Servo BUG positioning method, device, equipment, readable storage medium and program product

Abstract

The present application discloses a servo BUG positioning method, device, equipment, readable storage medium and program product, wherein the servo BUG positioning method comprises: based on a preset data collection mode, collecting target servo working data of the working parameters of the servo drive that change over time; determining abnormal data in the target servo working data, and obtaining the abnormal absolute time corresponding to the abnormal data; based on the target mapping relationship between the servo software corresponding to the servo drive and the corresponding workpiece processing time cycle and the abnormal absolute time, locating the abnormal code position corresponding to the abnormal data in the servo software, and obtaining the servo BUG position. The present application solves the technical problem of low positioning accuracy of the accidental BUG of the servo.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a servo BUG positioning method, device, equipment, readable storage medium and program product. Background Art

[0002] With the rapid development of domestic industrial automation, the use of servos is becoming more and more widespread. In the process of developing servo software, engineers will inevitably encounter some accidental bugs, and since these accidental bugs only occur occasionally during the operation of the equipment, these accidental bugs are difficult to detect. And even if an accidental bug occurs, it is very likely that the accidental bug will return to normal in the next second. Therefore, it is difficult to accurately locate such an accidental bug, that is, the positioning accuracy of the accidental bug of the servo is low. Summary of the invention

[0003] The main purpose of the present application is to provide a servo BUG positioning method, device, equipment, readable storage medium and program product, aiming to solve the technical problem of low positioning accuracy of accidental servo BUGs in the prior art.

[0004] To achieve the above object, the present application provides a servo bug positioning method, which is applied to a servo bug positioning device, and the servo bug positioning method includes:

[0005] Based on a preset data collection mode, target servo working data of the servo drive's working parameters changing over time are collected;

[0006] Determine abnormal data in the target servo working data, and obtain the abnormal absolute time corresponding to the abnormal data;

[0007] Based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time period and the abnormal absolute time, the abnormal code position corresponding to the abnormal data in the servo software is located to obtain the servo BUG position.

[0008] Optionally, the preset data acquisition mode includes a 485 communication acquisition mode, the target servo working data includes first target servo data,

[0009] The step of collecting target servo operating data of operating parameters of the servo drive varying over time based on the preset data collection mode comprises:

[0010] Obtaining a first data collection time period, a first parameter ID corresponding to each first working parameter to be collected, and a collection time;

[0011] Through the 485 communication acquisition mode, according to the first data acquisition time period and the acquisition time, polling and acquiring the 485 communication data corresponding to each of the first parameter IDs from the servo driver;

[0012] The 485 communication data is calibrated and converted into first operating parameter data, and the first operating parameter data and a first absolute acquisition time corresponding to the first operating parameter data are stored together as the first target servo data.

[0013] Optionally, the first working parameter to be collected includes at least one of an alarm code, a system status, an IGBT temperature, a motor temperature, a bus voltage, a motor voltage, a motor output torque, a motor output power, a speed setting, a speed feedback, a torque setting, a pressure setting, a pressure feedback and a flow setting.

[0014] Optionally, the preset data acquisition mode includes a MOUT analog quantity acquisition mode, the target servo working data includes second target servo data,

[0015] The step of collecting the working parameter data of the servo drive based on the preset data collection mode includes:

[0016] Acquire a second parameter ID corresponding to a second data collection time period and a second working parameter to be collected;

[0017] The analog signal output by the servo driver is collected as the second target servo data through the MOUT analog quantity collection mode according to the second data collection time period and the second parameter ID.

[0018] Optionally, the second working parameter to be collected includes at least one of speed feedback, speed setting, current feedback, torque setting, pressure feedback, pressure setting, pressure output and bus voltage.

[0019] Optionally, before the step of locating the abnormal code position corresponding to the abnormal data in the servo software based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time period and the abnormal absolute time to obtain the servo BUG position, the servo BUG locating method further includes:

[0020] Measuring a workpiece processing time period of the servo driver for a target workpiece, and determining each code execution step of the servo software within the workpiece processing time period;

[0021] The target mapping relationship is established based on the correspondence between each of the code execution steps and the absolute time within the work processing time cycle.

[0022] Optionally, the step of determining abnormal data in the target servo working data and obtaining an abnormal absolute time corresponding to the abnormal data includes:

[0023] The servo operating parameters in the target servo operating data and the absolute acquisition time corresponding to the servo operating parameters are stored in pairs in a preset storage space to obtain servo operating parameter text data;

[0024] According to a preset data analysis tool, the servo working parameter text data is analyzed to find the abnormal data;

[0025] The absolute collection time corresponding to the abnormal data is used as the abnormal absolute time.

