Robo sigili be kɛ-yɔrɔ la, nka baarakɛyɔrɔ yɛrɛ yɛrɛ be nɔɔ to koo dɔw kan i n’a fɔ yɔrɔ baara, o min be dan sigi robo ka lɔyɔrɔ caaman na. O be se k’a to nɔgɔman na, izini ka robo be yɛrɛyɛrɛ ani k’a yɔrɔ yɛlɛma baara yɛrɛ yɛrɛ la, ani a laban, a be se ka baara kɛ a ka teliya la i n’a fɔ a tun labɛnna cogo min na. O kama, ka yɔrɔ la-debugging ani calibration kɛ ka ban ani sanni ka izini ka robo don baara yɛrɛ yɛrɛ la, o nafa ka bon kosɔbɛ. Kɛrɛnkɛrɛnniya la, debugging baara be kɛ ni koo fila nunu ye ka tɛmɛ:
1. Ka robo min be baara kɛ izini kɔnɔ, o yɔrɔ kelen kelen bɛɛ zero kɛ: Robo bɔnin kɔ izini kɔnɔ, n’a sɔrɔ a ka yɔrɔ kelen kelen bɛɛ tɛ zero bɔ. N’u y’o robo ɲɔgɔn don baara la yɔrɔnin kelen, n’a sɔrɔ a yɔrɔ kelen kelen bɛɛ ka gɛrɛntɛ cɛmancɛ tɛ sigi ka ɲɛ a dɛmɛyɔrɔ la, o be se ka kɛ sababu ye ka yɛlɛma baara kɛtuma na. O tɛ nɔɔ to izini ka baarakɛcogo ɲuman dɔrɔn kan, nka a be se ka baarakɛlaw niin bila farati la fana. O kama, a ka ɲi ka zero kɛ izini robo ka yɔrɔ kelen kelen bɛɛ la. A ka c’a la, izini ka robow be ni zero-kɔsegi tagamasiɲɛw ye u ka yɔrɔ kelen kelen bɛɛ kan. N’an be baara kɛ dɔrɔn ni aksi kelen kelen bɛɛ ye ka kɔsegi o yɔrɔ la, o b’a yira ko a kɛra zero ye. Ka fara o kan, a ka ca a la, tagamasiɲɛw be robo ka sigiyɔrɔ la minw b’a yira yɔrɔ min na yɔrɔ kelen kelen bɛɛ bɔra ani yɔrɔ minw be bɛn n’o yɔrɔ wɔɔrɔ ye; o ye sɛgɛsɛgɛrifɛn nafamanw ye debug wagati la. Nka, debug kɛrɛnkɛrɛnninw be sɛgɛsɛgɛri lo ɲini ka kɛɲɛ ni site web lamini ye ani baara min be kɛra. Ɲɛyirali fɛ, debugging baarakɛlaw be se ka zeroing “sira” dɔ labɛn, o kɔ, u be baara kɛ ni teach pendant ye walisa ka robo lataga yɔrɔ kelen kelen bɛɛ la ka tugu ɲɔgɔn kɔ, ka kunnafoni nafamanw sɛbɛ, ani a laban, k’u ka kalibrasiyɔn lɔnniya fara ɲɔgɔn kan ni sɛgɛsɛgɛri siɲɛ caaman ye ka zero-segi axis kelen kelen bɛɛ la industriel industriel robot production ka kɛɲɛ ni ac ac ye.
2. Signal Processing Debugging des robots industriels Bi, izini robo minw fisayara, olu be se ka baara kɛ u yɛrɛ ma ka kɛɲɛ ni sariyakolow ni ladili tigitigi dɔw ye n’u be baara kɛ ni mɔgɔ ka hakilidiya ye. Ɲɛyirali fɛ, u be se ka sira min yira tagamasiɲɛw ka cikanw fɛ ka kɛɲɛ ni tagamasiɲɛ minw sɔrɔla, u be se k’o dafa, o cogo la u be se k’u yɛrɛ degera joona yɔrɔ kuraw la. Lizini ka robow tɛ baara kɛ u kelen kelen; dilan wagati la, u ka ɲi ka nɔrɔ periferiki minan wɛrɛw la. Tagamasiɲɛ minw be bɔ o periferiki minɛnw na, u ka kan ka jɛn ni izini robow ka tagamasiɲɛw ye CC-link sababu fɛ. O kama, ka tagamasiɲɛw labɛn ani k’u ka robow labɛn ka ɲɛ, o ye koo kɔrɔtaninba ye u donnin kɔ ani sanni u k’u don baara yɛrɛ yɛrɛ la. Kɛrɛnkɛrɛnniya la, debug wagati la, CC-link labɛnw ka kan ka labɛn. Nka, a ka kan k’a lɔn ko CC-link tagamasiɲɛ minw sigila debug baarakɛlaw fɛ, o ka kan ka bɛn ni PCC modɛli ye, station master, station slave, ani station kunnafoniw. Signal sigicogo bannin kɔ, tagamasiɲɛw bɛɛ ka ɲi ka sɛbɛ ani ka kuma u kan PLC porogramu kɛtuma na. O tagamasiɲɛw yɛlɛmani kɔ dɔrɔn lo be se ka kɛ sababu ye ka robo min be baara kɛ ni izini ye, o be se ka don baara la.
