Bus type servo test method and related equipment

Abstract

The invention relates to the field of servo, and discloses a bus type servo test method and related equipment, and the method comprises the steps: configuring a test bus servo according to the test demands of a user, and building the communication connection between the test bus servo and an upper computer master station; performing axis parameter initialization on the test bus servo and clearing axis alarm information; determining a target test set corresponding to the test bus servo based on a user test demand; the method comprises the following steps: calling each test case subitem in a target test set, and sequentially executing each test case subitem until all the test case subitems are executed, so as to obtain a running test result; and reading data sent by the host computer master station, and comparing and generating a test fault text in combination with the operation test result of the test bus servo and the test expectation value. According to the invention, the full-automatic process of the bus type servo test is realized, the test requirements are matched, the compatibility of the multi-axis servo test is realized, the test efficiency is obviously improved, the cost is reduced, and the flexibility and applicability of the test are enhanced.

Description

Technical Field

[0001] The present application relates to the field of servo, and more specifically, to a bus-type servo testing method and related equipment. Background Art

[0002] Industrial Ethernet motion control bus EtherCAT, with its excellent communication rate, outstanding anti-interference ability and powerful real-time performance, is gradually replacing the traditional pulse and analog interface control methods, and has established itself as a new benchmark for communication between motion controllers and servo drives. When testing such servo drive unit software based on the EtherCAT bus, software test engineers must carefully design test cases based on test requirements and implement them one by one through a host computer master station such as the CodeSys master station.

[0003] However, this process faces multiple challenges. There are many types of test cases and the workload of writing them is large. The test execution process is full of repetitive and complex operations, which not only greatly slows down the progress of the test, but also increases the possibility of test omissions and errors due to fatigue caused by long working hours of testers. Especially when conducting comprehensive functional verification, manual testing may take one to two weeks, which is difficult to quickly adapt to the rapidly changing test requirements in the field of industrial automation and cannot meet the needs of rapid iteration. This makes it particularly difficult to ensure the comprehensiveness and accuracy of the test for projects with strict delivery deadlines.

[0004] Based on this, the present application provides a more efficient and reliable bus-type servo testing solution, which improves testing efficiency and quality and can adapt to current testing needs. Summary of the invention

[0005] In view of this, the present application provides a bus-type servo testing method, device, equipment and readable storage medium, which realizes a fully automated process of bus-type servo testing, accurately matches test requirements and achieves multi-axis servo testing compatibility, significantly improves test efficiency, reduces costs, and enhances test flexibility and applicability.

[0006] A bus servo testing method, comprising:

[0007] Configure the test bus servo according to the user's test requirements, and establish a communication connection between the test bus servo and the host computer master station;

[0008] Initializing axis parameters of the test bus servo and clearing axis alarm information;

[0009] Determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement;

[0010] For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, a running test result is obtained;

[0011] The data sent by the host computer master station is read, and the test fault text is generated by comparison based on the running test result of the test bus servo and the test expected value.

[0012] Optionally, configuring the test bus servo according to the user test requirements and establishing a communication connection between the test bus servo and the host computer master station includes:

[0013] If the user's test requirement is to perform a multi-mode test on a single servo, a single servo is configured to record all the parameters required for the multi-mode test, and a communication connection between the test bus servo and the host computer master station is established by connecting the single servo to the host computer master station;

[0014] If the user's test requirement is to perform single-mode testing on multiple servos, multiple servos are configured that respectively record the corresponding single-mode test parameters, and a communication connection between the test bus servo and the host computer master station is established by connecting the multiple servos in series to the host computer master station.

[0015] Optionally, before initializing the axis parameters of the test bus servo and clearing the axis alarm information, the method further includes:

[0016] Performing axis parameter reading detection and system fault detection on the test bus servo;

[0017] If all the tests are passed, the process of initializing the axis parameters of the test bus servo and clearing the axis alarm information is executed;

[0018] If the detection fails, the failed test bus servo will be reset and the error will be traced.

[0019] Optionally, determining a target test set corresponding to the test bus servo based on the user test requirement includes:

[0020] According to the mode requirement in the user test requirement, determine the target test mode corresponding to the mode requirement, and determine all test case items under the target test mode;

[0021] According to the functional requirements in the user test requirements, selecting test case items that match the functional requirements from all test case items under the target test mode;

[0022] A target test set corresponding to the test bus servo is constructed based on the selected test case items.