[0026] The present application also provides a servo BUG positioning device, which is a virtual device and is applied to a servo BUG positioning device. The servo BUG positioning device includes:

[0027] An acquisition module, used for acquiring target servo operating data of operating parameters of the servo drive changing over time based on a preset data acquisition mode;

[0028] A determination module, used to determine abnormal data in the target servo working data, and obtain an abnormal absolute time corresponding to the abnormal data;

[0029] The positioning module is used to locate the abnormal code position corresponding to the abnormal data in the servo software based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time cycle and the abnormal absolute time, so as to obtain the servo BUG position.

[0030] Optionally, the preset data acquisition mode includes a 485 communication acquisition mode, the target servo working data includes first target servo data, and the acquisition module is further used for:

[0031] Obtaining a first data collection time period, a first parameter ID corresponding to each first working parameter to be collected, and a collection time;

[0032] Through the 485 communication acquisition mode, according to the first data acquisition time period and the acquisition time, polling and acquiring the 485 communication data corresponding to each of the first parameter IDs from the servo driver;

[0033] The 485 communication data is calibrated and converted into first operating parameter data, and the first operating parameter data and a first absolute acquisition time corresponding to the first operating parameter data are stored together as the first target servo data.

[0034] Optionally, the acquisition module further includes:

[0035] The first working parameter to be collected includes at least one of an alarm code, a system status, an IGBT temperature, a motor temperature, a bus voltage, a motor voltage, a motor output torque, a motor output power, a speed setting, a speed feedback, a torque setting, a pressure setting, a pressure feedback and a flow setting.

[0036] Optionally, the preset data acquisition mode includes a MOUT analog quantity acquisition mode, the target servo working data includes second target servo data, and the acquisition module is further used for:

[0037] Acquire a second parameter ID corresponding to a second data collection time period and a second working parameter to be collected;

[0038] The analog signal output by the servo driver is collected as the second target servo data through the MOUT analog quantity collection mode according to the second data collection time period and the second parameter ID.

[0039] Optionally, the acquisition module further includes:

[0040] The second working parameter to be collected includes at least one of speed feedback, speed setting, current feedback, torque setting, pressure feedback, pressure setting, pressure output and bus voltage.

[0041] Optionally, the servo BUG positioning device is also used for:

[0042] Measuring a workpiece processing time period of the servo driver for a target workpiece, and determining each code execution step of the servo software within the workpiece processing time period;

[0043] The target mapping relationship is established based on the correspondence between each of the code execution steps and the absolute time within the work processing time cycle.

[0044] Optionally, the determining module is further used for:

[0045] The servo operating parameters in the target servo operating data and the absolute acquisition time corresponding to the servo operating parameters are stored in pairs in a preset storage space to obtain servo operating parameter text data;

[0046] According to a preset data analysis tool, the servo working parameter text data is analyzed to find the abnormal data;

[0047] The absolute collection time corresponding to the abnormal data is used as the abnormal absolute time.

[0048] The present application also provides a servo BUG locating device, which is a physical device. The servo BUG locating device includes: a memory, a processor, and a program of the servo BUG locating method stored in the memory and executable on the processor. When the program of the servo BUG locating method is executed by the processor, the steps of the servo BUG locating method as described above can be implemented.

[0049] The present application also provides a readable storage medium, on which is stored a program for implementing a servo bug locating method. When the program for the servo bug locating method is executed by a processor, the steps of the servo bug locating method as described above are implemented.

[0050] The present application also provides a program product, which is a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the servo BUG locating method as described above are implemented.

