Kei te heke te mahi a te karetao mīhini whakakoi werohanga servo tuaka-toru?

Ko te mahi a te servo tuaka-toru Mīhini Whakarewa Werohanga te whakaiti i te mana o te karetao?

I runga i te raina whakaputa whakarewa werohanga, he karetao mīhini whakakoi werohanga servo-tuaka-toru He taputapu matua tēnei e hono ana i te whakatuwheratanga me te kati o te pokepokea ai, te whakatakotoranga hua, me te kawe. Ko tōna pumau mahi ka whakatau tika i te pai o te whakaputanga, te tere tohu hua, me te roa o te ora o ngā taputapu. Ina pāngia te karetao e ngā raruraru mahi pēnei i te rerekētanga o te tika o te tūnga, te tere puhoi, te iti o te kaha kawenga, te whakaroa nekehanga rānei, ko te kore e kitea wawe te pūtake o te take, ehara i te mea ka puta he wā kore mahi o te raina whakaputa engari ka arahi hoki ki te kino tuarua ki ngā wāhanga nā te whakatikatika koretake. Ka whakaratohia e tēnei tuhinga he otinga aromatawai take hapa pūnaha mai i ngā tirohanga e whā: te tautuhi tohu rerekē → te rapurongoā mō ia kōwae → te manatoko hapa → te tiaki ārai, hei āwhina i ngā tohunga hangarau ki te whakatau tika i ngā take.

1. Tātaritanga Wā Moata o ngā Āhuatanga Kāore i te Tika: Tuatahi "Hopukia te Tohu" Kātahi "Rakahia te Whānuitanga"

I mua i te tīmatanga o te rapurongoā, he mea nui kia tautuhia ngā āhuatanga motuhake o te hekenga o te mahi mā te tirotiro me te kohikohi raraunga kia kore ai e moumou taima mā te whakahaere rapurongoā koretake. Ko ngā tohu e whai ake nei he maha ngā āhuatanga rerekē o te mahi me ō rātou wāhi tātaritanga tuatahi e pā ana:

1. Te Whakarōpūtanga Tohu Āhuatanga Mahinga Matua

Te Rerekētanga o te Tika o te Tūnga: Ka rerekē te karetao mai i te tūranga ūnga ina hopukina he hua, ka kore e tika te tūnga ki te whitiki kawe ina whakatakotoria, ka nui ake rānei te hapa whakahokinga i te uara kua tohua i roto i te pukapuka taputapu (ko te tikanga, ko te tika o te whakahokinga o te servo tuaka-toru Rōpoti S(me ≤±0.1mm). Ngā whakapae tuatahi: Te nekenekehanga o ngā tawhā o te pūnaha servo, te pakaru o te miihini, me ngā rerekētanga o te tohu encoder.

Te Whakaiti i te Tere Whakahaere: Ina tangohia te utaina o te karetao, ka iti iho te tere tuturu o ia tuaka (tuaka-X whakapae, tuaka-Y poutū, me te tuaka-Z poutū) i te uara kua whakaritea, ā, ka mutu ngā mahi i te wā whakatere/whakaiti tere. Ngā whakapae tuatahi: Te whakawhāiti i te iahiko o te puku servo, te ngaronga o te mana o te motuka, te pikinga ake rānei o te ātete kawenga.

Te Whakaiti i te Kaha o te Utaina: Ka taka te hua i taea te hopu i mua (hei tauira, he wāhanga werohanga 5kg) i muri i te hopu, ka puta rānei he whakaoho taumaha i te wā e mahi ana nā te nui rawa o te kawenga. Ngā whakapae tuatahi: Kāore i te rawaka te taipana o te motuka servo, te paheke o te tuku, te kore rānei e ranea te pēhanga i roto i te pūnaha āwhina hau/waipēhi (mēnā kei roto he hopu hau). Te Whakaroa o te Urupare Mahi: I muri i te tukunga o te whakahau a te papatohu kaiwhakahaere, ka pau te 1-3 hēkona ki te mahi i tētahi mahi e te karetao, ka kitea rānei he okiokinga ina huri i waenga i ngā mahi. Ngā whakapae tuatahi: Te whakaroa o te whakawhitiwhiti kōrero a te pūnaha whakahaere, te whakaroa o te tohu pūoko, me ngā tawhā whakanui servo hē.

