Automatic testing device for single board

Abstract

The invention provides a single board automatic testing device, which is provided with a control board testing circuit, a driving board testing circuit and a controller, the control board testing circuit and the driving board testing circuit respectively comprise a plurality of modules for realizing testing board detection and driving board detection, and the controller can respectively control each module, so that the testing efficiency is improved, and the testing efficiency is improved. According to the invention, only the controller needs to be driven, the controller can control to enter the detection modes one by one, so that each circuit in the control board and the driving board can be detected one by one through one key, and the cost is low, the efficiency is high, and the accuracy is high.

Description

Technical Field

[0001] The present application relates to the technical field of drive testing, and in particular to a single board automatic testing device. Background Art

[0002] In the process of servo drive manufacturing, after the single-board PCBA completes SMT, the circuit of the single board needs to be tested, including various electronic components and functional circuits on the PCBA board. Manual testing is costly, inefficient, and cannot guarantee accuracy. Therefore, it is very important to design a method and device for automated servo drive single board testing. Summary of the invention

[0003] The present application provides a low-cost single-board automatic testing device, which can improve testing efficiency and test accuracy.

[0004] A single-board automatic testing device is applied to an assembled circuit board, wherein the assembled circuit board includes a control board and a drive board, and the single-board automatic testing device includes a control board test circuit, a drive board test circuit and a controller; The control board test circuit comprises: A PWM detection module, connected to the PWM wave generating circuit of the control board, and used to detect the PWM signal output by the PWM wave generating circuit in a modulation detection mode to obtain a first PWM detection signal; An STO detection module is connected to the STO circuit of the control board, and is used to control the STO circuit to clear and block the PWM wave generating circuit from outputting the PWM signal in a safety detection mode, and detect the PWM signal output by the PWM wave generating circuit to obtain a second PWM detection signal; The driving board test circuit comprises: A discharge detection module, connected to the discharge circuit of the driving board, for controlling the discharge tube in the discharge circuit to be turned on in a discharge detection mode, and converting the loop current signal of the discharge circuit into a level detection signal; A shaft locking detection module is connected to the shaft locking relay circuit of the driving board, and is used to pull up the first connection end of the shaft locking relay circuit to the power supply end in the shaft locking detection mode, connect one of the second connection end and the third connection end of the shaft locking relay circuit to the ground end, and detect the terminal voltage of the first connection end to obtain a voltage detection signal; The controller is respectively connected to each module in the control board test circuit and the driver board test circuit, and is used to control entering each detection mode one by one according to the test instruction, obtain the detection signal under each detection mode, and obtain the abnormality detection result of each circuit in the control board and the driver board according to each detection signal; wherein the detection signal includes the first PWM detection signal, the second PWM detection signal, the level detection signal and the voltage detection signal.

[0005] In one embodiment, the detection mode further includes a sampling detection mode, and the control board test circuit further includes: A sampling detection module, connected to the controller and the delta-sigma sampling circuit of the control board respectively, and configured to output a sampling test signal to the delta-sigma sampling circuit in the sampling detection mode; The controller is also connected to the delta-sigma sampling circuit; the detection signal also includes a sampling signal obtained after the delta-sigma sampling circuit samples the sampling test signal.

[0006] In one embodiment, the detection mode further includes a power detection mode, and the control board test circuit further includes: The power detection module is connected to the power circuit of the controller and the control board respectively, and is used to detect the power voltage of the power circuit in the power detection mode to obtain a power detection signal; the detection signal also includes the power detection signal.

[0007] In one embodiment, the detection mode further includes an input detection mode, and the control board test circuit further includes: An input detection module, connected to the controller and the digital input circuit of the control board respectively, for outputting a digital test signal to the digital input circuit in the input detection mode; The controller is also connected to the digital input circuit; the detection signal also includes an input detection signal obtained by the control board detecting the digital test signal.

[0008] In one embodiment, the detection mode further includes an output detection mode, and the control board test circuit further includes: The output detection module is connected to the digital output circuit of the controller and the control board respectively, and is used to detect the output voltage of the digital output circuit in the output detection mode to obtain an output detection signal; the detection signal also includes the output detection signal.

[0009] In one embodiment, the detection mode further includes a temperature sampling mode, and the control board test circuit further includes: The temperature detection module is connected to the temperature communication circuit of the controller and the control board respectively, and is used to sample the temperature signal received by the temperature communication circuit in the temperature sampling mode to obtain a temperature detection signal; the detection signal also includes the temperature detection signal.

[0010] In one embodiment, the detection mode further includes an IO detection mode, and the control board test circuit further includes: The IO detection module is connected to the IO output circuits of the controller and the control board respectively, and is used to detect the signal output by the IO output circuit in the IO detection mode to obtain an IO detection signal; the detection signal also includes the IO detection signal.

[0011] In one embodiment, the detection mode further includes a switch power supply detection mode; the driver board test circuit further includes: The switching power supply detection module is connected to the switching power supply circuit of the controller and the driving board respectively, and is used to detect the power supply voltage of the switching power supply circuit in the switching power supply detection mode to obtain a power supply detection signal; the detection signal also includes the power supply detection signal.

[0012] In one embodiment, the detection mode further includes an AC detection mode; and the driver board test circuit further includes: a power control module, connected to the controller and the driving board respectively, for controlling the AC power supply to output an AC signal to the driving board in the AC detection mode, so that the AC power failure detection circuit detects the reception of the AC signal by the driving board to obtain a power failure detection signal; The controller is also connected to the AC power failure detection circuit; and the detection signal also includes the power failure detection signal.

[0013] In one embodiment, the detection mode further includes an over-temperature detection mode; and the driver board test circuit further includes: An over-temperature protection detection module, connected to the over-temperature protection circuits of the controller and the driving board, respectively, and configured to output a first test voltage and a second test voltage, respectively, in the over-temperature detection mode; wherein the first test voltage is greater than an over-temperature point voltage, and the second test voltage is less than the over-temperature point voltage, and the over-temperature point voltage is a critical voltage when the over-temperature protection detection signal output by the over-temperature protection circuit is flipped; The controller is also connected to the over-temperature protection circuit; the detection signal also includes the over-temperature protection detection signal.

