Ufakelo lwerobhothi lwenzeka-kwisiza, kodwa eyona ndawo yemveliso ichatshazelwa zizinto ezifana nokusetyenziswa kwendawo, nto leyo enqanda uninzi lweendlela zokuma kwerobhothi. Oku kunokukhokelela ngokulula kungcangcazelo kunye nokufuduswa kwerobhothi yoshishino ngexesha lokusebenza okwenyani, ekugqibeleni iyithintele ekusebenzeni ngesantya esiyiliweyo. Ke ngoko, kwi-{3}}debugging kunye nohlengahlengiso emva kofakelo naphambi kokubeka irobhothi yeshishini kwimveliso eyiyo ibalulekile. Ngokukodwa, umsebenzi wokulungisa ingxaki ubandakanya le miba mibini ilandelayo:
1. Ukunciphisa i-axis nganye yerobhothi yoshishino: Emva kokuba irobhothi imkile kumzi-mveliso, iizembe zayo zisenokungakhutshelwa ngaphandle. Ukuba i-robot enjalo ifakwe kwimveliso ngokuthe ngqo, umbindi womxhuzulane we-axis nganye unokungalungiswa ngokuchanekileyo kwindawo yenkxaso, enokubangela ukuthambeka ngexesha lemveliso. Oku akuchaphazeli imveliso eqhelekileyo yemizi-mveliso kuphela kodwa kunokubeka ubomi babasebenzi emngciphekweni. Ke ngoko, ukumisa i-axis nganye yerobhothi yeshishini kubalulekile. Ngokwesiqhelo, iirobhothi zemizi-mveliso zineziro{5}}iziphawuli zokubuya kwi-axis nganye. Ukusebenzisa ngokulula i-axis nganye emva kwesi sikhundla kubonisa ukuba ivaliwe. Ukongezelela, isiseko serobhothi ngokuqhelekileyo sinamanqaku abonisa imvelaphi ye-axis nganye kunye nee-angles ezihambelanayo kwii-axes ezintandathu; la manqaku abalulekileyo esalathiso ngexesha lolungiso. Nangona kunjalo, ukulungisa iimpazamo ezithile kufuna uhlalutyo olusekwe kwindawo engqongileyo yesiza kunye nomsebenzi okhoyo. Umzekelo, abasebenzi bokulungisa ingxaki banokucwangcisa "indlela" yokumisa, emva koko basebenzise ipendant ukuhambisa irobhothi kwindawo nganye ngokulandelelanayo, ukurekhoda idatha efanelekileyo, kwaye ekugqibeleni, badibanise amava abo okulinganisa kunye nemifuniselo ephindaphindiweyo ukuya kwi-zero{10}}ukubuyisela i-axis nganye yerobhothi ngokweemfuno zokwenene zemveliso.
2. I-Signal Processing Debugging ye-Industrial Robots yanamhlanje, iirobhothi eziphuculweyo zemizi-mveliso zinokusebenza ngokuzenzekelayo ngokwemigaqo echaziweyo kunye nezikhokelo zisebenzisa i-intelligence yokufakelwa. Ngokomzekelo, banokugqiba i-trajectory echazwe yimiyalelo yesignali esekelwe kwiimpawu ezifunyenweyo, ngaloo ndlela zilungelelanise ngokukhawuleza kwiindawo ezintsha. Iinkqubo zerobhothi zamashishini azisetyenziswa zodwa; ngexesha lemveliso, kufuneka zidityaniswe kwezinye izixhobo zepheripheral. Imiqondiso esuka kwezi zixhobo zomda kufuneka inxulunyaniswe nemiqondiso yerobhothi yoshishino ngeCC-ikhonkco. Ke ngoko, ukusetyenzwa komqondiso kunye nokulungiswa kweerobhothi zamashishini linyathelo elibalulekileyo emva kofakelo naphambi kokuba zifakwe kwimveliso yokwenyani. Ngokukodwa, ngexesha lolungiso, iCC{7}}iisetingi zekhonkco kufuneka ziqwalaselwe. Nangona kunjalo, kubalulekile ukuqaphela ukuba i-CC{9}}yekhonkco yemiqondiso esetwe ngabasebenzi bokulungisa iimpazamo kufuneka ihambelane nemodeli ye-PCC, isitishi esikhulu, isikhululo samakhoboka, kunye nolwazi lwesitishi. Emva kokuba useto lwesignali lugqityiwe, zonke iimpawu kufuneka zidweliswe kwaye zinikwe izimvo ngexesha lenkqubo ye-PLC. Kuphela emva kokuba i-signal debugging inokuthi i-robot ye-industrial ifakwe ngokusemthethweni kwimveliso.
