A motor automatic debugging method and system

Abstract

The application relates to the technical field of servo motor testing, in particular to a motor automatic debugging method and system. The method comprises the following steps: receiving a mode test instruction, entering a debugging mode of a servo motor, executing a correction mode, running the servo motor to a first preset speed, and correcting an encoder of the servo motor; executing a zero adjustment mode, running the servo motor to a second preset speed, finding a zero point, and storing the zero point in the encoder; executing a running test mode, running the servo motor at a rated speed to detect whether a target current of the servo motor at the rated speed is within a preset current range; when the target current is within the preset current range, executing a parameter writing mode instruction, and writing motor parameters corresponding to the servo motor into the encoder; writing the motor parameters into a servo driver, and completing debugging, wherein the servo server corresponds to the servo motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo motor debugging, in particular to a motor automatic debugging method and system. BACKGROUND

[0002] With the continuous progress of science and technology, the motor industry has also developed rapidly. Before the normal use of a servo motor, the absolute encoder installed on the servo motor needs to be zeroed and corrected. In order to control the operation of the servo motor, the motor model, rated power section, rated voltage, rated current, rated speed, peak speed, rated torque, torque coefficient, rotor inertia, pole pair number, encoder bit number, zero point offset and other motor characteristic parameters (collectively referred to as motor parameters) of the motor need to be set in the form of parameters in the drive.

[0003] At present, the common encoder correction method is to install a high-resolution photoelectric pulse encoder on the driving shaft of a servo motor, and install a servo motor to be corrected on the driven shaft. After the servo drive is connected to the servo motor, the motor parameters are saved to the drive one by one through manual operation by using the keyboard operation and the number tube display to complete the debugging. After the debugging is completed, it still needs to be disassembled, which leads to complicated process and waste of manpower. SUMMARY

[0004] In order to solve or partially solve the problems in the related art, the present application provides a motor automatic debugging method and system, which can simplify the debugging process and save manpower.

[0005] In a first aspect, the present application provides a motor automatic debugging method, which adopts the following technical solution:

[0006] A motor automatic debugging method, comprising: receiving a mode test instruction and entering a debugging mode of a servo motor, wherein the debugging mode comprises a correction mode, a zero adjustment mode, a running test mode and a parameter writing mode; executing the correction mode, running the servo motor to a first preset speed, and correcting the encoder of the servo motor; executing the zero adjustment mode, running the servo motor to a second preset speed, finding a zero point and storing the zero point in the encoder, wherein the second preset speed is less than the first preset speed; executing the running test mode, running the servo motor at a rated speed to detect whether a target current of the servo motor at the rated speed is within a preset current range; when the target current is within the preset current range, executing the parameter writing mode instruction, and writing corresponding motor parameters of the servo motor into the encoder; writing the motor parameters into the servo drive to complete the debugging, wherein the servo server corresponds to the servo motor.

[0007] By adopting the technical scheme, the servo motor can be debugged by entering the debugging mode of the servo motor through the receiving mode test instruction, entering the correction mode, the zero adjustment mode, the running test mode and the parameter writing mode, and the servo motor can be automatically debugged by entering the correction mode to run the servo motor to a first preset speed, executing the zero adjustment mode to run the servo motor to a second preset speed, finding the zero point and storing the zero point of the servo motor in the encoder, executing the running test mode to run the servo motor at a rated speed to detect whether a target current of the servo motor at the rated speed is within a preset current range, and executing the parameter writing mode instruction to write motor parameters of the servo motor into the encoder when the target current is within the preset current range.

[0008] Optionally, the writing of the motor parameters into the servo driver to complete the debugging further includes: judging whether a power section in the read motor parameters meets a power section compatible range of the servo driver, and when meeting the power section compatible range, writing the motor parameters into the servo driver to complete the adaptation; and when not meeting the power section compatible range, performing fault alarm prompting.

[0009] By adopting the technical scheme, the motor parameters are written into the servo driver to complete the adaptation when the power section in the read motor parameters meets the power section compatible range of the servo driver, so that the driver can only drive a servo motor model within a power section range suitable for itself, to avoid the use of an over-power section; and when not meeting the power section compatible range, fault alarm prompting is performed to timely prompt a test personnel to replace a communicated servo motor.