2. Te Kohikohi me te Whakataurite Raraunga Matua
Kāore e taea e te tirotiro ā-kanohi anake te kimi tika i te raruraru; me whakataurite ngā raraunga hei whakawhāiti i te whānuitanga o te hapa:

Tuhia ngā tawhā whakahaere o ia au: Whakamahia te pūnaha whakahaere karetao (pēnei i te mata pā PLC, i te papa taraiwa servo rānei) hei pānui i ngā raraunga pēnei i te tere whakahaere, te rerekētanga tūranga, te ia o te motuka, me te putanga taipana o ia tuaka. Whakatauritehia ēnei ki ngā tawhā i te wā e mahi noa ana (tirohia te pukapuka ā-ringa taputapu, ngā tuhinga whakahaere hītori rānei). Arotahi ki ngā tohu pēnei i te "iahiko tino teitei," "te rerekētanga tūranga e neke atu ana i te paepae," me te "rerekētanga taipana nui rawa atu."

Ngā āhuatanga tatauranga e pā ana ki te hapa: Tuhia mēnā kei te hono te hekenga o te mahi ki ngā āhuatanga motuhake, pērā i te "ka puta noa te pekapeka i raro i te kawenga," "ka pōturi te tere i muri i te 1 hāora o te mahi," me te "ka puta pinepine ngā hapa ina piki te pāmahana taiao." Ka taea e ēnei āhuatanga te āwhina ki te whakakore i ngā āhuatanga kāore e pā ana (pērā i te pānga o te pāmahana taiao me te haumākū ki ngā wāhanga hiko).

2. Te Whakatau Rapanga Hōhonu mō ia Mōda: Mai i "Ngā Wāhanga Matua" ki "Ngā Pūnaha Āwhina"

Ko te mahi a te karetao mīhini werohanga werohanga servo tuaka-toru e whakawhirinaki ana ki te mahi whakarite o te "pūnaha servo → hanganga miihini → pūnaha whakahaere → pūnaha āwhina." Ko te rapu raruraru me wetewete i ia waeine, me te manatoko i te pono o ia hononga takitahi.

A. Pūtake hiko matua: Te rapurongoā pūnaha servo (neke atu i te 60% o ngā raruraru mahi)

Ko te pūnaha servo te "ngākau mana" o te karetao, e toru ngā wāhanga: te motuka servo, te puku servo, me te encoder. Mā te hapa o tētahi wāhanga ka heke te mahi. Me whai te rapurongoā i te ariā o "mai i te puku ki te motuka, mai i te tohu ki te taputapu": (1) Puku servo: tirohia tuatahi te "waehere whakaoho" kātahi ka manatoko i te "tautuhinga tawhā"

Hipanga 1: Pānuihia te waehere whakaoho: Ka whakaatuhia te waehere hapa e te papa taraiwa servo (pēnei i te "AL.E6" o te raupapa Mitsubishi MR-J4 e tohu ana i te rahunga o te encoder, ā, ko te "Err.11" o te raupapa Panasonic A6 e tohu ana i te au nui rawa atu). Ka taea te kimi i ngā raruraru taketake (pēnei i te au nui rawa atu, te au nui rawa atu, te wera nui, me te rerekētanga o te whakawhitiwhiti kōrero a te encoder) mā te whakataurite ki te pukapuka ā-taputapu.