[0051] The present application provides a servo BUG positioning method, device, equipment, readable storage medium and program product, that is, firstly based on a preset data acquisition mode, target servo working data of the working parameters of the servo drive that change with time are collected, and then abnormal data in the target servo working data are determined, and the abnormal absolute time corresponding to the abnormal data is obtained, and then based on the target mapping relationship between the servo software corresponding to the servo drive and the corresponding workpiece processing time cycle and the abnormal absolute time, the abnormal code position corresponding to the abnormal data in the servo software is located to obtain the servo BUG position, that is, after finding the abnormal data in the servo working data, based on the target mapping relationship between the code running steps in the servo software and the workpiece processing time cycle and the abnormal absolute time For time, it is possible to directly locate at the absolute time of the abnormality, which code step in the servo software has an accidental BUG, ​​and then obtain the servo BUG position, and then determine the abnormal data from the target servo working data, and achieve the purpose of accurately locating the accidental BUG of the servo based on the time information of the abnormal data and the time information of the code running steps in the workpiece processing process, thereby overcoming the technical defect that it is difficult to accurately locate the accidental BUG of the servo because these accidental BUGs only appear occasionally during the operation of the equipment, and thus these accidental BUGs are difficult to be discovered, and even if the accidental BUG appears, the accidental BUG is likely to return to normal in the next second. Therefore, the accuracy of locating the accidental BUG of the servo is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0054] Figure 1 This is a flow chart of the first embodiment of the servo BUG positioning method of the present application;

[0055] Figure 2 This is the software framework diagram corresponding to the servo condition recorder described in the servo bug locating method of this application;

[0056] Figure 3 A schematic diagram of target servo data stored in a table format in the servo BUG positioning method of the present application;

[0057] Figure 4 This is a flow chart of a second embodiment of the servo BUG positioning method of the present application;

[0058] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the servo BUG locating method in the embodiment of the present application.

[0059] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] The present application embodiment provides a servo bug positioning method. In the first embodiment of the servo bug positioning method of the present application, refer to Figure 1 , the servo BUG positioning method includes:

[0062] Step S10, based on a preset data collection mode, collecting target servo operating data of operating parameters of the servo drive that change over time;

[0063] In this embodiment, it should be noted that the servo BUG locating method is applied to a servo condition recorder, which is connected to a U disk, a matrix keyboard and a display screen. In addition, a status indicator light and a power-off protection circuit associated with the servo condition recorder are also provided, wherein the U disk is used to save data, the matrix keyboard is used to set data acquisition parameters, wherein the data acquisition parameters include a data acquisition cycle and a parameter ID of the working parameters to be collected corresponding to the servo drive, etc., the display screen is used to display real-time information of data collection for the servo drive, and the status indicator light is used to indicate the working status of the servo condition recorder. If an abnormality occurs in the servo condition recorder when collecting data, the status indicator light will flash to alarm, such as Figure 2 The software framework diagram corresponding to the servo condition recorder is shown, wherein the parameters saved in the U disk are the target servo working data.

[0064] In addition, the preset data acquisition mode includes at least one of a 485 communication acquisition mode and a MOUT analog quantity acquisition mode, the target servo working data includes working parameter data of the servo drive and the data acquisition absolute time corresponding to the working parameter data, the working parameter data includes at least the value of a working parameter of the servo drive, and the working parameter of the servo drive includes at least one of a speed parameter, a current parameter, a pressure parameter and a torque parameter.

[0065] Based on the preset data acquisition mode, target servo working data of the working parameters of the servo drive that change with time are collected. Specifically, according to the preset data acquisition mode, working parameter data of each working parameter of the servo drive are periodically collected, and the data acquisition absolute time corresponding to the working parameter data is recorded, and then each working parameter data and the corresponding data acquisition absolute time are used as the target servo working data.

[0066] Wherein, the preset data acquisition mode includes a 485 communication acquisition mode, the target servo working data includes first target servo data,

[0067] The step of collecting target servo operating data of operating parameters of the servo drive varying over time based on the preset data collection mode comprises:

[0068] Step A10, obtaining a first data collection time period, a first parameter ID corresponding to each first working parameter to be collected, and a collection time;

[0069] In this embodiment, it should be noted that the first working parameter to be collected includes at least one of an alarm code, a system status, an IGBT temperature, a motor temperature, a bus voltage, a motor voltage, a motor output torque, a motor output power, a speed setting, a speed feedback, a torque setting, a pressure setting, a pressure feedback and a flow setting. The first data collection time period and the first parameter ID can both be input by the user through the matrix keyboard corresponding to the servo condition recorder and displayed on the display screen, and the process of data parameter collection according to the 485 communication collection mode can also be displayed on the display screen for manual monitoring of the parameter collection process.

