A gantry double-axis debugging method and device, electronic equipment and storage medium

Abstract

The embodiment of the application relates to the technical field of gantry mechanical equipment, and discloses a gantry double-shaft debugging method and device, electronic equipment and a storage medium. In the application, parameter setting is first performed on a main shaft to generate main shaft setting parameters, and during the parameter setting on the main shaft, control on a slave shaft is stopped; then parameter setting on the slave shaft is completed according to the main shaft setting parameters. Since parameter setting is not required on both the main shaft and the slave shaft, the workload in the debugging process is reduced, and the debugging efficiency is greatly improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to gantry machinery technology, and particularly to a gantry dual-axis debugging method, device, electronic equipment and storage medium. Background Technology

[0002] As automated equipment for laser cutting, printing, dispensing, and patching demands increasingly higher processing efficiency and larger processed objects, gantry structures are finding wider application in these industries. However, the larger the span of the gantry beam and the higher the gantry's movement speed, the more severe the beam sway problem becomes with single-axis drive control schemes, leading to wear on mechanical transmission components and deterioration of control accuracy. Therefore, dual-axis (master-slave) drive control schemes for gantry systems are gradually gaining popularity in these industries.

[0003] The inventors have discovered at least the following problems in the related technologies: the power-on debugging process of the gantry master and slave axes is often cumbersome, often requiring parameter tuning of the master axis drive and slave axis drive separately in single-axis mode, which increases the workload of on-site equipment debugging and results in low debugging efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a gantry debugging method, device, electronic device, and storage medium, which simplifies the power-on debugging process, reduces the workload of equipment debugging, and improves debugging efficiency.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a gantry dual-axis tuning method, comprising: performing parameter tuning on the main spindle to generate main spindle tuning parameters, and stopping control of the slave axis during the parameter tuning of the main spindle; and completing parameter tuning of the slave axis according to the main spindle tuning parameters.

[0006] An embodiment of the present invention also provides a gantry dual-axis debugging device, comprising: a debugging interaction module, used to perform parameter tuning on the main spindle to generate main spindle tuning parameters, and to stop controlling the slave axis during the parameter tuning of the main spindle; and a communication synchronization module, used to complete the parameter tuning of the slave axis according to the main spindle tuning parameters.

[0007] Embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the gantry dual-axis debugging method as described above.

[0008] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described gantry dual-axis debugging method.

[0009] In this embodiment of the invention, the spindle is parameter-tuned to generate spindle tuning parameters, and during the spindle parameter tuning, control of the slave axis is stopped; the slave axis parameter tuning is completed based on the spindle tuning parameters. Since it is not necessary to perform parameter tuning on both the spindle and the slave axis, the workload during the debugging process is reduced, greatly improving debugging efficiency.

[0010] Furthermore, stopping control of the slave axis includes: disabling pulse width modulation on the slave axis; and releasing the brake and dynamic brake on the slave axis. This further reduces interference from the slave axis to the spindle during spindle commissioning.

[0011] Furthermore, the step of tuning the slave axis parameters according to the spindle tuning parameters includes: sending the spindle tuning parameters to the slave axis driver, and having the slave axis driver save the parameters to complete the slave axis parameter tuning. Synchronously setting the slave axis tuning parameters using the spindle tuning parameters further improves debugging efficiency.

[0012] In addition, after the slave axis driver has finished saving, a slave axis completion flag is generated and sent to the spindle driver. The slave axis completion flag is used to indicate that the slave axis has successfully saved the spindle tuning parameters.

[0013] In addition, after generating the spindle tuning parameters, the spindle tuning parameters are stored in the internal storage device of the spindle driver. Attached Figure Description

[0014] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0015] Figure 1 This is a flowchart of a gantry dual-axis debugging method according to an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the connection relationship of a gantry dual-axis drive control system according to an embodiment of the present invention;

[0017] Figure 3 This is a flowchart of a gantry dual-axis tuning parameter synchronization method according to an embodiment of the present invention;

[0018] Figure 4This is a schematic diagram of a gantry dual-axis debugging device according to another embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of the structure of an electronic device according to another embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the various embodiments of the present invention to facilitate a better understanding of this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for ease of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with and referenced by each other without contradiction.

