Kwishyiriraho robot bibera kurubuga -, ariko ibidukikije nyirizina bigira ingaruka kubintu nko gukoresha umwanya, bigabanya imyanya myinshi ya robo. Ibi birashobora kuganisha byoroshye kunyeganyega no kwimura robot yinganda mugihe gikora, amaherezo ikayirinda gukora kumuvuduko wabigenewe. Kubwibyo, kuri - ikibanza cyo gukemura no guhitamo nyuma yo kwishyiriraho na mbere yo gushyira robot yinganda mubikorwa nyabyo ni ngombwa. By'umwihariko, gukemura ibibazo bikubiyemo ahanini ibintu bibiri bikurikira:
1. Zeru buri murongo wa robo yinganda: robot imaze kuva muruganda, amashoka yayo ntashobora kuba zeru. Niba robot nkiyi ishyizwe mubikorwa mu buryo butaziguye, hagati yuburemere bwa buri murongo ntishobora gushyirwaho neza aho ishyigikiwe, bishobora gutera guhindagurika mugihe cyo gukora. Ibi ntabwo bigira ingaruka kumusaruro usanzwe winganda ahubwo birashobora no guhungabanya ubuzima bwabakozi. Kubwibyo, zeru buri murongo wa robot yinganda ni ngombwa. Mubisanzwe, robot yinganda zifite zeru - kugaruka kuri buri murongo. Gukoresha gusa buri murongo usubira kuriyi myanya byerekana ko zeru. Byongeye kandi, ibishingwe bya robo mubisanzwe bifite ibimenyetso byerekana inkomoko ya buri murongo hamwe nu mpande zijyanye na axe esheshatu; izi ningingo zingenzi zifatika mugihe cyo gukemura. Ariko, gukemura ibibazo bisaba isesengura rishingiye kubidukikije kurubuga hamwe ninshingano zikorwa. Kurugero, abakozi bashinzwe gukemura ibibazo barashobora gutegura "inzira" zeru zeru, hanyuma bagakoresha pendant yigisha kwimura robot kuri buri ngingo ikurikiranye, kwandika amakuru ajyanye, hanyuma, hanyuma, bagahuza uburambe bwabo bwa kalibrasi hamwe nubushakashatsi bwakorewe kuri zeru - gusubiza buri murongo wa robot yinganda ukurikije ibisabwa mubikorwa byakozwe.
2. Kurugero, barashobora kuzuza inzira yerekanwe namabwiriza yikimenyetso ashingiye kubimenyetso byakiriwe, bityo bagahuza vuba nibidukikije bishya. Sisitemu ya robo yinganda ntabwo ikoreshwa mu bwigunge; mugihe cyo kubyara, bagomba guhuzwa nibindi bikoresho bya periferi. Ibimenyetso biva muri ibyo bikoresho bya peripheri bigomba guhuzwa nibimenyetso bya sisitemu yinganda za robo binyuze muri CC -. Kubwibyo, gutunganya ibimenyetso no gukemura robot yinganda nintambwe yingenzi nyuma yo kuyishyiraho na mbere yuko ishyirwa mubikorwa nyabyo. By'umwihariko, mugihe cyo gukemura, CC - igenamiterere rihuza rigomba gushyirwaho. Ariko, ni ngombwa kumenya ko ibimenyetso bya CC - byashyizweho nabakozi bashinzwe gukemura ibibazo bigomba kuba bihuye nicyitegererezo cya PCC, sitasiyo nkuru, sitasiyo y’abacakara, namakuru ya sitasiyo. Igenamiterere ryibimenyetso rirangiye, ibimenyetso byose bigomba gutondekwa no gutanga ibisobanuro mugihe cya gahunda ya PLC. Gusa nyuma yibi bimenyetso byo gukemura birashobora gushyirwaho robot yinganda.
