https:\/\/www.ymgk.com\/flagship\/index\/30007.html<\/span><\/span><\/a><\/p>\n<\/div>\nFigure\u00a04\u00a0Tool\u00a0Framework<\/p>\n
2.3Smart\u00a0component\u00a0creation<\/p>\n
Call\u00a0the\u00a0Rotator\u00a0component:\u00a0This\u00a0component\u00a0is\u00a0used\u00a0to\u00a0allow\u00a0the\u00a0rotatable\u00a0grinding\u00a0rotor\u00a0to\u00a0rotate\u00a0during\u00a0simulation\u00a0to\u00a0simulate\u00a0the\u00a0real\u00a0grinding\u00a0scene.\u00a0In\u00a0the\u00a0parameters\u00a0of\u00a0the\u00a0Rotator\u00a0component,\u00a0set\u00a0the\u00a0reference\u00a0to\u00a0object,\u00a0the\u00a0reference\u00a0object\u00a0to\u00a0the\u00a0frame\u00a0l,\u00a0and\u00a0the\u00a0object\u00a0to\u00a0a\u00a0copy\u00a0of\u00a0the\u00a0rotor.\u00a0(2)\u00a0The\u00a0rotary\u00a0grinding\u00a0rotor\u00a0can\u00a0be\u00a0rotated,\u00a0and\u00a0the\u00a0speed\u00a0is\u00a0l20mm\/s\u00a0(the\u00a0speed\u00a0of\u00a0the\u00a0grinding\u00a0head\u00a0will\u00a0affect\u00a0the\u00a0quality\u00a0of\u00a0the\u00a0finished\u00a0product)\u00a0),\u00a0the\u00a0reference\u00a0center\u00a0axis\u00a0is:\u00a0axis\u00a0(based\u00a0on\u00a0frame\u00a0l,\u00a0centerpoint\u00a0x,\u00a0y,:\u00a0set\u00a0to\u00a00,\u00a00,\u00a00,\u00a0Axis\u00a0set\u00a0x,\u00a0y,:\u00a00,\u00a00,\u00a0l000mm).<\/p>\n
Call\u00a0the\u00a0Attach\u00a0component:\u00a0This\u00a0component\u00a0is\u00a0used\u00a0to\u00a0allow\u00a0the\u00a0rotatable\u00a0grinding\u00a0rotor\u00a0to\u00a0be\u00a0integrated\u00a0with\u00a0the\u00a0tool\u00a0body.\u00a0When\u00a0the\u00a0tool\u00a0body\u00a0is\u00a0installed\u00a0on\u00a0the\u00a0flange,\u00a0it\u00a0can\u00a0follow\u00a0the\u00a0movement\u00a0of\u00a0the\u00a0flange.\u00a0In\u00a0the\u00a0parameters\u00a0of\u00a0the\u00a0Attach\u00a0component,\u00a0set\u00a0the\u00a0sub-object\u00a0to\u00a0be\u00a0a\u00a0copy\u00a0of\u00a0the\u00a0rotor\u00a0(2)\u00a0for\u00a0the\u00a0rotatable\u00a0polishing\u00a0rotor,\u00a0and\u00a0the\u00a0parent\u00a0object\u00a0is\u00a0the\u00a0tool\u00a0body\u00a0of\u00a0a\u00a0copy\u00a0of\u00a0the\u00a0rotor.\u00a0The\u00a0offset\u00a0and\u00a0orientation\u00a0are\u00a0based\u00a0on\u00a0the\u00a0offset\u00a0of\u00a0point\u00a0B\u00a0relative\u00a0to\u00a0the\u00a0origin.\u00a0For\u00a0setting,\u00a0you\u00a0can\u00a0use\u00a0the\u00a0measurement\u00a0tool\u00a0in\u00a0Robotstudio\u00a0software\u00a0to\u00a0measure,\u00a0and\u00a0then\u00a0set\u00a0the\u00a0parameters\u00a0after\u00a0measurement.<\/p>\n