[0023] Optionally, for the test bus servo, the test case items are sequentially executed until all the test case items are executed to obtain the running test result, including:

[0024] Execute the test cases in order, obtain the motor operation data during execution, and check whether the servo drive has any abnormal alarm;

[0025] If there is an abnormal alarm, the error handling subroutine will be entered;

[0026] If there is no abnormal alarm and all the items of the test case are executed, the motor operation data is integrated to obtain the operation test result.

[0027] Optionally, the test modes include CSP mode, CSV mode, CST mode, PP mode, PV mode, PT mode, and HM mode.

[0028] A bus type servo test device, comprising:

[0029] A servo configuration unit, used to configure the test bus servo according to the user's test requirements, and to establish a communication connection between the test bus servo and the host computer master station;

[0030] An initial processing unit, used for initializing axis parameters of the test bus servo and clearing axis alarm information;

[0031] A use case collection unit, used to determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement;

[0032] An execution test unit is used for obtaining a running test result by calling each test case item in the target test set and sequentially executing each test case item until all the test case items are executed;

[0033] The test fault unit is used to read the data sent by the host computer master station, combine the running test results of the test bus servo and the test expected value, and compare and generate a test fault text.

[0034] A bus-type servo test device comprises a memory and a processor;

[0035] The memory is used to store programs;

[0036] The processor is used to execute the program to implement each step of the bus servo testing method as described in any one of the above items.

[0037] A readable storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, each step of the bus servo test method as described in any one of the above items is implemented.

[0038] A computer program product includes a computer program, wherein the computer program executes each step of any of the above bus servo testing methods when the computer program is executed by a processor.

[0039] It can be seen from the above technical scheme that a bus-type servo test method, device, equipment and readable storage medium provided by the embodiment of the present application configure the test bus servo according to the user test requirements, establish a communication connection between the test bus servo and the host computer master station, and initialize the axis parameters of the test bus servo and clear the axis alarm information. Afterwards, the target test set corresponding to the test bus servo is determined based on the user test requirements. For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, the running test result is obtained. Finally, the data sent by the host computer master station is read, and the test fault text is generated by comparing the running test result and the test expected value of the test bus servo.

[0040] First, the application significantly improves the test efficiency and effectively reduces the cost by realizing the full automation of bus type servo test. This advantage is achieved by establishing the communication connection between the test bus servo and the host computer master station, automatically initializing the axis parameters and clearing the alarm information, and automatically calling and executing the corresponding test cases according to the user test requirements. The whole process does not require manual intervention, which greatly reduces the workload and error rate of the tester. Secondly, the application configures the test bus servo according to the user test requirements, and determines the target test set corresponding to the test bus servo based on the user test requirements, so that the servo can be tested in a targeted manner, reducing the test complexity and improving the test speed, which is more suitable for the current fast update iteration test scenario. In addition, the application has excellent multi-axis servo compatibility, not only supports the test of single-axis servo, but also can simultaneously test the multi-axis servo in different motion modes, with good ease of use. This advantage enables the application to be applicable to a wider range of test scenarios, improving the flexibility and applicability of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0042] Figure 1 A flowchart of a bus servo testing method disclosed in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a connection between a single servo and a host computer master station disclosed in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a connection of multiple servos connected to a host computer master station disclosed in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of a CSP, CSV, and CST test page layout disclosed in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of a PP, PV, and PT test page layout disclosed in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of a HM test page layout disclosed in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of a bus-type servo test device disclosed in an embodiment of the present application;

[0049] Figure 8 This is a hardware structure block diagram of a bus-type servo test device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] The present application can be used in many general or special computing device environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multi-processor devices, distributed computing environments including any of the above devices or equipment, etc.

[0052] Next, the present application scheme is introduced. The present application proposes the following technical scheme, please see below for details.

[0053] Figure 1 This is a flow chart of a bus servo testing method disclosed in an embodiment of the present application.