[0070] In addition, it should be noted that the 485 communication acquisition mode can poll the acquisition parameters at the frame interval. For example, if the first working parameter to be collected in the current frame is an alarm code, the first working parameter to be collected in the next frame is the system state, and the first working parameter to be collected in the next frame is the alarm code, thereby forming a mode of polling the acquisition parameters at the frame interval. The first data acquisition time period is the length of the time frame corresponding to the polling acquisition parameters at the frame interval, for example, it can be set to 10ms or 20ms, etc. The acquisition time is the total time for data acquisition in the 485 communication acquisition mode. It should be noted that, since the 485 communication acquisition mode collects not only one working parameter but multiple working parameters, and each working parameter needs to send the corresponding data packet to the U disk for only storage, that is, one frame of data, there must be a certain delay between frames, that is, the frame interval, otherwise it will cause the communication link to be blocked and the data to be confused. Therefore, the 485 communication acquisition mode polls the acquisition parameters at the frame interval to prevent the communication link from being blocked and improve the fluency of communication.

[0071] Step A20, collecting 485 communication data corresponding to each of the first parameter IDs from the servo driver through polling according to the first data collection time period and the collection time through the 485 communication collection mode;

[0072] In this embodiment, through the 485 communication collection mode, according to the first data collection time period and the collection time, the 485 communication data corresponding to each first parameter ID is polled and collected from the servo driver. Specifically, through 485 communication between the servo condition recorder and the servo driver, according to the first data collection time period, in a frame interval time polling manner, the 485 communication data corresponding to each first parameter ID is read from the servo driver within the collection time. The 485 communication data is the communication data related to the working parameters of the servo drive collected from the servo drive through 485 communication between the servo condition recorder and the servo driver.

[0073] Step A30: calibrate and convert the 485 communication data into first operating parameter data, and store the first operating parameter data and the first absolute acquisition time corresponding to the first operating parameter data together as the first target servo data.

[0074] In this embodiment, the 485 communication data is calibrated and converted into first working parameter data, and the first working parameter data and the first absolute acquisition time corresponding to the first working parameter data are stored together as the first target servo data. Specifically, the 485 communication data is calibrated and converted to convert the 485 communication data into data with preset working parameter specifications to obtain the first working parameter data, and then the first working parameter data and the first absolute acquisition time corresponding to the first working parameter data are stored together as the first target servo data, wherein the first working parameter data and the first absolute acquisition time corresponding to the first working parameter data are stored together as the first target servo data in a manner including key-value pair storage and table storage, wherein the first absolute acquisition time is the data acquisition time corresponding to the first working parameter data, such as Figure 3 The diagram shown is a schematic diagram of target servo data stored in a table format, wherein column A in the table is the first absolute acquisition time, and columns E to J are the first operating parameter data.

[0075] In addition, it should be noted that the calibration conversion formula is as follows:

[0076] Speed ​​setting, speed feedback = data_val*param.max_V / 27648;

[0077] Torque setting, pressure setting, pressure feedback, flow setting = data_val / 27648*100;

[0078] CurrentFeedback = data_val * param.max_I / 27648;

[0079] Motor output power = data_val / 100;

[0080] Among them, data_val is the parameter read back by 485 communication, param.max_V is the maximum output voltage, param.max_I is the maximum output current, speed setting, speed feedback, torque setting, pressure setting, pressure feedback, flow setting, current feedback and motor output power are all the first working parameters corresponding to the first working parameter data.

[0081] Wherein, the preset data acquisition mode includes a MOUT analog quantity acquisition mode, the target servo working data includes a second target servo data,

[0082] The step of collecting the working parameter data of the servo drive based on the preset data collection mode includes:

[0083] Step B10, obtaining a second parameter ID corresponding to a second data collection time period and a second working parameter to be collected;

[0084] In this embodiment, it should be noted that the second working parameter to be collected includes at least one of speed feedback, speed setting, current feedback, torque setting, pressure feedback, pressure setting, pressure output and bus voltage.

[0085] In addition, it should be noted that the MOUT analog quantity acquisition method can usually only acquire one parameter at a time, and the acquisition can be switched to the next parameter only after the acquisition time of the current parameter ends, and the second data acquisition time period can be set to 1ms.

[0086] Step B20, collecting the analog signal output by the servo driver as the second target servo data according to the second data collection time period and the second parameter ID through the MOUT analog quantity collection mode.

