Robo sigili bɛ kɛ-yɔrɔ la, nka a dilanni sigida yɛrɛ bɛ nɔ bila fɛnw na i n’a fɔ yɔrɔ baara, o min bɛ dan sigi robo jɔcogo caman na. O bɛ se ka kɛ sababu ye nɔgɔya la ka izini robo yɛrɛyɛrɛ ani ka wuli ka bɔ yɔrɔ wɛrɛ la a baara yɛrɛyɛrɛ waati la, o laban bɛ a bali ka baara kɛ a teliya dabɔlen na. O la, on-site debugging ani calibration (daɲɛw sɛgɛsɛgɛli) sigili kɔfɛ ani sanni ka izini robo bila a dilanni yɛrɛ la, o nafa ka bon kosɛbɛ. Kɛrɛnkɛrɛnnenya la, debugging baara bɛ nin fan fila ninnu de la kosɛbɛ:
1. Ka zeru kɛ izini robo ka aksidan kelen-kelen bɛɛ la: Robo bɔlen kɔ izini na, a bɛ se ka kɛ a ka aksidanw tɛ zeru bɔ. Ni o robo sugu bilala baara la k’a ɲɛsin a ma, a bɛ se ka kɛ ko aksidan kelen-kelen bɛɛ girinya cɛmancɛ tɛ siri ka ɲɛ dɛmɛyɔrɔ la, o bɛ se ka kɛ sababu ye ka a kɔrɔta a dilanni senfɛ. O tɛ nɔ bila izini baarakɛcogo nɔgɔman dɔrɔn na, nka a bɛ se ka baarakɛlaw ka ɲɛnamaya fana bila farati la. O la, ka izini robo ka aksidan kelen-kelen bɛɛ zeru, o nafa ka bon. A ka c’a la, izini robow bɛ ni zeru-segin taamasiyɛnw ye aksidan kelen-kelen bɛɛ kan. Ni i ye aksidan kelen-kelen bɛɛ baara dɔrɔn ka segin o yɔrɔ la, o b’a jira ko a kɛra zeru ye. Ka fara o kan, a ka c’a la, taamasiyɛnw bɛ robo basigiyɔrɔ la minnu bɛ aksidan kelen-kelen bɛɛ bɔyɔrɔ jira ani a bɛ bɛn o yɔrɔ wɔɔrɔ ma; ninnu ye kunnafoni nafamaw ye debugging waati. Nka, debugging kɛrɛnkɛrɛnnenw bɛ sɛgɛsɛgɛli de wajibiya ka da yɔrɔ lamini na ani baara min bɛ bolo kan. Misali la, debugging baarakɛlaw bɛ se ka zeru "sira" bɛnnen dɔ boloda, o kɔfɛ, ka baara kɛ ni teach pendant ye walasa ka robo lase yɔrɔ kelen-kelen bɛɛ la ka tugu ɲɔgɔn na, ka kunnafoniw sɛbɛn minnu bɛ tali kɛ o la, ka laban, k’u ka calibration experience fara ɲɔgɔn kan ni segin-ka-bɔnyew ye walasa ka zeru-segin izini robo ka aksidan kelen-kelen bɛɛ la ka kɛɲɛ ni a dilanni wajibiyalen yɛrɛ ye.
2. Signal Processing Debugging of Industrial Robots Bi, izini robo minnu ɲɛnabɔlen don, olu bɛ se ka baara kɛ u yɛrɛma ka kɛɲɛ ni sariyakolow ni laadilikanw kofɔlenw ye ni hakililata ye. Misali la, u bɛ se ka taamacogo min ɲɛfɔ taamasiyɛn cikanw fɛ, o dafa ka da taamasiyɛn sɔrɔlenw kan, o cogo la, u bɛ teliya ka ladamu sigida kuraw la. Industri robo systems tɛ baara kɛ ni u ye u dan na; u dilanni waati, u ka kan ka don lamini minɛn wɛrɛw la. Siginiden minnu bɛ bɔ o laminiminɛnw na, olu ka kan ka jɛ ni izini robo sitɛmu ka taamasiyɛnw ye CC-sira fɛ. O la, izini robow taamasiyɛnw baaracogo n’u tiɲɛni ye fɛɛrɛ nafamaba ye u sigili kɔfɛ ani sanni u ka bila baara yɛrɛ la. Kɛrɛnkɛrɛnnenya la, debugging waati, CC-link sigicogo ka kan ka labɛn. Nka, a nafa ka bon k’a dɔn ko CC-link taamasiyɛn minnu sigilen don debugging baarakɛlaw fɛ, olu ka kan ka bɛn PCC modɛli, master station, slave station, ani station kunnafoniw ma. Siginidenw sigicogo dafalen kɔfɛ, taamasiyɛnw bɛɛ ka kan ka sɛbɛn ani ka kuma fɔ PLC porogaramuw kɛtuma na. O taamasiyɛnw tiɲɛni sugu kɔfɛ dɔrɔn, izini robo bɛ se ka bila baara la foroba la.