[0054] like Figure 1 As shown, the method may include:

[0055] Step S1, configuring the test bus servo according to the user's test requirements, and establishing a communication connection between the test bus servo and the host computer master station.

[0056] Specifically, by flexibly configuring the servo system, establishing a stable communication connection, and making full use of the system's multi-servo support and single-servo multi-mode testing capabilities, users can efficiently and accurately complete various test tasks. When building an automated test system, the test bus servo is flexibly configured according to the user's specific test needs, and a communication connection is established between the configured servo and the host computer master station. In order to improve test efficiency, the various test scenarios that may be faced are fully considered, and multiple servos can be connected at the same time. Each servo can be tested in one mode, and multiple mode tests can also be performed using only one servo.

[0057] Optional, the configuration method can be divided into the following two cases:

[0058] First, if the user's test requirement is to perform multi-mode testing on a single servo, a single servo that records all the parameters required for the multi-mode test is configured, and a communication connection between the test bus servo and the host computer master station is established by connecting the single servo to the host computer master station.

[0059] Specifically, the first case applies to the user's need to perform multi-mode testing on a single servo. In this case, the tester needs to configure a single servo that records all the parameters required for multi-mode testing. This servo device will have the ability to perform multiple test modes without having to change the device. Figure 2 As shown, by connecting this single servo to the host computer master station, the communication connection between the test bus servo and the host computer master station is established, thereby supporting the smooth progress of multi-mode testing.

[0060] The second type, if the user's test requirement is to perform single-mode testing on multiple servos, multiple servos are configured that respectively record the corresponding single-mode test parameters, and a communication connection between the test bus servo and the host computer master station is established by connecting the multiple servos in series to the host computer master station.

[0061] Specifically, the second case is applicable to the user's need to perform single-mode testing on multiple servos. In this case, the tester needs to configure multiple servos, each of which has the corresponding single-mode test parameters recorded. These servo devices will each focus on one test mode to ensure the accuracy and professionalism of the test. Figure 3 As shown, by connecting multiple servos in series to the host computer master station, a communication connection between the test bus servos and the host computer master station is established, thereby supporting the parallel execution of multi-servo single-mode tests.

[0062] Step S2, initializing the axis parameters of the test bus servo and clearing the axis alarm information.

[0063] Specifically, the axis parameters of the test bus servo are initialized and the axis alarm information is cleared to ensure that the test process can proceed smoothly and obtain accurate and reliable test results. In this step, the axis parameters of the test bus servo are initialized first, including the precise configuration of the various axis parameters of the servo system (such as position, speed, acceleration, etc.) according to the user's test requirements or preset test standards.

[0064] At the same time, during the process of initializing the axis parameters, the system will also clear the axis alarm information of the test bus servo. During the operation of the servo system, the alarm may be triggered due to various reasons (such as improper parameter settings, external interference, etc.). If these alarm information is not cleared in time, it may interfere with the subsequent test process and even cause the test to fail. Therefore, before the test starts, the system needs to automatically or manually clear these axis alarm information to ensure the cleanliness of the test environment and the smooth progress of the test process.

[0065] It is worth noting that before initializing the axis parameters and clearing the axis alarm information, the system usually performs a series of status detection and fault diagnosis on the test bus servo to ensure that the servo system is in normal working condition. These detections include axis parameter reading detection, system fault detection, etc. Only when it is confirmed that the servo system is in good condition and has no serious faults, will the subsequent axis parameter initialization and axis alarm information clearing operations be performed.

[0066] That is to say, before the axis parameters of the test bus servo are initialized and the axis alarm information is cleared, the following steps may also be included:

[0067] ① Performing axis parameter reading detection and system fault detection on the test bus servo;

[0068] ② If all the tests are passed, the process of initializing the axis parameters of the test bus servo and clearing the axis alarm information is executed;

[0069] ③ If the test fails, the failed test bus servo will be reset and the error will be traced.

[0070] If all the above tests are passed, it means that the test bus servo is in good condition and the subsequent process of initializing axis parameters and clearing axis alarm information can be continued. However, if the test fails, the test bus servo that fails will be fault reset and error traced. Fault reset is an operation that attempts to restore the servo system to a normal state, while error tracing is to determine the specific cause of the test failure by analyzing the test data, so as to quickly locate and solve the problem and resume the test process in the shortest possible time.

