1 00:00:12,460 --> 00:00:16,700 Hello, in this tutorial, we will learn how can we control this controvert? 2 00:00:16,720 --> 00:00:17,680 I will come to here. 3 00:00:17,690 --> 00:00:21,270 This is the similar or same PDF file, OK? 4 00:00:21,550 --> 00:00:26,160 And this is my controvert and this is my controvert definition. 5 00:00:26,440 --> 00:00:30,810 If you activate your control words zero. 6 00:00:30,850 --> 00:00:35,050 OK, then this will make switched on your Sarut. 7 00:00:35,080 --> 00:00:35,380 Right. 8 00:00:35,470 --> 00:00:40,880 And you can enable voltage Quickstop that you can use as bait and enable operation. 9 00:00:40,900 --> 00:00:47,990 OK, I am activating this for my server is becomes energized and ready to run. 10 00:00:48,010 --> 00:00:55,600 OK, and then you will see four and six operation mode specific at this point you will see if you activate 11 00:00:55,600 --> 00:01:07,730 before a set point is positive trigger as this is my position, uh profile mode or a profile position 12 00:01:07,730 --> 00:01:10,120 mode and change that immediately. 13 00:01:10,120 --> 00:01:12,430 Five and absolute and relative. 14 00:01:12,730 --> 00:01:16,180 How are we going to do a position in absolute and relative? 15 00:01:16,180 --> 00:01:24,100 If you activate Beta six, it will make it relative always and then fall to reset with seven and eight 16 00:01:24,100 --> 00:01:25,540 is called Stop the motor. 17 00:01:25,780 --> 00:01:30,910 OK, now according to this, I will go to my program first day. 18 00:01:31,210 --> 00:01:35,200 OK, these are the test and the everything is. 19 00:01:36,590 --> 00:01:43,190 Another name, but it doesn't matter, just I want to explain it to you, first of all, I created this 20 00:01:43,610 --> 00:01:48,290 small example for it starts from here and five, OK, this is one. 21 00:01:48,470 --> 00:01:53,280 This is Mozgov Operation twenty five thousand AK one. 22 00:01:53,390 --> 00:01:57,350 And when it comes OK, at this point you will see twenty five thousand thirty six. 23 00:01:57,500 --> 00:02:00,680 I will show you one small h w configuration. 24 00:02:00,920 --> 00:02:01,700 The first thing. 25 00:02:02,240 --> 00:02:04,520 OK, and. 26 00:02:05,910 --> 00:02:08,670 After W configuration is opened. 27 00:02:10,190 --> 00:02:18,440 We will go to an open builder and then you will see communication software and can open builder and 28 00:02:18,440 --> 00:02:25,140 go online to my Sepehr and then you will see live keep you from here, OK? 29 00:02:25,590 --> 00:02:28,550 These are all that we adopted because of this. 30 00:02:28,730 --> 00:02:30,070 I will use them on now. 31 00:02:31,610 --> 00:02:36,650 OK, now this is going to be one according to our procedure. 32 00:02:36,680 --> 00:02:47,150 This is the first thing, OK, and if you go up page 14, it was page 38, OK, and let's go to page 33 00:02:47,150 --> 00:02:47,870 14. 34 00:02:49,310 --> 00:02:55,940 Fifteen and here, OK, we will make a mode of operation one, this is the first thing, right? 35 00:02:56,540 --> 00:03:04,820 And after we will go to here target position, I divide it by with the instruction to why? 36 00:03:04,970 --> 00:03:12,530 Because we have high alert and lower in the output table can open border you already. 37 00:03:12,540 --> 00:03:15,250 So then we have high and low bits. 38 00:03:15,260 --> 00:03:18,490 Because of this I will work with the Hibbits HIVers. 