[0021] One embodiment of the present invention relates to a gantry dual-axis debugging method, which can be applied to various computer devices, such as computers, or other devices that can interact with drivers via a communication bus. In this embodiment, spindle tuning parameters are generated by parameter tuning of the spindle, and control of the slave axis is stopped during the spindle parameter tuning. The slave axis is then tuned according to the spindle tuning parameters. Since it is not necessary to perform parameter tuning of the spindle and slave axis separately, the workload in the debugging process is reduced, and the debugging efficiency is greatly improved. The implementation details of the gantry dual-axis debugging method of this embodiment are described below. The following content is only for ease of understanding and is not necessary for implementing this solution.

[0022] like Figure 1 As shown, in step 101, the computer device performs parameter tuning on the spindle to generate spindle tuning parameters, and during the spindle parameter tuning, control of the slave axis is stopped.

[0023] The dual-axis (master and slave) drive control structure of the gantry mechanism is as follows: Figure 2As shown, a gantry double-drive machine tool typically has two mechanical transmission mechanisms arranged side-by-side on both sides of the frame, jointly driving the gantry shaft to perform backlash-free motion. Each mechanical transmission mechanism on both sides is independently controlled by a motor. The crossbeam mechanism and the load on the crossbeam mechanism in the gantry mechanical structure are mainly powered by the gantry drive device. Under the action of power, the crossbeam mechanism moves along two parallel axes (the main spindle mechanism and the driven spindle mechanism, respectively). The power of the main spindle and the driven spindle is provided separately by their corresponding drivers and motors. The main spindle driver controls the parameters such as current, voltage, speed, and direction of the main spindle motor through the power line to ensure stable operation of the motor. It also adjusts the output signal based on the feedback information (such as position, speed, acceleration, etc.) of the main spindle motor to maintain the motion state of the main spindle motor. The same applies to the driven spindle motor and the driven spindle driver. The main spindle driver and the driven spindle driver should ensure that the main spindle motor and the driven spindle motor operate synchronously and stably to avoid problems such as wobble and wear in the crossbeam mechanism. Therefore, it is necessary to perform parameter tuning on the main spindle and the driven spindle separately to ensure that the main spindle motor and the driven spindle motor operate synchronously and stably.

[0024] Servo motors are frequently used in automated equipment, especially for position control. Most brands of servo motors have position control functions, controlling the motor's operation by sending pulses from the controller. The number of pulses corresponds to the rotation angle, and the pulse frequency corresponds to the speed (related to electronic gear settings). When a new system fails to function properly, first set the position gain, ensuring the motor operates without noise, and set it as high as possible. The moment of inertia ratio is also crucial; it can be referenced using values ​​set through self-learning. Then, set the speed gain and speed integral time, ensuring continuous operation at low speeds and controlled position accuracy. Therefore, parameter adjustment is critical. Servo drives are now microcomputer-controlled, providing automatic gain adjustment (autotuning) functionality to handle most load conditions. When adjusting parameters, the automatic parameter adjustment function can be used first, followed by manual adjustment if necessary. In fact, automatic gain adjustment also has option settings, generally dividing the control response into several levels, such as high response, medium response, and low response, which users can set according to their actual needs. The automatic gain control process involves parameter tuning, which involves changing control unit parameters such as proportional gain, integral time, and derivative time to improve the dynamic and static characteristics of the system in order to achieve better control performance. The parameters generated through this parameter tuning process are called tuning parameters.

[0025] The spindle parameter tuning process employs a single-axis drive method, where the gantry spindle driver drives the gantry to move and acquires various parameters during the movement (including feedback information from the spindle motor such as position, speed, and acceleration). During the spindle parameter tuning, control of the slave axis is stopped. There are many ways to stop slave axis control; for example, pulse width modulation on the slave axis can be disabled, and the brakes and dynamic brakes on the slave axis can be released. After generating the spindle tuning parameters (including spindle motor current, voltage, speed, and direction of rotation), the automatic spindle parameter adjustment can be completed directly using these parameters. Alternatively, the generated spindle tuning parameters can be stored in the internal storage device of the spindle driver for recording.

[0026] Since the main spindle driver in this example can drive the entire gantry to move using a single axis, the main spindle drive device must provide sufficient power to complete the single-axis drive. However, there is no such power requirement for the driven axis. If both the main spindle and driven axis drive devices can provide sufficient power to drive the gantry to move under the premise of single-axis drive, then the user can decide which axis to use as the main spindle mechanism and the other as the corresponding driven axis mechanism.

[0027] In step 102, the computer device completes the parameter tuning of the slave axis according to the spindle tuning parameters.