[0071] Step S3: determining a target test set corresponding to the test bus servo based on the user test requirement.

[0072] Specifically, a target test set corresponding to the test bus servo is determined according to the user test requirement, the target test set records each test case item matching the user test requirement, and each test case item in the target test set is executed sequentially.

[0073] Further, the process of determining the target test set corresponding to the test bus servo may specifically include:

[0074] ① According to the mode requirements in the user test requirements, determine the target test mode corresponding to the mode requirements, and determine all test case items under the target test mode;

[0075] ② According to the functional requirements in the user test requirements, select test case items that match the functional requirements from all test case items under the target test mode;

[0076] ③ Based on the selected test case items, a target test set corresponding to the test bus servo is constructed.

[0077] First, according to the mode requirements in the user's test requirements, the target test mode corresponding to these mode requirements can be determined. Different test modes may cover different test processes and test conditions, and the directions of the tests are also different. After determining the target test mode, all test case items under the mode will be further determined. Different test case items are used to test different functions, and these case items will form the basis for subsequent tests. Next, according to the functional requirements in the user's test requirements, all test case items under the target test mode are screened. The purpose of this step is to ensure that the selected test case items can fully cover the functional points that the user is concerned about, thereby achieving a comprehensive test of the servo system function. Through this screening process, test case items that are not related to the target function can be removed, thereby improving the pertinence and efficiency of the test. Finally, based on the selected test case items, a target test set corresponding to the test bus servo can be constructed.

[0078] Step S4: for the test bus servo, each test case item in the target test set is retrieved and each test case item is executed sequentially until all the test case items are executed to obtain a running test result.

[0079] Specifically, by retrieving the test case items in the target test set determined in step S3 that closely match the user's test requirements, these test case items have been optimized and sorted according to the user's specific needs to ensure the comprehensiveness and efficiency of the test.

[0080] Subsequently, each test case item in the target test set is executed one by one in sequence. The system will strictly follow the test steps and conditions defined in the test case to ensure the accuracy and repeatability of the test. During the execution process, it is necessary to ensure that each step of the action can be completed accurately, including key operations such as automatic setting of runtime parameters and state switching. In order to ensure the accuracy of the action, real-time judgment will be performed when executing each step of the action, which usually involves monitoring the current state of the servo system and comparing the expected results. If it is detected that the action has been completed as expected, it will continue to execute the next action. If any abnormal or unexpected situation is detected, the system will immediately stop the current test and generate a corresponding error report or prompt so that the tester can find and solve the problem in time. When all the test case items in the target test set are executed, the motor operation data after executing each test case item is integrated to obtain the operation test results.

[0081] The process of sequentially executing the test case items to obtain the running test results may specifically include:

[0082] ① Execute the test cases in order, obtain the motor operation data during execution, and check whether the servo drive has any abnormal alarm;

[0083] ②If there is an abnormal alarm, enter the error handling subroutine;

[0084] ③ If there is no abnormal alarm and all the items in the test case are executed, the motor operation data is integrated to obtain the operation test result.

[0085] Specifically, each test case item is first executed one by one according to the order defined in the target test set. During the execution process, the motor's operating data is closely monitored, including key parameters such as position, speed, acceleration, current, and voltage. These data can intuitively reflect the real-time working status and performance of the servo system.

[0086] At the same time, the servo drive will be constantly checked for abnormal alarms. As the core component of the servo system, the operating status of the servo drive is directly related to the stability and reliability of the entire system. Therefore, during the test, the system will monitor the alarm information of the servo drive in real time to ensure that any possible abnormal situation is discovered and handled in time.

[0087] Once an abnormal alarm is detected in the servo drive, the execution of the current test case item will be interrupted immediately and the error handling subroutine will be entered. The error handling subroutine will take corresponding treatment measures according to the type and severity of the alarm information, such as restarting the servo system, adjusting test parameters or terminating the test. This step is to ensure the safety and controllability of the test process and prevent test failure or equipment damage caused by abnormal alarms.

[0088] If the servo drive does not have any abnormal alarms during the entire test process and all test case items are successfully completed, it will enter the result integration stage. In this stage, all motor operation data will be collected, sorted and analyzed to obtain the final operation test results.

