Foundation Fieldbus idhijitari yekutaurirana sisitimu inoshandiswa mune otomatiki pamwe chete neProfibus, Modbus kana HART. Iyo tekinoroji yakaonekwa pave paya kupfuura vakwikwidzi vayo: yekutanga edition yeyakajairwa yakadzokera muna 1996 uye parizvino inosanganisira maprotocol maviri ekuchinjana ruzivo pakati pevatori vechikamu - H1 neHSE (High Speed ββββEthernet).
Iyo H1 protocol inoshandiswa pakutsinhana kweruzivo pane sensor uye controller mazinga, uye network yayo yakavakirwa paIEC 61158-2 yemuviri layer standard, ichibvumira dhata rekufambisa re31,25 kbit / s. Muchiitiko ichi, zvinokwanisika kupa simba kune zvigadzirwa zvemunda kubva kubhasi data. Iyo HSE network yakavakirwa pa-high-speed Ethernet network (100/1000 Mbit/s) uye inoshandiswa kuvaka otomatiki maitiro ekudzora system network padanho revatongi uye bhizinesi manejimendi masisitimu.
Iyo tekinoroji inoshanda mukuvaka otomatiki maitiro ekudzora masisitimu kune chero zvivakwa zveindasitiri, asi yakapararira kumabhizinesi muindasitiri yeoiri negesi uye indasitiri yemakemikari.
Technology kugona
Foundation Fieldbus yakagadziridzwa seimwe nzira kune yechinyakare modhi yeautomated control masisitimu yakavakirwa paanalog sensors uye ine akati wandei mabhenefiti pane ese echinyakare modhi uye madhijitari masisitimu akavakirwa paProfibus kana HART.
Imwe yemabhenefiti makuru ndeye yakakwira dhigirii yekuvimbika uye kukanganisa kushivirira kwemasystem H1, iyo inowanikwa nekuda kwezvinhu zviviri:
- kushandiswa kwezvishandiso zvakangwara (sensors uye actuators) padanho remunda;
- kugona kuronga kuchinjisa ruzivo zvakananga pakati pemidziyo yemunda-yepamusoro pasina kutora chikamu chemutongi.
Hungwaru hwezvishandiso zvemumunda huri mukukwanisa kuita kutonga uye kugadzirisa ruzivo maalgorithms ayo anogara achiitwa mune controller. Mukuita, izvi zvinobvumira sisitimu kuti irambe ichishanda kunyangwe mutongi atadza. Izvi zvinoda kuti zvigadzirwa zvemumunda zvigadziriswe zvakakodzera uye kuti yakavimbika fieldbus magetsi apiwe.
Mamwe mabhenefiti anobva kudhijitari yedhijitari system uye kushandiswa kweakangwara ma sensors anosanganisira kugona kuwana data rakawanda kupfuura kuyerwa kubva kune yega yega mudziyo mudziyo, pakupedzisira uchiwedzera chiyero chekutarisa maitiro ayo mune echinyakare analog masisitimu anogumira kune chiratidzo chekuisa / kubuda system. .
Kushandiswa kwebhasi topology muH1 network inoita kuti zvibvirire kuderedza kureba kwetambo dzetambo, kuwanda kwebasa rekuisa, uye kubvisa kushandiswa kwezvimwe midziyo mumagadzirirwo ekutonga: kuisa / kubuda modules, magetsi, uye munzvimbo dzine ngozi - spark dziviriro yekudzivirira.
Iyo H1 inobvumira kushandiswa kwe4-20 mA sensor communication cables, iyo inogona kushandiswa pakuvandudza ekare ekudzora masisitimu. Nekuda kwekushandiswa kwemukati mekuchengetedza misimboti, tekinoroji inoshandiswa zvakanyanya munzvimbo dzinoputika. Kumisikidzwa pachayo kunovimbisa kuchinjika uye kuenderana kwemidziyo kubva kune vakasiyana vagadziri, uye nekuda kwegedhi zvishandiso zvinokwanisika kusanganisa network yezvishandiso zvemumunda uye indasitiri yekudzora system network yemabhizinesi akavakirwa paEthernet.