[0010] Optionally, before the judgment of whether the power section in the read motor parameters meets the power section compatible range of the servo driver, the method further includes: judging whether the motor parameters are read successfully, and if not, judging whether continuous reading fails for a preset number of times, and if so, performing fault alarm prompting.

[0011] By adopting the technical scheme, the reading of the motor parameters can be timely acquired by judging whether the motor parameters are read successfully, to ensure that the read motor parameters are stored in the servo driver, so as to facilitate the normal operation of the servo motor, and if the continuous reading fails, the test personnel can be timely prompted to handle.

[0012] Optionally, the executing the correction mode, and running the servo motor to a first preset speed to correct the encoder further includes: running the servo motor to the first preset speed and keeping for a preset time, and then correcting the encoder.

[0013] By using the above technical solution, the stability of the servo motor can be ensured by running the servo motor to the first preset speed and keeping for a preset time, so as to ensure the accuracy of the correction of the encoder.

[0014] Optionally, before the receiving the mode test instruction and entering the debugging mode of the servo motor, the method further includes: executing an input instruction of a model of the servo motor and motor parameters, and storing in association.

[0015] By using the above technical solution, the servo motor can be identified before starting the mode test, so as to perform the mode test on the servo motor according to the model and the motor parameters of the servo motor.

[0016] In a second aspect, the application provides a motor automatic debugging system, which adopts the following technical solution:

[0017] A motor automatic debugging system includes: a debugging execution module configured to receive a mode test instruction and enter a debugging mode of a servo motor, wherein the debugging mode includes a correction mode, a zero adjustment mode, a running test mode, and a parameter writing mode; a correction module configured to execute the correction mode, run the servo motor to a first preset speed, and correct an encoder of the servo motor; a zero adjustment module configured to execute the zero adjustment mode, run the servo motor to a second preset speed, find a zero point, and store the zero point in the encoder, wherein the second preset speed is less than the first preset speed; a test module configured to execute the running test mode, run the servo motor at a rated speed to detect whether a target current of the servo motor at the rated speed is within a preset current range; a parameter writing module configured to execute the parameter writing mode instruction when the target current is within the preset current range, and write motor parameters corresponding to the servo motor into the encoder; and an adaptation module configured to write the motor parameters into a servo driver corresponding to the servo motor, and complete adaptation debugging of the servo motor and the servo driver.

[0018] By adopting the technical scheme, the mode test instruction is received by the debugging execution module, the debugging mode of the servo motor is entered, and the servo motor is debugged in the correction mode, the zero adjustment mode, the running test mode and the parameter writing mode in sequence. The servo motor is run to the first preset speed by the correction module, the encoder of the servo motor is corrected, the servo motor is run to the second preset speed by the zero adjustment module, the zero point of the servo motor is found and stored in the encoder, the servo motor is run at the rated speed in the running test mode by the test module, whether the target current of the servo motor at the rated speed is in the preset current range is detected, and when the target current is in the preset current range, the parameter writing mode instruction is executed by the parameter writing module, the motor parameters of the servo motor are written into the encoder, the motor parameters are written into the servo driver by the adaptation module, the adaptation and debugging of the servo driver and the servo motor are completed, and the motor automatic debugging is realized. The whole debugging procedure is simplified, and manpower can be saved.

[0019] Optionally, the adaptation module further comprises a power segment compatibility unit, configured to judge whether the power segment in the motor parameters read satisfies the power segment compatibility range of the servo driver, and when the power segment satisfies the power segment compatibility range of the servo driver, the motor parameters are written into the servo driver to complete the adaptation, and when the power segment does not satisfy the power segment compatibility range of the servo driver, a fault alarm is given.

[0020] By adopting the technical scheme, whether the power segment in the motor parameters satisfies the power segment compatibility range of the servo driver is judged in advance by the power segment compatibility unit, the power segment of the servo driver and the servo motor can be automatically identified and matched, so that the driver can only drive the servo motor model in the power segment range suitable for itself, and the use of an over-power segment is avoided. When the power segment does not satisfy the power segment compatibility range of the servo driver, a fault alarm is given, so that the tester can be prompted to replace the servo motor in communication in time.