[0087] In this embodiment, the analog signal output by the servo driver is collected as the second target servo data according to the second data collection time period and the second parameter ID through the MOUT analog quantity collection method. Specifically, according to the second data collection time period, the analog signals corresponding to the second parameter IDs output by the servo driver are collected in sequence, and then each of the analog signals and the data collection absolute time corresponding to the analog signal are taken as the second target servo data. Since the analog signal has better continuity, it can be directly saved as the second target servo data without processing. The second data collection time period and the second parameter ID can be input by the user through the matrix keyboard corresponding to the servo condition recorder and displayed on the display screen. The process of data parameter collection according to the MOUT analog quantity collection method can also be displayed on the display screen for manual monitoring of the parameter collection process.

[0088] In addition, it should be noted that the servo condition recorder can collect only one of the first target servo data or the second target servo data for bug location. Since the working parameters of the servo drive that can be collected by the 485 communication collection mode and the MOUT analog quantity collection mode are different, in order to more comprehensively collect the working parameters of the servo drive, the first target servo data and the second target servo data can also be collected at the same time, and bug location can be performed based on the first target servo data and the second target servo data at the same time.

[0089] Step S20, determining abnormal data in the target servo working data, and obtaining the abnormal absolute time corresponding to the abnormal data;

[0090] In this embodiment, abnormal data in the target servo working data is determined, and the abnormal absolute time corresponding to the abnormal data is obtained. Specifically, based on the preset value range corresponding to each working parameter of the servo driver, the abnormal data is screened in the target servo working data, and the data acquisition time corresponding to the abnormal data is obtained as the corresponding abnormal absolute time, wherein the process of screening abnormal data in the target servo working data can be executed by MATLAB.

[0091] The step of determining abnormal data in the target servo working data and obtaining the abnormal absolute time corresponding to the abnormal data includes:

[0092] Step S21, saving the servo operating parameters in the target servo operating data and the absolute acquisition time corresponding to the servo operating parameters in pairs to a preset storage space to obtain servo operating parameter text data;

[0093] In this embodiment, it should be noted that the target servo operating data at least includes the collected servo operating parameters, wherein the servo operating parameters include speed feedback, speed setting, current feedback, torque setting, pressure feedback, pressure setting, pressure output and other parameters, and the preset storage space can be a U disk and a virtual hard disk, etc. In addition, when collecting the target servo operating data, the servo operating parameter text data can be saved regularly, for example, set to save once every 10 minutes or once every 20 minutes.

[0094] The servo operating parameters in the target servo operating data and the absolute acquisition time corresponding to the servo operating parameters are saved in pairs in the form of text to a preset storage space to obtain servo operating parameter text data.

[0095] Step S22, performing data analysis on the servo operating parameter text data according to a preset data analysis tool to find the abnormal data;

[0096] In this embodiment, it should be noted that the preset data analysis is based on tools including MATLAB and EXCEL.

[0097] According to a preset data analysis tool, data analysis is performed on the servo operating parameter text data to find the abnormal data. Specifically, according to a preset data analysis tool, data analysis is performed on the servo operating parameter text data to find abnormal servo operating parameters whose values ​​are no longer within the preset operating parameter value range, and abnormal data is obtained. For example, assuming that the servo operating parameter is current feedback, the value range corresponding to the current feedback is 1A to 2A, and then the current feedback that is no longer within this range is abnormal data.

[0098] Step S23: taking the absolute collection time corresponding to the abnormal data as the abnormal absolute time.

[0099] In this embodiment, the absolute collection time corresponding to the abnormal data is approximated as the absolute time when the abnormality occurs, so as to obtain the abnormal absolute time.

[0100] Step S30, based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time period and the abnormal absolute time, locate the abnormal code position corresponding to the abnormal data in the servo software to obtain the servo BUG position.

[0101] In this embodiment, it should be noted that the target mapping relationship is the mapping relationship between the software module in the servo software and the workpiece processing time period, which is used to query the software module corresponding to the absolute processing time of any workpiece, wherein different software modules correspond to different software code execution steps.

[0102] Based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time cycle and the abnormal absolute time, the abnormal code position corresponding to the abnormal data in the servo software is located to obtain the servo BUG position. Specifically, based on the abnormal absolute time, the workpiece processing absolute time is determined within the workpiece processing time cycle, and based on the target mapping relationship between the servo software corresponding to the servo driver and the workpiece processing time cycle, the target software module corresponding to the workpiece processing absolute time in the servo software is queried, and the target software module is used as the servo BUG position.