39 00:03:18,500 --> 00:03:20,450 OK, just the speed. 40 00:03:21,590 --> 00:03:28,510 This is the profile velocity and two hundred twenty five thousand thirty five and thirty six. 41 00:03:28,520 --> 00:03:31,250 OK, I will use this, use this to show it to you. 42 00:03:31,430 --> 00:03:32,270 Is it running. 43 00:03:32,390 --> 00:03:34,570 And everything is working correct or not. 44 00:03:34,730 --> 00:03:39,280 Now we are at the uh now application multiplication point. 45 00:03:39,590 --> 00:03:40,600 What will we do. 46 00:03:40,760 --> 00:03:42,970 Just I will make it on that. 47 00:03:43,000 --> 00:03:47,510 Now I add up my uh modes of operation. 48 00:03:47,510 --> 00:03:53,840 One, this is the first thing let's follow and the target position and let's go to target position. 49 00:03:54,050 --> 00:04:00,230 And I will right here, for example, um, five thousand is sixteen. 50 00:04:00,230 --> 00:04:03,260 OK, uh, I will make it on. 51 00:04:03,350 --> 00:04:07,100 OK, this is the second thing and the third thing, the velocity. 52 00:04:07,310 --> 00:04:08,450 I will right here. 53 00:04:08,480 --> 00:04:13,130 OK, and one hundred and fifty just I will say just fifty. 54 00:04:13,700 --> 00:04:17,240 It will work slowly and. 55 00:04:18,540 --> 00:04:19,920 Let's make it activate. 56 00:04:19,950 --> 00:04:27,690 OK, then the acceleration and deceleration I will write here one hundred and thirty two bits, but 57 00:04:27,690 --> 00:04:31,100 uh, we can write it as sixteen bit, OK. 58 00:04:31,660 --> 00:04:34,830 And I will write one hundred millisecond. 59 00:04:35,040 --> 00:04:36,990 OK, activate. 60 00:04:37,620 --> 00:04:40,300 This is activated and this is activated. 61 00:04:40,320 --> 00:04:49,380 OK, just now I came because of uh this data, I guess the length of the data or the unit of the data 62 00:04:49,770 --> 00:04:50,760 because of this. 63 00:04:50,760 --> 00:04:55,180 Uh, I will make it active and then just we can reset it. 64 00:04:55,200 --> 00:04:57,690 OK, I will show it to you how it is running. 65 00:04:57,690 --> 00:05:06,150 Is it running also, um, let's go to Android Cam and I hope it will work good. 66 00:05:11,320 --> 00:05:15,580 Uh, I will try one small and third one. 67 00:05:15,680 --> 00:05:16,240 OK. 68 00:05:17,630 --> 00:05:21,260 OK, now you will see there is an alarm, OK? 69 00:05:21,620 --> 00:05:24,490 Uh, I will make my seventh beat. 70 00:05:24,560 --> 00:05:26,020 This is the reset, OK? 71 00:05:26,390 --> 00:05:34,360 And I will say, OK, and then you will see alarm going OK, and then I will make again zero. 72 00:05:34,580 --> 00:05:37,060 And now what are we going to do? 73 00:05:37,100 --> 00:05:37,790 First thing. 74 00:05:38,790 --> 00:05:47,490 Everything is good and we will go to 5000 and this will randomly number and let's make this data because 75 00:05:47,490 --> 00:05:52,710 I am writing always and this data to my controvert is twenty five thousand thirty two. 76 00:05:52,740 --> 00:05:53,690 This is also OK. 77 00:05:54,050 --> 00:05:54,420 Right. 78 00:05:54,420 --> 00:05:57,490 Click change, present value and binary system. 79 00:05:57,510 --> 00:06:02,730 OK, uh, I will make this for let's go to you here. 80 00:06:03,460 --> 00:06:06,430 Uh, controvert thirty eight page. 81 00:06:06,460 --> 00:06:08,140 OK, let's go down. 82 00:06:09,430 --> 00:06:13,230 And here, OK, this is active. 