[0028] Since the spindle parameters have already been tuned, the spindle tuning parameters can be used to complete the slave axis parameter tuning, thereby saving resources and time.

[0029] In one example, the spindle tuning parameters are sent to the slave axis driver. After receiving the spindle tuning parameters, the slave axis driver saves the tuning parameters in its internal storage device, thereby achieving parameter synchronization between the spindle and the slave axis. In this example, since the spindle has already completed parameter tuning, the slave axis can directly use the tuning parameters generated in the spindle parameter tuning as the result of the slave axis parameter tuning. Therefore, it is only necessary to save the spindle tuning parameters in the internal storage device of the slave axis driver to complete the slave axis parameter tuning.

[0030] There are many ways to send spindle tuning parameters to the slave drive. For example, spindle tuning parameters can be sent to the slave drive in the form of mailbox data.

[0031] Email data formats include a series of data transmissions that integrate data into emails. This transmission format can send database data in table format, which can ensure a high degree of data integrity and preserve the original data format.

[0032] In one example, after the slave axis driver has saved the master spindle tuning parameters, a slave axis completion flag is generated and sent to the master spindle driver for confirmation. If the master spindle driver successfully receives the slave axis completion flag, it indicates that the slave axis has successfully saved the master spindle tuning parameters. After the master spindle receives the flag indicating that the slave axis tuning parameters have been saved, the gantry master and slave axis tuning is complete, and the master and slave axis tuning parameters are synchronized.

[0033] In a specific example, the specific process of the master and slave drives entering master-slave tuning mode is as follows: Figure 3 As shown, the master and slave axes each have their own corresponding control logic. The master and slave axis software control logic is mainly divided into three stages: state machine interaction, mailbox communication, and parameter saving.

[0034] The state machine interaction phase mainly involves the exchange of master and slave axis operating status flags to complete the execution of tuning actions. Specifically, upon entering the gantry tuning function, both the master and slave axes enter the servo-down enable phase. This phase sends a signal to the driver, instructing it to supply power (excite) to the motor. Upon receiving this signal, the driver's current loop, speed loop, and position loop (the specific loops are determined by the driver's control mode) enter the working state. After the master axis tuning mode is triggered, a master axis tuning mode flag is sent to the slave axis. Upon receiving this flag, the slave axis enters slave axis tuning mode, simultaneously sending its own flag back to the master axis, disabling pulse width modulation (PWM) on the slave axis, and releasing the brake and dynamic brake on the slave axis. If the slave axis tuning mode fails to trigger successfully, the slave axis returns a fault signal. If the master axis fails to receive the slave axis tuning flag, it returns a fault signal. After the spindle successfully receives the spindle tuning flag, it enters the spindle tuning mode. When the spindle tuning is completed, the spindle tuning parameters are generated and stored in the internal storage device. At the same time, the spindle tuning completion flag is sent to the spindle. After the spindle receives the spindle tuning completion flag, it enters the mailbox communication stage in sync with the spindle. At this point, the state machine interaction stage ends.

[0035] The email communication phase mainly involves data exchange of tuning parameters to complete the data synchronization of the tuning parameters. Specifically, the spindle and the slave axis communicate and send and receive data through email, so that the slave axis can read the spindle tuning parameters, thus completing the data synchronization of the tuning parameters. After the spindle has finished reading the parameters, the spindle enters the parameter saving phase.

[0036] The parameter saving phase mainly involves the interaction of the master and slave axis parameter saving status flags to confirm the parameter saving action. Specifically, after the slave axis completes the saving of the tuning parameters, it sends a saving completion flag to the master axis. The master axis waits for the slave axis to complete the saving of the tuning parameters before confirming the end of the parameter saving phase and the completion of the gantry dual-axis tuning.

[0037] In this embodiment, the spindle is parameter-tuned to generate spindle tuning parameters, and during the spindle parameter tuning, control of the slave axis is stopped; the slave axis is then parameter-tuned based on the spindle tuning parameters. Since it is not necessary to perform parameter tuning on both the spindle and slave axis, the workload during the debugging process is reduced, greatly improving debugging efficiency.

[0038] The steps described above are for clarity only. In practice, they can be combined into one step or some steps can be broken down into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0039] Another embodiment of the present invention relates to a gantry dual-axis debugging device, such as... Figure 4 As shown, it includes: a debugging interaction module, used to perform parameter tuning on the spindle to generate spindle tuning parameters, and to stop controlling the slave axis during the parameter tuning of the spindle; and a communication synchronization module, used to complete the parameter tuning of the slave axis according to the spindle tuning parameters.