Hipanga 2: Tirohia ngā tawhā matua: Mena kāore he waehere whakaoho engari kua heke te mahi, arotahi ki ngā tawhā e whai ake nei:

Te whakanui i te koropiko tūnga (Te whakanui i te koropiko P) me te whakanui i te koropiko tere (Te whakanui i te koropiko V): Mā te iti rawa o te whakanui ka puhoi te urupare tūnga me te nui o te pekapeka; mā te teitei rawa o te whakanui ka puta te wiri. Whakatikatikahia kia rite ki ngā uara kua tūtohutia i roto i te pukapuka taputapu (whakatikatikahia te koropiko tere i te tuatahi, kātahi te koropiko tūnga).

Te ōwehenga taputapu hiko: Mā te tautuhinga ōwehenga taputapu hē ka kore e ōrite te tūranga i whakahaua me te tūranga tūturu (hei tauira, he nekehanga kua whakaritea he 100mm engari 50mm anake). Manatokohia kei te ōrite te ōwehenga taputapu ki te ōwehenga tuku miihini (pērā i te mata tīwiri pōro).

Ngā tautuhinga rohe o te au me te taipana: Mena ka whakatakotoria he hapa te puku ki te "aratau rohe o nāianei" ki te iti rawa rānei te rohe taipana, kāore e ranea te mana whakaputa o te motuka, ka puhoi te tere me te iti o te kaha kawenga. Whakahokia ngā uara rohe taunoa, tautuhi anō rānei i runga i ngā whakaritenga kawenga.

B, Mōta servo: Te aromatawai i te "hauora taputapu" mai i te "tūnga whakahaere"

Tirotiro Pūoro: I te wā e oma ana te motuka, pā atu ki te whare motuka ki tō ringaringa (kia tūpato kei wera). Mena ka neke ake te pāmahana i te 70℃ (ko te pikinga pāmahana noa o te motuka servo he ≤40℃), tera pea kua tawhito te koiri motuka, kua pakaru te peera, kua nui rawa rānei te kawenga; whakarongo ki te tangi o te motuka e oma ana. Mena he "haruru" he "waku" rānei, tera pea kāore he hinu i roto i te peera, kua pakaru rānei. Me wetewete, me tirotiro, me whakakapi te peera (e taunakihia ana kia whakamahia ngā peera kawemai o te tauira kotahi, pērā i te NSK me te SKF).

Whakamātautau mahi: Momotuhia te motuka mai i te pūnaha tuku (whakamātautau kore-kawenga). Mena he noa te tere o te oma me te taipana o te motuka i te wā kāore he kawenga, ko te tikanga kei te pito kawenga miihini te hapa; mena kei te rerekē tonu i te wā kāore he kawenga, whakamahia he mita maha hei ine i te uara ātete o te takai toru-wāhanga o te motuka (i te nuinga o te wā, me taurite ngā wāhanga e toru, me te rerekētanga o te ≤5%). Mena he mutunga kore te ātete o te wāhanga kotahi, ko te tikanga kua pakaru te takai, ā, me whakatika, me whakakapi rānei te motuka.

C, Kaiwhakakōwaehere: Ko te tohu "kore hapa" te mea nui ki te tika o te tūnga.

Ko te kaikōwae te "kanohi" o te pūnaha servo, e kawenga ana mō te whāngai i ngā tohu tūranga me te tere o te motuka. Ka arahi tika ngā tohu rerekē ki te peka o te tūranga. Tikanga rapurongoā:

Tirotiro raina: Tirohia te raina hononga i waenga i te kaikōwae me te taraiwa (he taura ārai te nuinga) kia kite ai mēnā he hononga wetekina, he taura pakaru, he whenua ngoikore rānei o te paparanga ārai (ki te kore te paparanga ārai e whenua, ka puta he pokanoa hikohiko, ka puta he rerekētanga o te tohu). E taunakihia ana kia mono anō te hononga, kia whakakapia te taura pakaru.