[0021] Optionally, the adaptation module further comprises a parameter reading unit, configured to judge whether the motor parameters are read successfully, and if not, whether the continuous reading fails for a preset number of times, and if so, a fault alarm is given.

[0022] By adopting the technical scheme, whether the motor parameters are read successfully is judged by the parameter reading unit, so that the reading situation of the motor parameters can be obtained in time, the motor parameters read are stored in the servo driver to ensure the normal operation of the servo motor, and if the continuous reading fails, the tester can be prompted to handle in time.

[0023] In a third aspect, the application provides an electronic device, which adopts the following technical scheme:

[0024] An electronic device comprises a processor and a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the motor automatic debugging method as described above.

[0025] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the technical scheme as follows:

[0026] A computer-readable storage medium having executable code stored thereon which, when executed by a processor of an electronic device, causes the processor to perform the motor automatic debugging method as described above.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. By receiving the mode test instruction, the servo motor can be entered into the debugging mode, and then entered into the correction mode, the zero adjustment mode, the running test mode and the parameter writing mode for debugging the servo motor. By executing the correction mode, the servo motor can be run to the first preset speed to correct the encoder of the servo motor. By executing the zero adjustment mode, the servo motor can be run to the second preset speed to find the zero point and store the zero point of the servo motor in the encoder. By executing the running test mode, the servo motor can be run at the rated speed to detect whether the target current of the servo motor at the rated speed is within the preset current range. When the target current is within the preset current range, the parameter writing mode instruction can be executed to write the corresponding motor parameters of the servo motor into the encoder. By writing the motor parameters into the servo driver, the adaptation debugging of the servo driver and the servo motor can be completed, so as to realize the motor automatic debugging, simplify the entire debugging process and save manpower.

[0029] 2. By judging whether the power section in the read motor parameters meets the power section compatible range of the servo driver, when it meets, the motor parameters are written into the servo driver to complete the adaptation, so as to ensure that the driver can only drive the servo motor model within its own applicable power section range, to avoid the case of using the super power section; when it does not meet, the fault alarm prompt can be given to prompt the tester to replace the communicated servo motor in time.

[0030] 3. By judging whether the motor parameters are read successfully, the reading situation of the motor parameters can be obtained in time to ensure that the read motor parameters are stored in the servo driver for subsequent use, so as to facilitate the normal operation of the servo motor, and if the continuous reading fails, the tester can be prompted in time to handle it.

[0031] 4. By running the servo motor to the first preset speed and then maintaining for a preset time, the stability of the servo motor can be ensured to ensure the accuracy of the correction processing of the encoder. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a schematic diagram of a workstation connected with a motor to be tested;

[0033] Figure 2 is a schematic diagram of a servo driver connected with a servo motor;

[0034] Figure 3 is a flowchart of a motor automatic debugging method disclosed by an embodiment of the present application;

[0035] Figure 4 is a schematic diagram of an interface for initializing a test tool;

[0036] Figure 5 is a schematic diagram of an interface for entering a correction mode of a test tool;

[0037] Figure 6 is a schematic diagram of an interface for entering a zero adjustment mode of a test tool;

[0038] Figure 7 is a schematic diagram of an interface for performing a forward rotation test after a test tool enters a running test mode;

[0039] Figure 8 is a schematic diagram of an interface for performing a reverse rotation test after a test tool enters a running test mode;

[0040] Figure 9 is a schematic diagram of an interface for feeding back a parameter write success after a test tool enters a running parameter write mode;

[0041] Figure 10 is another flowchart of a motor automatic debugging method disclosed by an embodiment of the present application;

[0042] Figure 11 is still another flowchart of a motor automatic debugging method disclosed by an embodiment of the present application;

[0043] Figure 12 is a module schematic diagram of a motor automatic debugging system disclosed by an embodiment of the present application;

[0044] Figure 13 is a schematic diagram of an electronic device disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0045] Embodiments of the present application will be described in more detail by referring to the drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided so that the present application is more complete and complete, and the scope of the present application is fully conveyed to those skilled in the art.

