A Servo Safety Function Testing Method and System

Abstract

This application relates to a servo safety function testing method and system. The method includes: obtaining a target test mode corresponding to the servo under test from safety function test modes; wherein, the safety function test modes include a safety torque cancellation test mode, a safety stop test mode, a safety limit speed test mode, a safety direction test mode, and a safety speed monitoring test mode; determining the test rules corresponding to the target test mode; testing the servo under test according to the test rules and obtaining the corresponding test data; and determining the safety performance of the servo under test in the target test mode based on the test data. This solves the problem that too many interference factors during manual data recording lead to low accuracy of test data, which in turn reduces the accuracy of safety test results.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo safety testing, and particularly relates to a servo safety function testing method and system. BACKGROUND

[0002] In the intelligent manufacturing field such as automobile manufacturing and aerospace, a large number of safety servos and motors are needed. Compared with non-safety servos, safety servos add a series of safety functions to support key critical applications of servos on the basis of conventional servos. Such safety functions can monitor the speed, direction and other parameters of the servo drive motor, and when the parameters reach the critical state, the servo independently executes the safety function to cut off the power supply of the motor and guide to a specific safety state. IEC 61800-5-2:2021 specifies a series of safety functions that safety servos should have, but does not explicitly specify the test verification method.

[0003] The existing servo safety test generally determines the safety test result by manually recording test data, but there are too many interference factors when manually recording data, which reduces the accuracy of test data and the accuracy of safety test results. SUMMARY

[0004] In order to overcome the problem that there are too many interference factors when manually recording data, which reduces the accuracy of test data and the accuracy of safety test results, the present application provides a servo safety function testing method and system.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a servo safety function testing method, comprising:

[0006] obtaining a target test mode corresponding to a to-be-tested servo from a safety function test mode; wherein the safety function test mode includes a safety torque cancellation test mode, a safety stop test mode, a safety limit speed test mode, a safety direction test mode and a safety speed monitoring test mode;

[0007] determining a test rule corresponding to the target test mode;

[0008] According to the test rule, the to-be-tested servo is tested to obtain corresponding test data;

[0009] According to the test data, the safety performance of the to-be-tested servo in the target test mode is determined.

[0010] In a second aspect, the present application also provides a servo safety function testing system, comprising:

[0011] The acquisition module is configured to acquire a target test mode corresponding to the servo under test from a safety function test mode, wherein the safety function test mode comprises a safety torque cancel test mode, a safety stop test mode, a safety limit speed test mode, a safety direction test mode and a safety speed monitoring test mode.

[0012] The first determination module is configured to determine a test rule corresponding to the target test mode.

[0013] The test module is configured to test the servo under test according to the test rule, and acquire corresponding test data.

[0014] The second determination module is configured to determine the safety performance of the servo under test in the target test mode according to the test data.

[0015] The servo safety function test method provided by the application has the following beneficial effects: the target test mode corresponding to the servo under test is acquired, the servo under test is tested according to the test rule corresponding to the target test mode, and corresponding test data is obtained, so that the phenomenon of triggering the safety function of the servo under test can be automatically observed and recorded, the interference factors in the manual recording of data are reduced, and the accuracy of the test data is high. The servo under test is evaluated according to the test data with high accuracy, and the safety performance of the servo under test is verified, so that the accuracy of the safety test result is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a flowchart of a servo safety function test method according to the application;

[0017] Figure 2 FIG. 4 is a schematic diagram of the connection between the NI cDAQ measurement and control system and the servo under test;

[0018] Figure 3 FIG. 5 is an STO / SS1 / SDI test mode interface diagram of the NI cDAQ measurement and control system;

[0019] Figure 4 FIG. 6 is an SLS / SSM test mode interface diagram of the NI cDAQ measurement and control system;

[0020] Figure 5 FIG. 7 is a structural diagram of a servo safety function test system according to the application. DETAILED DESCRIPTION

[0021] The following examples are further explanations and supplements of the application and do not constitute any limitation on the application.

[0022] The following describes a servo safety function test method and system according to an embodiment of the application with reference to the accompanying drawings.

[0023] This application discloses a servo security function testing method. The method is applied to a terminal device. This application uses the terminal device as the execution subject to describe the solution. The terminal device is used to execute the steps of a servo security function testing method.

[0024] like Figure 1 As shown, this application provides a method for testing server security functions, including:

[0025] Step S1: Obtain the target test mode corresponding to the servo under test from the safety function test modes; wherein, the safety function test modes include safety torque cancellation test mode, safety stop test mode, safety limit speed test mode, safety direction test mode and safety speed monitoring test mode.

[0026] Step S2: Determine the test rules corresponding to the target test mode;

[0027] Step S3: According to the test rules, test the servo under test and obtain the corresponding test data;

[0028] Step S4: Based on the test data, determine the safety performance of the servo under test in the target test mode.

[0029] This embodiment of a servo safety function testing method acquires a target test mode corresponding to the servo under test and tests the servo under test according to the test rules corresponding to the target test mode, obtaining corresponding test data. It can automatically observe and record phenomena where the servo under test triggers safety functions, reducing interference factors from manual data recording and resulting in high accuracy of the test data. Using this highly accurate test data to evaluate whether the servo under test meets the standards and to verify the safety performance of the servo under test improves the accuracy of the safety test results.

[0030] This embodiment provides a servo safety function testing method for five safety functions (Safe Torque Cancellation (STO), Safe Stop (SS1), Safe Limit Speed ​​(SLS), Safe Direction (SDI), and Safe Speed ​​Monitoring (SSM)) in the GB / T 12668.502-2013 / IEC 61800-5-2:2007 standard. This method can be used to verify the safety functions of servos under this standard. The method can be directly applied to test the five safety functions during the servo development and factory inspection stages. It can also simulate servo application scenarios to test the five safety functions (Safe Torque Cancellation (STO), Safe Stop (SS1), Safe Limit Speed ​​(SLS), Safe Direction (SDI), and Safe Speed ​​Monitoring (SSM) in these scenarios. The testing process is monitored and test data is recorded to verify the performance of the servo safety functions and their compliance with the functions of the GB / T 12668.502-2013 / IEC 61800-5-2:2007 standard.