Foundation Fieldbus H1 inonyanya kufanana neProfibus PA masisitimu. Matekinoroji ese ari maviri akavakirwa pachiyero chakafanana chemuviri, saka masisitimu aya ane mwero wekuchinjisa data, kushandiswa kweManchester coding, magetsi maparamita etambo yekutaurirana, huwandu hwesimba rinofambiswa, uye hurefu hunobvumidzwa hurefu hwetambo mune network. chikamu (1900 m). Zvakare, mune ese ari maviri masisitimu zvinokwanisika kushandisa anosvika 4 anodzokorora, nekuda kwekuti kureba kwechikamu kunogona kutosvika 9,5 km. Zvinogoneka network topology mune yekudzora sisitimu, pamwe nemisimboti yekuona kuchengetedzwa kwemukati, zvakajairika.
Zvikamu zvehurongwa
Izvo zvakakosha zveiyo Foundation Fieldbus H1 network ndeiyi:
- decentralized control system (DCS) controller;
- fieldbus power supply;
- block kana modular interface zvishandiso;
- materminators emabhazi;
- akangwara munda michina.
Iyo sisitimu inogona zvakare kunge iine gedhi zvishandiso (Kubatanidza Chishandiso), protocol converters, SPDs uye vanodzokorora.
Network topology
Pfungwa yakakosha muH1 network ndiyo pfungwa yechikamu. Iyo huru yekutaurirana mutsara (Trunk), ine mapazi anotambanukira kubva kwairi (Spur), kune iyo munda michina yakabatana. Huru tambo inotangira pamagetsi ebhazi uye kazhinji inopera pane yekupedzisira interface mudziyo. Mhando ina dzetopology dzinobvumirwa kutaurirana pakati pemutongi nemidziyo yemunda: point-to-point, loop, bhazi uye muti. Chikamu chega chega chinogona kuvakwa kungave uchishandisa yakaparadzana topology kana kushandisa masanganiswa avo.
Iine point-to-point topology, imwe neimwe yemunda mudziyo yakabatana zvakananga kune controller. Muchiitiko ichi, imwe neimwe yakabatana yemunda mudziyo inoumba yayo yega network segment. Iyi topology haigoneki nekuti inonyima sisitimu yezvese mabhenefiti ari muFoundation Fieldbus. Kune akawanda mainterfaces pane controller, uye kune magetsi emunda zvishandiso kubva kudhata bhasi, imwe neimwe yekutaurirana tambo inofanirwa kuve neyayo yemunda bhazi magetsi. Kureba kwemitsara yekukurukurirana kunoshanduka kuva yakareba kwazvo, uye kuchinjana kwemashoko pakati pezvigadziro kunoitwa chete kuburikidza nemutongi, izvo zvisingabvumiri kushandisa nheyo yekushivirira kwepamusoro kweH1 systems.
Iyo loop topology inoreva serial yekubatanidza yemidziyo yemumunda kune mumwe nemumwe. Pano, zvigadzirwa zvose zvemumunda zvinosanganiswa muchikamu chimwe chete, chinobvumira kushandiswa kwezvinhu zvishoma. Zvisinei, iyi topology inewo zvipingamupinyi - kutanga kune zvose, zvakakosha kupa nzira umo kukundikana kweimwe yepakati sensors hakuzotungamiri mukurasikirwa kwekutaurirana nevamwe. Imwe dhizaini inotsanangurwa nekushaikwa kwekudzivirira kupfupi pfupi mumutsara wekutaurirana, umo kuchinjana kwemashoko muchikamu kuchave kusingabviri.
Mamwe maviri etiweki topology ane kuvimbika kukuru uye kuita - bhazi nemuti topology, izvo zvakawana kugovera kukuru mukuita pakuvaka H1 network. Pfungwa iri kuseri kweiyi topology ndeyekushandisa interface zvishandiso kubatanidza midziyo yemumunda kumusana. Coupling zvishandiso zvinobvumira imwe neimwe yemunda mudziyo kuti ubatanidzwe kune yayo pachayo.
Network marongero
Mibvunzo yakakosha pakuvaka network yeH1 ndiwo maitiro ayo emuviri - mangani maturusi emumunda anogona kushandiswa muchikamu, ndeipi iyo yakareba kureba kwechikamu, ingave yakareba sei matavi. Mhinduro kumibvunzo iyi inoenderana nerudzi rwemagetsi uye mashandisirwo emagetsi emidziyo yemumunda, uye kunzvimbo dzine njodzi, nzira dzekuona kuchengetedzwa kwemukati.