Verification:\u00a0Install\u00a0a\u00a0copy\u00a0of\u00a0the\u00a0rotor\u00a0tool\u00a0body\u00a0onto\u00a0the\u00a0robot\u00a0flange,\u00a0and\u00a0then\u00a0click\u00a0Execute\u00a0in\u00a0the\u00a0Attach\u00a0component.\u00a0You\u00a0can\u00a0observe\u00a0whether\u00a0the\u00a0position\u00a0of\u00a0the\u00a0rotatable\u00a0grinding\u00a0rotor\u00a0is\u00a0correct\u00a0at\u00a0this\u00a0time.\u00a0If\u00a0there\u00a0is\u00a0a\u00a0deviation,\u00a0adjust\u00a0the\u00a0position\u00a0in\u00a0time,\u00a0as\u00a0shown\u00a0in\u00a0the\u00a0figure.\u00a05\u00a0shown.<\/p>\n
Figure\u00a05\u00a0Tool\u00a0installation<\/p>\n
2.4\u00a0Create\u00a0tool\u00a0coordinate\u00a0system<\/p>\n
Use\u00a0the\u00a0six-point\u00a0method\u00a0to\u00a0create\u00a0the\u00a0tool\u00a0coordinate\u00a0system\u00a0Too1data\u00a0on\u00a0the\u00a0robot\u00a0teach\u00a0pendant\u00a0at\u00a0the\u00a0center\u00a0of\u00a0the\u00a0rotor.\u00a0Change\u00a0the\u00a0tool\u00a0coordinate\u00a0system\u00a0to\u00a0Too1data\u00a0in\u00a0the\u00a0basic\u00a0options.\u00a0At\u00a0this\u00a0time,\u00a0click\u00a0on\u00a0the\u00a0robot\u00a0manual\u00a0linear\u00a0and\u00a0you\u00a0can\u00a0drag\u00a0the\u00a0robot\u00a0to\u00a0move\u00a0linearly\u00a0at\u00a0will.<\/p>\n
2.5\u00a0Creating\u00a0trajectories\u00a0and\u00a0programming<\/p>\n
Determine\u00a0the\u00a0trajectory:\u00a0According\u00a0to\u00a0the\u00a0requirements\u00a0of\u00a0the\u00a0work\u00a0task,\u00a0design\u00a0the\u00a0grinding\u00a0trajectory\u00a0around\u00a0the\u00a0workpiece\u00a0and\u00a0determine\u00a0the\u00a0trajectory\u00a0points\u00a0and\u00a0transition\u00a0points\u00a0required\u00a0for\u00a0the\u00a0grinding\u00a0trajectory.\u00a0The\u00a0grinding\u00a0action\u00a0process\u00a0is\u00a0shown\u00a0in\u00a0Figure\u00a06.<\/p>\n
Setting\u00a0I\/O\u00a0and\u00a0programming:\u00a0Yalong\u00a0IY-l3-LA\u00a0industrial\u00a0robot\u00a0deburring\u00a0and\u00a0grinding\u00a0system\u00a0control\u00a0and\u00a0application\u00a0equipment\u00a0adopts\u00a00sDC-52\u00a06\/o\u00a0communication\u00a0board,\u00a0the\u00a0address\u00a0is\u00a010,\u00a0Do1\u00a0is\u00a0the\u00a0digital\u00a0output\u00a0signal,\u00a0the\u00a0address\u00a0is\u00a01\u00a0.\u00a0First\u00a0set\u00a0the\u00a0I\/O\u00a0board,\u00a0then\u00a0set\u00a0the\u00a0I\/O\u00a0digital\u00a0output\u00a0signal\u00a0Di1,\u00a0and\u00a0then\u00a0program\u00a0on\u00a0the\u00a0simulation\u00a0teaching\u00a0pendant.\u00a0The\u00a0procedure\u00a0is\u00a0as\u00a0follows:<\/p>\n
PRoCmain()<\/p>\n
setDo1:\u00a0Set\u00a0the\u00a0Do1\u00a0signal\u00a0to\u00a0allow\u00a0the\u00a0external\u00a0grinding\u00a0rotor\u00a0to\u00a0start\u00a0rotating.<\/p>\n