[0031] When testing the servo under test using the servo safety function testing method of this embodiment, the testing equipment used is the NI cDAQ measurement and control system. The NI cDAQ measurement and control system has various types of signal input / output cards, thus supporting various safety applications formed by the tested motors and offering strong flexibility. The NI cDAQ measurement and control system is a high-performance embedded data acquisition system composed of an NI cDAQ-9138 embedded controller, C-series I / O modules, and testing software. The NI cDAQ measurement and control system allows for flexible and diverse hardware and software configurations to meet the needs of different safety function tests.

[0032] Figure 2 This is a schematic diagram showing the connection between the NI cDAQ measurement and control system and the servo under test, as shown below. Figure 2As shown, the system includes an NI cDAQ measurement and control system, a servo under test (DUT), a servo controller, and a power supply. The NI cDAQ measurement and control system is an NI cDAQ-9138 embedded controller with eight independent NI C-series I / O card slots. Based on the signal types required to drive the DUT, the NI cDAQ-9138 embedded controller is equipped with three I / O cards: a 4-channel digital input module (NI 9435), a 4-channel relay module (NI 9481), and an 8-channel voltage input module (NI 9221). The DUT is an MR-J5 series servo using speed control mode, model MR-J5-40G-RJ. The servo controller is an RD78G4 motion controller. The motor of the DUT is model HK-KT43WJ. The power supply is a NIPS-15. The HK-KT43WJ connects to the CNP3 port of the MR-J5-40G-RJ via a dedicated cable, and the encoder output of the HK-KT43WJ connects to the CN2 port of the MR-J5-40G-RJ via a dedicated cable. The servo controller connects to the MR-J5-40G-RJ via Ethernet, directly controlling the start / stop and speed of the HK-KT43WJ. The safety input port (CN8 port) of the MR-J5-40G-RJ connects to the NI 9481 via drain, and the safety output port (CN8 port) of the MR-J5-40G-RJ connects to the NI 9435 via drain, enabling the acquisition of servo safety input / output signals and control functions such as safety function triggering. The HK-KT43WJ connects to the NI 9221 via a rotary encoder, and the speed signal of the HK-KT43WJ is output to the NI 9221 through the rotary encoder. All the above signals are processed by the NI cDAQ-9138 embedded controller, and the test data is displayed in the host computer's test software. Customizable servo safety function test requirements, control output, and test data acquisition are possible. The NIPS-15 connects to NI 9481, NI 9435, and NI 9221 and is powered by 220V. The NIPS-15 is charged via a 220V–240V three-phase AC power supply.

[0033] The module includes: a 4-channel digital input module (NI 9435): a general-purpose drain / source digital input (DI) module with 4 channels, ±5V to 250VDC and ±10V to 250VAC, used to read servo safety output signals. A 4-channel relay module (NI 9481): a 4-channel single-pole single-throw (SPST) relay output module used to output servo safety signals. An 8-channel voltage input module (NI9221): an 8-channel ±60V voltage input module used to read servo encoder outputs.

[0034] The test software used to test the servo under test is a dedicated test software written in LabVIEW. This software runs on a PC connected to the NI-cDAQ test and control system and primarily performs functions such as setting safety function triggers, test control, and recording key test data. By analyzing the test results, the safety functions and performance of the servo under test are verified. The interface of the test software corresponding to the NI-cDAQ test and control system includes the software name (e.g., Speed ​​Regulating Electric Drive System Safety Function Test and Monitoring Software (STO SS1 SLSSDI SSM)), the test control and monitoring page, and the test overview page.

[0035] The test control and monitoring page includes the following functions and controls:

[0036] 1) "Motor Speed" Acquisition and Display Control: Acquires the pulse output (open collector output mode) of the rotary encoder and converts it into a speed value (speed r / min). After the test starts, it plots the waveform of the speed change over time. (The pulse frequency of the encoder output is internally set to 1000 pulses / r in the software code);

[0037] 2) "Safety Function Enable Signal" Acquisition and Graphical Display Control: After the test starts, the safety function enable signal (drain / source digital logic level) output to the servo under test is acquired and monitored. After the test starts, the waveform of this signal changing over time is plotted; where the enable signal represents the trigger signal.

[0038] 3) "Safety Output Signal" Acquisition and Graphical Display Control: Acquires the safety output signal (drain / source digital logic level) of the servo under test and plots the waveform of the signal over time (after the test starts);

[0039] 4) "Speed ​​Signal Acquisition Channel" drop-down list: Select the physical channel of the module for acquiring servo motor speed;

[0040] 5) "Safety Function Enable Signal Channel" drop-down list: Select the physical channel of the module for acquiring servo safety function enable signals;

[0041] 6) "Safety Function Output Signal Channel" drop-down list: Select the physical channel of the module for acquiring servo safety function output signals;

[0042] 7) "Safety Function Enable Signal" switch: Outputs the enable signal of the safety function under test to the servo in the form of drain / source digital logic level;

[0043] 8) "Test record save path" selection box and "Save test record" button: Customize the test data save path and file name, and then press the button to save;

[0044] 9) “STO / SS1 / SDI Test Mode” selection button: The STO / SS1 / SDI test mode is a test mode that uses the safety function enable signal and the safety function output signal as the start and end points of the response time of the function under test and calculates the time difference.

[0045] In this mode, the software UI also displays the following controls:

[0046] The “Measure Speed” text box displays the real-time measured value of the servo motor speed in r / min after the test starts.

[0047] The “Response Time” text box displays the response time measurement value of the security function under test in this test mode after the triggering conditions for response time calculation are met during the test.

[0048] Note: "Stop speed" is the reverse rotation speed threshold parameter set in the servo, and it is consistent with the servo setting in this software.