83 00:06:13,240 --> 00:06:17,110 Everything is will be active for my server dry and. 84 00:06:18,110 --> 00:06:24,320 I would say, OK, my Sarah is OK, run now and then this one. 85 00:06:25,230 --> 00:06:31,260 Because now, uh, we will go to five thousand, OK, and I will make. 86 00:06:32,160 --> 00:06:34,980 On and the server is turning, OK? 87 00:06:35,880 --> 00:06:39,010 Is turning also in the HD soft? 88 00:06:39,040 --> 00:06:42,030 OK, um, but can we do. 89 00:06:42,300 --> 00:06:43,230 We can to. 90 00:06:44,730 --> 00:06:48,210 See status monitor, OK, and Ron. 91 00:06:51,250 --> 00:06:56,050 You will see my motor rotation speed is one hundred and fifty three, OK? 92 00:06:56,080 --> 00:06:57,310 We are sending 50. 93 00:06:57,760 --> 00:07:00,790 Then there is a factory is. 94 00:07:01,660 --> 00:07:08,050 The how can I say this is multiplied by in the civil rights, I think is three. 95 00:07:08,080 --> 00:07:08,930 It doesn't matter. 96 00:07:09,370 --> 00:07:12,660 OK, and then it is turning and turning and turning. 97 00:07:12,670 --> 00:07:13,580 OK, very good. 98 00:07:13,810 --> 00:07:14,630 Everything is OK. 99 00:07:14,650 --> 00:07:19,390 You will see motor feedback pass numbers and position error counts. 100 00:07:19,390 --> 00:07:27,510 And the input frequency of pulse commands, uh, a lot and percentage of average load percentage of 101 00:07:27,760 --> 00:07:28,780 everything is here. 102 00:07:29,170 --> 00:07:30,460 Just it is turning. 103 00:07:30,460 --> 00:07:30,790 Why? 104 00:07:31,060 --> 00:07:34,350 Because we said go to five thousand, OK. 105 00:07:34,630 --> 00:07:37,810 And it will turn and turn and turn. 106 00:07:38,290 --> 00:07:42,670 Just we can stop how we can make our salwar. 107 00:07:45,960 --> 00:07:52,830 And suddenly it stopped, you will say, let's go to hear it stop and then let's change the speed a 108 00:07:52,830 --> 00:07:53,580 little bit more. 109 00:07:54,530 --> 00:08:05,930 And let's say, for example, one hundred twenty five, OK, then I will make my data, OK, two minor 110 00:08:05,930 --> 00:08:07,790 system makes several on. 111 00:08:08,690 --> 00:08:09,220 And. 112 00:08:10,800 --> 00:08:13,730 Now you will see it is too fast. 113 00:08:15,640 --> 00:08:17,150 Turning, going backward. 114 00:08:17,170 --> 00:08:17,590 Why? 115 00:08:17,620 --> 00:08:20,200 Because, uh, um. 116 00:08:22,310 --> 00:08:32,210 OK, now we are at the position, I will check my position also, um, and then now we are at this position, 117 00:08:32,210 --> 00:08:32,650 OK? 118 00:08:33,050 --> 00:08:36,700 And as relative and absolute, how can we work? 119 00:08:36,710 --> 00:08:38,240 Let's go to biner system. 120 00:08:39,080 --> 00:08:39,580 OK. 121 00:08:40,660 --> 00:08:48,450 I said, well, all right, OK, but now let's check it for the relative absolute, if we say to go 122 00:08:48,450 --> 00:08:50,930 now, change Setpoint is changed. 123 00:08:51,240 --> 00:08:53,190 This Teramoto is not going to run. 124 00:08:53,740 --> 00:08:55,290 OK, let's go to here. 125 00:08:55,890 --> 00:08:58,790 And this is zero six. 126 00:08:58,800 --> 00:09:02,630 You can check with six absolute OK. 127 00:09:02,850 --> 00:09:05,500 And the position is not changed, OK? 128 00:09:05,760 --> 00:09:11,950 The position position is not changed in the target position and then change present for. 129 00:09:12,440 --> 00:09:17,000 OK, and you will see now I will say OK. 130 00:09:17,010 --> 00:09:19,650 And the motor is not turning. 