Whakamātautau tohu: Whakamahia he oscilloscope hei ine i ngā tohu putanga wāhanga A, B, me Z o te encoder. I raro i ngā āhuatanga noa, me waiho hei tohu ngaru tapawhā pumau. Mena he hē te āhua o te ngaru, he ngaronga pātere, he iti rawa rānei te kaha (iti iho i te 5V), ko te tikanga kua pakaru ngā wāhanga o roto o te encoder, ā, me whakakapi te encoder o taua tauira anō (kia mōhio koe me ōrite te taumira o te encoder ki te taraiwa, pērā i te 17 bits, 23 bits rānei). 2. Te tuku kaha me te nekehanga: Te rapu raruraru hanganga mīhini (he ngāwari te wareware "kaikōhuru kore e kitea") Ahakoa he noa te pūnaha servo, ka arahi te kakahu, te wetekina, te whakarerekētanga rānei o te hanganga mīhini ki te hekenga o te mahi, nā te mea me tuku te nekehanga o te kaiwhakahaere mā te "mīhini → hononga → tīwiri pōro / whitiki tukutahi → reti arataki", ā, ko te ngaronga o tētahi hononga ka ngoikore te whai huatanga o te tuku mana: (1) Tikanga tuku: arotahi ki te "kakahu" me te "whakakotahitanga" Tīwiri pōro: Hei wāhanga tuku matua o ngā tuaka X, Y, me Z, ka arahi te kakahu o te tīwiri ki te "piki ake te tawhiti whakamuri" (arā, ina huri te mīhini ki te taha ke, he whiu kau te kaiwhakahaere), e whakaatu ana he peka tūnga. Tikanga tirotiro: Whakamahia he tohu waea hei whakatika i te reti me te pana ā-ringa i te reti. Mena ka neke ake i te 0.05mm te nekehanga o te tohu waea, ko te tikanga kua tino kakahuria te tīwiri; i te wa ano, tirohia mena he karawarawa, he waikura, he hinu maroke rānei kei runga i te mata o te tīwiri. Me tāpiri tonu he hinu motuhake (pērā i te hinu lithium). Ina nui ake te pakaru i te taumata e hiahiatia ana, me whakakapi te tīwiri (he mea pai kia whiriwhiria he tīwiri pōro he tika te taumata C3, neke atu rānei).
Hononga: Mena he pakaru te hononga e hono ana i te motuka servo me te tīwiri pōro, kua tawhito te elastomer, kāore rānei te tāutanga i te porowhita, ka puta he tuku hiko kore pumau, he aukati, he rerekētanga tūnga rānei. Tikanga tirotiro: I muri i te whakamutu i te mīhini, hurihia te hononga ki te ringa kia kitea ai mēnā he aukati, he wetewete rānei. Mena kāore te hononga me te rakau motuka/raka tīwiri i te porowhita (he peka >0.1mm), me whakatikatika anō te porowhita.
Whitiki tukutahi (mēnā he whitiki): Ka whakamahia e te tuaka-X o ētahi karetao he whitiki taraiwa tukutahi. Mēnā he wetekina te whitiki tukutahi, he pakaru rānei te mata o te niho, ka "paheke", ka kitea he hekenga o te tere me te tūnga hē. Tikanga tirotiro: Pēhia te whitiki tukutahi. Mēnā he nui ake te piko i te 10mm, ko te tikanga he wetekina rawa, ā, me whakatikatika te whakapūmau; mēnā kua kitea kua pakaru, kua pakaru rānei te mata o te niho, me whakakapi te whitiki tukutahi (e taunakihia ana kia whakamahia he whitiki tukutahi polyurethane, he mea ātete ake ki te pakaru).