[0049] 10) "SLS / SSM Test Mode" selection button;

[0050] In this mode, the software UI also displays the following controls:

[0051] "Speed ​​Threshold" Input Text Box: Sets the SLS speed threshold in the SLS safety function test;

[0052] The "Overspeed Time" text box displays the time from the start of the test until the servo motor speed exceeds the SLS speed threshold.

[0053] The “Safety Output Trigger Time” text box records the time from the start of the test to the triggering of the safety output signal transition.

[0054] The “Overspeed Response Time” text box records the time interval (TSLS) from when the servo motor speed exceeds the SLS speed threshold to when the safety output signal indicates that the servo has entered a safe state. This is the time difference between the “Safety Output Signal Response Time” and the “Overspeed Time”.

[0055] 11) "Start Test" button: Controls the start of the test process;

[0056] 12) "Stop Test" button: Controls the end of the test process;

[0057] 13) "Exit" button: End the test program.

[0058] The test overview page contains the following functions and controls:

[0059] 1) "Speed" graph: Displays the servo motor speed variation graph recorded in the target file;

[0060] 2) "Servo Input Signal" Graph: Displays the waveform of the servo safety input signal changes recorded in the target file;

[0061] 3) "Servo Output Signal" Graph: Displays the waveform of the servo safety output signal changes recorded in the target file;

[0062] 4) "Path" folder selection box: Select the historical test record file to be loaded.

[0063] In this embodiment, the NI cDAQ measurement and control system actively enables the safety functions of the servo under test (SUT) via the "Safety Function Enable Signal Switch" button in the test software. The NI cDAQ system also controls the output of the servo safety function enable signal. Different test modes for safety functions are selected using the "STO / SS1 / SDI Test Mode" and "SLS / SSM Test Mode" buttons in the test software, and key test data is read under the current test mode. Depending on the test mode (STO / SS1 / SDI, SLS / SSM), corresponding test data such as motor speed, safety function enable signal, and safety output signal are displayed. The SUT is used to continuously feed back test data, including motor speed signal and servo safety output signals (STOS, SSMS), based on the control commands generated by the NI cDAQ system. The response time and safety output signal of the SUT triggering the safety function, recorded by the NI cDAQ system, verify whether the safety characteristics claimed in the user manual meet the standard requirements.

[0064] Optionally, the target test mode corresponding to the servo under test can be obtained from the security function test modes, including:

[0065] Obtain the functions to be tested from the servo under test;

[0066] Select the target test mode that matches the function under test from the security function test modes.

[0067] In this embodiment, the function under test is either the safety torque cancellation function, the safety stop function, the safety limit speed function, the safety direction function, or the safety speed monitoring function. The servo under test has multiple functions to be tested, and each function corresponds to a test mode. Each time, one function is selected from the various functions of the servo under test, and a target test mode matching the function under test is selected from the safety function test modes for testing. This allows for flexible testing of different functions of the servo under test.

[0068] Optionally, determine the test rules corresponding to the target test mode, including:

[0069] The system retrieves the candidate rules corresponding to the target test mode from the preset rule base; the preset rule base stores the correspondence between the target test mode and the candidate rules.

[0070] Use the alternative rules as the test rules corresponding to the target test mode.

[0071] In this embodiment, a preset rule base stores the correspondence between target test modes and candidate rules. Therefore, compared to the method of needing to re-formulate the test rules corresponding to the target test mode each time, or manually searching for the test rules corresponding to the target test mode, the method of this embodiment can directly find the candidate rules corresponding to the target test mode in the preset rule base and use the candidate rules as the test rules for the target test mode, thereby improving the search speed and thus improving testing efficiency.

[0072] Optionally, according to the test rules, the server under test is tested to obtain the corresponding test data, including:

[0073] When the target test mode is the safe torque cancellation test mode, send a safe torque cancellation enable signal to the servo under test and record the first time at this moment;

[0074] The power supply to the motor of the servo under test is cut off based on the safety torque cancellation enable signal.

[0075] The first speed of the motor is obtained at each first set interval;

[0076] When the first rotational speed is less than or equal to the preset first stop speed, record the second time at this moment;

[0077] Calculate the first time interval between the first time point and the second time point;

[0078] The first time interval is used as the test data for the servo under test.

[0079] In this embodiment, the first time is the trigger time of the safety torque cancellation function, and the second time is the completion time of the safety torque cancellation function. When the target test mode is the safety torque cancellation test mode (STO test mode), the safety torque cancellation function (STO function) is triggered by sending a safety torque cancellation enable signal to the servo under test, and the trigger time (first time) is recorded. The first speed of the motor after the safety torque cancellation enable signal is issued is recorded. The safety torque cancellation enable signal will cut off the power supply to the motor of the servo under test. When the first speed is less than or equal to the preset first stop speed, the safety torque cancellation function is completed, and the completion time (second time) is recorded. Using the first time interval between the trigger time and the completion time as test data, the safety performance of the safety torque cancellation function of the servo under test can be analyzed, thereby completing the safety test of the safety torque cancellation function of the servo under test. Brief description of the safety torque cancellation function (STO function): The power supply that can cause rotation (or motion, if it is a linear motor) is not applied to the motor. The PDS (SR) will not provide energy to the motor that generates torque (or force, if it is a linear motor).

[0080] In some embodiments, the first stopping speed is 0.

[0081] The Safety Torque Cancellation (STO) function test is used to test the STO function of the servo under test. In real-world industrial environments, the STO function is similar to an emergency stop button. However, in this experiment, the STO function is actively triggered by outputting a switching signal from the NI cDAQ measurement and control system.