Huwandu hwepamusoro hwemidziyo yemumunda muchikamu (32) inogona kuwanikwa chete kana ichipihwa simba kubva kunzvimbo dzenzvimbo panzvimbo uye kana kuchengetedzwa kwemukati kusipo. Kana uchisimbisa masensa uye actuators kubva mubhazi re data, iyo yakanyanya kuwanda yemidziyo inogona kungove gumi nemaviri kana zvishoma zvichienderana nemukati mekuchengetedza nzira.
Kutsamira kwehuwandu hwemidziyo yemumunda pane nzira yekupa magetsi uye nzira dzekuona kuchengetedzwa kwemukati.
Kureba kwechikamu chetiweki kunotsanangurwa nemhando yetambo inoshandiswa. Hurefu hurefu hwe1900 m hunowanikwa kana uchishandisa mhando A tambo (yakamonyoroka pair ine nhovo). Paunenge uchishandisa cable type D (isina twisted multicore cable ine nhovo yakafanana) - chete mamita 200. Kureba kwechikamu kunonzwisiswa sehuwandu hwehurefu hwetambo huru uye matavi ose kubva mairi.
Kutsamira kwechikamu chehurefu pamhando yetambo.
Kureba kwematavi kunoenderana nehuwandu hwemidziyo muchikamu chetiweki. Saka, nenhamba yezvigadzirwa kusvika ku 12, iyi inosvika mamita 120. Paunenge uchishandisa zvigadzirwa zve 32 muchikamu, kureba kwepamusoro kwematavi kuchava mamita 1. Paunenge uchibatanidza zvigadzirwa zvemunda nechisungo, imwe neimwe yakawedzera chigadziro. inoderedza kureba kwebazi nemamita makumi matatu.
Kutsamira kwehurefu hwematavi kubva kutambo huru pane nhamba yemidziyo yemumunda muchikamu.
Zvese izvi zvinhu zvinokanganisa zvakananga chimiro uye topology yehurongwa. Kuti ikurumidze dhizaini yekugadzira network, yakakosha software mapakeji anoshandiswa, senge DesignMate kubva kuFieldComm Group kana Fieldbus Network Planner kubva kuPhoenix Contact. Zvirongwa zvinokutendera kuti uverenge iyo yemuviri uye yemagetsi paramita yeH1 network, uchifunga nezve zvese zvinorambidzwa zvinorambidzwa.
Chinangwa chezvikamu zvehurongwa
Mutungamiriri
Basa remutongi ndere kuita mabasa eiyo Link Active Scheduler (LAS), chishandiso chikuru chinobata network nekutumira mameseji ebasa. LAS inotanga kuchinjana kweruzivo pakati pevatori vechikamu vetiweki vane yakarongwa (yakarongwa) kana isina kurongwa mameseji, kuongororwa uye kuwiriranisa zvese zvishandiso.
Mukuwedzera, mutongi ane basa rekugadzirisa otomatiki emidziyo yemumunda uye anoita senge gedhi mudziyo, achipa iyo Ethernet interface yekutaurirana neyepamusoro nhanho yekutonga system yakavakirwa pa Foundation Fieldbus HSE kana imwe nzira yekutaurirana. Padanho repamusoro rehurongwa, mutongi anopa opareta yekutarisa uye kutonga mabasa, pamwe nemabasa ekugadzirisa kure kure kwemidziyo yemunda.
Panogona kunge paine akati wandei Active Link Schedulers munetiweki, ichivimbisa kuwandisa kwemabasa akaiswa mavari. Mune masisitimu emazuva ano, mabasa eLAS anogona kuitwa mugedhi mudziyo unoshanda seprotocol converter yekudzora masisitimu akavakirwa pane imwe mwero kunze kweFoundation Fieldbus HSE.
Fieldbus magetsi ekushandisa
Iyo magetsi emagetsi system muH1 network inoita basa rakakosha, nekuti kuti shanduko yedata igoneke, voltage mu data data inofanirwa kuchengetedzwa mukati me9 kusvika 32 V DC. Kunyangwe zvigadziriso zvemumunda zvinofambiswa nebhasi yedata kana nemagetsi emumunda, network inoda magetsi ebhazi.
Nokudaro, chinangwa chavo chikuru ndechekuchengetedza zvigadziro zvemagetsi zvinodikanwa pabhazi, pamwe chete nemagetsi emagetsi akabatanidzwa kune network. Magetsi emabhazi anosiyana kubva kune akajairwa magetsi emagetsi nekuti iwo ane inoenderana inobuda dunhu impedance pane data transmission frequency. Kana iwe ukashandisa zvakananga 1 kana 12 V magetsi ekupa simba iyo H24 network, chiratidzo chicharasika uye ruzivo rwekuchinjana mubhazi hazvigoneke.
