所以我们只需要检测与机器人站相关的故障即可。
So we just need to detect also the fault related to the robot station.

我们已经在管理所有机器人传感器和机器人执行器。
We are already managing all the robot sensors and robot actuators.

我们只需要管理夹具，并且，嗯，我们还需要始终管理，呃，原型位置。
We just need to manage the gripper and also the, um, we need also to manage the, uh, the prototypical position always through.

所以在这里，我们可以用与我们使用表执行器时管理表执行器相同的方式来完成此操作。
So here we can do this in the same way that we manage the the table actuator when we were we're, uh, using that.

所以当我们需要实际检测到，当我们在一定时间后拿走产品时，这个值就变成了假。
So when we we need to actually detect that when we take a product after a certain time, this value becomes false.

所以在我们的机器人站里，我们实际上可以在这里，呃，信号，监视器，功能块。
So here in our robot station, we can actually had over here, uh, signal, monitor, function block.

所以我将其称为，嗯，备用位置传感器信号监视器。
So I will call this, um, backup position sensor signal monitor.

这就足够了。
That will be enough.

B 下划线信号监视器将用于查看当我们与机器人一起移动时，该传感器是否至少出现一次错误。
B underscore signal monitor that will be used to see if when we are moving up with the robot, this sensor becomes false at least once.

所以我们需要在这里添加。
So we will need add over here.

我们之前在传送站里也有同样的评论。
The same commented that we had before in our conveyor station.

那么，让我们也复制一个信号管理，呃，呃，调用。
So and let's also copy a signal management, uh, uh, call.

因此，在这里我们将使用 F2 添加对拾取器位置传感器信号监视器的调用。
So over here we I will add a call to the pickup position sensor signal monitor using F2.

这是我们的链接，这个重置按钮。
Here I our link, this reset button.

我想在这里检测的是，如果我们处于该状态，则。
And what I want to detect over here is that if in the state when we are in the state, the.

嗯，产品和拾取位置传感器至少立即变得错误。
Um, product and pick up position sensor becomes false at least at once.

因此，在这里我们将编写选择我们的位置传感器信号监视器，使之应等于 true。
So here we will write pick our position sensor signal monitor that enables should become equal to true.

向上位置传感器信号监视器，要监视的信号将不是拾取位置传感器信号监视器，因为我们想看看它何时变为错误以及何时到达这里。
Up position sensors signal monitor that signal to monitor will be not the pick up position sensors signal monitor because we want to see when this becomes false and when we get here.

我们实际上会将其变为 false。
We will actually turn it to false.

好的，让我们修改这个信号呼叫，我们达到了 434，我们需要向 35 吨发出信号。
OK, so let's modify this signal call, we were up to 434, we need to signal the 35 ton.

在这里，这将是拾取器的拾取位置，当然会监视该故障，但我们实际上无法检测到夹具执行器或实际的，嗯，是否存在故障。
And here, this will be the pick up pick up position, certainly monitored that fault, and we are not actually able to detect if there is a fault on the gripper actuator or on the actual, um.

还有实际的人口普查，所以我们可以看到该产品。
And the actual census, so we can see that product on.

抱歉，是的，启用产品并拾取位置，传感器启用故障或机器人夹具故障。
Sorry, that's right, enable the product and pick up position, sensor enabled fault or robot griper fault.

好的。
OK.

那么我们就上网吧。
So let's go online.

抱歉，有一些错误。
Sorry, there is some error.

让我看看要监视哪里的信号。
Let me see where signal to monitor.

哦，抱歉，我这是一个接机位置。
Oh, sorry, I this was a pick up position.

抱歉，该产品带有拾取位置传感器。
Sorry, the product on pick up position sensor.

好的，那我们就上线吧。
OK, so let's go on line.

哦对不起。
Oh, sorry.

我把它置于错误的状态。
I placed it in the wrong state.

我的意见是，是的。
My opinion, yes.

它应该在搬到州北部的这里。
It should be here in the move upstate.

所以这一行需要放置在状态 40 中。
So this line needs to be placed here in state 40.

那么我们来进行下载吧。
So let's carry out download.

看看会发生什么。
And see what happens.

所以我们实际上需要在我们的可视化中走到这里。
So we need actually to go here in our visualisations and.

我们需要伪造产品并选择一个位置传感器来完成让我们开始我现在将伪造这个。
We need to fake the product and pick a position sensor to through let's start I will fake this now.

是的，我们得到了第四个。
Yes, we got a fourth.

让我们去那里进行诊断吧，是的，看起来是这样。
Let's go to there our diagnostic h my and yes, it seems so.

这是我们刚进去的照片。
This is the photo that we just entered.

让我们排除这个错误并尝试另一个错误。
Let's remove this fault and try the other one.

因此，让我们尝试禁用夹具执行器。
So let's try to disable the gripper actuator.

是的，同样的故障出现。
Yes, the same fault occurs.

那么我们也按照正常的方式启动一下机器，看看这两种误报有没有误报。
So let's also start the machine in the normal way to see if there are no false positives for these two kinds of false.

好的，是的，看起来运行得很好。
OK, yes, it seems to run quite fine.

是的，它似乎工作得很好。
Yes, it seems to work quite fine.

他们现在唯一无法检测到的情况是橡胶夹具始终处于开启状态。
The only thing they will fall to the right now we are not able to detect is actually when the rubber gripper is always on.

因此，如果机器人不释放瓶子，那么可视化也不会很好地工作。
So if the robot does not release the bottle, also the visualization kind of, uh, doesn't work quite well.

所以这实际上暂时无法通过模拟来管理。
So this is actually not manageable for now by the simulation in this.

因此，在您将拥有的版本中，此按钮可能会被删除。
So probably in the version that you will have, this button will be removed.

因为这是不可管理的，所以这是一个模拟问题。
So because this is not manageable, this is a simulation issue.

事实上，我们实际上可以，嗯，检测到它，因为，呃，如果它回来，有些瓶子会跳闸。
In reality, we could actually, um, detect it because, uh, some bottles will trip if it comes back.

它也无法到达那个位置，因为它只会，呃，进入这里的这个障碍。
And it also will not be able to reach that position because it will just, uh, go into this barrier over here.

所以这实际上不应该发生在这里。
So this is actually not meant to happen here.

所以我们成功地实现了它。
So we successfully managed to implement it.

此外，还有通用设备、订单设备和机器设备。
Also, both the generic devices, one in the orders and the machine ones.

这就是本视频的内容。
So this is it for this video.

在下一个视频中，我们将对我们的架构以及这台机器的上一个项目得出结论。
In the next video, we will draw the conclusions on our architecture and on our last our project for this machine.