[0082] Figure 3 The interface diagram of the STO / SS1 / SDI test modes of the NI cDAQ measurement and control system is shown below. Figure 3The interface shown includes the test software name, test control and monitoring interface, and test overview interface. The test software name is "Speed-Regulating Electric Drive System Safety Function Test and Monitoring Software (STO SS1 SLSSDI SSM)". The test control and monitoring interface includes interfaces for monitoring motor speed and time changes, safety function enable signal and time changes, and safety output signal and time changes. The test overview interface includes speed signal acquisition channels, safety function enable signal channels, safety function output signal channels, safety function enable signal (STO enable signal, SS1 enable signal, SDI enable signal) switches, test record save path, save button, measure speed, response time (ms), STO / SS1 / SDI test mode buttons, SLS / SSM test mode buttons, test start button, stop test button, and exit button. In the target test mode (STO test mode, SS1 test mode, or SDI test mode), based on the parameters displayed on the test software (measured speed, response time) and the changes in motor speed and time, safety function enable signal and time, and safety output signal and time displayed on the test control and monitoring interface, the trigger time and completion time corresponding to the target test mode are analyzed, thereby obtaining the test data of the function corresponding to the target test mode. This facilitates the analysis of the safety performance of the function corresponding to the target test mode based on the test data.

[0083] During normal operation of the servo under test (SUT), the STO test mode is performed. The STO function is triggered to enter test mode by setting STOC (STO command, safety torque deactivation enable signal) to OFF. When the STO function is triggered, the power supply to the motor of the SUT is cut off, and the motor speed is gradually reduced to zero through dynamic braking. Normal operation of the SUT is restored by setting STOC (STO command) to ON. During the STO function test, the system automatically monitors and calculates the first time interval (T) from when the STO command is set to "valid" until the STO signal output indicates the STO state of the SUT. STO ).

[0084] The test procedure for the Safety Torque Cancellation Test Mode (STO test mode) is as follows:

[0085] 1) Connect the servo and motor under test to the NI cDAQ measurement and control system as required and run the test software;

[0086] 2) Select the NI9221 physical channel for acquiring the speed of the motor of the servo under test through the "Speed ​​Signal Acquisition Channel" drop-down list control;

[0087] 3) Select the NI 9481 physical channel for collecting the safety torque de-enable signal of the servo under test through the "Safety Function Enable Signal Channel" drop-down list control;

[0088] 4) Select the NI 9435 physical channel for collecting the safety torque output signal of the servo under test by using the "Safety Function Output Signal Channel" drop-down list control;

[0089] 5) Click the "STO / SS1 / SDI Test Mode" button and use the RD78G4 servo controller under test to drive the servo under test to make the motor run normally;

[0090] 6) Click the “Safety Function Enable Signal” switch to send a safety torque deactivation signal to the servo under test, observe the test data displayed in the test software interface, and judge the test results based on the test criteria of the servo under test.

[0091] Test criteria: After setting the STO command (Safe Torque Cancel Enable signal) to "Enable", the power supply to the motor of the servo under test is cut off. Simultaneously, the servo under test decelerates the motor using dynamic braking to a speed lower than the servo under test's "first stop speed", and the STO output signal of the servo under test should indicate that the servo under test has entered the STO function state. Then, after setting the STO command (Safe Torque Cancel Enable signal) to "Disable", the STO output signal should indicate that the servo under test has canceled the STO function.

[0092] Optionally, according to the test rules, the server under test is tested to obtain the corresponding test data, including:

[0093] When the target test mode is the safe stop test mode, send a safe stop enable signal to the servo under test and record the third time at this time;

[0094] Based on the safety stop enable signal, the motor of the servo under test is decelerated.

[0095] The second speed of the motor is obtained at a second set interval;

[0096] When the second rotational speed is less than or equal to the preset second stop speed, record the fourth time at this point;

[0097] Calculate the second time interval between the third and fourth times;

[0098] The second time interval is used as the test data for the servo under test.

[0099] In this embodiment, the third time is the trigger time of the safety stop function, and the fourth time is the completion time of the safety stop function. When the target test mode is the safety stop test mode (SS1 test mode), the safety stop function (SS1 function) is triggered by sending a safety stop enable signal to the servo under test, and the trigger time (third time) is recorded. The second rotational speed of the motor of the servo under test is recorded after the safety stop enable signal is issued. The safety stop enable signal will decelerate the motor of the servo under test. When the second rotational speed is less than or equal to the preset second stop speed, the safety stop function is completed, and the completion time (fourth time) is recorded. Using the second time interval between the trigger time and the completion time as test data, the safety performance of the safety stop function of the servo under test can be analyzed, thereby completing the safety test of the safety stop function of the servo under test.

[0100] In some embodiments, the second stopping speed is 0.

[0101] Safety Stop Function (SS1 Function) Brief Description: Within the set limits, the motor is started and monitored to decelerate and stop. At this time, it is in SS1 function state, and then enters STO function state.

[0102] During normal operation of the servo under test (SUT), the SS1 test mode is entered. The SS1 function is triggered by setting SS1C (SS1 command, safety stop enable signal) to OFF to enter test mode. When the SS1 function is triggered, the SUT decelerates the servo motor to zero using any one of the following methods: dynamic braking, electronic dynamic braking, or forced stop. The SUT then enters the STO state. Setting SS1C (SS1 command) to ON restores normal operation. During the SS1 function test, the system automatically monitors and calculates the second time interval (T) from when the SUT SS1 command is set to "valid" until the STO signal output indicates that the SUT's SS1 function is complete (i.e., in the STO state). SS1 ).

[0103] The test procedure for the Safe Stop Test Mode (SS1 Test Mode) is as follows:

[0104] 1) Connect the servo and motor under test to the NI cDAQ measurement and control system as required and run the test software;

[0105] 2) Select the NI9221 physical channel for acquiring the speed of the motor of the servo under test through the "Speed ​​Signal Acquisition Channel" drop-down list control;

[0106] 3) Select the NI 9481 physical channel for acquiring the safety stop enable signal of the servo under test through the "Safety Function Enable Signal Channel" drop-down list control;

[0107] 4) Select the NI 9435 physical channel for acquiring the safety stop output signal of the servo under test using the "Safety Function Output Signal Channel" drop-down list control;

[0108] 5) Click the "STO / SS1 / SDI Test Mode" button and use the RD78G4 servo controller under test to drive the servo under test to make the motor run normally;

[0109] 6) Click the “Safety Function Enable Signal” switch to send a safety stop enable signal to the servo under test, observe the test data displayed in the test software interface, and judge the test results based on the test criteria of the servo under test.