waitTime1:\u00a0The\u00a0robot\u00a0stays\u00a0in\u00a0place\u00a0and\u00a0does\u00a0not\u00a0move,\u00a0waits\u00a0for\u00a01s,\u00a0and\u00a0lets\u00a0the\u00a0polishing\u00a0rotor\u00a0turn\u00a0to\u00a0the\u00a0specified\u00a0speed,\u00a0transition<\/p>\n
MoveAbsjjpos10NoEoffs,v1000,z50,Too1data1:\u00a0The\u00a0robot\u00a0moves\u00a0to\u00a0the\u00a0initial\u00a0point\u00a0jpos10\u00a0above\u00a0point\u00a0p10.\u00a0Point\u00a0jpos10\u00a0is\u00a0used\u00a0as\u00a0the\u00a0starting\u00a0point\u00a0and\u00a0end\u00a0point\u00a0of\u00a0the\u00a0robot’s\u00a0action.<\/p>\n
Move4p10,v1000,z50,Too1data1:\u00a0Move\u00a0straight\u00a0line\u00a0grinding\u00a0to\u00a0point\u00a0p10<\/p>\n
Move4pL0,v1000,z50,Too1data1:\u00a0Move\u00a0straight\u00a0line\u00a0grinding\u00a0to\u00a0pL0\u00a0point<\/p>\n
Move4p30,v1000,z50,Too1data1:\u00a0Move\u00a0straight\u00a0line\u00a0grinding\u00a0to\u00a0point\u00a0p30<\/p>\n
Move4p40,v1000,z50,Too1data1:\u00a0Move\u00a0straight\u00a0line\u00a0grinding\u00a0to\u00a0p40\u00a0point<\/p>\n
Move4p10,v1000,z50,Too1data1:\u00a0Move\u00a0straight\u00a0line\u00a0grinding\u00a0to\u00a0point\u00a0p10<\/p>\n
MoveAbsjjpos10NoEoffs,v1000,z50,Too1data1:\u00a0The\u00a0robot\u00a0moves\u00a0to\u00a0the\u00a0initial\u00a0point\u00a0jpos10\u00a0above\u00a0point\u00a0p10<\/p>\n
waitTime1:\u00a0wait\u00a01s,\u00a0transition<\/p>\n
ResetDo1:\u00a0Reset\u00a0the\u00a0Do1\u00a0signal\u00a0to\u00a0stop\u00a0the\u00a0rotor\u00a0ENDPRoC<\/p>\n
2.6\u00a0Simulation\u00a0design\u00a0and\u00a0verification<\/p>\n
Simulation\u00a0design:\u00a0Create\u00a0a\u00a0smart\u00a0component\u00a0to\u00a0input\u00a0the\u00a0Di1\u00a0signal,\u00a0and\u00a0use\u00a0the\u00a0Di1\u00a0signal\u00a0to\u00a0simulate\u00a0the\u00a0external\u00a0polishing\u00a0start\u00a0signal\u00a0to\u00a0execute\u00a0the\u00a0Rotator\u00a0component\u00a0and\u00a0Attach\u00a0component\u00a0of\u00a0the\u00a0smart\u00a0component\u00a0to\u00a0achieve\u00a0the\u00a0visual\u00a0effect\u00a0of\u00a0rotating\u00a0and\u00a0polishing\u00a0the\u00a0polishing\u00a0rotor.\u00a0In\u00a0the\u00a0workstation\u00a0logic\u00a0design,\u00a0the\u00a0smart\u00a0component\u00a0input\u00a0Di1\u00a0signal\u00a0is\u00a0associated\u00a0with\u00a0the\u00a0robot\u00a0Do1\u00a0signal,\u00a0so\u00a0that\u00a0the\u00a0robot\u00a0signal\u00a0Do1\u00a0can\u00a0control\u00a0the\u00a0smart\u00a0component\u00a0input\u00a0Di1\u00a0signal,\u00a0thereby\u00a0controlling\u00a0the\u00a0start\u00a0and\u00a0stop\u00a0of\u00a0the\u00a0rotation\u00a0of\u00a0the\u00a0polishing\u00a0rotor.<\/p>\n
