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I am looking into a motorized tripod head to use with a standard camcorder and am wondering what people normally do for zoom?

The camera I am using is a Canon HF R56. (I am not interested in the CT-V1)

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Cameras which support external control of zoom, focus, and iris normally have a port for this purpose. LANC is the most common, but it appears that your camera doesn't have a LANC port. According to the documentation to which you linked, the camera supports "remote control & streaming" via WiFi. If it is at all possible to control your camera's zoom remotely, then it seems that WiFi would be the most likely method.

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