[0046] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0047] It should be understood that although the terms "first," "second," "third," etc. can be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish one piece of information from another. For example, the first information can also be called the second information, and similarly, the second information can also be called the first information without departing from the scope of the application. Therefore, the features defined with "first," "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0048] In the related art, the process of installing the motor to be corrected to the correction trolley system and dismounting after correction is relatively cumbersome, and it is difficult to guarantee high production efficiency when mass producing in a factory; in addition, the servo driver relies on manual operation to input multiple motor parameters for saving and configuration, and if there is input error or omission, the servo motor cannot run in the best state, and even cannot run normally.

[0049] Therefore, in order to solve the above technical problems, the application discloses a motor automatic debugging method and system, which can avoid the process of installing and dismounting the motor using the correction trolley system, and also avoids the operation of manually inputting motor parameters for configuration, thereby not only improving the production efficiency of motor manufacturers, but also providing convenient and friendly use experience for debugging personnel.

[0050] The technical solutions of the embodiments of the application are described in detail below with reference to the drawings.

[0051] Referring to Figure 1 , a schematic diagram of the connection between the servo motor and the workstation during motor automatic debugging, Figure 1 The workstation is a debugging tool, and the measured motor is a servo motor. The debugging tool and the servo motor are communicatively connected through an encoder line and a power line. The servo motor is corrected, zeroed, tested, and written with motor parameters through the debugging tool, so as to avoid the process of installing and dismounting the motor using the correction trolley system; and referring to Figure 2, which is a connection diagram of the servo motor and the servo driver during automatic motor debugging. A motor automatic debugging method disclosed in an embodiment of the present application can read the parameters in the encoder on the servo motor and automatically write them into the servo driver, thereby eliminating the need to manually input the motor parameters for configuration, thereby improving the production efficiency of the motor manufacturer and providing a convenient and friendly user experience for the debugging personnel.

[0052] See also Figure 3 , is a flow chart of a motor automatic debugging method in one embodiment of the present application, the testing method includes the following steps:

[0053] Step S110: receiving a mode test instruction and entering a debugging mode of the servo motor;

[0054] Among them, the debugging mode may include: calibration mode, zeroing mode, running test mode, and parameter writing mode in sequence. The calibration mode is used to calibrate the encoder on the servo motor, and the zeroing mode is used to find the zero point on the motor. Therefore, through the calibration mode and the zeroing mode, the detection phase of the encoder is aligned with the phase of the motor electrical angle when the motor rotates, so that the rotating magnetic field of the motor is consistent with the magnetic field phase of the motor stator, so as to avoid motor stalling, overspeed, and inconsistency between the actual speed and the set speed.

[0055] The run test mode is used to test the motor's operating status during forward or reverse rotation. In this embodiment, normal operating status can be determined by detecting whether the current during no-load operation is within the normal range. The parameter write mode can automatically write the motor parameters to the servo motor's encoder. When the servo motor is connected to a servo driver, the motor parameters are read from the servo motor's encoder and automatically written to the servo driver, eliminating the need to manually enter the motor parameters into the servo driver for configuration.

[0056] See also Figure 4 , is the test tool initialization interface, which allows testers to select the corresponding test mode. The "1. Full-function process test" shown in the figure is the debugging mode in the embodiment of the present application. "2. Write parameters to encoder" can be understood as the parameter writing mode in the debugging mode. "3. Read motor parameters" can be understood as reading the motor parameters in the encoder to write them to the servo driver. Options 2 and 3 allow testers to flexibly select based on the test requirements of the servo motor. Of course, it is explained here that Figure 4 It only shows a test function interface, which is not limited to including other functional test options.

[0057] Step S120: executing a calibration mode, running the servo motor to a first preset speed, and calibrating the encoder of the servo motor;

[0058] Referring to Figure 5 , the first preset speed can be set as 800 r / min, and the setting of the speed can be determined according to the instruction received by the tester based on the type of the servo motor, which is not limited herein. The correction process is to align the detection phase of the encoder with the phase of the motor electric angle through the operation of the servo motor, so as to ensure the stability of the subsequent operation of the servo motor and the accuracy of the actual speed. Among them, 0.64 shown in Figure 5 is the current value of the servo motor during the operation at 800 r / min, and thus the tester can judge whether the operation of the servo motor is normal based on the current value.

