0 (for pan / tilt)Data 3Pan Speed $00 to $3F and $40 for TurboData 4Tilt Speed $00 to $3FEXTENDED COMMAND SETThe extended command set will have bit 0 of data byte 2 set and will follow the format in the following table:CommandData byte 1Data byte 2Data byte 3Data byte 4Set Preset XX00030001 to FF

24、Clear Preset XX00050001 to FFGo To Preset XX00070001 to FFFlip (rotate 180º)00070021Zero Pan Position00070022Auto scan00090000Stop auto scan000B0000Remote Reset000F0000Zone Start00110001 to 08Zone End00130001 to 08Write char to screen00150 to 280 to 7FClear Screen00170000Alarm Ack00190001 to 08Zone Scan On001B0000Zone Scan Off001D0000Pattern Start001F0000Pattern Stop00210000Run Pattern00230000Zoom Lens Speed00250000 to 03Focus Lens Speed00270000 to 03The receiver will respond with an ACK.