[0014] In one embodiment, the detection mode further includes a PWM drive detection mode, and the drive board test circuit further includes: A PWM drive detection module is connected to the controller and the PWM drive circuit of the drive board respectively, and is used to output a drive test signal to the PWM drive circuit in the PWM drive detection mode, so that the PWM drive circuit modulates the drive test signal and then outputs a PWM drive detection signal; The controller is also connected to the PWM drive circuit; the detection signal also includes the PWM drive detection signal.

[0015] In one embodiment, the detection mode further includes an overcurrent detection mode, and the driver board test circuit further includes: An overcurrent detection module, connected to the controller and the overcurrent protection circuit of the driving board respectively, and configured to output a current test signal to the overcurrent protection circuit in the overcurrent detection mode, so that the overcurrent protection circuit outputs a current detection signal; The controller is also connected to the overcurrent protection circuit, and the detection signal also includes the current detection signal.

[0016] In one embodiment, the single board automatic testing device further includes: A clamping device, used for clamping the assembled circuit board and sending a ready completion signal to a host computer after detecting that the assembled circuit board is in a clamped state; The test instruction is issued by the host computer after receiving the preparation completion signal.

[0017] In one embodiment, the controller includes a control board test fixture controller and a drive board test fixture controller, wherein the control board test fixture controller is respectively connected to each module in the control board test circuit, and is used to control entry into a detection mode for detecting the control board; the drive board test fixture controller is respectively connected to each module in the drive board test circuit, and is used to control entry into a detection mode for detecting the drive board.

[0018] The above-mentioned single-board automatic testing device is provided with a control board test circuit, a drive board test circuit and a controller. The control board test circuit and the drive board test circuit respectively include multiple modules for realizing test board detection and drive board detection. The controller can control each module separately. In this way, it is only necessary to drive the controller to enter each detection mode one by one through the controller control, so that each circuit in the control board and the drive board can be detected one by one with one click, which is low in cost, high in efficiency and high in accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural block diagram of a single board automatic testing device according to an embodiment of the present application; Figure 2A circuit structure diagram of a discharge detection module according to an embodiment of the present application; Figure 3 This is a circuit structure diagram of a shaft lock detection module according to an embodiment of the present application; Figure 4 This is a structural block diagram of a single board automatic testing device according to another embodiment of the present application; Figure 5 This is a structural block diagram of a single board automatic testing device according to another embodiment of the present application. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] 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.

[0022] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. The connection can be a direct connection or an indirect connection.

[0023] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0024] Figure 1 FIG. 1 is a schematic diagram of the structure of a single-board automatic test device according to an embodiment of the present invention. The device is applied to assemble a circuit board. The assembled circuit board includes a control board and a drive board. The single-board automatic test device includes a control board test circuit 110, a drive board test circuit 120 and a controller 130. Figure 1As shown, the control board test circuit 110 includes a PWM detection module 111 and an STO detection module 112; the drive board test circuit 120 includes a discharge detection module 121 and a lock shaft detection module 122; the PWM detection module 111 is connected to the PWM wave generating circuit of the control board, and is used to detect the PWM signal output by the PWM wave generating circuit in the modulation detection mode to obtain a first PWM detection signal; the STO detection module 112 is connected to the STO circuit of the control board, and is used to control the STO circuit to dredge and block the output of the PWM wave generating circuit to the PWM signal in the safety detection mode, and detect the PWM signal output by the PWM wave generating circuit to obtain a second PWM detection signal; the discharge detection module 121 is connected to the discharge circuit of the drive board, and is used to control the discharge tube in the discharge circuit to be turned on in the discharge detection mode, And convert the loop current signal of the discharge circuit into a level detection signal; the shaft lock detection module 122 is connected to the shaft lock relay circuit of the driving board, and is used to pull up the first connection end of the shaft lock relay circuit to the power supply end in the shaft lock detection mode, connect the second connection end and one of the third connection ends of the shaft lock relay circuit to the ground end, and detect the terminal voltage of the first connection end to obtain a voltage detection signal; the controller 130 is respectively connected to each module in the control board test circuit 110 and the driving board test circuit 120, and is used to control entering each detection mode one by one according to the test instruction, and obtain the detection signal under each detection mode, and obtain the abnormal detection result of each circuit in the control board and the driving board according to each detection signal; wherein, the detection signal includes a first PWM detection signal, a second PWM detection signal, a level detection signal and a voltage detection signal.

[0025] It can be understood that the control board in the assembled circuit board is used to control the external circuit, and the driver board is used to drive the external circuit. The control board test circuit 110 in the automatic testing device of the present application can test the control board, and the driver board test circuit 120 can test the driver board. The controller 130 controls each module in the control board test circuit 110 and the driver board test circuit 120, so as to enter each detection mode one by one, and obtain a detection signal in each detection mode, wherein the detection signal can be generated by the detection module, or by the circuit in the control board or the driver board, and then the abnormal detection results of each circuit in the control board and the driver board can be obtained according to the detection signal.

[0026] Among them, each detection mode is entered in sequence, and the controller 130 will enter the next detection mode only after obtaining an abnormal detection result in one of the detection modes. After receiving the test instruction, the controller 130 can control to enter each detection mode in a preset order, so as to obtain the abnormal detection results of each circuit in the control board and the driver board one by one; the controller 130 can communicate with the host computer, and the test instruction can be sent by the host computer.

[0027] Specifically, the control board test circuit 110 may include a PWM detection module 111 and an STO detection module 112. The PWM wave generating circuit is used to output a PWM signal under the drive of the FPGA circuit of the control board. In the modulation detection mode, the controller 130 controls the PWM detection module 111 to detect the PWM signal to obtain a first PWM detection signal. Then, the controller 130 can obtain an abnormality detection result of the PWM wave generating circuit according to the first PWM detection signal, wherein the abnormality detection result of the PWM wave generating circuit is used to characterize whether the signal from the FPGA circuit to the PWM wave generating circuit is abnormal; in one embodiment, the PWM signal has a high and low level change. If the controller 130 determines that the level change of the PWM detection signal is consistent with the level change of the first PWM signal output by the PWM wave generating circuit, it indicates that the PWM wave generating circuit has no abnormality, otherwise, there is an abnormality.