[0059] Step S130, execute the zero adjustment mode, run the servo motor to the second preset speed, find the zero point and store the zero point in the encoder, wherein the second preset speed is less than the first preset speed.

[0060] Referring to Figure 6 , the second preset speed can be set as 9 r / min, of course, which is not limited herein, as long as it can ensure the stable operation of the servo motor at a certain speed to realize the function of zero point finding. Among them, the zero point is the starting point position of the rotation of the servo motor, so as to record the number of rotations based on the subsequent rotation of the servo motor. Among them, 0.63 shown in Figure 6 can be understood as the current value of the servo motor during the operation at 9 r / min, and thus the tester can judge whether the operation of the servo motor is normal based on the current value.

[0061] Step S140, execute the operation test mode, run the servo motor at the rated speed under no load to detect whether the target current of the servo motor at the rated speed is within the preset current range;

[0062] When the operation test mode is executed, the servo motor is run at the rated speed under no load to detect whether the current during the operation is within the preset current range, that is, whether the motor during the operation is within the normal current range, to judge whether the operation of the servo motor is normal. In order to detect whether the servo motor in the forward rotation and reverse rotation is normal, forward rotation and reverse rotation detection can be alternately performed.

[0063] For example, referring to Figure 7 , when the servo motor is in forward rotation, the content displayed on the test tool is that the rated speed is set as 600 r / min, and the detected operating current is 0.06 A, which does not exceed the set current threshold 0-0.38 A, that is, the target current during the detection operation is within the preset current range, and it is determined that the servo motor is normal during the forward rotation test; referring to Figure 8For the servo motor to reverse, the content displayed on the test fixture, the rated speed is set to 3000r / min, the detected operating current is 0.18A, which does not exceed the set current threshold 0.38A, that is, the target current in the detection operation is within the preset current range, and it is determined that the servo motor is normal during reverse test.

[0064] Step S150, when the target current is within the preset current range, the parameter writing mode instruction is executed, and the motor parameters corresponding to the servo motor are written into the encoder;

[0065] Among them, by writing the motor parameters into the encoder of the servo motor, the configuration of the servo motor is realized, and it is convenient for subsequent reading and writing to the servo driver.

[0066] Referring to Figure 9 For the test fixture to feedback the interface of successfully writing parameters to the servo motor after parameter writing, and prompt the test personnel that the full function test of the servo motor is completed, that is, the debugging mode is completed, and another servo motor can be debugged.

[0067] Step S160, write the motor parameters into the servo driver to complete the debugging.

[0068] Among them, the servo server corresponds to the servo motor, so as to write the motor parameters in the encoder of the servo motor into the servo driver, so as to ensure that the servo driver drives the servo motor to operate normally based on the motor parameters.

[0069] In another embodiment, step S160 further comprises:

[0070] Step S161, judge whether the power section in the read motor parameters meets the power section compatible range of the servo driver, when it meets, write the motor parameters into the servo driver to complete the adaptation; when it does not meet, carry out fault alarm prompt.

[0071] Among them, by judging in advance whether the power section in the motor parameters meets the power section compatible range of the servo driver, the power section automatic identification and matching of the servo driver and the servo motor can be realized, so as to ensure that the driver can only drive the servo motor model within its own applicable power section range, to avoid the case of using super power section. In addition, when it does not meet, carry out fault alarm prompt, which can prompt the test personnel to replace the communication servo motor in time.

[0072] In another embodiment, before step 161, further comprising:

[0073] Judge whether the motor parameters are read successfully, if not, judge whether the continuous reading fails for a preset number of times, if yes, carry out fault alarm prompt.

[0074] Wherein, by judging whether the motor parameter is read successfully, the reading situation of the motor parameter can be obtained in time to ensure that the read motor parameter is stored in the servo drive, facilitating the normal operation of the servo motor, and if the continuous reading fails, the tester can be prompted in time for processing.

[0075] In another embodiment, step S120 further comprises:

[0076] Step S121, running the servo motor to a first preset speed and keeping for a preset time, and then correcting the encoder.

[0077] Wherein, by keeping for a preset time, for example 5S, after running to the first preset speed, it can ensure that the encoder is corrected after the servo motor runs stably, so that the correction of the encoder is more accurate.