[0040] In one example, the parameter tuning of the slave axis is completed according to the spindle tuning parameters. Specifically, the spindle tuning parameters are sent to the driver of the slave axis, and the driver of the slave axis saves them to complete the parameter tuning of the slave axis.

[0041] In one example, sending the spindle tuning parameters to the slave axis driver as described above specifically means sending the spindle tuning parameters to the slave axis driver in the form of mailbox data.

[0042] In one example, the gantry dual-axis debugging device also includes a save verification module, which generates a slave axis completion flag and sends it to the main axis driver after the slave axis driver has finished saving. The slave axis completion flag indicates that the slave axis has successfully saved the main axis tuning parameters.

[0043] In one example, after generating the spindle tuning parameters, the aforementioned gantry dual-axis tuning device stores the spindle tuning parameters in the internal storage device of the spindle driver.

[0044] In one example, the operation of stopping the control of the slave axis in the above-mentioned debugging interaction module can be implemented by turning off the pulse width modulation of the slave axis and releasing the brake and dynamic braking on the slave axis.

[0045] In this embodiment, the spindle is parameter-tuned to generate spindle tuning parameters, and during the spindle parameter tuning, control of the slave axis is stopped; the slave axis is then parameter-tuned based on the spindle tuning parameters. Since it is not necessary to perform parameter tuning on both the spindle and slave axis, the workload during the debugging process is reduced, greatly improving debugging efficiency.

[0046] It is not difficult to see that this embodiment is a device embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details mentioned in the above method embodiment are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the above method embodiment.

[0047] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by this invention; however, this does not mean that other units are absent from this embodiment.

[0048] Another embodiment of the present invention relates to an electronic device, such as Figure 5 As shown, it includes at least one processor 501; and a memory 502 communicatively connected to the at least one processor; wherein the memory 502 stores instructions that can be executed by the at least one processor 501, the instructions being executed by the at least one processor 501 to enable the at least one processor 501 to perform the gantry dual-axis debugging method as described above.

[0049] The memory 502 and processor 501 are connected via a bus, which can include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 501 and memory 502 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 501 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 501.

[0050] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0051] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the above-described method embodiments.

[0052] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0053] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A gantry dual-axis debugging method, characterized in that, include: The spindle is parameter-tuned to generate spindle tuning parameters, and during the spindle parameter-tuning process, control of the slave axis is stopped. The parameters of the slave axis are tuned according to the main spindle tuning parameters. The step of stopping control of the slave axis includes: Turn off pulse width modulation on the slave axis; Release the brake and dynamic braking on the slave shaft.

2. The gantry dual-axis debugging method according to claim 1, characterized in that, The step of tuning the parameters of the slave axis according to the main spindle tuning parameters includes: The spindle tuning parameters are sent to the slave axis driver and saved by the slave axis driver to complete the parameter tuning of the slave axis.

3. The gantry dual-axis debugging method according to claim 2, characterized in that, Sending the spindle tuning parameters to the slave axis driver includes: The spindle tuning parameters are sent to the slave axis driver in the form of mailbox data.

4. The gantry dual-axis debugging method according to claim 2, characterized in that, The method further includes: After the slave axis driver has finished saving, a slave axis completion flag is generated and sent to the master axis driver. The slave axis completion flag indicates that the slave axis has successfully saved the master axis tuning parameters.

5. The gantry dual-axis debugging method according to claim 1, characterized in that, The method further includes: After generating the spindle tuning parameters, the spindle tuning parameters are stored in the internal storage device of the spindle driver.

6. A gantry dual-axis debugging device, characterized in that, include: The debugging interaction module is used to tune the parameters of the spindle to generate spindle tuning parameters, and to stop the control of the slave axis during the spindle parameter tuning process. A communication synchronization module is used to adjust the parameters of the slave axis according to the spindle tuning parameters; The step of stopping control of the slave axis includes: Turn off pulse width modulation on the slave axis; Release the brake and dynamic braking on the slave shaft.

7. The gantry dual-axis debugging device according to claim 6, characterized in that, The step of tuning the parameters of the slave axis according to the main spindle tuning parameters includes: The spindle tuning parameters are sent to the slave axis driver and saved by the slave axis driver to complete the parameter tuning of the slave axis.

8. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the gantry dual-axis debugging method as described in any one of claims 1 to 5.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the gantry dual-axis debugging method as described in any one of claims 1 to 5.

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