[0028] Similarly, when the STO circuit is turned on, it can block the output of the PWM wave generating circuit to the PWM signal, and when the STO circuit is turned off, it can clear the output of the PWM wave generating circuit to the PWM signal; in the safety detection mode, the controller 130 controls the STO detection module 112 to first shut down and then turn on the STO circuit, so that the PWM wave generating circuit first outputs the PWM signal and then stops outputting. At the same time, the STO detection module 112 controller 130 PWM detection module 111 detects the PWM signal output by the PWM wave generating circuit to obtain a second PWM detection signal, and then the controller 130 can obtain the abnormal detection result of the STO circuit according to the second PWM detection signal. It can be understood that if the controller 130 determines that when the STO circuit clears and blocks the output of the PWM wave generating circuit to the PWM signal, the amplitude change of the second PWM detection signal is consistent with the amplitude change of the PWM signal output by the PWM wave generating circuit, it indicates that the STO circuit is normal, otherwise it indicates that the STO circuit is abnormal. In some other embodiments, the modulation detection mode can be entered before the safety detection mode. It can be understood that the detection of the STO circuit needs to rely on the PWM wave generating circuit. If the PWM wave generating circuit has an abnormality from the beginning, the second PWM detection signal will also be abnormal. In this way, it is impossible to determine whether the STO circuit has an abnormality. Therefore, by first entering the modulation detection mode, it can be determined whether the PWM wave generating circuit is normal. If it is normal, the subsequent determination result of the STO circuit is valid. If it is abnormal, the subsequent determination result of the STO circuit is invalid. This can facilitate the accurate determination of the abnormal result of the STO circuit.

[0029] The driving board test circuit 120 includes a discharge detection module 121 and a lock shaft detection module 122. The discharge circuit is used to discharge electric energy, and may include a pull-up resistor R1 and a discharge switch M1. Figure 2As shown, one end of the pull-up resistor R1 is used to receive the pull-up voltage VDD, and the other end is connected to the first end of the discharge switch M1 through the discharge detection module 121, and the second end of the discharge switch M1 is connected to the bus negative electrode N. The control end of the discharge switch (indicated by a in the figure) is connected to the discharge detection module 121, and the discharge detection module 121 can control the first end and the second end of the discharge switch M1 to be connected, so as to realize the discharge of electric energy to the bus negative electrode; at the same time, the discharge detection module 121 can convert the loop current signal flowing through the discharge circuit into a level detection signal, and then the controller 130 can obtain the abnormal detection result of the discharge circuit according to the level detection signal. Among them, the level value of the level detection signal can be used to represent the amplitude of the loop current signal flowing through the discharge circuit. If the amplitude of the loop current signal represented by the level detection signal is not 0, it indicates that the discharge circuit is normal, otherwise it is abnormal.

[0030] In some embodiments, the discharge detection module 121 may include a resistor R0 and an optocoupler circuit 1211. Figure 2 As shown, the resistor R0 can be connected to the pull-up resistor R1 and the first end of the discharge switch M1 respectively, the light-emitting diode of the front stage in the optical coupling circuit 1211 can be connected in parallel to the two ends of the resistor R0, and the photosensitive element of the rear stage is connected to the controller 130, which is used to convert the light signal generated by the light-emitting diode into a level detection signal, and transmit the level detection signal to the controller 130. When the amplitude of the loop current signal is not 0, the level detection signal is a high level, otherwise it is a low level; it can be understood that when the discharge switch M1 is turned on, the amplitude of the loop current signal is not 0 in theory, and the light-emitting diode emits a light signal at this time. The level detection signal generated by the photosensitive element according to the light signal should be a high level. Therefore, if the controller determines that the level detection signal is a high level, it indicates that the discharge circuit is normal, and if it is determined to be a low level, it indicates that the discharge circuit is abnormal. In some other embodiments, the pull-up voltage VDD can be provided by the controller, and its voltage value can be 5V.

[0031] The shaft lock relay circuit 101 is used to short-circuit the UVW three-phase lines of the driver board when the motor is stopped, thereby preventing the motor from rotating when the motor is stopped. Figure 3As shown, it may include a relay, and the three connection ends of the relay are used to be connected to the UVW three-phase lines of the driving board respectively. In the lock shaft detection mode, the controller 130 controls the lock shaft detection module 122 to pull up one of the connection ends of the lock shaft relay circuit to the power supply terminal U1, and the remaining two connection ends are connected to the ground terminal one by one in succession, so that the two connected connection ends will form a loop, and the terminal voltage of the connection end pulled up to the power supply terminal will reach a specific value; therefore, after obtaining the voltage detection signal through detection, the controller 130 can determine whether the terminal voltage reaches a specific value according to the voltage detection signal, and then determine whether there is an abnormality in the lock shaft relay circuit. Among them, the lock shaft relay circuit may include a pull-up resistor R2, and the pull-up resistor R2 is respectively connected to the power supply terminal U1 and the lock shaft relay circuit to realize the pull-up of the power supply terminal, and it also includes a relay K1 and a relay K2, and the relay K1 and the relay K2 are respectively connected to the lock shaft relay circuit and the ground terminal to control the connection between the lock shaft relay circuit and the ground terminal.

[0032] It can be understood that the control board test circuit 110 and the driver board test circuit 120 may also include other detection modules, the detection mode is not limited to that described in this embodiment, and each circuit on the control board and the driver board may be provided with a test point, and each module is connected to the test point of the corresponding circuit; in some of the embodiments, after obtaining the abnormal detection results of all detection modules, the controller 130 can transmit all abnormal detection results to the host computer.

[0033] The above-mentioned single-board automatic test device is provided with a control board test circuit 110, a drive board test circuit 120 and a controller 130. The control board test circuit 110 and the drive board test circuit 120 respectively include a plurality of detection modules for detecting the test board and the drive board. The controller 130 can control each module separately. In this way, only the controller 130 needs to be driven, and each detection mode can be entered one by one through the control of the controller 130, so that each circuit in the control board and the drive board can be detected one by one with one key, which is low in cost and high in efficiency. Compared with simultaneous control to enter multiple modes, one-by-one control can avoid controller errors, and the detection accuracy is higher. In addition, since the PWM detection module 111, the STO detection module 112, the discharge detection module 121 and the lock shaft detection module 122 are provided, the PWM wave generating circuit of the control board, the STO circuit and the discharge circuit and the lock shaft relay circuit of the drive board can be detected at the same time, with high integration, and can be applied to the control board and the drive board at the same time, and the application occasions are wide.