[0110] Test criteria: After the SS1 command (safety stop enable signal) is set to "valid", the motor should decelerate to 0 within a short time, and the servo STO output signal should indicate that the servo has entered the STO function state. After the SS1 command (safety stop enable signal) is set to "invalid", the servo STO output signal should indicate that the servo has canceled the STO function state.

[0111] Optionally, according to the test rules, the server under test is tested to obtain the corresponding test data, including:

[0112] When the target test mode is the safe direction test mode, send a safe direction enable signal to the servo under test;

[0113] The third rotational speed of the motor of the servo under test is obtained at every third set interval;

[0114] According to the safety direction enable signal, when the motor rotation direction is opposite to the preset direction and the third speed is greater than the preset third stop speed, the motor of the servo under test is decelerated and the fifth time is recorded at this time.

[0115] When the third rotational speed is less than or equal to the third stopping speed, record the sixth time at this point;

[0116] Calculate the third time interval between the fifth and sixth times;

[0117] The third time interval is used as the test data for the servo under test.

[0118] In this embodiment, the fifth time is the trigger time of the safety direction function, and the sixth time is the completion time of the safety direction function. When the target test mode is the safety direction test mode (SDI test mode), a safety direction enable signal is sent to the servo under test. When the third rotational speed of the servo under test's motor is greater than the preset second stop speed, the safety direction function (SDI function) is triggered, the motor of the servo under test is decelerated, and the trigger time (fifth time) is recorded. The safety direction function is completed when the third rotational speed is less than or equal to the third stop speed, and the completion time (sixth time) is recorded. Using the third time interval between the trigger time and the completion time as test data, the safety performance of the safety direction function of the servo under test can be analyzed, thereby completing the safety test of the safety direction function of the servo under test.

[0119] In some embodiments, the third stopping speed is 0.

[0120] Safety Direction Function (SDI Function) Brief Description: Continuously monitors whether the motor's rotation direction is in the specified direction and whether the motor's speed is greater than the preset third stop speed. If the motor's rotation direction is opposite to the specified direction and the motor's speed is greater than the preset third stop speed, the SDI function is triggered until the motor's speed is less than or equal to the third stop speed. At this time, it is in the SDI function state, and then enters the STO function state.

[0121] During normal operation of the servo under test (SDT), enter the SDI test mode. The SDI function is triggered by setting SDIPC (SDIP instruction, also known as SDI instruction, safety direction enable signal) to OFF. In direction monitoring, if the monitored motor speed feedback exceeds the second stop speed in the specified monitored direction, the SDT triggers the SDI function, decelerating the motor and recording the trigger time (fifth time). The safety direction function is completed when the third speed is less than or equal to the third stop speed, and then the STO function is entered. During the SDI safety function test, after the test begins, the system automatically monitors and calculates the third time interval (T) from when the motor speed of the SDT exceeds the third stop speed in the opposite direction of the specified direction until the safety function output signal indicates that the SDI function of the SDT is complete (i.e., entering the STO function state). SDI ).

[0122] The testing procedure for the security-oriented test mode (SDI test mode) is as follows:

[0123] 1) Connect the servo and motor under test to the NI cDAQ measurement and control system as required and run the test software;

[0124] 2) Select the NI9221 physical channel for acquiring the speed of the motor of the servo under test through the "Speed ​​Signal Acquisition Channel" drop-down list control;

[0125] 3) Select the NI 9481 physical channel for acquiring the safety direction enable signal of the servo under test through the "Safety Function Enable Signal Channel" drop-down list control;

[0126] 4) Select the NI 9435 physical channel for acquiring the safety direction output signal of the servo under test through the "Safety Function Output Signal Channel" drop-down list control;

[0127] 5) Click the “STO / SS1 / SDI Test Mode” button, and use the RD78G4 servo controller under test to drive the servo to make the motor run in the direction specified by SDI or the opposite direction.

[0128] 6) Click the “Safety Function Enable Signal” switch to send a safety direction enable signal to the servo under test, observe the test data displayed in the test software interface, and judge the test results based on the test criteria of the servo under test.

[0129] Test criteria: After the SDI command (safe direction enable signal) is set to "valid", if the motor running direction is opposite to the specified direction and the motor speed is greater than the third stop speed, the motor should decelerate to the third stop speed or below within a short time to complete the SDI function, and the STO output signal should indicate that the servo has entered the STO state. If the motor running direction is the same as the specified direction, the motor can continue to run normally.

[0130] Optionally, according to the test rules, the server under test is tested to obtain the corresponding test data, including:

[0131] When the target test mode is the safety limit speed test mode, send the safety limit speed enable signal to the servo under test.

[0132] The fourth rotational speed of the motor of the servo under test is obtained at every fourth set interval;

[0133] Based on the safety direction enable signal, when the absolute value of the fourth speed is greater than the speed threshold, the motor of the servo under test is decelerated, and the seventh time at this time is recorded.

[0134] When the fourth rotational speed is less than or equal to the fourth stopping speed, record the eighth time at this point;

[0135] Calculate the fourth time interval between the seventh and eighth times;

[0136] The fourth time interval is used as the test data for the servo under test.

[0137] In this embodiment, the seventh time is the trigger time of the safety limit speed function, and the eighth time is the completion time of the safety limit speed function. When the target test mode is the safety limit speed test mode (SLS test mode), a safety limit speed enable signal is sent to the servo under test. When the absolute value of the fourth rotational speed is greater than the rotational speed threshold, a safety accident may occur. At this time, the safety limit speed function (SLS function) is triggered, and the motor of the servo under test is decelerated. The trigger time (seventh time) is recorded. The safety limit speed function is completed when the fourth rotational speed is less than or equal to the fourth stopping speed, and the completion time (eighth time) is recorded. The response time (fourth time interval) between the trigger time and the completion time is used as test data. The safety performance of the safety limit speed function of the servo under test can be analyzed, thereby completing the safety test of the safety limit speed function of the servo under test.