(2) Ngā ara ārahi me ngā reti: "Te maeneene" e whakatau ana i te pumau o te oma

Ko te reti ara ārahi te kawenga mō te tautoko i ngā wāhanga nekeneke o te karetao. Mēnā kāore i te nui te hinu whakahinuhinu, i te tawhito rānei, ka nui ake te ātete nekehanga, ka puhoi ake te tere me te aukati. Te Whakatau Rapanga:

Pēhia ā-ringa te reti kia kitea ai te ātete, te piri rānei. Ki te pērā, wetewetehia te reti kia tirohia ai te pakaru o ngā peera pōro o roto me ngā whare pupuri pakaru. Horoia te puehu me ngā paru mai i te mata o te arai arataki, ā, pania he hinu whakahinuhinu i hangaia mō ngā arai arataki (pērā i te ISO VG32).

Whakamahia he maikirīmita hei ine i te whakarara o ngā ara ārahi. Mēnā he nui ake te rerekētanga whakarara i te 0.1 mm/m, ka pā te kaha kore taurite ki te reti i te wā e whakamahia ana, ka tere ake te pakaru. Me whakatikatika anō te tūranga tāutanga o te ara ārahi.

Tuatoru. Pokapū whakahau me te urupare: te rapurongoā pūnaha whakahaere

Ko te pūnaha whakahaere (tae atu ki te PLC, te papa whakahaere, te pūoko) te kawenga mō te tuku whakahau mahi me te whiwhi tohu urupare. Mēnā ka puta he hapa, ka puta he "kāore e taea te tuku whakahau" he "whakapēpētanga tohu urupare" rānei, e whakaatuhia ana ko te hekenga o te mahi:

(1) PLC me te hōtaka: Ko te "tika arorau" te pūtake

Tirohia mēnā kei te PLC he tohu whakaoho (pērā i te rama ERR e kā ana). Mēnā koinā, pānuihia te waehere hapa (pērā i te rahunga o te kōwae whakauru/putanga, te hapa hōtaka) mā te pūmanawa hōtaka, ā, tirohia mēnā he wetekina te raina whakawhitiwhiti kōrero i waenga i te PLC me te puku servo me te pūoko (pērā i te RS485, te raina whakawhitiwhiti kōrero EtherCAT). Manatokohia te arorau hōtaka: Mēnā kua whakarerekētia te hōtaka PLC i ngā wā tata nei, me whakataurite te hōtaka tārua hei tirotiro mēnā he raruraru pērā i te "whakaroa whakahau" me te "hapa raupapa mahi" (hei tauira, te whakahaere i te whakahau piki i mua i te otinga o te mahi hopu). Ka taea te manatoko i te tukanga whakahaere hōtaka i ia taahiraa mā te aratau "oma kotahi taahiraa".

(2) Pūoko: Ko te "tika o te tohu" te mea nui ki te urupare

Ko ngā pūoko e whakamahia ana i roto i ngā taputapu whakahaere ko ngā pūoko tūnga (pēnei i ngā pana hiko whakaahua, ngā pana tata) me ngā pūoko pēhanga (pēnei i ngā pūoko pēhanga hopu). Mēnā he rerekē te tohu o te pūoko, ka hē te whakatau i te mahi:

Pūoko tūnga: Tirohia mēnā kei te rerekē te tūnga tāutanga o te pūoko (pērā i te kore e hangai te pana hiko ki te pūwāhi kimi ūnga), whakamahia he mita maha hei ine i te tohu putanga o te pūoko (pērā i te pūoko momo NPN, e whakaputa ana i te taumata iti i te wā kimi). Ki te kore te tohu e rerekē, e rerekē rānei, whakatikatikahia te tūnga tāutanga, whakakapia rānei te pūoko.

Pūoko pēhanga: Mena kei te whakahaerehia te pūmau e te hau, ko te pūoko pēhanga te kawenga mō te kite i te pēhanga o te pūmau. Mena he iti iho te uara pēhanga i te uara kua whakaritea (pēnei i te uara kua whakaritea o te 0.5MPa, ko te uara tūturu ko te 0.3MPa), kāore e ranea te kaha hopu o te pūmau, ka hinga te hua. Me tirotiro mēnā he noa te pēhanga o te pūtake hau (ko te tikanga me ≥0.6MPa te pēhanga o te pūtake hau) me te mēnā kua whakatikatikaina te pūoko (ka taea te whakatikatika i te uara putanga o te pūoko mā te whakamahi i te ine pēhanga paerewa).