[0078] In another embodiment, before step S110, further comprising:

[0079] Step S100, executing the input instruction of the model of the servo motor and the motor parameter, and storing in association.

[0080] Wherein, by storing the model of the servo motor, the test tool can match the corresponding debugging mode based on the model of the motor, and by storing the motor parameter of the servo motor, the test tool can subsequently write the motor parameter to the encoder of the servo motor, completing the configuration of the servo motor.

[0081] In order to more clearly understand the motor automatic debugging method disclosed in the embodiments of the present application, please refer to Figure 10 , which is explained in detail in the form of steps as follows:

[0082] Step S201, selecting a motor model, starting a debugging mode, and executing step S202;

[0083] Wherein, by selecting the motor model by the tester, the corresponding debugging mode can be matched for the motor.

[0084] Step S202, starting a correction mode, gradually increasing the speed, and executing step S203;

[0085] Wherein, the speed gradually increases, for example, gradually increases at 50r / min, 100r / min, to ensure the stability of the motor operation.

[0086] Step S203, judging whether the speed reaches 800r / min, if yes, executing step S204, if not, executing step S202;

[0087] Wherein, 800r / min can be understood as the normal running speed of the servo motor, which is not limited here.

[0088] Step S204, maintain stable speed for 5 seconds, encoder starts to correct, and step S205 is executed;

[0089] Wherein, by maintaining stable speed for 5 seconds, the encoder starts to correct again, which can ensure the stability of the operation of the servo motor, so as to increase the accuracy of correction.

[0090] Step S205, judge whether the correction is successful, if yes, step S206 is executed, if not, step S212 is executed.

[0091] Step S206, reduce the speed to 0, exit the correction mode, and step S207 is executed.

[0092] Wherein, after the speed is reduced to 0, the correction mode is exited, which can ensure the normal operation of the motor and avoid damage to the motor.

[0093] Step S207, start the zero adjustment mode, find the zero point at the speed of 10r / min, and step S208 is executed;

[0094] Wherein, the zero adjustment mode is to find the zero point of the motor, so that the detection phase of the encoder is aligned with the phase of the motor electric angle through the correction mode and the zero adjustment mode when the motor rotates, so that the rotating magnetic field of the motor is consistent with the magnetic field phase of the motor stator, so as to avoid the phenomenon of motor stall, fly car, actual speed and set speed inconsistency.

[0095] Step S208, judge whether the zero point is found, if yes, step S209 is executed, if not, step S207 is executed.

[0096] Step S209, stop and save the zero point, and step S210 is executed.

[0097] Step S210, start running test mode, start rated speed forward and reverse rotation test, and step S211 is executed;

[0098] Wherein, the running test mode is to judge the running state of the servo motor, which includes the state of forward and reverse rotation of the motor.

[0099] Step S211, judge whether the speed and current are normal, if yes, step S213 is executed, if not, step S212 is executed;

[0100] Wherein, the motor can run based on the pre-set speed, and detect whether the speed and current are within the normal range during running, so as to judge whether the motor running state is normal.

[0101] Step S212, generate error prompt and terminate the process.

[0102] Wherein, in the running state is abnormal, by generating error prompt can timely inform the tester, to terminate the process to avoid motor damage.

[0103] Step S213, start parameter write mode to write motor parameters to the encoder storage area.

[0104] Wherein, in the running state is normal, write motor parameters into the encoder of the motor for associated storage, can realize the configuration of the motor.

[0105] Based on the above steps, the motor parameters of the motor can be configured. In order to realize the normal operation of the motor, it can be connected to the driver in communication, so as to realize the rotation of the motor under the action of the driver. Referring to Figure 11 For the matching steps of the driver and the motor, the specific steps are as follows:

[0106] Step S214, read the motor parameters in the encoder on the motor, and execute step S215;

[0107] Wherein, the motor parameters in the encoder on the motor are read out first, which can facilitate subsequent writing into the driver.

[0108] Step S215, judge whether the reading is successful, if yes, execute step S217, if not, execute step S216.

[0109] Step S216, judge whether it is read continuously for multiple times, if yes, execute step S218, if not, execute step S214;

[0110] Wherein, the continuous multiple reading can set a preset reading times, for example, reading 4 times continuously, to judge whether it is read multiple times, which is not limited in the embodiment.

