Abubuwan da ke sarrafa mutum-mutumin injin allura sun haɗa da jerin aiki, matsayin isowa, lokacin aiki, saurin motsi, da haɓakawa / ragewa.
An kasu ikon sarrafa mutum-mutumin yin allura zuwa nau'i biyu: aya -zuwa{1}} sarrafawa da ci gaba da sarrafa yanayi.
Ana iya tsara tsarin sarrafawa ta amfani da tsarin sarrafawa na dijital bisa ga bukatun aikin. Da farko yana buƙatar shirye-shirye da adana shirye-shiryen, sannan sarrafa robot don yin aikin bisa ga tsarin da aka tsara.
Akwai hanyoyi guda biyu na ajiyar shirye-shiryen: ajiya daban da kuma ma'ajiyar tsakiya. Wurin ajiya daban yana adana bayanai akan abubuwan sarrafawa daban-daban a cikin na'urorin ajiya guda biyu ko fiye, kamar adana bayanan jeri a cikin farantin fil, cam ɗin cam, ko tef ɗin da aka ratsa; Adana bayanin matsayi a cikin relay na lokaci ko akai-akai{1}}gudun ganga mai jujjuyawa. Ma'ajiya ta tsakiya tana adana duk bayanai akan abubuwan sarrafawa daban-daban a cikin na'urar ajiya ɗaya, kamar tef ɗin maganadisu ko ganga mai maganadisu. Ana amfani da wannan hanyar a yanayi inda dole ne a sarrafa jeri, matsayi, lokaci, da sauri lokaci guda, watau a ci gaba da yanayin sarrafawa.
Ana amfani da faranti na fil a yanayin da ake buƙatar canza shirin da sauri. Canza shirin kawai yana buƙatar maye gurbin nau'in farantin fil ɗaya kawai, kuma ana iya sake amfani da toshe guda ɗaya{1}in akai-akai; tsawon shirin da tef ɗin da aka buga zai iya ɗauka ba shi da iyaka, amma idan kuskure ya faru, dole ne a maye gurbin gabaɗayan tef ɗin; ikon bayanin katin da aka buga yana da iyaka, amma yana da sauƙin sauyawa, adanawa, da sake amfani da shi; Magnetic cores da Magnetic ganguna sun dace kawai don aikace-aikace tare da manyan damar ajiya. Zaɓin nau'in sarrafawa ya dogara da rikitarwa da daidaiton shirin.
Don hadaddun makamai masu linzami, ana amfani da tsarin sarrafa nau'in koyarwa na koyarwa{0}} da{1}}. Ƙarin hadaddun makamai masu linzami suna amfani da tsarin sarrafa dijital, ƙananan kwamfutoci, ko microprocessor{3}} tsarin sarrafawa.
Fin faranti sune tsarin sarrafawa da aka fi amfani da shi, sai kuma cam{0}} ganguna. Wadannan tsarin suna da kyamarorin kyamarorin da yawa, kowanne an sanya shi zuwa axis motsi, kuma juyi guda ɗaya na ganga yana kammala zagaye ɗaya.
