Servo motor parameter writing method and related equipment

Abstract

The invention discloses a servo motor parameter write-in method and related equipment, and the method comprises the steps: obtaining a parameter write-in demand generated by an industrial personal computer, the parameter write-in demand comprising servo motor information needing parameter write-in and correspondingly written operation parameter information; obtaining a first state test result generated by the tester; determining a parameter writing mode according to the parameter writing demand and the first state detection result, and writing operating parameters into a plurality of connected servo drivers in batches according to the parameter writing mode, so as to synchronously write the written operating parameters into a unique correspondingly connected servo motor through the servo drivers; acquiring a second state test result generated by the tester; if the second state test result meets the preset servo operation requirement, it is confirmed that parameter writing is completed. Defects in the prior art can be avoided, and the servo motor parameter writing efficiency, the quality control level and the automation degree are improved.

Description

Technical Field

[0001] The present application relates to the field of servo motors, and more specifically, to a servo motor parameter writing method and related equipment. Background Art

[0002] As a key driving component in automation equipment, the accuracy and stability of the servo motor's operating parameters are directly related to the performance and stability of the entire automation machine. The servo motor driver reads the parameters stored inside the servo motor to accurately control the motor's speed, direction, and position, thereby completing specific motion tasks. Therefore, in order to ensure that the servo motor can operate as expected, its internal parameters need to be accurately set and written.

[0003] The currently commonly used method of writing servo motor parameters is based on the industrial computer (industrial computer) controlling the single-chip microcomputer, which then communicates with the servo motor and completes the parameter writing. The defects of the existing servo motor parameter writing method are mainly reflected in several aspects: First, the writing efficiency is low. Since the single-chip microcomputer only supports single-channel communication and cannot realize multi-channel parallel writing, the parameter writing process is time-consuming and lengthy when there are a large number of servo motors, which affects the overall production efficiency; second, the quality control is insufficient. After the parameter writing is completed, there is a lack of immediate and comprehensive motor performance testing, which may cause defective products or scrapped products to fail to be discovered in time and flow into the subsequent production process, increasing the risk and cost of quality control. In addition, the traditional writing method also occupies a relatively large production site space, which is not conducive to the optimal allocation of production resources.

[0004] In summary, the existing servo motor parameter writing has defects such as low writing efficiency, lax quality control and large footprint. These problems limit the improvement of automated production efficiency and the optimization of cost control.

[0005] Based on this, the present application provides a servo motor parameter writing solution to avoid the defects of the prior art. Summary of the invention

[0006] In view of this, the present application provides a servo motor parameter writing method and related equipment, which effectively avoids the defects of the existing technology and improves the efficiency, quality control level and degree of automation of servo motor parameter writing by optimizing information acquisition, strengthening state detection, realizing multi-channel parallel writing and closed-loop verification strategy.

[0007] A method for writing servo motor parameters, comprising:

[0008] Obtaining a parameter writing requirement generated by an industrial computer, wherein the parameter writing requirement includes servo motor information for which parameters need to be written and corresponding operating parameter information to be written;

[0009] Acquire a first state test result generated by a tester, where the first state test result is generated by the tester performing a write state test on each target servo motor recorded in the servo motor information;

[0010] Determine a parameter writing method according to the parameter writing requirement and the first state detection result, and write operating parameters in batches to the connected multiple servo drives according to the parameter writing method, so that the written operating parameters are synchronously written into the only corresponding connected servo motor through the servo drive;

[0011] Acquire a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor;

[0012] If the second state test result meets the preset servo operation requirement, it is confirmed that the parameter writing is completed.

[0013] Optionally, the process of the tester performing write status detection on each target servo motor recorded in the servo motor information to generate the first status test result includes:

[0014] Performing a motor stator performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain a stator performance index and a first safety test index;

[0015] Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as having passed the write state detection;

[0016] Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as failing the write state detection;

[0017] The writing state detection results of the target servo motors recorded in the servo motor information are integrated to generate the first state test result.

[0018] Optionally, determining a parameter writing method according to the parameter writing requirement and the first state detection result includes:

[0019] According to the first state detection result, each target servo motor recorded in the servo motor information is divided into a batch write motor group and a write shield motor group, and each servo driver group uniquely connected to each servo motor in the batch write motor group is formed into a batch write driver group;

[0020] The parameter writing method is determined to batch write corresponding operating parameters to the batch writing driver group based on the operating parameter information recorded in the parameter writing requirement.

[0021] Optionally, the parameter writing requirement also includes writing priority information;

[0022] Determining a parameter writing method according to the parameter writing requirement and the first state detection result includes:

[0023] According to the first state detection result and the write priority information, each target servo motor recorded in the servo motor information is divided into a plurality of batch write motor groups and write shield motor groups, wherein each batch write motor group corresponds to a write priority;

[0024] The servo driver groups uniquely connected to the servo motors in the batch writing motor groups corresponding to the writing priorities are formed into batch writing driver groups corresponding to the writing priorities;

[0025] The parameter writing method is determined based on the operating parameter information recorded in the parameter writing requirement, and the corresponding operating parameters are batch-written to the batch-write driver groups corresponding to each writing priority in sequence according to the writing priority order.

[0026] Optionally, the parameter writing requirement further includes a predetermined writing cycle;

[0027] Before batch writing the operating parameters to the connected multiple servo drives in accordance with the parameter writing method, the following steps are also included:

[0028] Detect the time interval between the current time and the last batch write time;

[0029] If the time interval is less than the predetermined writing cycle, keep waiting for writing until the time interval is greater than the predetermined writing cycle;

[0030] If the time interval is greater than the predetermined writing cycle, a process of batch writing the operating parameters to the connected multiple servo drives according to the parameter writing method is executed.