[0089] Step S5, reading the data sent by the host computer master station, combining the running test result of the test bus servo and the test expected value, and comparing and generating a test fault text.

[0090] Specifically, by reading the data sent by the host computer master station, these data may include test instructions, test parameters, test expectations, etc., which are usually set and sent by the tester or the test system on the host computer master station. These data are the basis for subsequent comparative analysis and are crucial to ensuring the accuracy and effectiveness of the test. Next, the operation test results of the test bus servo are analyzed. These operation test results are obtained by sequentially executing the test case items in step S4, and they reflect the actual working state and performance of the servo system under specific conditions.

[0091] By comparing the test expectation values ​​sent by the host computer master station with the running test results. The test expectation values ​​are usually set by the tester based on the performance requirements, industry standards or user feedback of the servo system, and are used to evaluate whether the servo system meets the expected performance and functional requirements. Through comparison, the system can determine whether the servo system has faults or performance deviations. If the comparison results show that the running test results of the servo system are significantly different from the test expectations, or there are unexpected situations, a test fault text will be generated.

[0092] It can be seen from the above technical scheme that a bus-type servo test method, device, equipment and readable storage medium provided by the embodiment of the present application configure the test bus servo according to the user test requirements, establish a communication connection between the test bus servo and the host computer master station, and initialize the axis parameters of the test bus servo and clear the axis alarm information. Afterwards, the target test set corresponding to the test bus servo is determined based on the user test requirements. For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, the running test result is obtained. Finally, the data sent by the host computer master station is read, and the test fault text is generated by comparing the running test result and the test expected value of the test bus servo.

[0093] First, the application significantly improves the test efficiency and effectively reduces the cost by realizing the full automation of bus type servo test. This advantage is achieved by establishing the communication connection between the test bus servo and the host computer master station, automatically initializing the axis parameters and clearing the alarm information, and automatically calling and executing the corresponding test cases according to the user test requirements. The whole process does not require manual intervention, which greatly reduces the workload and error rate of the tester. Secondly, the application configures the test bus servo according to the user test requirements, and determines the target test set corresponding to the test bus servo based on the user test requirements, so that the servo can be tested in a targeted manner, reducing the test complexity and improving the test speed, which is more suitable for the current fast update iteration test scenario. In addition, the application has excellent multi-axis servo compatibility, not only supports the test of single-axis servo, but also can simultaneously test the multi-axis servo in different motion modes, with good ease of use. This advantage enables the application to be applicable to a wider range of test scenarios, improving the flexibility and applicability of the test.

[0094] In some embodiments of the present application, the test mode may include a CSP mode, a CSV mode, a CST mode, a PP mode, a PV mode, a PT mode, and a HM mode.

[0095] Figure 4 Shows the CSP, CSV, and CST test page layouts; Figure 5 Shows the PP, PV, and PT test page layouts; Figure 6 Shows the HM test page layout.

[0096] The following are introductions to these seven models:

[0097] 1. Cyclic Synchronous Position Mode (CSP):

[0098] This mode is mainly used in automated test scenarios that require precise position control. In this mode, the host controller completes the position command planning and sends the planned target position to the servo drive in a periodic and synchronous manner. Position, speed, and torque control are completed internally by the servo drive.

[0099] In CSP mode, the test process specifically includes the following steps: First, initialize the CSP mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in CSP mode will be executed one by one in a predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the CSP mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has abnormal alarms to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in CSP mode is output for subsequent analysis and evaluation.

[0100] 2. Cycle Synchronous Speed ​​Mode (CSV):

[0101] This mode is suitable for automated testing scenarios that require stable speed control. In this mode, the host controller sends the calculated target speed to the servo drive in a periodic and synchronous manner. Speed ​​and torque regulation is performed internally by the servo.

[0102] In CSV mode, the test process specifically includes the following steps: First, initialize the CSV mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in CSV mode will be executed one by one in the predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the CSV mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has abnormal alarms to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in CSV mode is output for subsequent analysis and evaluation.