[0034] In one embodiment, the detection mode further includes a sampling detection mode, and the control board test circuit 110 further includes a sampling detection module 113, such as Figure 4As shown, the sampling detection module 113 is respectively connected to the controller 130 and the delta-sigma sampling circuit of the control board, and is used to output a sampling test signal to the delta-sigma sampling circuit in a sampling detection mode; the controller 130 is also connected to the delta-sigma sampling circuit; the detection signal also includes a sampling signal obtained after the delta-sigma sampling circuit samples the sampling test signal.

[0035] It can be understood that, in addition to the PWM detection module 111 and the STO detection module 112, the control board test circuit 110 may also include a sampling detection module 113, which is used to realize abnormal detection of the delta-sigma sampling circuit together with the controller 130. The delta-sigma sampling circuit is used to sample the input signal using oversampling technology; specifically, the controller 130 controls the sampling detection module 113 to output a sampling test signal, thereby entering a sampling detection mode, and the delta-sigma sampling circuit will sample the sampling test signal to obtain a sampling signal, and then the controller 130 will obtain the sampling signal and determine whether the delta-sigma sampling circuit is abnormal based on the sampling signal. In some embodiments, the controller 130 may compare the amplitude of the sampling signal with the sampling test signal. If the amplitudes of the two are consistent, it indicates that the delta-sigma sampling circuit is normal, otherwise it is abnormal. In some of the embodiments, the number of sampling test signals output by the sampling detection module 113 may be 3, and the amplitude of each sampling test signal is different. In this way, the delta-sigma sampling circuit will also collect 3 sampling signals. The controller 130 can compare the amplitude of each sampling signal with the amplitude of each sampling test signal one by one. If all are consistent, it indicates that the delta-sigma sampling circuit is normal, otherwise it is abnormal.

[0036] In this way, by setting the sampling detection module 113 in the control board test circuit 110, the sampling test signal is output under the control of the controller 130 for the delta-sigma sampling circuit to perform sampling, and then the controller 130 determines whether the delta-sigma sampling circuit has an abnormality according to the sampling signal obtained by the delta-sigma sampling circuit. The structure is simple and easy to implement. When the controller 130 controls to enter each detection mode, it enters one by one according to the test instruction, and the order of entering the sampling detection mode and other detection modes can be set by itself.

[0037] In one embodiment, the detection mode also includes a power detection mode, and the control board test circuit 110 also includes a power detection module 114, such as Figure 4As shown, the power detection module 114 is connected to the controller 130 and the power circuit of the control board respectively, and is used to detect the power voltage of the power circuit in the power detection mode to obtain a power detection signal; the detection signal also includes a power detection signal.

[0038] It can be understood that in addition to the PWM detection module 111, the STO detection module 112 and the sampling detection module 113, the control board test circuit 110 may also include a power detection module 114, which is used to realize abnormal detection of the power circuit together with the controller 130. The power circuit is used to power each power circuit on the control board; specifically, under the control of the controller 130, the power detection module 114 detects and obtains a power detection signal, and then transmits it to the controller 130, and the controller 130 receives the power detection signal through the ADC port thereon, so that the power supply voltage of the power circuit can be read according to the power detection signal, and then it is determined whether the power circuit is abnormal. Among them, a detection point can be set on the power circuit, and the power detection module 114 can be connected to the detection point of the power circuit through a pin, so that the structure is stable and the detection is more accurate. In some other embodiments, the controller 130 can compare the voltage value of the power detection signal with the preset voltage value. If they are consistent, it indicates that the power circuit is normal, otherwise it is abnormal. The controller 130 controls the entry into each detection mode one by one according to the test instruction, and the order of entering the power detection mode and other detection modes can be set by oneself.

[0039] By setting a power detection circuit in the control board test circuit 110 and combining it with the controller 130 to detect the power circuit, the reliability of the normal operation of the control board is improved, and the structure is simple and easy to implement.

[0040] In one embodiment, the detection mode further includes an input detection mode, and the control board test circuit 110 further includes an input detection module 115, such as Figure 4 As shown, the input detection module 115 is respectively connected to the controller 130 and the digital input circuit of the control board, and is used to output a digital test signal to the digital input circuit in the input detection mode; the controller 130 is also connected to the digital input circuit; the detection signal also includes an input detection signal obtained by the control board detecting the digital test signal.

[0041] It can be understood that the input detection module 115 is used to realize abnormality detection of the digital input circuit together with the controller 130. The digital input circuit is used to receive a digital signal input from the outside to the control board; specifically, under the control of the controller 130, the input detection module 115 outputs a digital test signal. After the digital input circuit receives the digital test signal, the control board will detect the digital test signal on the digital input circuit to obtain an input detection signal, and then transmit the input detection signal to the controller 130. The controller 130 can determine whether the digital input circuit is abnormal based on the input detection signal. Among them, a detection point can be set on the digital input circuit, and the input detection module 115 can be connected to the detection point of the digital input circuit through a pin, with a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the voltage value of the input detection signal with the preset input voltage value. If they are consistent, it indicates that the digital input circuit is normal, otherwise it is abnormal. Among them, when the controller 130 controls to enter each detection mode, it enters one by one according to the test instruction, and the entry order of the input detection mode and other detection modes can be set by itself.

[0042] In one embodiment, the detection mode further includes an output detection mode, and the control board test circuit 110 further includes an output detection module 116, such as Figure 4 As shown, the output detection module 116 is connected to the controller 130 and the digital output circuit of the control board respectively, and is used to detect the output voltage of the digital output circuit in the output detection mode to obtain an output detection signal; the detection signal also includes the output detection signal.