Tuawhā. Pūnaha āwhina: Te rapurongoā mō te hauhautanga/waipēhi me te pūhiko hiko (ngā "tūranga tautoko" e warewarehia ana)

(1) Pūnaha hau/waipēhi (mēnā kei roto he pūmau, he mahi āwhina rānei)

Pūnaha hau: Tirohia mēnā he noa te pēhanga o te pūwero hau, mēnā kei te turuturu te paipa hau, ā, mēnā kua mau te takirere solenoid (ka taea te wetewete i te takirere solenoid hei horoi i te matua takirere). Mēnā kāore i te rawaka te kaha hopu o te pūwero, tirohia mēnā kua pakaru te hiri o te rango (whakakapia te hiri) me te mēnā kua whakatikatikaina te takirere whakahaere pēhanga ki te pēhanga tika (te nuinga o te wā 0.4-0.6MPa). Pūnaha waipēhi (e whakamahia ana e ētahi kaiwhakahaere taumaha): Tirohia mēnā kei roto i te awhe paerewa te taumata hinu waipēhi, mēnā kua pakaru te hinu (mēnā he pōuri te hinu, he poke rānei, whakakapia te hinu waipēhi ka horoia te wāhanga tātari), ā, mēnā he noa te pēhanga o te papu waipēhi. Mēnā kāore i te rawaka te pēhanga, tirohia mēnā kua pakaru te tinana papu, kua hē rānei te takirere waipuke.

(2) Pūnaha tuku hiko: Ko te "tuku hiko pumau" he whakaritenga mō te whakahaere taputapu.

Tirohia mēnā he pumau te ngaohiko hiko (pēnei i te AC220V, DC24V) o te puku servo, te PLC, me te pūoko. Whakamahia he mita maha hei ine mēnā he nui ake te piki me te heke o te ngaohiko i te ±5% (ki te iti rawa te ngaohiko, kāore e ranea te taipana mō te motuka servo, ā, ki te nui rawa te ngaohiko, ka tahuna ngā wāhanga hiko).

Tirohia mēnā he tohu wera kei te pana hau me te hononga i roto i te pouaka tohatoha. Mena kua waikura ngā hononga, me whakamahi he pepa kirikiri hei whakakanapa, hei whakakapi rānei i ngā wāhanga kia kore ai e motu te hiko nā te ngoikore o te hononga.

3. Manatoko i te pūtake o te hapa: Whakamahia te "tikanga whakakapinga" me te "whakamātautau kore-uta" hei whakaū i te pūtake.

I muri i te raka i te pūwāhi hapa e whakapaetia ana mā te rapurongoā mō ia kōwae, me whakaū te pūtake o te hapa mā te whakamātautau manatoko kia kore ai e hē te whakatau:

1. Tikanga whakakapinga: Manatokohia wawe te kounga o ngā wāhanga.

Mena kei te whakapaetia he hapa te motuka servo, whakakapia ki tētahi motuka noa o taua tauira anō. Mena ka whakahokia te mahi i muri i te whakakapinga, ko te tikanga kua pakaru te motuka taketake. Mena kei te whakapaetia he hapa te encoder, whakakapia te taura encoder, te encoder rānei kia tirohia ai mena ka hoki te tohu ki te āhua noa. Mena kei te whakapaetia he hapa o te pūoko, whakakapia he pūoko i te tūranga noa (pērā i te pana hiko whakaahua tāpiri) ki te tūranga hapa e whakapaetia ana. Mena he noa te tohu, kua pakaru te pūoko taketake.