[0111] Step S217, judge whether the power segment parameter in the motor parameters is in the compatible power segment range of the driver, if yes, execute step S219, if not, execute step S218;

[0112] Wherein, each driver has a corresponding power segment of the driven motor. By judging in advance whether it is in the compatible power segment range of the driver, the situation of damaging the driver and the motor due to over power segment can be avoided.

[0113] Step S218, fault alarm prompt.

[0114] Wherein, if the reading times reach the preset reading times, the fault alarm prompt is given, so as to inform the tester to handle the fault in time.

[0115] It is explained that the labels of the steps in the embodiments are only for convenient explanation, and do not represent the limitation of the execution sequence of the steps. In actual application, the execution sequence of the steps can be adjusted or performed simultaneously according to the needs, and these adjustments or replacements are within the protection scope of the present application.

[0116] Another embodiment of the present application provides an automatic debugging system of a motor. Referring to Figure 12 The system comprises a debugging execution module 310, a correction module 320, a zero adjustment module 330, a test module 340, a parameter writing module 350 and an adaptation module 360.

[0117] The debugging execution module 310 is configured to receive a mode test instruction and enter a debugging mode of the servo motor, wherein the debugging mode comprises a correction mode, a zero adjustment mode, a running test mode and a parameter writing mode. The correction module 320 is configured to execute the correction mode, run the servo motor to a first preset speed, and perform correction processing on an encoder of the servo motor. The zero adjustment module 330 is configured to execute the zero adjustment mode when the correction of the encoder is completed, run the servo motor to a second preset speed, find a zero point and store the zero point in the encoder. The test module 340 is configured to execute the running test mode when the zero point is stored in the encoder, run the servo motor at a rated speed to detect whether a target current of the servo motor at the rated speed is within a preset current range. The parameter writing module 350 is configured to execute a parameter writing mode instruction when the target current is within the preset current range, and write motor parameters corresponding to the servo motor into the encoder. The adaptation module 360 is configured to communicate the servo motor with a servo driver, read the motor parameters in the encoder and write the motor parameters into the servo driver to complete the debugging.

[0118] In another embodiment, the adaptation module 360 further comprises a power segment compatibility unit 361 configured to judge whether a power segment in the read motor parameters meets a power segment compatibility range of the servo driver, and when the power segment meets the power segment compatibility range, write the motor parameters into the servo driver to complete the adaptation, and when the power segment does not meet the power segment compatibility range, perform a fault alarm prompt.

[0119] In another embodiment, the adaptation module 360 further comprises a parameter reading unit 462 configured to judge whether the motor parameters are read successfully, and if so, continue to judge the power segment in the motor parameters, and if not, judge whether the reading fails continuously for a preset number of times, and if so, perform the fault alarm prompt.

[0120] It should be noted that the automatic debugging system of the motor disclosed in the embodiments realizes the automatic debugging method of the motor as described in the foregoing embodiments, and therefore will not be described in detail here. Alternatively, each module, unit and other operations or functions in the embodiments are respectively used to realize the method in the foregoing embodiments.

[0121] Referring to Figure 13 Another embodiment of the present application shows an electronic device including a memory 410 and a processor 420.

[0122] The processor 420 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0123] The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The memory 410 can include various types of memory units, such as system memory, read-only memory (ROM) and permanent storage device.

[0124] The ROM can store static data or instructions required by the processor 420 or other modules of the computer. The permanent storage device can be a read-write storage device. The permanent storage device can be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device.

[0125] In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, optical drive). The system memory can be a read-write storage device or a volatile read-write storage device, such as a dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during runtime.

[0126] In addition, the memory 410 can include a combination of any computer readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks and / or optical disks can also be used.

[0127] In some embodiments, the memory 410 can include a removable storage device, readable and / or writeable, such as a compact disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra density disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer readable storage media does not include carrier waves and transitory signals transmitted by wireless or wired transmission. The memory 410 has stored thereon executable code that, when executed by the processor 420, can cause the processor 420 to perform, either alone or in conjunction with other hardware elements, one or more of the methods described above.

[0128] Furthermore, the methods according to the present application can also be implemented as a computer program or a computer program product, which comprises computer program code instructions for performing some or all of the steps of the methods according to the present application.