[0043] It can be understood that the output detection module 116 is used to realize abnormality detection of the digital output circuit together with the controller 130. The digital output circuit is used to output digital signals to the outside; specifically, under the control of the controller 130, the output detection module 116 detects the output voltage of the digital output circuit to obtain an output detection signal, and then the controller 130 obtains the output detection signal and determines whether the digital output circuit is abnormal based on the output detection signal. Among them, a detection point can be set on the digital output circuit, and the output detection module 116 can be connected to the detection point of the digital output circuit through a pin, with a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the voltage value of the output detection signal with the ideal voltage value. If they are consistent, it indicates that the digital output circuit is normal, otherwise it is abnormal. Among them, when the controller 130 controls to enter each detection mode, it enters one by one according to the test instruction, and the order of entering the output detection mode and other detection modes can be set by itself.

[0044] In one embodiment, the detection mode further includes a temperature sampling mode, and the control board test circuit 110 further includes a temperature detection module 117, such as Figure 4As shown, the temperature detection module 117 is connected to the controller 130 and the temperature communication circuit of the control board respectively, and is used to sample the temperature signal received by the temperature communication circuit in the temperature sampling mode to obtain a temperature detection signal; the detection signal also includes a temperature detection signal.

[0045] It can be understood that a temperature detection circuit is provided on the driver board to detect the temperature of the driver board, and the control board reads the temperature signal generated by the temperature detection circuit through I2C communication; by setting the temperature detection module 117, the abnormality detection of the temperature communication circuit can be realized in combination with the controller 130 to determine whether the temperature communication circuit can normally initiate communication and read the temperature signal. Specifically, under the control of the controller 130, the temperature detection module 117 samples the temperature signal received by the temperature communication circuit to obtain a temperature detection signal, and then the controller 130 obtains the temperature detection signal and determines whether the digital output circuit is abnormal based on the temperature detection signal. In one embodiment, after the temperature detection module 117 samples the temperature signal, it can also determine whether the temperature signal read by the temperature communication circuit is normal based on the sampled signal, thereby generating a temperature detection signal for characterizing the determination result.

[0046] The controller 130 controls the entry into each detection mode one by one according to the test instruction, and the entry sequence of the output detection mode and other detection modes can be set by the user.

[0047] In one embodiment, the detection mode further includes an IO detection mode, and the control board test circuit 110 further includes an IO detection module 118, such as Figure 4 As shown, the IO detection module 118 is connected to the controller 130 and the IO output circuit of the control board respectively, and is used to detect the signal output by the IO output circuit in the IO detection mode to obtain an IO detection signal; the detection signal also includes an IO detection signal.

[0048] It can be understood that the IO detection module 118 is used to realize abnormality detection of the IO output circuit together with the controller 130. The IO output circuit is used to output an IO signal to the outside; specifically, under the control of the controller 130, the IO detection module 118 detects the signal output by the IO output circuit to obtain an IO detection signal, and then the controller 130 obtains the IO detection signal and determines whether the IO output circuit is abnormal based on the IO detection signal. Among them, a detection point can be set on the IO output circuit, and the IO detection module 118 can be connected to the detection point of the IO output circuit through a pin, with a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the level of the signal output by the IO output circuit with the ideal level. If they are consistent, it indicates that the IO output circuit is normal, otherwise it is abnormal. In some other embodiments, the signal output by the IO output circuit may be a signal whose level changes with time. Among them, when the controller 130 controls to enter each detection mode, it enters one by one according to the test instruction, and the entry order of the IO detection mode and other detection modes can be set by itself.

[0049] In one embodiment, the detection mode further includes a storage detection mode, and the detection signal further includes a storage detection signal output by the storage circuit.

[0050] The storage circuit may include an EEPROM storage module and a FLASH storage module, and the two storage modules may detect whether their functions are abnormal by themselves, thereby generating a storage detection signal, and the controller 130 may obtain the storage detection signal in the storage detection mode, thereby obtaining an abnormality detection result of the storage circuit. It can be understood that the functions of the storage module may include storage function, read and write function, etc.

[0051] In one embodiment, the detection mode further includes an interactive detection mode, and the detection signal further includes an interactive detection signal between the MCU and the FPGA in the control board.

[0052] Among them, the interaction between the MCU and the FPGA in the control board is detected by the control board itself, and the controller 130 can obtain the interaction detection signal in the interaction detection mode, and then determine whether the interaction between the MCU and the FPGA in the control board is normal according to the interaction detection signal, and obtain the interaction abnormality detection result.

[0053] In one embodiment, the detection mode also includes a switch power detection mode; the driver board test circuit 120 also includes a switch power detection module 123, such as Figure 4 As shown, the switching power supply detection module 123 is connected to the controller 130 and the switching power supply circuit of the driving board respectively, and is used to detect the power supply voltage of the switching power supply circuit in the switching power supply detection mode to obtain a power supply detection signal; the detection signal also includes a power supply detection signal.

[0054] It can be understood that, in addition to the discharge detection module 121 and the lock shaft detection module 122, the driver board test circuit 120 may also include a switch power supply detection module 123, which is used to realize abnormal detection of the switch power supply circuit together with the controller 130. The switch power supply circuit can receive the voltage of the programmable power supply through the DC bus P / N, and then convert it into the voltage required by each functional module in the driver board, so as to power each functional module on the driver board; specifically, under the control of the controller 130, the switch power supply detection module 123 detects the power supply voltage output by the switch power supply circuit, obtains a power supply detection signal, and then transmits it to the controller 130, and the controller 130 receives the power supply detection signal through the ADC port thereon, so that the power supply voltage of the switch power supply circuit can be read according to the power supply detection signal, and then it is determined whether the switch power supply circuit is abnormal. Among them, a detection point can be set on the switch power supply circuit, and the power supply detection module 114 can be connected to the detection point of the power supply circuit through a pin, so that the structure is stable and the detection is more accurate. In some other embodiments, the controller 130 may compare the voltage value of the power supply detection signal with the ideal voltage value. If they are consistent, it indicates that the switching power supply circuit is normal, otherwise it is abnormal.

[0055] In some other embodiments, the switching power supply circuit may include multiple output terminals, and the voltage value of the power supply voltage output by each output terminal is different. The number of detection points may include multiple ones, which are respectively located on each output terminal. In this way, the switching power supply detection module 123 can measure multiple power supply detection signals. If the voltage values ​​of all power supply detection signals are consistent with the corresponding ideal values, it indicates that the switching power supply circuit is normal, otherwise it is abnormal.