Verification:\u00a0In\u00a0the\u00a0program\u00a0of\u00a0the\u00a0teaching\u00a0pendant,\u00a0first\u00a0set\u00a0the\u00a0pp\u00a0command\u00a0to\u00a0move\u00a0to\u00a0Main,\u00a0and\u00a0then\u00a0set\u00a0the\u00a0robot\u00a0startup\u00a0mode\u00a0to\u00a0automatic.\u00a0Click\u00a0play\u00a0in\u00a0the\u00a0simulation\u00a0of\u00a0Robotstudio\u00a0software\u00a0to\u00a0verify\u00a0whether\u00a0the\u00a0trajectory\u00a0is\u00a0consistent\u00a0with\u00a0the\u00a0assumption,\u00a0and\u00a0optimize\u00a0the\u00a0path\u00a0in\u00a0time\u00a0for\u00a0problems\u00a0existing\u00a0in\u00a0the\u00a0simulation.<\/p>\n
3Summary\u00a0and\u00a0outlook<\/p>\n
This\u00a0design\u00a0is\u00a0based\u00a0on\u00a0the\u00a0programming\u00a0simulation\u00a0of\u00a0the\u00a0Yalong\u00a0Y4-1360A\u00a0industrial\u00a0robot\u00a0deburring\u00a0system\u00a0to\u00a0control\u00a0the\u00a0grinding\u00a0robot\u00a0workstation.\u00a0It\u00a0covers\u00a0aspects\u00a0such\u00a0as\u00a0creating\u00a0a\u00a0workstation,\u00a0setting\u00a0up\u00a0tools,\u00a0creating\u00a0smart\u00a0components,\u00a0creating\u00a0tool\u00a0coordinate\u00a0systems,\u00a0creating\u00a0trajectories,\u00a0programming,\u00a0simulation\u00a0design,\u00a0and\u00a0verification.\u00a0Starting\u00a0with\u00a0it,\u00a0the\u00a0polishing\u00a0simulation\u00a0of\u00a0the\u00a0workstation\u00a0is\u00a0realized\u00a0through\u00a0the\u00a0smart\u00a0component\u00a0function\u00a0of\u00a0Robotstudio\u00a0software.\u00a0The\u00a0animation\u00a0effect\u00a0is\u00a0intuitive\u00a0and\u00a0lifelike,\u00a0which\u00a0not\u00a0only\u00a0facilitates\u00a0teaching\u00a0demonstrations,\u00a0but\u00a0also\u00a0facilitates\u00a0program\u00a0debugging,\u00a0and\u00a0has\u00a0application\u00a0value\u00a0for\u00a0both\u00a0production\u00a0and\u00a0teaching.<\/p>\n
In\u00a0the\u00a0planning\u00a0and\u00a0design\u00a0of\u00a0the\u00a0workpiece\u00a0grinding\u00a0trajectory,\u00a0according\u00a0to\u00a0the\u00a0different\u00a0roughness\u00a0and\u00a0grinding\u00a0amount\u00a0process\u00a0requirements\u00a0of\u00a0the\u00a0workpiece,\u00a0the\u00a0rotation\u00a0speed,\u00a0feed\u00a0speed,\u00a0feed\u00a0amount,\u00a0and\u00a0grinding\u00a0angle\u00a0of\u00a0the\u00a0grinding\u00a0rotor\u00a0are\u00a0also\u00a0different.\u00a0The\u00a0feed\u00a0amount\u00a0can\u00a0be\u00a0adjusted\u00a0in\u00a0time\u00a0according\u00a0to\u00a0the\u00a0on-site\u00a0conditions.\u00a0,\u00a0feed\u00a0speed,\u00a0rotor\u00a0speed,\u00a0grinding\u00a0angle\u00a0and\u00a0other\u00a0parameters.\u00a0After\u00a0appropriate\u00a0adjustments,\u00a0the\u00a0motion\u00a0trajectory\u00a0is\u00a0written\u00a0with\u00a0the\u00a0corresponding\u00a0program\u00a0on\u00a0the\u00a0Robotstudio\u00a0software\u00a0to\u00a0further\u00a0reduce\u00a0the\u00a0possibility\u00a0of\u00a0robot\u00a0collisions\u00a0and\u00a0singular\u00a0points\u00a0contained\u00a0in\u00a0the\u00a0trajectory\u00a0during\u00a0the\u00a0actual\u00a0debugging\u00a0process.\u00a0,Optimize\u00a0paths\u00a0and\u00a0improve\u00a0debugging\u00a0efficiency.<\/p>\n
