PELCO-D协议要点整理

最新推荐文章于 2026-04-22 10:14:46 发布

转载最新推荐文章于 2026-04-22 10:14:46 发布 · 1.3w 阅读

本文详细解析了Pelco D协议的通讯格式与命令集，包括云台和镜头的基本控制命令，以及扩展命令，如预置位设置、清除与调用，水平180度翻转等高级功能。同时介绍了协议中的同步字节、地址、校验和计算方法，以及各种设备控制命令的具体使用场景。

消息格式:

Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Sync Byte	Address	Command 1	Command 2	Data 1	Data 2	Checksum

The synchronization byte (Sync Byte) is always 0xFF

The Address is the logical address of the receiver/driver device being controlled.

The Checksum is calculated by performing an 8 bit (modulo 256) sum of the payload bytes (bytes 2 through 6)
in the message.

Command	Byte 3	Byte 4	Byte 5	Byte 6	Response Type
Standard Extended Response	Type Ack/ Nack	0x01/1	Additional Info	Additional Info	N/A
Set Preset	00	0x03/3	00	Preset id	General
Clear Preset	00	0x05/5	00	Preset id	General
Go To Preset	00	0x07/7	00	Preset id	General
Flip (180° about)	00	0x07/7	00	0x21/33	General
Go To Zero Pan	00	0x07/7	00	0x22/34	General
Set Auxiliary	00	0x09/9	00	01-08	General
Clear Auxiliary	00	0x0B/11	00	01-08	General
Dummy	00	0x0D/13	00	00	None
Remote Reset	00	0x0F/15	00	00	General
Set Zone Start	00	0x11/17	00	01-08	General
Set Zone End	00	0x13/19	00	01-08	General
Write Character to Screen	00	0x15/21	Column 00 to 0x27/39	ASCII Value	General
Clear Screen	00	0x17/23	00	00	General
Alarm Acknowledge	00	0x19/25	00	01-08	General
Zone Scan On	00	0x1B/27	00	00	General
Zone Scan Off	00	0x1D/29	00	00	General
Set Pattern Start	00	0x1F/31	00	Pattern id	General
Set Pattern Stop	00	0x21/33	00	00	General
Run Pattern	00	0x23/35	00	Pattern id	General
Set Zoom Speed	00	0x25/37	00	00-03	General
Set Focus Speed	00	0x27/39	00	00-03	General
Reset Camera defaults	00	0x29/41	00	00	General
Auto-focus auto/on/off	00	0x2B/43	00	00-02	General
Auto Iris auto/on/off	00	0x2D/45	00	00-02	General
AGC auto/on/off	00	0x2F/47	00	00-02	General
Backlight compensation on/off	00	0x31/49	00	01-02	General
Auto white balance on/off	00	0x33/51	00	01-02	General
Enable device phase delay mode	00	0x35/53	00	00	General

Set shutter speed	00	0x37/55	Speed MSB	Speed LSB	General
Adjust line lock phase delay	00- 01	0x39/57	Delay MSB	Delay LSB	General
Adjust white balance (R-B)	00- 01	0x3B/59	WB-RB MSB	WB-RB LSB	General
Adjust white balance (M-G)	00- 01	0x3D/61	WB-MG MSB	WB-MG LSB	General
Adjust gain	00- 01	0x3F/63	Gain MSB	Gain LSB	General
Adjust auto-iris level	00- 01	0x41/65	00	AIL value	General
Adjust auto-iris peak value	00- 01	0x43/67	00	AIP value	General
Query1	00	0x45/69	Any	Any	See “Responses” part of this document.

Preset Scan	0x47/71	00	Dwell	General
Set Zero Position	0x49/73	00	00	General
Set Pan Position	0x4B/75	Pan position MSB	Pan position LSB	General
Set Tilt Position	0x4D/77	Tilt position MSB	Tilt position LSB	General
Set Zoom Position	0x4F/79	Zoom position MSB	Zoom position LSB	General
Query Pan Position	0x51/81	00	00	Extended (0x59)
Query Tilt Position	0x53/83	00	00	Extended (0x5B)
Query Zoom Position	0x55/85	00	00	Extended (0x5D)
Download	0x57/87	00	00	General
Query Pan Response	0x59/89	Pan position MSB	Pan position LSB	Not Applicable
Query Tilt Response	0x5B/91	Tilt position MSB	Tilt position LSB	Not Applicable
Query Zoom Response	0x5D/93	Zoom position MSB	Zoom position LSB	Not Applicable
Set Magnification	0x5F/95	Mag position MSB	Mag position LSB	General
Query Magnification	0x61/97	00	00	Extended (0x63)
Query Magnification Response	0x63/99	Mag position MSB	Mag position LSB	Not Applicable
Activate Echo Mode	0x65/101	00	00	General
Set Remote Baud Rate	0x67/103	00	00-05	General

Start Download	00	0x69/105	00	00	General
Query Device Type	00	0x6B/107	00	00	Extended (0x6D)
Query Device Type Response	00	0x6D/109	Software Type	Hardware Type	Not Applicable
Query Diagnostic Info	00	0x6F/111	00	00	Extended (0x71)
Query Diagnostic Info Response	00	0x71/113	Device Dependent	Device Dependent	Not Applicable
Version Information Macro Opcode	Sub Op code	0x73/115	Various	Various	Extended (multiple)
Everest Macro Opcode	Sub Op Code	0x75/117	Various	Various	Extended (multiple)
Return Status	00	0xFD/253	00	00	Firmware status
Invalid op code	00	0xFF/255	00	00	None

