Kuiswa kwerobhoti kunoitika pa-saiti, asi nzvimbo chaiyo yekugadzira inokanganiswa nezvinhu zvakaita semashandisirwo enzvimbo, izvo zvinoganhurira nzvimbo zhinji dzerobhoti. Izvi zvinogona kutungamira zviri nyore kukudengenyeka uye kutamiswa kwerobhoti yeindasitiri panguva yekushanda chaiko, pakupedzisira kuchidzivirira kuti isashande nekumhanya kwayo kwakagadzirwa. Naizvozvo, pa-kugadziriswa nekugadzirisa saiti mushure mekuisa uye usati waisa robhoti remuindasitiri mukugadzira chaiko kwakakosha. Kunyanya, basa rekugadzirisa rinonyanya kusanganisira zvinhu zviviri zvinotevera:
1. Kubvisa axis yega yega yerobhoti yeindasitiri: Mushure mekunge robhoti rasiya fekitori, matemo aro anogona kusadzimwa. Kana robhoti rakadaro rikaiswa mukugadzirwa zvakananga, nzvimbo yepakati yegiravhiti yeaxis yega yega inogona kunge isina kunyatsogadziriswa panzvimbo yekutsigira, zvichikonzera kurereka panguva yekugadzira. Izvi hazvingokanganisa kugadzirwa kwemaindasitiri chete asi zvinogona kuisa hupenyu hwevashandi mungozi. Naizvozvo, zeroing yega axis yerobhoti yeindasitiri kwakakosha. Kazhinji, marobhoti emuindasitiri ane zero-mareturn marker paaxis yega yega. Kungoshandisa axis imwe neimwe kudzokera kunzvimbo iyi kunoratidza kuti yave zeroed. Pamusoro pezvo, hwaro hwerobhoti kazhinji hune mamakisi anoratidza kwakabva axis imwe neimwe uye makona anoenderana nematemo matanhatu; aya akakosha mareferenzi mapoinzi panguva yekugadzirisa. Nekudaro, chaiyo debugging inoda ongororo yakavakirwa pane saiti nharaunda uye basa riripo. Semuyenzaniso, vashandi vanogadzirisa dambudziko vanogona kuronga "nzira" inonzwisisika, vobva vashandisa pendant kuendesa robhoti kunzvimbo yega yega zvakatevedzana, kurekodha data rakakodzera, uye pekupedzisira, vobatanidza ruzivo rwavo rwekugadzirisa nekuedza kwakadzokororwa kuita zero{10}kudzosera axis yega yega yerobhoti yemuindasitiri zvinoenderana nezvinodiwa chaizvo zvekugadzira.
. Semuenzaniso, vanogona kupedzisa trajectory inotsanangurwa nemirairo yechiratidzo zvichienderana nemasaini akagamuchirwa, nekudaro nekukurumidza kuchinjika kune nharaunda nyowani. Industrial marobhoti masisitimu haashandiswe ari ega; panguva yekugadzira, dzinofanirwa kunge dzakabatana kune mamwe madhizaini ekutenderera. Masaini ezvishandiso izvi anofanira kubatanidzwa nezviratidzo zvemaindasitiri erobhoti kuburikidza neCC-link. Naizvozvo, kugadzirisa masaini uye kugadzirisa marobhoti eindasitiri inhanho yakakosha mushure mekuiswa uye isati yaiswa mukugadzirwa chaiko. Kunyanya, panguva yekugadzirisa, CC-masetin'i emalink anofanira kugadzirwa. Zvakadaro, zvakakosha kuziva kuti masaini eCC-akaiswa nevanogadzirisa masaini anofanira kuenderana nePCC modhi, master station, chiteshi chevaranda, uye ruzivo rwechiteshi. Mushure mekunge marongero echiratidzo apera, masaini ese anoda kunyorwa uye kutaurwa panguva yePLC hurongwa. Chete mushure mekuda kwechiratidzo debugging iyo robhoti yeindasitiri inogona kuiswa zviri pamutemo mukugadzira.