[0056] The controller 130 controls the entry into each detection mode one by one according to the test instruction, and the order of entering the switch power detection mode and other detection modes can be set by oneself.

[0057] By setting a power detection circuit in the control board test circuit 110 and combining it with the controller 130 to detect the power circuit, the reliability of the normal operation of the control board is improved, and the structure is simple and easy to implement.

[0058] In one embodiment, the detection mode also includes an AC detection mode; the driver board test circuit 120 also includes a power control module 124, such as Figure 4 As shown, the power control module 124 is respectively connected to the controller 130 and the driving board, and is used to control the AC power supply to output an AC signal to the driving board in the AC detection mode, so that the AC power failure detection circuit detects the reception of the AC signal by the driving board to obtain a power failure detection signal; the controller 130 is also connected to the AC power failure detection circuit; the detection signal also includes a power failure detection signal.

[0059] It can be understood that the power control module 124 is used to realize abnormal detection of the AC power failure detection circuit together with the controller 130. The AC power failure detection circuit is used to detect whether the AC power provided to the driver board by the outside is powered off; specifically, the power control module 124 controls the AC power supply to output an AC signal to the driver board under the control of the controller 130, and the AC power failure detection circuit will output a power failure detection signal according to the AC power failure of the driver board, and then the controller 130 will obtain the power failure detection signal, and then determine whether the AC power failure detection circuit is abnormal according to the power failure detection signal. Among them, the power control module 124 may include a relay, one end of the relay is connected to the AC power supply, and the other end is connected to the driver board, so that the AC power supply to the driver board is realized by opening and closing the relay. In some other embodiments, the controller 130 can compare the level of the power failure detection signal with the power failure threshold level detected by the AC power failure detection circuit when the power is not lost. If they are consistent, it indicates that the power failure detection circuit is normal, otherwise it is abnormal. The controller 130 controls the entry into each detection mode one by one according to the test instruction, and the order of entering the AC detection mode and other detection modes can be set by oneself.

[0060] In one embodiment, before entering each detection mode, the controller 130 is further used to control the power control module 124 to conduct the conductive path between the DC power supply and the switching power supply circuit, so that the DC power supply provides a DC signal to the switching power supply circuit, such as Figure 4 shown.

[0061] It is understandable that each functional module in the driver board needs to be powered by a switching power supply circuit, and the switching power supply circuit needs to be powered by an external power supply before generating the power required by each functional module. Therefore, before the controller 130 controls the driver board to enter each detection mode, it can first control the power supply to the switching power supply circuit.

[0062] In one embodiment, the detection mode also includes an over-temperature detection mode; the driver board test circuit 120 also includes an over-temperature protection detection module 125, such as Figure 4 As shown, the over-temperature protection detection module 125 is respectively connected to the controller 130 and the over-temperature protection circuit of the driving board, and is used to output a first test voltage and a second test voltage respectively in the over-temperature detection mode; wherein the first test voltage is greater than the over-temperature point voltage, and the second test voltage is less than the over-temperature point voltage, and the over-temperature point voltage is the critical voltage when the over-temperature protection detection signal output by the over-temperature protection circuit is flipped; the controller 130 is also connected to the over-temperature protection circuit; the detection signal also includes an over-temperature protection detection signal.

[0063] It can be understood that the over-temperature protection detection module 125 is used to realize the abnormal detection of the over-temperature protection circuit together with the controller 130. The over-temperature protection circuit is used to detect the temperature of the driving board. When the temperature rises, the thermistor inside it increases and the voltage drop also increases. When a certain temperature is exceeded, the voltage drop exceeds the threshold, so that the level of the over-temperature protection detection signal output by the comparator is reversed; specifically, under the control of the controller 130, the over-temperature protection detection module 125 first outputs a first test voltage, and the first test voltage is greater than the over-temperature point voltage. Therefore, in theory, the over-temperature protection detection signal output at this time indicates that the temperature is abnormal, and then the controller 130 controls the over-temperature protection detection module 125 to output a second test voltage. The second test voltage is less than the over-temperature point voltage. Therefore, in theory, the level of the over-temperature protection detection signal output at this time will be reversed, indicating that the temperature is normal. Based on this, the controller 130 only needs to determine whether the temperature is abnormal first and then normal according to the over-temperature protection detection signal to determine whether the over-temperature protection circuit is abnormal. In some other embodiments, the first test voltage may be 3V, the second test voltage may be 0V, and the over-temperature point voltage may be 2.4V.

[0064] In one embodiment, the detection mode further includes a PWM drive detection mode, and the driver board test circuit 120 further includes a PWM drive detection module 126, such as Figure 4 As shown, the PWM drive detection module 126 is respectively connected to the controller 130 and the PWM drive circuit of the drive board, and is used to output a drive test signal to the PWM drive circuit in a PWM drive detection mode, so that the PWM drive circuit modulates the drive test signal and outputs a PWM drive detection signal; the controller 130 is also connected to the PWM drive circuit; the detection signal also includes a PWM drive detection signal.

[0065] Among them, the PWM drive circuit is used to modulate the external input signal. In the PWM drive detection mode, the controller 130 controls the PWM drive detection module 126 to output the drive test signal to the PWM drive circuit, so that the PWM drive circuit modulates the drive test signal and outputs the PWM drive detection signal. Then the controller 130 obtains the abnormality detection result of the PWM drive detection module 126 according to the PWM drive detection signal, wherein the abnormality detection result of the PWM drive detection module 126 is used to characterize whether the input to output of the PWM drive detection module 126 is abnormal; in one embodiment, the drive test signal has a high and low changing level. If the controller 130 determines that the level change of the PWM drive detection signal is consistent with the level change of the drive test signal, it indicates that the PWM drive detection module 126 has no abnormality, otherwise there is an abnormality.

[0066] In one embodiment, the detection mode further includes an overcurrent detection mode, and the driver board test circuit 120 further includes an overcurrent detection module 127, such as Figure 4As shown, the overcurrent detection module 127 is respectively connected to the controller 130 and the overcurrent protection circuit of the driving board, and is used to output a current test signal to the overcurrent protection circuit in the overcurrent detection mode, so that the overcurrent protection circuit outputs a current detection signal; the controller 130 is also connected to the overcurrent protection circuit, and the detection signal also includes a current detection signal.