[0103] 3. Cycle Synchronous Torque Mode (CST):

[0104] This mode is mainly used in automated test scenarios that require precise torque control, such as point-to-point positioning applications. In this mode, the host controller sends the calculated target torque to the servo drive in a periodic and synchronous manner. Torque regulation is performed internally by the servo.

[0105] In CST mode, the test process specifically includes the following steps: First, initialize the CST mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in CST mode will be executed one by one in the predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the CST mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has abnormal alarms to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in CST mode is output for subsequent analysis and evaluation.

[0106] 4. Profile Position Mode (PP):

[0107] This mode is suitable for automated testing applications that require complex trajectory control. In this mode, the host controller gives the target position (absolute or relative), speed, acceleration and deceleration of the position curve. The trajectory generator inside the servo will generate the target position curve command according to the settings. The drive completes position control, speed control, and torque control.

[0108] In PP mode, the test process specifically includes the following steps: First, initialize the PP mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in PP mode will be executed one by one in the predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the PP mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has an abnormal alarm to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in PP mode is output for subsequent analysis and evaluation.

[0109] 5. Profile velocity mode (PV):

[0110] This mode is suitable for automated testing scenarios that require dynamic speed control. In this mode, the host controller sends the target speed, acceleration, and deceleration to the servo drive. Speed ​​and torque regulation is performed internally by the servo.

[0111] In PV mode, the test process specifically includes the following steps: First, initialize the PV mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in PV mode will be executed one by one in the predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the PV mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has abnormal alarms to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in PV mode is output for subsequent analysis and evaluation.

[0112] 6. Profile torque mode (PT):

[0113] This mode is suitable for automated testing scenarios that require precise torque control and large speed changes. In this mode, the host controller sends the target torque and torque ramp constant to the servo drive. Torque regulation is performed internally by the servo. When the speed reaches the limit value, it will enter the speed regulation stage.

[0114] In PT mode, the test process specifically includes the following steps: First, initialize the PT mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in PT mode will be executed one by one in the predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the PT mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has an abnormal alarm to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in PT mode is output for subsequent analysis and evaluation.

[0115] 7. Home Return Mode (HM):

[0116] This mode is used to find the mechanical origin and locate the position relationship between the mechanical origin and the mechanical zero point. In automated testing, it is usually used to initialize equipment or calibrate positions.

[0117] In HM mode, the test process specifically includes the following steps: First, initialize the HM mode data and parameters to prepare for the test. Then, you can choose to test a sub-item function separately, or choose to automatically execute all tests. If you choose to execute automatically, each sub-test case in HM mode will be executed one by one in the predetermined order. During the execution process, the system will continuously determine whether the current action is completed, including automatically setting runtime parameters and state switching, etc. Once the action is not completed, it will immediately enter the HM mode error handling subroutine. At the same time, the system will obtain data feedback during motor operation, such as speed, position, and state machine, and determine whether the CIA402 axis state machine can switch normally. If there is an abnormality, it will also enter the error handling subroutine. In addition, the system will continue to check whether the drive has abnormal alarms to ensure the safety and accuracy of the test process. When all test cases are executed, the test process ends and the ini result file in HM mode is output for subsequent analysis and evaluation.

[0118] A bus-type servo testing device provided in an embodiment of the present application is described below. The bus-type servo testing device described below and the bus-type servo testing method described above can refer to each other.

[0119] See also Figure 7 , Figure 7 A schematic diagram of a bus-type servo testing device disclosed in an embodiment of the present application.

[0120] like Figure 7 As shown, the bus-type servo testing device may include:

[0121] The servo configuration unit 110 is used to configure the test bus servo according to the user's test requirements and establish a communication connection between the test bus servo and the host computer master station;

[0122] An initial processing unit 120, used for initializing axis parameters of the test bus servo and clearing axis alarm information;

[0123] A use case collection unit 130, configured to determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement;

[0124] The test execution unit 140 is used to retrieve each test case item in the target test set and execute each test case item in sequence for the test bus servo until all the test case items are executed to obtain a running test result;

[0125] The test fault unit 150 is used to read the data sent by the host computer master station, and compare and generate a test fault text in combination with the running test result and the test expected value of the test bus servo.