[0138] In some embodiments, the fourth stopping speed is 0.

[0139] Safety Limit Speed ​​Function (SLS Function) Overview: This function uses the NI cDAQ measurement and control system to set the key test parameter for the SLS safety function test of the servo under test: the speed threshold. When the motor speed exceeds the speed threshold set in the servo system, the SLS function is triggered. After the SLS function completes, the STO function is activated.

[0140] During normal operation of the servo under test, enter SLS test mode. Enter test mode by setting SLSC (SLS command, safety limit speed enable signal) to OFF. In speed monitoring, if the absolute value of the monitored motor speed feedback exceeds the speed threshold set in the servo, the SLS function is triggered, the motor of the servo under test is decelerated, and the trigger time (seventh time) is recorded. The safety limit speed function is completed when the fourth speed is less than or equal to the fourth stop speed, and the servo enters the STO function state. When performing the SLS function test, after the test starts, the system automatically monitors and calculates the fourth time interval (T) from when the servo motor speed exceeds the threshold until the safety function output signal indicates that the SLS function of the servo under test has been completed (i.e., entered the STO function state). SLS ).

[0141] Figure 4 This is a diagram of the SLS / SSM test mode interface of the NI cDAQ measurement and control system, such as... Figure 4The interface shown includes the test software name, test control and monitoring interface, and test overview interface. The test software name is "Speed-Regulating Electric Drive System Safety Function Test and Monitoring Software (STO SS1 SLSSDI SSM)". The test control and monitoring interface includes interfaces for monitoring motor speed and time changes, safety function enable signal and time changes, and safety output signal and time changes. The test overview interface includes a speed signal acquisition channel, a safety function enable signal channel, a safety function output signal channel, a safety function enable signal (SLS enable signal, SSM enable signal) switch, a test record save path, a save button, a speed measurement button, STO / SS1 / SDI test mode buttons, SLS / SSM test mode buttons, speed threshold, overspeed time, safety output trigger time, overspeed response time, test start button, stop test button, and exit button. In the target test mode (SLS test mode or SSM test mode), based on the parameters displayed on the test software (speed threshold, overspeed time, safety output trigger time and overspeed response time) and the changes in motor speed and time, safety function enable signal and time, and safety output signal and time displayed on the test control and monitoring interface, the trigger time and completion time corresponding to the target test mode are analyzed, thereby obtaining the test data of the function corresponding to the target test mode, which is convenient for analyzing the safety performance of the function corresponding to the target test mode based on the test data.

[0142] The test procedure for the Safety Limit Speed ​​Test Mode (SLS Test Mode) is as follows:

[0143] 1) Connect the servo and motor under test to the NI cDAQ measurement and control system as required and run the test software;

[0144] 2) Select the NI9221 physical channel for acquiring the speed of the motor of the servo under test through the "Speed ​​Signal Acquisition Channel" drop-down list control;

[0145] 3) Select the NI 9481 physical channel for acquiring the safety limit speed enable signal of the servo under test through the "Safety Function Enable Signal Channel" drop-down list control;

[0146] 4) Select the NI 9435 physical channel for acquiring the safety direction output signal of the servo under test through the "Safety Function Output Signal Channel" drop-down list control;

[0147] 5) Click the “SLS / SSM Test Mode” button and enter the SLS speed threshold set in the servo system in the “Speed ​​Threshold” input text box;

[0148] 6) Use the RD78G4 servo controller under test to drive the servo so that the motor speed reaches 60% of the SLS speed set in the servo. Observe the value of the "Motor Speed" acquisition and display control in the NI cDAQ measurement and control system software interface to confirm that the motor is running at a constant speed.

[0149] 7) Click the “Safety Function Enable Signal” switch to send a safety limit speed enable signal to the servo under test. Use the RD78G4 servo controller under test to drive the servo to increase the motor speed to the SLS speed threshold set in the servo system. Observe the test data displayed in the test software interface and judge the test results according to the test criteria of the servo under test.

[0150] Test criteria: After the SLS command (SLS enable signal) is set to "valid", when the motor speed is higher than the speed threshold set in the servo system, the motor should decelerate to below the "fourth stop speed" within a short time to complete the SLS function, and the STO output signal should indicate that the servo has entered the STO state.

[0151] Optionally, according to the test rules, the server under test is tested to obtain the corresponding test data, including:

[0152] When the target test mode is the safe speed monitoring test mode, send a safe speed monitoring enable signal to the servo under test.

[0153] The fifth rotational speed of the motor of the servo under test is obtained at every fifth set interval;

[0154] Based on the safety speed monitoring enable signal, when the absolute value of the fifth rotation speed is greater than the preset safety speed, record the status of the safety output signal at this time;

[0155] The status of the safety output signal is used as the test data for the servo under test.

[0156] In this embodiment, the safety output signal status represents the trigger time of the safety speed monitoring function. When the target test mode is the safety speed monitoring test mode (SSM test mode), a safety speed monitoring enable signal is sent to the servo under test. When the absolute value of the fifth rotational speed is greater than the preset safety speed, the safety speed monitoring function (SSM function) is triggered, and the safety output signal status is recorded. Using this safety output signal status as test data, the safety performance of the safety speed monitoring function of the servo under test can be analyzed, thereby completing the safety test of the safety speed monitoring function of the servo under test.

[0157] Safety Speed ​​Monitoring (SSM) Function Overview: The SSM function provides a safety output signal to indicate whether the motor speed is not higher than the preset safety speed. If it is higher than the preset safety speed, the motor speed will be monitored.