[0103] The embodiment of the present application provides a servo BUG locating method, that is, firstly, based on a preset data acquisition mode, target servo working data of the working parameters of the servo driver changing with time is collected, and then abnormal data in the target servo working data is determined, and the abnormal absolute time corresponding to the abnormal data is obtained, and then based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time cycle and the abnormal absolute time, the abnormal code position corresponding to the abnormal data in the servo software is located to obtain the servo BUG position, that is, after finding the abnormal data in the servo working data, based on the target mapping relationship between the code running steps in the servo software and the workpiece processing time cycle and the abnormal absolute time, the servo BUG position can be directly obtained. By locating at the absolute time of the abnormality, which code step in the servo software has an accidental BUG, ​​and then obtaining the servo BUG position, and then determining the abnormal data from the target servo working data, the purpose of accurately locating the accidental BUG of the servo based on the time information of the abnormal data and the time information of the code running step in the workpiece processing process is achieved, thereby overcoming the technical defect that it is difficult to accurately locate the accidental BUG of the servo because these accidental BUGs only appear occasionally during the operation of the equipment, and thus these accidental BUGs are difficult to be discovered, and even if the accidental BUG appears, the accidental BUG is likely to return to normal in the next second. Therefore, the accuracy of locating the accidental BUG of the servo is improved.

[0104] Further, refer to Figure 4 Based on the first embodiment of the present application, in another embodiment of the present application, before the step of locating the abnormal code position corresponding to the abnormal data in the servo software based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time period and the abnormal absolute time to obtain the servo BUG position, the servo BUG locating method further includes:

[0105] Step C10, measuring a workpiece processing time period of the servo driver for a target workpiece, and determining each code execution step of the servo software within the workpiece processing time period;

[0106] In this embodiment, the workpiece processing time period of the servo driver for the target workpiece is measured, and each code execution step of the servo software within the workpiece processing time period is determined. Specifically, when the processing equipment corresponding to the servo driver processes the target workpiece, the workpiece processing cycle corresponding to the target workpiece is measured, and each code execution step of the servo software corresponding to the servo driver within the workpiece processing time period is determined, wherein a code execution step can be set to correspond to a software module.

[0107] Step C20, establishing the target mapping relationship based on the correspondence between each of the code execution steps and the absolute time within the work processing time cycle.

[0108] In this embodiment, the target mapping relationship is established based on the correspondence between each of the code execution steps and the absolute time within the work processing time cycle. Specifically, the absolute time corresponding to each of the code execution steps is determined within the work processing time cycle, and the target mapping relationship is established based on the absolute time corresponding to each of the code execution steps and the correspondence between the absolute time and the workpiece processing time cycle. Then, based on the target mapping relationship, the correspondence between any time point within the work processing time cycle and the corresponding code execution step being executed can be known.

[0109] The embodiment of the present application provides a method for establishing a target mapping relationship, that is, firstly measuring the workpiece processing time cycle of the servo driver for the target workpiece, and determining each code execution step of the servo software in the workpiece processing time cycle, and then establishing the target mapping relationship based on the correspondence between each code execution step and the absolute time in the work processing time cycle. Then, after finding the abnormal data in the servo working data, based on the target mapping relationship between the code running steps in the servo software and the workpiece processing time cycle and the abnormal absolute time, it is possible to directly locate the code step in the servo software at the abnormal absolute time where an accidental bug occurs, that is, to obtain the servo bug position, and then on the basis of determining the abnormal data from the target servo working data, the purpose of accurately locating the accidental bug of the servo based on the time information of the abnormal data and the time information of the code running steps in the workpiece processing process is achieved, and then the foundation is laid for overcoming the technical defect that the accidental bug of the servo is difficult to accurately locate because these accidental bugs only appear occasionally during the operation of the equipment, and thus these accidental bugs are difficult to be found, and even if the accidental bug appears, the accidental bug is likely to return to normal in the next second.

[0110] Reference Figure 5 , Figure 5 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0111] like Figure 5As shown, the servo BUG positioning device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0112] Optionally, the servo BUG positioning device may also include a rectangular user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, etc. The rectangular user interface may include a display screen (Display), an input submodule such as a keyboard (Keyboard), and the optional rectangular user interface may also include a standard wired interface and a wireless interface. The network interface may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0113] Those skilled in the art will understand that Figure 5 The servo BUG positioning device structure shown in the figure does not constitute a limitation of the servo BUG positioning device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0114] like Figure 5 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module and a servo bug positioning program. The operating system is a program that manages and controls the hardware and software resources of the servo bug positioning device, and supports the operation of the servo bug positioning program and other software and / or programs. The network communication module is used to realize the communication between the components inside the memory 1005, and the communication with other hardware and software in the servo bug positioning system.