Redundant fieldbus magetsi anopa FB-PS (assembly for 4 segments).
Tichifunga kukosha kwekupa simba rebhazi rakavimbika, magetsi echikamu chega chega chetiweki anogona kushomeka. Phoenix Bata FB-PS magetsi emagetsi anotsigira Auto Current Balancing tekinoroji. ASV inopa symmetrical mutoro pakati pemagetsi masosi, ane mhedzisiro inobatsira pane yavo tembiricha mamiriro uye pakupedzisira inotungamira mukuwedzera kwehupenyu hwavo hwesevhisi.
Iyo H1 magetsi ekupa system inowanzo kuwanikwa mune controller cabinet.
Interface zvishandiso
Zvishandiso zvekubatanidza zvakagadzirirwa kubatanidza boka remidziyo yemumunda kune iyo huru data bhasi. Zvichienderana nemabasa avanoita, vakakamurwa kuva marudzi maviri: chikamu chekudzivirira mamodules (Segment Protectors) uye zvipingamupinyi zvemumunda (Field Barriers).
Pasinei nerudzi, zvigadziriso zvekushandisa zvinodzivirira network kubva kumapfupi mapfupi uye overcurrents mumitsetse inobuda. Kana dunhu diki rikaitika, iyo interface mudziyo inovharira iyo interface port, ichidzivirira kupfupi dunhu kubva kupararira mukati mehurongwa uye nekudaro kuvimbisa kuchinjana kwemashoko pakati pemamwe maturusi etiweki. Mushure mekubvisa dunhu pfupi pamutsetse, iyo yakambovharwa yekutaurirana port inotanga kushanda zvakare.
Zvipingamupinyi zvemumunda zvinopawo kuparadzaniswa kwegalvanic pakati pemaseketi akachengeteka ebhazi guru uye maseketi akachengeteka emidziyo yakabatana yemunda (mapazi).
Pamuviri, zvigadziriso zvekushandisa zvakare zvemhando mbiri - block uye modular. Vhara zvigadziriso zvemhando yeFB-12SP zvine mashandiro ekudzivirira zvinokutendera kuti ushandise maseketi akachengeteka eIC kubatanidza zvishandiso zvemumunda muZone 2, uye FB-12SP ISO zvipingamupinyi zvemunda zvinokutendera kuti ubatanidze midziyo muZone 1 ne0 uchishandisa yakachengeteka IA. circuits.
FB-12SP uye FB-6SP couplers kubva kuPhoenix Contact.
Imwe yemabhenefiti e modular zvishandiso kugona kuyera sisitimu nekusarudza huwandu hwematanho anodiwa kubatanidza midziyo yemunda. Mukuwedzera, modular madivayiri anobvumira kusikwa kwezvimiro zvinoshanduka. Mune imwe kabhineti yekugovera zvinokwanisika kusanganisa chikamu chekudzivirira mamodules uye zvipingamupinyi zvemunda, ndiko kuti, kubatanidza zvishandiso zvemumunda zviri munzvimbo dzakasiyana dzengozi dzekuputika kubva kune imwe kabati. Pakazara, anosvika gumi nemaviri-dual-channel FB-12SP modules kana single-channel FB-ISO barrier modules anogona kuiswa pabhazi rimwe chete, nokudaro achibatanidza kubva kune imwe kabhineti kuenda kumidziyo makumi maviri nemana yemumunda muZone 2 kana kusvika gumi nemaviri sensors muZone 24 kana 2.
Midziyo yeInterface inogona kushandiswa muhupamhi hwekushisa uye inoiswa munzvimbo dzinoputika-dziviriro Ex e, Ex d ine dhigirii reguruva uye hunyoro kuchengetedzwa kweinenge IP54, kusanganisira sepedyo sezvinobvira kune chinhu chekudzora.