[0158] When the servo under test is running normally, enter the SSM test mode. When both the speed command and motor speed feedback of the servo under test are below the preset safe speed, SSMS (SSM output) is ON, and the absolute value of the servo speed command and the absolute value of the motor speed feedback are monitored to see if they exceed the preset safe speed. If either one is detected to exceed the SSM speed, then SSMS (SSM output) is OFF.

[0159] The test procedure for the Safe Speed ​​Monitoring Test Mode (SSM Test Mode) is as follows:

[0160] 1) Connect the servo and motor under test to the NI cDAQ measurement and control system as required and run the test software;

[0161] 2) Select the NI9221 physical channel for acquiring the speed of the motor of the servo under test through the "Speed ​​Signal Acquisition Channel" drop-down list control;

[0162] 3) Select the NI 9481 physical channel for acquiring the safety speed monitoring enable signal of the servo under test through the "Safety Function Enable Signal Channel" drop-down list control;

[0163] 4) Select the NI 9435 physical channel for acquiring the safety speed monitoring output signal of the servo under test through the "Safety Function Output Signal Channel" drop-down list control;

[0164] 5) Use the RD78G4 servo controller under test to drive the servo so that the motor speed is repeatedly lower or higher than the preset safe speed set in the servo system. Observe the test data displayed in the test software interface and judge the test results according to the test criteria of the servo under test.

[0165] Test criteria: When the motor speed is below the preset safe speed during normal operation of the servo under test, the servo safety output signal is ON; otherwise, it is OFF.

[0166] Optionally, based on the test data, determine the safety performance of the servo under test in the target test mode, including:

[0167] When the test data meets the preset requirements corresponding to the target test mode, it is determined that the servo under test meets the safety requirements in the target test mode;

[0168] If the test data does not meet the preset requirements corresponding to the target test mode, it is determined that the servo under test does not meet the safety requirements in the target test mode.

[0169] In this embodiment, based on the test data, it is possible to determine whether the security function corresponding to the target test mode meets the preset requirements, thereby determining whether the security performance of the security function corresponding to the target test mode meets the security requirements, and realizing the test analysis of the security function of the servo under test.

[0170] like Figure 5 As shown, this application provides a servo safety function testing system, including:

[0171] The acquisition module is used to acquire the target test mode corresponding to the servo under test from the safety function test modes; among which, the safety function test modes include the safety torque cancellation test mode, the safety stop test mode, the safety limit speed test mode, the safety direction test mode, and the safety speed monitoring test mode.

[0172] The first determination module is used to determine the test rules corresponding to the target test mode;

[0173] The testing module is used to test the servo under test according to the testing rules and obtain the corresponding test data.

[0174] The second determination module is used to determine the safety performance of the servo under test in the target test mode based on the test data.

[0175] Optionally, the acquisition module is specifically used for:

[0176] Obtain the functions to be tested from the servo under test;

[0177] Select the target test mode that matches the function under test from the security function test modes.

[0178] Optionally, the first determining module is specifically used for:

[0179] The system retrieves the candidate rules corresponding to the target test mode from the preset rule base; the preset rule base stores the correspondence between the target test mode and the candidate rules.

[0180] Use the alternative rules as the test rules corresponding to the target test mode.

[0181] Optionally, the test module is specifically used for:

[0182] When the target test mode is the safe torque cancellation test mode, send a safe torque cancellation enable signal to the servo under test and record the first time at this moment;

[0183] The power supply to the motor of the servo under test is cut off based on the safety torque cancellation enable signal.

[0184] The first speed of the motor is obtained at each first set interval;

[0185] When the first rotational speed is less than or equal to the preset first stop speed, record the second time at this moment;

[0186] Calculate the first time interval between the first time point and the second time point;

[0187] The first time interval is used as the test data for the servo under test.

[0188] Optionally, the test module is specifically used for:

[0189] When the target test mode is the safe stop test mode, send a safe stop enable signal to the servo under test and record the third time at this time;

[0190] Based on the safety stop enable signal, the motor of the servo under test is decelerated.

[0191] The second speed of the motor is obtained at a second set interval;

[0192] When the second rotational speed is less than or equal to the preset second stop speed, record the fourth time at this point;

[0193] Calculate the second time interval between the third and fourth times;

[0194] The second time interval is used as the test data for the servo under test.

[0195] Optionally, the test module is specifically used for:

[0196] When the target test mode is the safe direction test mode, send a safe direction enable signal to the servo under test;

[0197] The third rotational speed of the motor of the servo under test is obtained at every third set interval;

[0198] According to the safety direction enable signal, when the motor rotation direction is opposite to the preset direction and the third speed is greater than the preset third stop speed, the motor of the servo under test is decelerated and the fifth time is recorded at this time.

[0199] When the third rotational speed is less than or equal to the third stopping speed, record the sixth time at this point;

[0200] Calculate the third time interval between the fifth and sixth times;

[0201] The third time interval is used as the test data for the servo under test.

[0202] Optionally, the test module is specifically used for:

[0203] When the target test mode is the safety limit speed test mode, send the safety limit speed enable signal to the servo under test.

[0204] The fourth rotational speed of the motor of the servo under test is obtained at every fourth set interval;

[0205] Based on the safety direction enable signal, when the absolute value of the fourth speed is greater than the speed threshold, the motor of the servo under test is decelerated, and the seventh time at this time is recorded.

[0206] When the fourth rotational speed is less than or equal to the fourth stopping speed, record the eighth time at this point;

[0207] Calculate the fourth time interval between the seventh and eighth times;

[0208] The fourth time interval is used as the test data for the servo under test.

[0209] Optionally, the test module is specifically used for:

[0210] When the target test mode is the safe speed monitoring test mode, send a safe speed monitoring enable signal to the servo under test.

[0211] The fifth rotational speed of the motor of the servo under test is obtained at every fifth set interval;

[0212] Based on the safety speed monitoring enable signal, when the absolute value of the fifth rotation speed is greater than the preset safety speed, record the status of the safety output signal at this time;

[0213] The status of the safety output signal is used as the test data for the servo under test.