[0115] exist Figure 5 In the servo bug locating device shown, the processor 1001 is used to execute the servo bug locating program stored in the memory 1005 to implement the steps of any one of the above-mentioned servo bug locating methods.

[0116] The specific implementation of the servo BUG locating device of the present application is basically the same as the above-mentioned servo BUG locating method embodiments, and will not be repeated here.

[0117] The embodiment of the present application further provides a servo BUG positioning device, which is applied to a servo BUG positioning device, and the servo BUG positioning device includes:

[0118] An acquisition module, used for acquiring target servo operating data of operating parameters of the servo drive changing over time based on a preset data acquisition mode;

[0119] A determination module, used to determine abnormal data in the target servo working data, and obtain an abnormal absolute time corresponding to the abnormal data;

[0120] The positioning module is used to locate the abnormal code position corresponding to the abnormal data in the servo software based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time cycle and the abnormal absolute time, so as to obtain the servo BUG position.

[0121] Optionally, the preset data acquisition mode includes a 485 communication acquisition mode, the target servo working data includes first target servo data, and the acquisition module is further used for:

[0122] Obtaining a first data collection time period, a first parameter ID corresponding to each first working parameter to be collected, and a collection time;

[0123] Through the 485 communication acquisition mode, according to the first data acquisition time period and the acquisition time, polling and acquiring the 485 communication data corresponding to each of the first parameter IDs from the servo driver;

[0124] The 485 communication data is calibrated and converted into first operating parameter data, and the first operating parameter data and a first absolute acquisition time corresponding to the first operating parameter data are stored together as the first target servo data.

[0125] Optionally, the acquisition module further includes:

[0126] The first working parameter to be collected includes at least one of an alarm code, a system status, an IGBT temperature, a motor temperature, a bus voltage, a motor voltage, a motor output torque, a motor output power, a speed setting, a speed feedback, a torque setting, a pressure setting, a pressure feedback and a flow setting.

[0127] Optionally, the preset data acquisition mode includes a MOUT analog quantity acquisition mode, the target servo working data includes second target servo data, and the acquisition module is further used for:

[0128] Acquire a second parameter ID corresponding to a second data collection time period and a second working parameter to be collected;

[0129] The analog signal output by the servo driver is collected as the second target servo data through the MOUT analog quantity collection mode according to the second data collection time period and the second parameter ID.

[0130] Optionally, the acquisition module further includes:

[0131] The second working parameter to be collected includes at least one of speed feedback, speed setting, current feedback, torque setting, pressure feedback, pressure setting, pressure output and bus voltage.

[0132] Optionally, the servo BUG positioning device is also used for:

[0133] Measuring a workpiece processing time period of the servo driver for a target workpiece, and determining each code execution step of the servo software within the workpiece processing time period;

[0134] The target mapping relationship is established based on the correspondence between each of the code execution steps and the absolute time within the work processing time cycle.

[0135] Optionally, the determining module is further used for:

[0136] The servo operating parameters in the target servo operating data and the absolute acquisition time corresponding to the servo operating parameters are stored in pairs in a preset storage space to obtain servo operating parameter text data;

[0137] According to a preset data analysis tool, the servo working parameter text data is analyzed to find the abnormal data;

[0138] The absolute collection time corresponding to the abnormal data is used as the abnormal absolute time.

[0139] The specific implementation of the servo BUG positioning device of the present application is basically the same as the various embodiments of the servo BUG positioning method described above, and will not be repeated here.

[0140] An embodiment of the present application provides a readable storage medium, and the readable storage medium stores one or more programs, and the one or more programs can also be executed by one or more processors to implement the steps of any of the above-mentioned servo BUG locating methods.

[0141] The specific implementation of the readable storage medium of the present application is basically the same as the above-mentioned embodiments of the servo BUG locating method, and will not be repeated here.

[0142] The present application also provides a program product, which is a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the servo BUG locating method as described above are implemented.

[0143] The specific implementation of the computer program product of the present application is basically the same as the embodiments of the servo BUG locating method described above, and will not be repeated here.

[0144] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A servo BUG positioning method, characterized in that: The servo BUG positioning method comprises: Based on a preset data collection mode, target servo working data of the servo drive's working parameters changing over time are collected; Determine abnormal data in the target servo working data, and obtain the abnormal absolute time corresponding to the abnormal data; Based on the abnormal absolute time, the workpiece processing absolute time is determined within the workpiece processing time cycle, and based on the target mapping relationship between the servo software corresponding to the servo drive and the corresponding workpiece processing time cycle, the target software module corresponding to the workpiece processing absolute time in the servo software is located, so as to use the target software module as the servo BUG position.