Surge dziviriro zvishandiso
H1 field level network inogona kuumba zvikamu zvakareba, uye mitsara yekukurukurirana inogona kumhanya munzvimbo dzinogoneka kuvhiya. Pulse overvoltages inonzwisiswa seyakakonzera misiyano inogona kukonzerwa nekubuda kwemheni kana maseketi mapfupi mumatambo etambo ari pedyo. Iyo induced voltage, hukuru hwayo huri pakurongeka kwema kilovolts akati wandei, inokonzera kuyerera kwekuyerera kwema kiloamperes. Zvese izvi zviitiko zvinoitika mukati memicroseconds, asi zvinogona kutungamira mukukundikana kweH1 network zvikamu. Kuti udzivirire michina kubva kuzviitiko zvakadaro, zvinodikanwa kushandisa SPD. Kushandiswa kweSPDs panzvimbo yezvokudya zvakajairwa-kuburikidza nematerminals inovimbisa kushanda kwakavimbika uye kwakachengeteka kwegadziriro mumamiriro ezvinhu akaipa.
Nheyo yekushanda kwayo inobva pakushandiswa kwe-quasi-short circuit mu nanosecond range yekuyerera kwekubuda kwemhepo mumhepo inoshandisa zvinhu zvinogona kumira kuyerera kwehuwandu hwehukuru hwakadaro.
Kune nhamba huru yemhando dzeSPDs: imwe-channel, kaviri-channel, ine inotsiviwa plugs, nemhando dzakasiyana-siyana dzekuongorora - nenzira ye blinker, yakaoma kusangana. Maturusi eState-of-the-art diagnostic maturusi kubva kuPhoenix Contact anokuita kuti utarise vadziviriri vekuvhiya uchishandisa Ethernet-based digital services. Chigadzirwa chekambani muRussia chinogadzira michina yakatenderwa kushandiswa munzvimbo dzinoputika, kusanganisira Foundation Fieldbus masisitimu.
Bus terminator
Iyo terminator inoita mabasa maviri mumambure - inovharira bhazi remumunda ikozvino, iro rinomuka semhedzisiro yechiratidzo modulation uye inodzivirira chiratidzo kubva kumagumo emutsara mukuru, nokudaro kudzivirira kutaridzika kweruzha uye jitter (phase jitter. yechiratidzo chedhijitari). Saka, iyo terminator inokubvumira kuti udzivise kutaridzika kwe data isina kururama pane network kana kurasikirwa kwedata zvachose.
Chikamu chega chega cheH1 network chinofanira kunge chine materminator maviri pamagumo echikamu. Phoenix Bata mabhazi emagetsi emagetsi uye macouplers ane switchable terminators. Kuvapo kwemamwe materminator mu network, semuenzaniso, nekuda kwechikanganiso, kuchaderedza zvakanyanya chiyero chechiratidzo mumutsara weinterface.
Kutsinhana kwemashoko pakati pezvikamu
Kutsinhana kweruzivo pakati pemidziyo yemumunda hakugumiri pachikamu chimwe chete, asi zvinogoneka pakati pezvikamu zvakasiyana zvetiweki, izvo zvinogona kubatanidzwa kuburikidza nemutongi kana Ethernet-based plant network. Muchiitiko ichi, iyo Foundation Fieldbus HSE protocol kana inonyanya kufarirwa, semuenzaniso, Modbus TCP, inogona kushandiswa.
Pakuvaka network yeHSE, maindasitiri-giredhi switch anoshandiswa. Iyo protocol inobvumira ring redundancy. Muchiitiko ichi, zvakakosha kuyeuka kuti mune ring topology, shanduko dzinofanira kushandisa imwe yezvibvumirano zvekuregererwa (RSTP, MRP kana Extended Ring Redundancy) zvichienderana nehukuru uye inodiwa network convergence nguva apo nzira dzekukurukurirana dzaputsika.
Kubatanidzwa kweHSE-based system nevechitatu-bato masisitimu kunogoneka uchishandisa OPC tekinoroji.
Nzira dzekudzivirira kuputika
Kugadzira chirongwa chekuputika-chipupuriro, hazvina kukwana kutungamirirwa chete nekuputika-uchapupu maitiro ezvigadzirwa uye kusarudzwa kwenzvimbo yayo yakarurama panzvimbo. Mukati mehurongwa, mudziyo wega wega haushande wega, asi unoshanda mukati me network imwe chete. MuNheyo Fieldbus H1 network, kuchinjana kwemashoko pakati pezvishandiso zviri munzvimbo dzakasiyana dzine njodzi kunosanganisira kwete chete kuendeswa kwedata, asiwo kuendeswa kwesimba remagetsi. Huwandu hwesimba hwaigamuchirwa mune imwe nzvimbo hunogona kunge husingagamuchirwi mune imwe. Nokudaro, kuongorora kuputika kwekuchengetedzwa kwemagetsi emunda uye kusarudza nzira yakanakisisa yekuisimbisa, nzira yakarongeka inoshandiswa. Pakati penzira idzi, nzira dzekuona kuchengetedzwa kwemukati ndidzo dzinonyanya kushandiswa.