[0214] Optionally, the second determining module is specifically used for:

[0215] When the test data meets the preset requirements corresponding to the target test mode, it is determined that the servo under test meets the safety requirements in the target test mode;

[0216] If the test data does not meet the preset requirements corresponding to the target test mode, it is determined that the servo under test does not meet the safety requirements in the target test mode.

[0217] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0218] Those skilled in the art will recognize that this application can be implemented as a system, method, or computer program product. Therefore, this disclosure can be implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this application can also be implemented as a computer program product contained in one or more computer-readable media, which contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof.

[0219] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0220] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method of testing a servo safety function, characterized by, The application relates to a method for testing a servo motor, and belongs to the technical field of servo motor testing. The method comprises the following steps: acquiring a target test mode corresponding to a servo motor to be tested from a safety function test mode; wherein the safety function test mode comprises a safety torque cancellation test mode, a safety stop test mode, a safety limit speed test mode, a safety direction test mode and a safety speed monitoring test mode; determining a test rule corresponding to the target test mode; testing the servo motor to be tested according to the test rule, and acquiring corresponding test data; determining the safety performance of the servo motor to be tested in the target test mode according to the test data; 2. The method of claim 1, wherein, when the target test mode is the safety torque cancellation test mode, sending a safety torque cancellation enabling signal to the servo motor to be tested, and recording a first time; cutting off the power supply of a motor of the servo motor according to the safety torque cancellation enabling signal; acquiring a first rotating speed of the motor every first set time length; 3. The method of claim 1, wherein, when the first rotating speed is less than or equal to a preset first stop speed, recording a second time; calculating a first time interval from the first time to the second time; and taking the first time interval as the test data corresponding to the servo motor to be tested.

4. The method of claim 1, wherein, The method comprises the following steps: acquiring a test function of the servo motor to be tested; selecting a target test mode matching the test function from the safety function test mode. The method comprises the following steps: finding out an alternative rule corresponding to the target test mode from a preset rule library; wherein the preset rule library stores a corresponding relationship between target test modes and alternative rules; taking the alternative rule as the test rule corresponding to the target test mode. The method comprises the following steps:

5. The method of claim 1, wherein, when the target test mode is the safety stop test mode, sending a safety stop enabling signal to the servo motor to be tested, and recording a third time; performing a deceleration operation on a motor of the servo motor according to the safety stop enabling signal; acquiring a second rotating speed of the motor every second set time length; when the second rotating speed is less than or equal to a preset second stop speed, recording a fourth time; calculating a second time interval from the third time to the fourth time; and taking the second time interval as the test data corresponding to the servo motor to be tested. The method comprises the following steps: when the target test mode is the safety direction test mode, sending a safety direction enabling signal to the servo motor to be tested; acquiring a third rotating speed of a motor of the servo motor every third set time length; when the rotating direction of the motor is the opposite direction of a preset direction, and the third rotating speed is greater than a preset third stop speed, performing a deceleration operation on the motor of the servo motor according to the safety direction enabling signal, and recording a fifth time; and calculating a third time interval from the third time to the fifth time; and taking the third time interval as the test data corresponding to the servo motor to be tested. record a sixth time when the third rotation speed is less than or equal to a third stop speed; calculate a third time interval from the fifth time to the sixth time; take the third time interval as test data corresponding to the servo under test.

6. The method of claim 1, wherein, The testing the servo under test according to the test rule and obtaining corresponding test data comprises: when the target test mode is a safety limit speed test mode, sending a safety limit speed enabling signal to the servo under test; obtaining a fourth rotation speed of a motor of the servo under test every fourth set time length; when the absolute value of the fourth rotation speed is greater than a rotation speed threshold value according to the safety limit speed enabling signal, performing a deceleration operation on the motor of the servo under test and recording a seventh time; recording an eighth time when the fourth rotation speed is less than or equal to a fourth stop speed; calculating a fourth time interval from the seventh time to the eighth time; taking the fourth time interval as test data corresponding to the servo under test.

7. The method of claim 1, wherein, The testing the servo under test according to the test rule and obtaining corresponding test data comprises: when the target test mode is a safety speed monitoring test mode, sending a safety speed monitoring enabling signal to the servo under test; obtaining a fifth rotation speed of a motor of the servo under test every fifth set time length; when the absolute value of the fifth rotation speed is greater than a preset safety speed according to the safety speed monitoring enabling signal, recording a safety output signal state at this time; taking the safety output signal state as test data corresponding to the servo under test.

8. The method according to any one of claims 1 to 7, characterized in that, The determining the safety performance of the servo under test in the target test mode according to the test data comprises: when the test data meets a preset requirement corresponding to the target test mode, determining that the servo under test meets a safety requirement in the target test mode; when the test data does not meet the preset requirement corresponding to the target test mode, determining that the servo under test does not meet the safety requirement in the target test mode.

9. A servo safety function test system characterized by comprising: comprise: an obtaining module configured to obtain a target test mode corresponding to a servo under test from a safety function test mode; wherein the safety function test mode comprises a safety torque cancellation test mode, a safety stop test mode, a safety limit speed test mode, a safety direction test mode and a safety speed monitoring test mode; a first determining module configured to determine a test rule corresponding to the target test mode; a testing module configured to test the servo under test according to the test rule and obtain corresponding test data; a second determining module configured to determine the safety performance of the servo under test in the target test mode according to the test data; The test module is specifically configured to: when the target test mode is a safety torque off test mode, send a safety torque off enabling signal to the servo under test, and record a first time; according to the safety torque off enabling signal, cut off the power supply of the motor of the servo under test; obtain a first rotating speed of the motor every first set time length; when the first rotating speed is less than or equal to a preset first stop speed, record a second time; calculate a first time interval from the first time to the second time; and take the first time interval as test data corresponding to the servo under test.

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