[0126] It can be seen from the above technical scheme that a bus-type servo test method, device, equipment and readable storage medium provided by the embodiment of the present application configure the test bus servo according to the user test requirements, establish a communication connection between the test bus servo and the host computer master station, and initialize the axis parameters of the test bus servo and clear the axis alarm information. Afterwards, the target test set corresponding to the test bus servo is determined based on the user test requirements. For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, the running test result is obtained. Finally, the data sent by the host computer master station is read, and the test fault text is generated by comparing the running test result and the test expected value of the test bus servo.

[0127] First, the application significantly improves the test efficiency and effectively reduces the cost by realizing the full automation of bus type servo test. This advantage is achieved by establishing the communication connection between the test bus servo and the host computer master station, automatically initializing the axis parameters and clearing the alarm information, and automatically calling and executing the corresponding test cases according to the user test requirements. The whole process does not require manual intervention, which greatly reduces the workload and error rate of the tester. Secondly, the application configures the test bus servo according to the user test requirements, and determines the target test set corresponding to the test bus servo based on the user test requirements, so that the servo can be tested in a targeted manner, reducing the test complexity and improving the test speed, which is more suitable for the current fast update iteration test scenario. In addition, the application has excellent multi-axis servo compatibility, not only supports the test of single-axis servo, but also can simultaneously test the multi-axis servo in different motion modes, with good ease of use. This advantage enables the application to be applicable to a wider range of test scenarios, improving the flexibility and applicability of the test.

[0128] Optionally, the servo configuration unit may include:

[0129] A first configuration unit is used for configuring a single servo with all parameters required for the multi-mode test recorded when the user test requirement is to perform a multi-mode test on a single servo, and establishing a communication connection between the test bus servo and the host computer master station by connecting the single servo to the host computer master station;

[0130] The second configuration unit is used to configure multiple servos that respectively record the corresponding parameters required for the single-mode test when the user test requirement is to perform single-mode testing on multiple servos, and to establish a communication connection between the test bus servo and the host computer master station by connecting the multiple servos in series to the host computer master station.

[0131] Optionally, the bus-type servo testing device may further include:

[0132] The system detection unit is used to perform axis parameter reading detection and system fault detection on the test bus servo before initializing the axis parameters and clearing the axis alarm information of the test bus servo. If the detection passes, the process of initializing the axis parameters and clearing the axis alarm information of the test bus servo is executed; if the detection fails, the fault reset and error tracing are performed on the failed test bus servo.

[0133] Optionally, the use case collection unit may include:

[0134] A model selection unit, configured to determine a target test mode corresponding to the mode requirement according to the mode requirement in the user test requirement, and determine all test case items under the target test mode;

[0135] A function selection unit, configured to select, according to the function requirements in the user test requirements, test case items that match the function requirements from all test case items under the target test mode;

[0136] The set construction unit is used to construct a target test set corresponding to the test bus servo based on the selected test case items.

[0137] Optionally, the test execution unit may include:

[0138] A sequential execution unit, used for sequentially executing the test case items, obtaining the motor operation data during execution, and checking whether the servo drive has an abnormal alarm;

[0139] The test result unit is used to enter the error handling subroutine when there is an abnormal alarm, and is used to integrate the motor operation data to obtain the operation test result when there is no abnormal alarm and all the items in the test case are executed.

[0140] Optionally, the test modes include CSP mode, CSV mode, CST mode, PP mode, PV mode, PT mode, and HM mode.

[0141] The bus-type servo testing device provided in the embodiment of the present application can be applied to bus-type servo testing equipment. Figure 8 The hardware structure diagram of the bus type servo test equipment is shown in FIG. Figure 8 ,The hardware structure of the bus-type servo test device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0142] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0143] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0144] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0145] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0146] Configure the test bus servo according to the user's test requirements, and establish a communication connection between the test bus servo and the host computer master station;

[0147] Initializing axis parameters of the test bus servo and clearing axis alarm information;

[0148] Determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement;

[0149] For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, a running test result is obtained;

[0150] The data sent by the host computer master station is read, and the test fault text is generated by comparison based on the running test result of the test bus servo and the test expected value.