[0067] It can be understood that the overcurrent detection module 127 is used to realize abnormal detection of the overcurrent protection circuit together with the controller 130. The overtemperature protection circuit is used to output an overcurrent detection signal of a corresponding value when the current in the driving board exceeds the threshold current. Therefore, it is possible to determine whether the overcurrent protection circuit is normal by detecting the value of the overcurrent detection signal. Specifically, under the control of the controller 130, the overcurrent detection module 127 first outputs a current test signal to the overcurrent protection circuit, and the overcurrent protection circuit outputs a corresponding overcurrent detection signal according to the size of the current test signal; in one embodiment, the current test signal can be set to be higher than the current threshold. When the current test signal is higher than the current threshold, if the controller 130 determines that an overcurrent condition occurs according to the overcurrent detection signal, it indicates that the overcurrent protection circuit is normal, otherwise it indicates an abnormality. This method is simple and the judgment result is highly accurate. Among them, the overcurrent detection module 127 can be connected to the overcurrent protection circuit through a pin.

[0068] In some other embodiments, the overcurrent detection module 127 may include an optocoupler circuit (not shown), the primary side of the optocoupler circuit is provided with a light emitting diode, the light emitting diode and the controller 130 form a loop, the secondary side is provided with a light receiving tube, the light receiving tube and the overcurrent protection circuit form a loop, the controller 130 can output a current signal to the primary side of the optocoupler circuit, so that the light emitting diode on the primary side emits a light signal, and after the light receiving tube on the secondary side senses the light signal, it will generate a current test signal, which is then output to the overcurrent protection circuit. An optocoupler circuit is set in the overcurrent detection module 127, and the size of the final current test signal can be adjusted by adjusting the current output by the controller 130, which has a simple structure and is easy to adjust.

[0069] In one embodiment, the single board automatic testing device also includes a clamping device, which is used to clamp the assembled circuit board and send a preparation completion signal to the host computer after detecting that the assembled circuit board is in a clamped state; the test instruction is issued by the host computer after receiving the preparation completion signal.

[0070] It can be understood that the clamping device can be used to clamp the assembled circuit board during the test process to prevent the assembled circuit board from moving, thereby causing the test circuit to be disconnected. The clamping device will monitor in real time whether the assembled circuit is in a clamped state. If it is detected to be in a clamped state, a ready completion signal will be sent to the host computer. After receiving the ready completion signal, the host computer is allowed to send a test instruction. At this time, the start test button on the host computer can be clicked to send the test instruction to the controller 130. Among them, when in a clamped state, each module in the single-board automatic test device is in a connected state with the corresponding circuits in the control board and the driver board.

[0071] In this way, by providing the clamping device, not only can the disconnection of the test circuit be avoided, but also it can be ensured that the test is carried out only when the connection with each circuit is successful, thereby ensuring the validity of the test result.

[0072] In one embodiment, reference Figure 5 As shown, the controller 130 includes a control board test fixture controller 131 and a drive board test fixture controller 132, wherein the control board test fixture controller 131 is respectively connected to each module in the control board test circuit 110, and is used to control entering into a detection mode for detecting the control board; the drive board test fixture controller 132 is respectively connected to each module in the drive board test circuit 120, and is used to control entering into a detection mode for detecting the drive board.

[0073] Among them, the control board test fixture controller 131 is used to control each module in the control board test circuit 110, so as to realize the corresponding detection mode; the drive board test fixture controller 132 is used to control each module in the control board test circuit 110, so as to realize the corresponding detection mode.

[0074] In some other embodiments, the detection mode includes a control detection mode and a drive detection mode; the controller 130 controls to enter each detection mode one by one according to the test instruction, and the control board test fixture controller 131 controls to enter the control detection mode one by one according to the test instruction, and the drive board test fixture controller 132 controls to enter the drive detection mode one by one according to the test instruction; wherein, the control board test fixture controller 131 is used to control to enter the detection mode for detecting the control board, and the drive board test fixture controller 132 is used to control to enter the detection mode for detecting the drive board; for example, the modulation detection mode, the safety detection mode, the sampling detection mode, the power supply detection mode, the input detection mode, the output detection mode, the temperature sampling mode, the IO detection mode, the storage detection mode and the interactive detection mode are all control detection modes; the discharge detection mode, the lock shaft detection mode, the switch power supply detection mode, the AC detection mode, the over-temperature detection mode, the PWM drive detection mode and the over-current detection mode are all drive detection modes.

[0075] Another embodiment of the present invention also provides a single-board automatic testing device, which is applied to assembling a circuit board, wherein the assembled circuit board includes a control board and a drive board, such as Figure 5 As shown, the single-board automatic testing device includes a control board test circuit 110, a drive board test circuit 120, a controller 130 and a clamping device (not shown), wherein the control board test circuit 110 includes a PWM detection module 111, an STO detection module 112, a sampling detection module 113, a power supply detection module 114, an input detection module 115, an output detection module 116, a temperature detection module 117 and an IO detection module 118, and the drive board test circuit 120 includes a discharge detection module 121, a lock shaft detection module 122, a switch power supply detection module 123, a power control module 124, an over-temperature protection detection module 125, a PWM drive detection module 126 and an over-current detection module 127. The connection relationship and working principle of each module can refer to the above embodiment, which will not be repeated here.