2. The servo BUG positioning method according to claim 1, characterized in that: The preset data acquisition mode includes a 485 communication acquisition mode, the target servo working data includes first target servo data, The step of collecting target servo operating data of operating parameters of the servo drive varying over time based on a preset data collection mode comprises: Obtaining a first data collection time period, a first parameter ID corresponding to each first working parameter to be collected, and a collection time; Through the 485 communication acquisition mode, according to the first data acquisition time period and the acquisition time, polling and acquiring the 485 communication data corresponding to each of the first parameter IDs from the servo driver; The 485 communication data is calibrated and converted into first operating parameter data, and the first operating parameter data and a first absolute acquisition time corresponding to the first operating parameter data are stored together as the first target servo data.

3. The servo BUG positioning method as claimed in claim 2, characterized in that: The first working parameter to be collected includes at least one of an alarm code, a system status, an IGBT temperature, a motor temperature, a bus voltage, a motor voltage, a motor output torque, a motor output power, a speed setting, a speed feedback, a torque setting, a pressure setting, a pressure feedback and a flow setting.

4. The servo BUG positioning method according to claim 1, characterized in that: The preset data acquisition mode includes a MOUT analog quantity acquisition mode, the target servo working data includes a second target servo data, The step of collecting the working parameter data of the servo drive based on the preset data collection mode includes: Acquire a second parameter ID corresponding to a second data collection time period and a second working parameter to be collected; The analog signal output by the servo driver is collected as the second target servo data through the MOUT analog quantity collection mode according to the second data collection time period and the second parameter ID.

5. The servo BUG positioning method as claimed in claim 4, characterized in that: The second working parameter to be collected includes at least one of speed feedback, speed setting, current feedback, torque setting, pressure feedback, pressure setting, pressure output and bus voltage.

6. The servo BUG positioning method according to claim 1, characterized in that: Before the step of determining the workpiece processing absolute time within the workpiece processing time period based on the abnormal absolute time, and locating the target software module corresponding to the workpiece processing absolute time in the servo software based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time period, the servo BUG locating method further includes: Measuring a workpiece processing time period of the servo driver for a target workpiece, and determining each code execution step of the servo software within the workpiece processing time period; The target mapping relationship is established based on the correspondence between each of the code execution steps and the absolute time within the workpiece processing time period.

7. The servo bug positioning method according to claim 1, characterized in that: The step of determining abnormal data in the target servo working data and obtaining the abnormal absolute time corresponding to the abnormal data comprises: The servo operating parameters in the target servo operating data and the absolute acquisition time corresponding to the servo operating parameters are stored in pairs in a preset storage space to obtain servo operating parameter text data; According to a preset data analysis tool, the servo working parameter text data is analyzed to find the abnormal data; The absolute collection time corresponding to the abnormal data is used as the abnormal absolute time.

8. A servo BUG positioning device, characterized in that: The servo BUG positioning device comprises: A data acquisition module, used for acquiring target servo operating data of operating parameters of the servo drive changing over time based on a preset data acquisition mode; An abnormality determination module, used to determine abnormal data in the target servo working data, and obtain an abnormal absolute time corresponding to the abnormal data; The BUG position positioning module is used to determine the absolute time of workpiece processing within the workpiece processing time period based on the abnormal absolute time, and to locate the target software module corresponding to the absolute time of workpiece processing in the servo software based on the target mapping relationship between the servo software corresponding to the servo driver and the corresponding workpiece processing time period, so as to use the target software module as the servo BUG position.

9. A servo BUG positioning device, characterized in that: The servo bug locating device comprises: a memory, a processor, and a program stored in the memory for implementing the servo bug locating method. The memory is used to store a program for implementing a servo BUG positioning method; The processor is used to execute a program for implementing the servo bug locating method to implement the steps of the servo bug locating method as claimed in any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium stores a program for implementing the servo bug locating method, and the program for implementing the servo bug locating method is executed by a processor to implement the steps of the servo bug locating method as claimed in any one of claims 1 to 7.

11. A program product, the program product being a computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the steps of the servo BUG positioning method according to any one of claims 1 to 7 are implemented.

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