131 00:09:20,510 --> 00:09:29,090 Water is not turning, but if you say this one is active and if you say, OK, um. 132 00:09:30,240 --> 00:09:31,380 Just a second. 133 00:09:33,810 --> 00:09:42,360 And the motor is turning out, you will see, because now, because we said this is a relative moment, 134 00:09:42,370 --> 00:09:47,280 like it will go, turn, turn, turn, turn, turn and. 135 00:09:48,180 --> 00:09:55,550 How this target position, OK, until this this is the higher it will turn forward and forward and forward. 136 00:09:55,860 --> 00:10:03,150 And then another thing, the communication is running, everything is running, and I will make my server. 137 00:10:05,460 --> 00:10:14,490 Of OK, and let's extend it to zero position, OK, and make it zero and the profile velocity, I will 138 00:10:14,490 --> 00:10:17,430 make it to a little bit more 250. 139 00:10:17,610 --> 00:10:26,310 OK, and then what we're going to do, um, I will say to here, change present value then. 140 00:10:26,460 --> 00:10:32,340 OK, my server is active and go to. 141 00:10:33,360 --> 00:10:35,370 That want to fast. 142 00:10:35,400 --> 00:10:40,230 OK, now it is turning too, too, too fast because of this. 143 00:10:40,230 --> 00:10:46,970 It is not, uh, easy to see that my server is going to zero position. 144 00:10:47,610 --> 00:10:49,380 I will adopt my camera. 145 00:10:51,140 --> 00:10:55,250 You will see it will go, go, go, just with one cable. 146 00:10:55,350 --> 00:11:00,510 OK, just with one cable in p.l.c. also, OK? 147 00:11:00,800 --> 00:11:07,400 It is running, it is going to our position and it is doing everything what I need. 148 00:11:07,820 --> 00:11:10,760 Then now we are at the position zero. 149 00:11:10,790 --> 00:11:12,690 OK, and like that. 150 00:11:13,010 --> 00:11:15,440 So for this tutorial I am finished here. 151 00:11:15,720 --> 00:11:22,090 Uh connection can be stopped and I will make it so go on, make it off. 152 00:11:22,100 --> 00:11:25,780 OK, and I will share this file also with you. 153 00:11:26,090 --> 00:11:28,540 Um but we did the mode of operation. 154 00:11:28,550 --> 00:11:30,260 These are all profile velocity. 155 00:11:30,260 --> 00:11:31,060 If you right here. 156 00:11:31,070 --> 00:11:38,330 This is a lover because of this, the sawit not uh, if you don't write any Dota two here, um, the 157 00:11:38,330 --> 00:11:44,990 salary's not turning with the speed or it is not going to position because the higher than Lovatt is 158 00:11:45,200 --> 00:11:45,880 important. 159 00:11:46,130 --> 00:11:54,110 Um, this is just a video or tutorial for how can we use these three hundred and one communication with 160 00:11:54,110 --> 00:11:55,120 the Canopus builder. 161 00:11:55,130 --> 00:12:00,880 OK, we adapt our settings and we, uh, adapt our communication. 162 00:12:00,890 --> 00:12:02,930 Everything is run, everything is work. 163 00:12:03,170 --> 00:12:08,060 And the next tutorials we will continue may be a little bit deep informations. 164 00:12:08,360 --> 00:12:10,830 Uh, thanks for watching the schools. 165 00:12:10,850 --> 00:12:19,820 OK, uh, I'm trying to help, uh, all of to you about, uh, learn, uh, about to teach that to be 166 00:12:19,820 --> 00:12:25,940 able to see programming completely, uh, if you like, at any point you can ask me a question immediately. 167 00:12:25,940 --> 00:12:28,310 Also see you in the next tutorials.