2. Whakamātautau Whakataurite Kore-kawenga me te Utaina
Whakamātautau Kore-kawenga: Momotuhia te karetao mai i te kawenga (pērā i te pupuri, i te hua rānei) ka whakahaere i ia tuaka. Mena he noa te mahi (ka tutuki te tere me te tika o te tūnga i ngā whakaritenga) i te wā kāore he kawenga, ko te raruraru kei te kawenga (pērā i te pupuri kua mau, i te hua taumaha rawa rānei). Mena ka mau tonu te āhuatanga rerekē i te wā kāore he kawenga, ko te raruraru kei te pūnaha servo, kei te hanganga mīhini rānei.
Whakamātautau kawenga: Kia noho noa te whakamātautau kore-kawenga, whakanuia mārire te kawenga (tīmata i te 50% o te kawenga kua whakatauria) ka tirohia ngā huringa mahi. Mēnā ka puta he rerekētanga ina tae te kawenga ki te uara kua whakatauria, tirohia mēnā he hototahi te taipana o te motuka servo, ā, mēnā ka taea e te pūnaha tuku te tu atu i te kawenga (hei tauira, mēnā ka tutuki i ngā whakaritenga te whakatauranga kawenga hihiri o te tīwiri pōro).

4. Tiaki Ārai: Mai i te "Whakatikatika Tauhohe" ki te "Ārai Matatau"

I muri i te whakatau i te hapa o nāianei, mā te whakatū i tētahi pūnaha tiaki ārai ka taea te ārai i te hekenga o te mahi a te karetao me te whakaroa i te roa o te ora ratonga o te taputapu:

Te Whakahinuhinu Auau: Tāpirihia he hinu motuhake ki te tīwiri pōro me ngā ara ārahi ia wiki, ā, tirohia ia marama mēnā he hinu maroke hei ārai i te pakaru i puta mai i te waku maroke.

Whakatikatika Auau: Whakatikatikahia te tika o te tūnga me te auautanga o ia tuaka ia toru marama mā te whakamahi i te ine whakawhiti laser. Mena ka nui ake ngā peka i te paerewa, whakatikatikahia ngā tawhā whakanui servo, whakakapia rānei ngā wāhanga kua pakaru i te wā tonu.

Tārua Tawhā: Tāruahia ngā tawhā o te hōtaka PLC me te puku servo i ia marama hei ārai i te hapa o te taputapu nā te ngaronga o ngā tawhā.

Whakahaere Taiao: Puritia he taiao mahi ma, maroke hoki mō te karetao kia kore ai e uru te puehu me te hinu ki roto i te motuka servo, ki te encoder rānei. Puritia te pāmahana taiao i waenga i te 0 me te 40°C (ka tere ake te tawhito o ngā wāhanga hiko i ngā pāmahana teitei).

Whakangungu Kaimahi: Whakangunguhia ngā kaiwhakahaere me ngā kaimahi tiaki hei ārai i te hekenga o te mahi i puta mai i te mahi hē (pēnei i te whakarerekētanga hē o ngā tawhā servo, te taumaha rawa rānei).

Whakamutunga
Ko te mea nui ki te aromatawai i te hekenga o te mahi a te karetao mīhini werohanga servo tuaka-toru kei roto i te rapurongoā pūnaha me te tautoko raraunga. Tuatahi, tautuhia te raruraru mā te whakamahi i ngā tohu me ngā raraunga, kātahi ka wetewetehia i roto i te raupapa "pūnaha servo → hanganga miihini → pūnaha whakahaere → pūnaha āwhina." Hei whakamutunga, manatokohia te pūtake mā te whakakapinga me te whakamātautau whakatairite. Mā te matatau ki tēnei huarahi, ehara i te mea ka taea te whakatau tere i te raruraru o nāianei engari ka whakaitihia hoki te tūponotanga o te rahunga mā te tiaki ārai, ka whakarite kia pumau te mahi o te raina werohanga.