A06B-2063-B008\u00a0FANUC\u00a0Alpha\u00a0AC\u00a0motor
\nA06B-6096-H106\u00a0FANUC\u00a0servo\u00a0amplifier\u00a0module
\nA06B-2063-B008#0100\u00a0FANUC\u00a0Alpha\u00a0AC\u00a0motor
\nA06B-2599-B254\u00a0FANUC\u00a0Alpha\u00a0AC\u00a0motor
\nA06B-6058-H013\u00a0FANUC\u00a0robot\u00a0AC\u00a0servo\u00a0drive
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\nA06B-6100-H001\u00a0FANUC\u00a06-axis\u00a0servo\u00a0amplifier
\nA06B-6058-H012\u00a0FANUC\u00a0robot\u00a0AC\u00a0servo\u00a0drive
\nA06B-6058-H011\u00a0FANUC\u00a0servo\u00a0amplifier
\nA06B-6107-H006\u00a0FANUC\u00a0Servo\u00a0Amplifier\u00a06\u00a0axes
\nA06B-6107-H001#B\u00a0FANUC\u00a0Servo\u00a0Amplifier
\nA06B-6400-H102\u00a0FANUC\u00a0Amplifier\u00a06\u00a0Axis\u00a0Control\u00a0B
\nA06B-6082-H206#H510\u00a0FANUC\u00a0Spindle\u00a0Amplifier
\nA06B-6088-H215#H501\u00a0FANUC\u00a0Spindle\u00a0Amplifier
\nA06B-6152-H030#H580\u00a0FANUC\u00a0spindle\u00a0drive
\nA98L-0031-0026\u00a0FANUC\u00a0Modular\u00a0type
\nA05B-2452-C900\u00a0FANUC\u00a0Double\u00a0cooling\u00a0fan\u00a0device\u00a0assembly
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\nA06B-6142-H015#H580\u00a0FANUC\u00a0spindle\u00a0amplifier
\nA860-2050-T321\u00a0FANUC\u00a0pulse\u00a0encoder
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\nA06B-1467-B123#0A21\u00a0FANUC\u00a0Robot\u00a0Educator
\nA06B-1467-B123#0M21\u00a0FANUC\u00a0AC\u00a0spindle\u00a0motor
\nA06B-1445-B210#0209\u00a0FANUC\u00a0Alpha\u00a0AC\u00a0motor
\nA06B-1404-B103#0C02\u00a0FANUC\u00a0AC\u00a0spindle\u00a0motor
\nA06B-1444-B110#0202\u00a0FANUC\u00a0AC\u00a0spindle\u00a0motor
\nA06B-0374-B071#7000\u00a0FANUC\u00a0AC\u00a0spindle\u00a0motor
\nA06B-2063-B008\u00a0FANUC\u00a0Alpha\u00a0AC\u00a0motor
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\nA06B-2063-B008#0100\u00a0FANUC\u00a0AIS\u00a08\/4000-B\u00a0Alpha\u00a0AC\u00a0motor
\nA06B-2599-B254\u00a0FANUC\u00a0AIS\u00a08\/4000-B\u00a0Alpha\u00a0AC\u00a0motor
\nA06B-6066-H291\u00a0FANUC\u00a0AC\u00a0servo\u00a0amplifier
\nA06B-6058-H013\u00a0FANUC\u00a0robot\u00a0AC\u00a0servo\u00a0drive
\nLAM\u00a0Research\u00a0810-800081-015\u00a0P2\u00a0MB\u00a0Motherboard\u00a0VME\u00a0Etch\u00a0Assembly\u00a0PCB
\nLAM\u00a0Research\u00a0810-495659-504\u00a0PCB\u00a0ASSY\u00a0PWR\u00a0SUPPLY\u00a0ESC\u00a0BICEP\u00a0HV-RP
\nLAM\u00a0Research\u00a0810-495659-400\u00a0PCB\u00a0ASSY\u00a0POWER\u00a0SUPPLY\u00a0ESC\u00a0BICEP\u00a0HV-RP