[0151] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0152] The embodiment of the present application further provides a readable storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0153] Configure the test bus servo according to the user's test requirements, and establish a communication connection between the test bus servo and the host computer master station;

[0154] Initializing axis parameters of the test bus servo and clearing axis alarm information;

[0155] Determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement;

[0156] For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, a running test result is obtained;

[0157] The data sent by the host computer master station is read, and the test fault text is generated by comparison based on the running test result of the test bus servo and the test expected value.

[0158] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0159] The present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the execution method is as follows:

[0160] Configure the test bus servo according to the user's test requirements, and establish a communication connection between the test bus servo and the host computer master station;

[0161] Initializing axis parameters of the test bus servo and clearing axis alarm information;

[0162] Determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement;

[0163] For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, a running test result is obtained;

[0164] The data sent by the host computer master station is read, and the test fault text is generated by comparison based on the running test result of the test bus servo and the test expected value.

[0165] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0166] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0167] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0168] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A bus servo test method, characterized in that: include: Configure the test bus servo according to the user's test requirements, and establish a communication connection between the test bus servo and the host computer master station; Initializing axis parameters of the test bus servo and clearing axis alarm information; Determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement; For the test bus servo, by calling each test case item in the target test set, and sequentially executing each test case item until all the test case items are executed, a running test result is obtained; The data sent by the host computer master station is read, and the test fault text is generated by comparison based on the running test result and the test expected value of the test bus servo.

2. The method according to claim 1, characterized in that The configuration of the test bus servo according to the user test requirements and the establishment of a communication connection between the test bus servo and the host computer master station include: If the user's test requirement is to perform a multi-mode test on a single servo, a single servo is configured to record all the parameters required for the multi-mode test, and a communication connection between the test bus servo and the host computer master station is established by connecting the single servo to the host computer master station; If the user's test requirement is to perform single-mode testing on multiple servos, multiple servos are configured that respectively record the corresponding single-mode test parameters, and a communication connection between the test bus servo and the host computer master station is established by connecting the multiple servos in series to the host computer master station.

3. The method according to claim 1, characterized in that: Before initializing the axis parameters of the test bus servo and clearing the axis alarm information, the method further includes: Performing axis parameter reading detection and system fault detection on the test bus servo; If all the tests are passed, the process of initializing the axis parameters of the test bus servo and clearing the axis alarm information is executed; If the detection fails, the failed test bus servo will be reset and the error will be traced.

4. The method according to claim 1, characterized in that: Determining a target test set corresponding to the test bus servo based on the user test requirement includes: According to the mode requirement in the user test requirement, determine the target test mode corresponding to the mode requirement, and determine all test case items under the target test mode; According to the functional requirements in the user test requirements, selecting test case items that match the functional requirements from all test case items under the target test mode; A target test set corresponding to the test bus servo is constructed based on the selected test case items.

5. The method according to claim 1, characterized in that For the test bus servo, the test case items are sequentially executed until all the test case items are executed, and the running test results are obtained, including: Execute the test cases in order, obtain the motor operation data during execution, and check whether the servo drive has any abnormal alarm; If there is an abnormal alarm, the error handling subroutine will be entered; If there is no abnormal alarm and all the items of the test case are executed, the motor operation data is integrated to obtain the operation test result.

6. The method according to claim 4, characterized in that The test modes include CSP mode, CSV mode, CST mode, PP mode, PV mode, PT mode, and HM mode.

7. A bus-type servo test device, characterized in that: include: A servo configuration unit, used to configure the test bus servo according to the user's test requirements, and to establish a communication connection between the test bus servo and the host computer master station; An initial processing unit, used for initializing axis parameters of the test bus servo and clearing axis alarm information; A use case collection unit, used to determine a target test set corresponding to the test bus servo based on the user test requirement, wherein the target test set records items of each test case matching the user test requirement; An execution test unit is used for obtaining a running test result by calling each test case item in the target test set and sequentially executing each test case item until all the test case items are executed; The test fault unit is used to read the data sent by the host computer master station, combine the running test results of the test bus servo and the test expected value, and compare and generate a test fault text.

8. A bus-type servo test device, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the bus servo testing method as described in any one of claims 1-6.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the bus servo testing method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, each step of the bus servo testing method according to any one of claims 1 to 6 is executed.

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