通讯协议

基本协议采用PELCO的D协议，通讯接口为RS232，波特率为9600，固定地址为1。

通讯格式：

BYTE	VALUE	FUNCTION
1	FF	STX (start transmission)
2	01 TO 1F	Address(固定为1)
3	Data byte 1
4	Data byte 2
5	Data byte 3
6	Data byte 4
7	00-FF	Checksum(add byte 2,3,4,5,6)

云台和镜头命令：

Bit number	7	6	5	4	3	2	1	0
Data1	0	0	0	0	0	Iris close	Iris open	Focus near
Data2	Focus far	Zoom wide	Zoom tele	Tilt down	Tilt up	Pan left	Pan right	0 (for pan/tilt) 1 (extended)
Data3	Pan speed 00 to 3F and 40 for turbo
Data4	Tilt speed 00 to 3F

扩展命令：（模块控制球机云台命令分类）字节都为十六进制

COMMAND	DATA BYTE1	DATA BYTE2	DATA BYTE3	DATA BYTE4
预置位设置	00	03	00	0x01 to 0Xff
清除预置位	00	05	00	0x01 to 0Xff
调用预置位	00	07	00	0x01 to 0Xff
水平180度翻转	00	07	00	0x21
水平、俯仰零位检测	00	07	00	0x22
设置俯仰上限位	00	03/07	00	0x5A
清除俯仰上限位	00	05	00	0x5A
设置俯仰下限位	00	03/07	00	0x5B
清除俯仰下限位	00	05	00	0x5B
设置水平左限位	00	03/07	00	0x5C
清除水平左限位	00	05	00	0x5C
设置水平右限位	00	03/07	00	0x5D
清除水平右限位	00	05	00	0x5D
设置削苹果扫描	00	05	00	0x61
运行削苹果扫描	00	07	00	0x61
运行自动扫描	00	07	00	0x63
停止电机	00	03/07	00	0X60

辅助开关设置	00	09	00	0x01 to 0x08(02)
辅助开关清除	00	0B	00	0x01 to 0x08(02)
（取消此命令）虚拟零位设置保存	00	31	00	0x02
（取消此命令）虚拟零位设置删除	00	31	00	0x03
云台复位	00	33	00	00/01

COMMAND		DATA BYTE1	DATA BYTE2	DATA BYTE3	DATA BYTE4
自动翻转开关	开	00	25	00	0x01
自动翻转开关	关（默认）	00	25	00	0x00
水平扫描速度（影响自动扫描速度和削苹果扫描速度）默认10度/秒	1度/秒	00	2B	00	0x01
	2度/秒	00	2B	00	0x02
	。。。	。。。	。。。	。。。	。。。
	40度/秒	00	2B	00	0x28
俯仰扫描速度（影响自动扫描速度和削苹果扫描速度）默认10度/秒	1度/秒	00	29	00	0x01
	2度/秒	00	29	00	0x02
	。。。	。。。	。。。	。。。	。。。
	20度/秒	00	29	00	0x14
手动限位开关	开	00	2D	00	0x01
手动限位开关	关（默认）	00	2D	00	0x00
扫描限位开关	开	00	2F	00	0x01
扫描限位开关	关（默认）	00	2F	00	0x00
Set Pan Position(angle)	上位机设置水平位置（角度）	00	0x4B	PAN MSB	PAN LSB
Set Tilt Position(angle)	上位机设置俯仰位置（角度）	00	0x4D	TIL MSB	TIL LSB
Query pan angle	查询水平角度	00	51	00	00
Query til angle	查询俯仰角度	00	53	00	00
Set Pan Tilt Position(angle)	上位机设置水平俯仰位置(角度)	PAN(HIG 4BIT)+TIL(HIG 4BIT)	0X55	PAN LSB	TIL LSB
Set Pan Position	上位机设置水平位置（微步）	PAN H（24B）	0x81	PAN M(16B)	PAN L(8B)
Set Tilt Position	上位机设置俯仰位置（微步）	TIL H（24B）	0x83	TIL M(16B)	TIL L(8B)
SET RETURN_PT ANGLE TIME	设置自动返回角度的时间（默认为500ms）	00	85	00	TIME
设置自动返回角度开/关（默认为开）	设置返回开关	00	87	00	00/01 关/开
自动返回角度类型。（默认为步数+微步数返回）	自动返回角度类型。	00	87	01	00/01/02 步数+微步数/角度/ 微步数/
模块发送相机型号（默认为SC110）	发送相机型号	00	39	00	Various1
查询球机状态	查询球机状态	00	47	00	00
发送变倍位置	发送变倍位置	00	37	ZOOMMSB	ZOOMLSB

4．球机发送命令控制模块协议

网络板硬件复位		00	35	00		0x00
报警输入1报警		00	37	00		0x00/0x01
查询相机型号		00	45	00		00
云台返回水平位置		0x00	0x59		PAN MSB	PAN LSB
云台返回俯仰位置		0x00	0x5B		TILT MSB	TILT LSB
云台出厂复位时发送复位信息给模块		0x00	0x3B		0x00	0x00
▲光敏电阻日夜检测（相机彩转黑命令）	日	0x00	0x4F		0x00	0x00
	夜	0x00	0x4F		0x00	0x01
查询当前变倍		0X00	0X65		0X00	0X00
反馈云台状态		0X00	0X67		Various1	Various2