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\nLAM\u00a0Research\u00a0810-234640-311\u00a0PCBA\u00a0VIOP
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\nLAM\u00a0Research\u00a0810-131804-004\u00a0LMC_CONN_EFEM\u00a0PCB
\nLAM\u00a0Research\u00a0810-099175-011\u00a0PCB,VIOP\u00a0PHASE\u00a0III\u00a0BOARD
\nLAM\u00a0Research\u00a0810-072907-005\u00a0VTM\u00a0Breakout\u00a0PCB
\nLam\u00a0Research\u00a0810-068158-014\u00a0NODE\u00a0ROBOT\u00a0INTERFACE\u00a0BOARD
\nLAM\u00a0Research\u00a0810-048219-021\u00a0PCB\u00a0pulse\u00a0module
\nLAM\u00a0Research\u00a0810-048219-008\u00a0PCB\u00a0ASSY\u00a0PULSE\u00a0Power\u00a0Board
\nLam\u00a0Research\u00a0810-046015-010\u00a0VIOP\u00a0III\u00a0PCB\u00a0BOARD
\nLam\u00a0Research\u00a0810-046015-009\u00a0VIOP\u00a0PHASE\u00a0III\u00a0MODULE\u00a0CARD\u00a0Rev.\u00a0B<\/p>\n","protected":false},"excerpt":{"rendered":"
Brand: ICS Model:T9451
\nPackage\/Specification: 2x19x12.8cm
\nMinimum Packaging Quantity: 1<\/p>\n
Function: Control system accessories Features: Easy installation
\nName: Digital Input Module Processing Customization:
\nNo
\nOrigin: USA Packaging: brand new and
\nwidely used
\nChemical, papermaking, power
\ngeneration, oil and natural gas
\nQuantity: 1-999
\nBatch Number T9451<\/p>\n
Available for sale in Beijing; Tianjin; Hebei;
\nShanxi; Inner Mongolia; Liaoning; Jilin;
\nHeilongjiang;
\nShanghai;Jiangsu; Zhejiang; Anhui; Fujian; Jiangxi; Shandong; Henan;
\nHubei; Hunan; Guangdong; Guangxi; Hainan;
\nChongqing; Sichuan Guizhou; Yunnan; Xizang
\n;
\nShaanxi Gansu; Qinghai; Ningxia; Xinjiang<\/p>\n
Purpose TMR redundant structure<\/p>\n","protected":false},"featured_media":3648,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"product_cat":[23],"product_tag":[],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/product\/33853"}],"collection":[{"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/product"}],"about":[{"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/types\/product"}],"replies":[{"embeddable":true,"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/comments?post=33853"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/media\/3648"}],"wp:attachment":[{"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/media?parent=33853"}],"wp:term":[{"taxonomy":"product_cat","embeddable":true,"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/product_cat?post=33853"},{"taxonomy":"product_tag","embeddable":true,"href":"https:\/\/www.dcsabb.com\/wp-json\/wp\/v2\/product_tag?post=33853"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}