Nneɛma a wɔde di kankyee so yɛ mfiridwuma a wɔde di dwuma wɔ ɔkwan a ɛyɛ adwuma so no fã titiriw, na wɔde di dwuma de hwɛ sɛnea mfiri fa so, ahoɔhare, ne baabi a mfiri fa so pɛpɛɛpɛ. Wɔn afã horow no fa nneɛma atitiriw pii a ɛbom yɛ adwuma ma wonya kankyee so tumi a etu mpɔn na ɛyɛ pɛpɛɛpɛ ho.
Nea edi kan no, ade a wɔde di dwuma no yɛ amemene a ɛwɔ kankyee nhyehyɛe no mu, na mpɛn pii no ɛyɛ PLC (Programmable Logic Controller), mfiridwuma mu PC, anaasɛ kankyee sohwɛfo a wɔatu ho ama. Ɛgye ahyɛdeɛ, ɛdi data ho dwuma, na ɛde nsɛnkyerɛnneɛ a ɛhwɛ so ba, na ɛkyerɛ nteaseɛ ne ɔkwan a ɛkɔ so wɔ kankyee no mu. Nnɛyi control units taa de closed-loop control algorithms di dwuma, te sɛ PID (Proportional-Integral-Derivative) control, de ma pɛpɛɛpɛyɛ ne ahoɔden a ɛyɛ den tu mpɔn.
Nea ɛto so abien no, drive unit no dan control unit no nsɛnkyerɛnne ma ɛbɛyɛ mfiri ahoɔden, na ɛma motor no ka. Drive units a wɔtaa de di dwuma no bi ne servo drives, stepper drives, ne frequency converters, a ɛne servo motors, stepper motors, ne AC motors hyia. Adwumayɛ a drive unit no yɛ no nya nhyehyɛe no mmuae ahoɔhare ne kankyee a ɛyɛ mmerɛw so nkɛntɛnso tẽẽ.
Actuator no ne kankyee sohwɛ ho dwumayɛni a etwa to na nea ɛwom titiriw ne motor, kɔbere skru, akwankyerɛ keteke kwan, ne nneɛma a wɔde ka bom. Wɔde servo motors di dwuma kɛse wɔ precision machining ne robotics mu esiane wɔn precision ne dynamic response tumi a ɛkorɔn nti. Nanso stepper motors deɛ, ɛkyɛn so wɔ ɛka a ɛba fam ne control a ɛnyɛ den mu, na ɛma ɛfata ma ahoɔhare a ɛba fam-ahoɔhare a wɔde si baabi.
Bio nso, feedback mfiri te sɛ encoders, linear encoders, anaa Hall sensors hwɛ gyinabea ne ahoɔhare wɔ bere ankasa mu na ɛde saa data yi kɔ control unit no so, na ɛyɛ closed-loop control system de hwɛ hu sɛ kankyee no yɛ pɛpɛɛpɛ.
Awiei koraa no, onipa-mfiri ntam nkitahodi (HMI) ne nkitahodi module nso yɛ nneɛma a ɛho hia. HMI no de adwumayɛ ne nhwehwɛmu dwumadie ma, berɛ a nkitahodiɛ module (te sɛ EtherCAT ne CANopen) ma multi-axis nkitahodi ne akyirikyiri sohwɛ tumi yɛ adwuma.
Sɛ yɛbɛbɔ no mua a, kankyee sohwɛ nhyehyɛe a wɔyɛ no yɛ multi-layered nkabom nhyehyɛe, a emu biara yɛ adwuma bom yiye na ama wɔanya kankyee sohwɛ a etu mpɔn na ɛyɛ pɛpɛɛpɛ.