[0129] Alternatively, the present application can also be implemented as a computer readable storage medium (or non-transitory machine readable storage medium or machine readable storage medium) having stored thereon executable code (or computer program or computer instruction code), which, when executed by a processor of an electronic device (or a server, etc.), can cause the processor to perform some or all of the steps of the methods according to the present application.

[0130] The embodiments of the present application have been described above, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical application or improvement of technology in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for automatic motor debugging, characterized in that: Debugging fixtures for electrical connections, servo motors, and servo drives, including: Receive a mode test instruction and enter a debugging mode of the servo motor, wherein the debugging mode includes: a calibration mode, a zero adjustment mode, a running test mode, and a parameter writing mode; Executing the calibration mode, gradually increasing the speed of the servo motor to a first preset speed, and performing calibration processing on the encoder of the servo motor; executing the zero adjustment mode, operating the servo motor to a second preset speed, finding a zero point, and storing the zero point in the encoder, wherein the second preset speed is less than the first preset speed; Executing the operation test mode to operate the servo motor at a rated speed without load, so as to detect whether the target current of the servo motor when operating at the rated speed is within a preset current range; When the target current is within the preset current range, executing the parameter writing mode instruction to write the motor parameters corresponding to the servo motor into the encoder; Writing the motor parameters into the servo driver to complete debugging, wherein the servo server corresponds to the servo motor; Wherein, the step of writing the motor parameters into the servo driver to complete the debugging further includes: It is determined whether the power range of the read motor parameters meets the power range compatibility range of the servo driver. If it does, the motor parameters are written into the servo driver to complete the adaptation; if it does not, a fault alarm prompt is issued.

2. The motor automatic debugging method according to claim 1, characterized in that: Before determining whether the power range of the read motor parameters meets the power range compatibility range of the servo driver, the method further includes: Determine whether the motor parameters are read successfully. If not, determine whether the reading fails for a preset number of consecutive times. If so, issue a fault alarm.

3. The motor automatic debugging method according to claim 1, characterized in that: The execution of the calibration mode, running the servo motor to a first preset speed, and performing calibration processing on the encoder further includes: The servo motor is operated to the first preset speed and maintained at the first preset time, and then the encoder is calibrated.

4. The motor automatic debugging method according to claim 1, characterized in that: Before the receiving mode test instruction and entering the debugging mode of the servo motor, the method further includes: Execute the input instructions of the servo motor model and the motor parameters, and store them in association.

5. A motor automatic debugging system, characterized in that: include: A debugging execution module is used to receive a mode test instruction and enter a debugging mode of the servo motor, wherein the debugging mode includes: a calibration mode, a zero adjustment mode, a running test mode, and a parameter writing mode; a calibration module, configured to execute the calibration mode, operate the servo motor to a first preset speed, and calibrate the encoder of the servo motor; a zeroing module, configured to execute the zeroing mode, operate the servo motor to a second preset speed, find a zero point, and store the zero point in the encoder, wherein the second preset speed is less than the first preset speed; a test module, configured to execute the operation test mode, operate the servo motor at a rated speed, and detect whether a target current of the servo motor when operating at the rated speed is within a preset current range; a parameter writing module, configured to execute the parameter writing mode instruction when the target current is within the preset current range, and write the motor parameters corresponding to the servo motor into the encoder; An adaptation module, used for writing the motor parameters into the servo driver to complete the debugging, wherein the servo driver corresponds to the servo motor; The adaptation module also includes: The power segment compatibility unit is used to determine whether the power segment in the read motor parameters meets the power segment compatibility range of the servo driver. If it meets the range, the motor parameters are written into the servo driver to complete the adaptation; if it does not meet the range, a fault alarm prompt is issued.

6. The motor automatic debugging system according to claim 5, characterized in that: The adaptation module also includes: The parameter reading unit is used to determine whether the motor parameters are read successfully. If not, it is used to determine whether the reading fails for a preset number of times. If so, a fault alarm is issued.

7. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the motor automatic debugging method according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that Executable codes are stored thereon, and when the executable codes are executed by a processor of an electronic device, the processor is caused to execute the motor automatic debugging method according to any one of claims 1 to 4.

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