Kana zvasvika kumabhazi emumunda, parizvino kune nzira dzinoverengeka dzekuwana kuchengetedzwa kwemukati: yechinyakare IS barriers nzira, iyo FISCO pfungwa uye High Power Trunk Technology (HPT).
Yekutanga inobva pakushandiswa kweIS zvipingamupinyi uye inoshandisa pfungwa yakapupurirwa yakashandiswa mukutonga masisitimu zvichienderana ne 4-20 mA analogi zviratidzo. Iyi nzira iri nyore uye yakavimbika, asi inoganhura magetsi kumidziyo yemumunda munzvimbo dzine njodzi 0 uye 1 kusvika 80 mA. Muchiitiko ichi, maererano nemafungiro ane tariro, zvinokwanisika kubatanidza zvisingasviki 4 zvigadzirwa zvemumunda pachikamu nekushandiswa kwe20 mA, asi mukuita kwete kupfuura 2. Muchiitiko ichi, urongwa hunorasikirwa nezvakanaka zvose zviripo. muNheyo Fieldbus uye inotungamirira kune-point-to-point topology, apo yekubatanidza nhamba huru yezvigadzirwa zvemumunda, hurongwa hunofanira kugoverwa muzvikamu zvakawanda. Iyi nzira zvakare inogadzirisa zvakanyanya kureba kwetambo huru nematavi.
Iyo FISCO pfungwa yakagadziridzwa ne "National Metroological Institute yeGermany" uye yakazoverengerwa mumiyero yeIEC, uyezve muGOST. Kuve nechokwadi chekuchengetedzwa kwemukati kwetiweki yemunda, iyo pfungwa inosanganisira kushandiswa kwezvikamu zvinosangana nezvimwe zvirambidzo. Zvirambidzo zvakafanana zvakagadzirirwa kugovera magetsi maererano nemagetsi ekubuda, kune zvigadzirwa zvemumunda maererano nekushandiswa kwesimba uye inductance, kune tambo maererano nekupikisa, capacitance uye inductance. Zvirambidzo zvakadaro zvinokonzerwa nekuti capacitive uye inductive zvinhu zvinogona kuunganidza simba, iro mune emergency mode, kana paine kukuvara kune chero chinhu cheiyo system, inogona kuburitswa uye kukonzera kubuda kwe spark. Pamusoro pezvo, iyo pfungwa inorambidza kushandiswa kwedundancy mubhazi remagetsi system.
FISCO inopa yakakura ikozvino yemagetsi maturusi munzvimbo dzine njodzi zvichienzaniswa nemunda barriers nzira. 115 mA inowanikwa pano, iyo inogona kushandiswa kusimbisa 4-5 zvishandiso muchikamu. Zvisinei, panewo zvirambidzo pakureba kwetambo huru nematavi.
High Power Trunk tekinoroji pari zvino ndiyo inonyanya kuzivikanwa tekinoroji yekuchengetedzwa kwemukati muNheyo Fieldbus network nekuti haina zvipingamupinyi zviripo mumatanho akadzivirirwa kana eFISCO. Nekushandiswa kweHPT, zvinokwanisika kuzadzisa muganho wemidziyo yemumunda muchikamu chetiweki.
Iyo tekinoroji haigadzirisi maparameter emagetsi etiweki uko izvi zvisingakodzeri, semuenzaniso, pamusara wekutaurirana mutsara, uko pasina chikonzero chekuchengetedza uye kutsiva midziyo. Kuti ubatanidze zvishandiso zvemumunda zviri munzvimbo inoputika, zvigadziriso zvekushandisa zvine mashandiro ezvipingamupinyi zvemumunda zvinoshandiswa, izvo zvinodzikamisa maparamita emagetsi etiweki ekupa simba ma sensors uye anowanikwa zvakananga pedyo nechinhu chekudzora. Muchiitiko ichi, rudzi rwekudzivirira kuputika Ex e (kuwedzerwa kudzivirira) kunoshandiswa muchikamu chose.
Source: www.habr.com