0 1 00:00:21,530 --> 00:00:22,640 Hello. 1 2 00:00:22,650 --> 00:00:26,250 In this video we are going to learn DRVA or 2 3 00:00:26,280 --> 00:00:29,280 DDRVA pulse command with this command. 3 4 00:00:29,310 --> 00:00:33,180 The desired number of pulses at the desired frequency. 4 5 00:00:33,180 --> 00:00:41,400 Really important to point desired number of pulses at the desired frequencies produced as another really 5 6 00:00:41,460 --> 00:00:42,570 really biggest. 6 7 00:00:42,570 --> 00:00:46,310 Important point is here absolute and ramped. 7 8 00:00:46,500 --> 00:00:51,240 You need to take care of this word absolute command usage. 8 9 00:00:51,270 --> 00:00:57,730 DRVA d100 D102 y0 y1 in here. 9 10 00:00:57,810 --> 00:01:05,360 S1 I mean D100 is absolute pulse value s2 D102 pulse frequency 10 11 00:01:05,360 --> 00:01:13,890 value is written to this register Y0 pulse output for Port Y1 is the y output selected is the 11 12 00:01:13,890 --> 00:01:16,150 direction output port. 12 13 00:01:16,470 --> 00:01:27,350 Not that the value written in S1 so in here D100 can be positive or negative. 13 14 00:01:27,350 --> 00:01:30,380 This is really another important point. 14 15 00:01:30,380 --> 00:01:38,270 For example if the current absolute value is thirteen thousand five hundred in the common usage if right. 15 16 00:01:38,300 --> 00:01:50,340 If the right K20000 in D1 step or Saro motor or drive will drive will generate K6500 16 17 00:01:50,340 --> 00:01:57,360 pulse in Y1 direction and it will go to absolute K20000 values. 17 18 00:01:57,720 --> 00:02:09,150 So the difference between absolute and relative absolute we can say go five thousand five thousand. 18 19 00:02:09,150 --> 00:02:12,570 This here if I say again go five thousand. 19 20 00:02:12,780 --> 00:02:22,060 It never goes because it is a absolute position and it is still standing at 5000 and it know this. 20 21 00:02:22,200 --> 00:02:30,990 So never goes to another point but if we say go 7000 it goes just two thousand more and it reach to 21 22 00:02:31,060 --> 00:02:32,200 seven thousand. 22 23 00:02:32,250 --> 00:02:41,630 If we say go 3000 position it goes to three thousand in here and it goes just four thousand as - 23 24 00:02:41,970 --> 00:02:52,230 but relative we can say okay go to 1000 it goes to 1000 we can say again Okay go three thousand more. 24 25 00:02:52,320 --> 00:02:57,240 It goes to 4000 because we said three thousand. 25 26 00:02:57,240 --> 00:03:05,450 If we say okay go two thousand and it goes to six thousand two thousand more so relative and absolute. 26 27 00:03:05,490 --> 00:03:11,790 This is the difference it is really different commands for the positioning. 27 28 00:03:11,820 --> 00:03:17,640 So in here we can check wants to this application in the plc 28 29 00:03:17,640 --> 00:03:25,920 The number of pulses for Channel 0 is kept in D1336 register number 29 30 00:03:25,920 --> 00:03:29,750 of pulses for Channel 0 is kept in here. 30 31 00:03:29,820 --> 00:03:30,510 That's okay. 31 32 00:03:30,540 --> 00:03:37,750 So in here you can see and D1346 register whose value was k 0 32 33 00:03:38,100 --> 00:03:39,470 before the DDRVA. 33 34 00:03:39,570 --> 00:03:49,380 command was executed to execute DRVA comand the M0 must be on if the command is executed 34 35 00:03:49,860 --> 00:03:52,170 a second time in the same way. 35 36 00:03:52,570 --> 00:04:01,620 this command was executed it reached to 5600 after the 36 37 00:04:01,620 --> 00:04:03,180 command was executed. 37 38 00:04:03,180 --> 00:04:12,750 So because S1 is our absolute position so they will go from zero to five thousand six hundred is absolute 38 39 00:04:13,160 --> 00:04:15,440 possible with the absolute possible. 39 40 00:04:15,570 --> 00:04:23,190 That's okay if the command is executed a second the time in the same way there will be no movement in 40 41 00:04:23,190 --> 00:04:31,290 the step or servo motor because the current pulse value is five thousand six hundred because it did 41 42 00:04:31,290 --> 00:04:38,250 DRVA command will definitely wanted to go back to five thousand six hundred but there will be zero 42 43 00:04:38,250 --> 00:04:45,810 pulses movement and the command is going to be and if the command is to be run again the value in S1 43 44 00:04:45,930 --> 00:04:53,220 should be selected differently and when it is run the pulse will be produced to go to that value. 44 45 00:04:53,280 --> 00:05:04,980 For example if if you are waiting at m 0 is activated that's okay and we we get our pulse output frequency 45 46 00:05:04,980 --> 00:05:16,110 as 10000Hz or 10 kilohertz and we want to go to for example 10000-5600 46 47 00:05:16,110 --> 00:05:24,920 and plc get 4400. 47 48 00:05:25,280 --> 00:05:35,570 So the servo or stepper motor will go 10000 point with we will we will produce just 4400 pulses 48 49 00:05:35,840 --> 00:05:37,810 to reach to 10000. 49 50 00:05:37,820 --> 00:05:46,130 pulses point so these pulses can be defined as the point for example. 50 51 00:05:46,330 --> 00:05:48,320 We want to go to 10000. 51 52 00:05:48,360 --> 00:05:51,770 So we are staying or waiting at 5000. 52 53 00:05:51,780 --> 00:05:57,920 So we are saying okay produce or absolute a pulse is 10000. 53 54 00:05:58,140 --> 00:06:04,740 It will go to 10000 5000 produced pulse value. 54 55 00:06:04,920 --> 00:06:12,930 So we cannot say okay we are waiting at 5000 and our next absolute possible is 10000. 55 56 00:06:12,930 --> 00:06:15,340 We need to go to 15000. 56 57 00:06:15,380 --> 00:06:16,430 That is not true. 57 58 00:06:16,440 --> 00:06:18,210 So this is absolute. 58 59 00:06:18,330 --> 00:06:23,110 And if we are moving as relative maybe you are right. 59 60 00:06:23,280 --> 00:06:27,070 But for the absolute positioning for the absolute possibility. 60 61 00:06:27,420 --> 00:06:31,260 We are just going to directly to that position. 61 62 00:06:31,290 --> 00:06:33,030 We are waiting in here. 62 63 00:06:33,030 --> 00:06:39,520 So if we ten times activate this contact on and off off and on On and off and off and on. 63 64 00:06:39,660 --> 00:06:45,090 output y0 is never going to produce any pulse. 64 65 00:06:45,120 --> 00:06:49,570 It will stay at five thousand six position always. 65 66 00:06:49,680 --> 00:06:54,480 This is how DRVA command or DDRVA command works. 66 67 00:06:54,540 --> 00:06:57,330 So I am finished for this video. 67 68 00:06:57,330 --> 00:06:58,790 See you in the next video.