[0076] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A single board automatic testing device, characterized in that: Applicable to assembling a circuit board, the assembled circuit board includes a control board and a drive board, and the single-board automatic testing device includes a control board test circuit, a drive board test circuit and a controller; The control board test circuit comprises: A PWM detection module, connected to the PWM wave generating circuit of the control board, and used to detect the PWM signal output by the PWM wave generating circuit in a modulation detection mode to obtain a first PWM detection signal; An STO detection module is connected to the STO circuit of the control board, and is used to control the STO circuit to clear and block the PWM wave generating circuit from outputting the PWM signal in a safety detection mode, and detect the PWM signal output by the PWM wave generating circuit to obtain a second PWM detection signal; The driving board test circuit comprises: A discharge detection module, connected to the discharge circuit of the driving board, for controlling the discharge tube in the discharge circuit to be turned on in a discharge detection mode, and converting the loop current signal of the discharge circuit into a level detection signal; A shaft locking detection module is connected to the shaft locking relay circuit of the driving board, and is used to pull up the first connection end of the shaft locking relay circuit to the power supply end in the shaft locking detection mode, connect one of the second connection end and the third connection end of the shaft locking relay circuit to the ground end, and detect the terminal voltage of the first connection end to obtain a voltage detection signal; The controller is respectively connected to each module in the control board test circuit and the driver board test circuit, and is used to control entering each detection mode one by one according to the test instruction, obtain the detection signal under each detection mode, and obtain the abnormality detection result of each circuit in the control board and the driver board according to each detection signal; wherein the detection signal includes the first PWM detection signal, the second PWM detection signal, the level detection signal and the voltage detection signal.

2. The single board automatic testing device according to claim 1, characterized in that: The detection mode also includes a sampling detection mode, and the control board test circuit also includes: A sampling detection module, connected to the controller and the delta-sigma sampling circuit of the control board respectively, and configured to output a sampling test signal to the delta-sigma sampling circuit in the sampling detection mode; The controller is also connected to the delta-sigma sampling circuit; the detection signal also includes a sampling signal obtained after the delta-sigma sampling circuit samples the sampling test signal.

3. The single board automatic testing device according to claim 2, characterized in that: The detection mode also includes a power supply detection mode, and the control board test circuit also includes: The power detection module is connected to the power circuit of the controller and the control board respectively, and is used to detect the power voltage of the power circuit in the power detection mode to obtain a power detection signal; the detection signal also includes the power detection signal.

4. The single board automatic testing device according to claim 3, characterized in that: The detection mode also includes an input detection mode, and the control board test circuit also includes: An input detection module, connected to the controller and the digital input circuit of the control board respectively, for outputting a digital test signal to the digital input circuit in the input detection mode; The controller is also connected to the digital input circuit; the detection signal also includes an input detection signal obtained by the control board detecting the digital test signal.

5. The single board automatic testing device according to claim 3, characterized in that: The detection mode also includes an output detection mode, and the control board test circuit also includes: The output detection module is connected to the digital output circuit of the controller and the control board respectively, and is used to detect the output voltage of the digital output circuit in the output detection mode to obtain an output detection signal; the detection signal also includes the output detection signal.

6. The single board automatic testing device according to claim 3, characterized in that: The detection mode also includes a temperature sampling mode, and the control board test circuit also includes: The temperature detection module is connected to the temperature communication circuit of the controller and the control board respectively, and is used to sample the temperature signal received by the temperature communication circuit in the temperature sampling mode to obtain a temperature detection signal; the detection signal also includes the temperature detection signal.

7. The single board automatic testing device according to claim 3, characterized in that: The detection mode also includes an IO detection mode, and the control board test circuit also includes: The IO detection module is connected to the IO output circuits of the controller and the control board respectively, and is used to detect the signal output by the IO output circuit in the IO detection mode to obtain an IO detection signal; the detection signal also includes the IO detection signal.

8. The single board automatic testing device according to claim 1, characterized in that: The detection mode also includes a switch power supply detection mode; the driver board test circuit also includes: The switching power supply detection module is connected to the switching power supply circuit of the controller and the driving board respectively, and is used to detect the power supply voltage of the switching power supply circuit in the switching power supply detection mode to obtain a power supply detection signal; the detection signal also includes the power supply detection signal.

9. The single board automatic testing device according to claim 8, characterized in that: The detection mode also includes an AC detection mode; the driver board test circuit also includes: a power control module, connected to the controller and the driving board respectively, for controlling the AC power supply to output an AC signal to the driving board in the AC detection mode, so that the AC power failure detection circuit detects the reception of the AC signal by the driving board to obtain a power failure detection signal; The controller is also connected to the AC power failure detection circuit; and the detection signal also includes the power failure detection signal.

10. The single board automatic testing device according to claim 9, characterized in that: The detection mode also includes an over-temperature detection mode; the driving board test circuit also includes: An over-temperature protection detection module, connected to the over-temperature protection circuits of the controller and the driving board, respectively, and configured to output a first test voltage and a second test voltage, respectively, in the over-temperature detection mode; wherein the first test voltage is greater than an over-temperature point voltage, and the second test voltage is less than the over-temperature point voltage, and the over-temperature point voltage is a critical voltage when the over-temperature protection detection signal output by the over-temperature protection circuit is flipped; The controller is also connected to the over-temperature protection circuit; the detection signal also includes the over-temperature protection detection signal.

11. The single board automatic testing device according to claim 10, characterized in that: The detection mode also includes a PWM drive detection mode, and the drive board test circuit also includes: A PWM drive detection module is connected to the controller and the PWM drive circuit of the drive board respectively, and is used to output a drive test signal to the PWM drive circuit in the PWM drive detection mode, so that the PWM drive circuit modulates the drive test signal and then outputs a PWM drive detection signal; The controller is also connected to the PWM drive circuit; the detection signal also includes the PWM drive detection signal.

12. The single board automatic testing device according to claim 10, characterized in that: The detection mode also includes an overcurrent detection mode, and the driver board test circuit also includes: An overcurrent detection module, connected to the controller and the overcurrent protection circuit of the driving board respectively, and configured to output a current test signal to the overcurrent protection circuit in the overcurrent detection mode, so that the overcurrent protection circuit outputs a current detection signal; The controller is also connected to the overcurrent protection circuit, and the detection signal also includes the current detection signal.

13. The single board automatic testing device according to claim 1, characterized in that: The single board automatic testing device also includes: A clamping device, used for clamping the assembled circuit board and sending a preparation completion signal to a host computer after detecting that the assembled circuit board is in a clamped state; The test instruction is issued by the host computer after receiving the preparation completion signal.

14. The single board automatic testing device according to claim 1, characterized in that: The controller includes a control board test fixture controller and a drive board test fixture controller, wherein the control board test fixture controller is respectively connected to each module in the control board test circuit, and is used to control entry into a detection mode for detecting the control board; the drive board test fixture controller is respectively connected to each module in the drive board test circuit, and is used to control entry into a detection mode for detecting the drive board.

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