[0031] Optionally, obtaining a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor, includes:

[0032] Performing a motor operation performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain an operation performance index and a second safety test index;

[0033] Determine each target servo motor whose operating performance index and the second safety test index meet the preset conditions as having passed the operating state detection;

[0034] Determine each target servo motor whose operating performance index and the second safety test index do not meet the preset conditions as failing the operating state detection;

[0035] The operating state detection results of the target servo motors recorded in the servo motor information are integrated to generate the second state test result.

[0036] Optionally, also include:

[0037] If the second state test result does not meet the preset servo operation requirement, the second state test result is sent to the industrial computer, and the process of obtaining the parameter writing requirement generated by the industrial computer is returned.

[0038] A servo motor parameter writing device, comprising:

[0039] A writing requirement unit, used for obtaining a parameter writing requirement generated by the industrial computer, wherein the parameter writing requirement includes the servo motor information for which parameters need to be written and the corresponding operation parameter information to be written;

[0040] A first testing unit, used for obtaining a first state test result generated by a tester, wherein the first state test result is generated by the tester performing a write state detection on each target servo motor recorded in the servo motor information;

[0041] A parameter writing unit, used for determining a parameter writing method according to the parameter writing requirement and the first state detection result, and batch writing operating parameters to the connected multiple servo drives according to the parameter writing method, so as to synchronously write the written operating parameters to the only corresponding connected servo motor through the servo drive;

[0042] A second testing unit is used to obtain a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor;

[0043] The writing completion unit is used to confirm that the parameter writing is completed when the second state test result meets the preset servo operation requirements.

[0044] A servo motor parameter writing device, comprising a memory and a processor;

[0045] The memory is used to store programs;

[0046] The processor is used to execute the program to implement each step of the servo motor parameter writing method as described in any one of the above items.

[0047] 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 servo motor parameter writing method as described in any one of the above items is implemented.

[0048] It can be seen from the above technical scheme that a servo motor parameter writing method and related equipment provided by the embodiment of the present application, first of all, the present application directly obtains the parameter writing requirement from the industrial computer, and this requirement includes the servo motor information and the corresponding operating parameter information that need to be written into the parameters, thereby avoiding the cumbersome steps of the traditional method that needs to communicate through the intermediary such as the single-chip microcomputer, thereby improving the efficiency and accuracy of information processing. Secondly, the present application introduces a tester to perform state detection of the servo motor, including the first state test before writing and the second state test after writing. The first state test ensures that before the parameter is written, each target servo motor is in a writable state, avoiding the writing failure caused by the poor state of the motor; the second state test verifies whether the motor running state after the parameter is written meets the preset requirements, thereby realizing the real-time detection of the servo motor performance and ensuring the product quality. Furthermore, the present application can flexibly determine the parameter writing method according to the parameter writing requirement and the first state detection result, and realize batch writing to multiple servo drives. This innovation breaks the limitation of the single-channel communication of the traditional single-chip microcomputer, realizes multi-channel parallel writing, and greatly improves the efficiency of parameter writing. At the same time, the written operating parameters are synchronously written to the only corresponding connected servo motor through the servo driver, ensuring the accuracy and consistency of parameter writing. Finally, if the second state test result meets the preset servo operation requirements, the parameter writing is confirmed to be completed. This step realizes the closed-loop verification of the parameter writing effect and ensures the reliability and stability of the entire writing process.

[0049] In summary, this application effectively avoids the defects of the prior art and improves the efficiency, quality control level and automation level of servo motor parameter writing by optimizing information acquisition, strengthening status detection, realizing multi-channel parallel writing and closed-loop verification strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 A schematic diagram of a servo control system disclosed in an embodiment of the present application;

[0052] Figure 2A flowchart of a servo motor parameter writing method disclosed in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of a servo motor parameter writing device disclosed in an embodiment of the present application;

[0054] Figure 4 This is a hardware structure block diagram of a servo motor parameter writing device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] Figure 1 Schematic diagram of a servo control system to which the present application can be applied. Figure 1 As shown, the system includes an industrial computer, a tester, a controller and a plurality of servo drivers, each of which is uniquely connected to a servo motor. A servo motor parameter writing method disclosed in the present application can be applied to Figure 1 in the controller shown.

[0058] According to the parameter writing requirements obtained from the industrial computer and the first state detection results obtained by the tester, the present application can flexibly determine the parameter writing method and realize batch writing to multiple servo drives. The written operating parameters are synchronously written to the only corresponding connected servo motor through the servo drive. After the writing is completed, the second state test results obtained by the tester are used to confirm whether the parameter writing is completed.

[0059] An embodiment of the present application provides a method for writing servo motor parameters. The method can be applied to a servo control platform or system involving parameter writing, and can also be applied to various computer terminals or smart terminals. The execution subject can be a processor or server of the computer terminal or smart terminal.

[0060] Next, the present application scheme is introduced. The present application proposes the following technical scheme, please see below for details.

[0061] Figure 2This is a flow chart of a method for writing servo motor parameters disclosed in an embodiment of the present application.

[0062] like Figure 2 As shown, the method may include:

[0063] Step S1, obtaining a parameter writing requirement generated by an industrial computer, wherein the parameter writing requirement includes servo motor information for which parameters need to be written and corresponding operation parameter information to be written.

[0064] Specifically, obtaining the parameter writing requirements generated by the industrial computer involves extracting detailed and accurate information from the industrial computer system, which is directly related to the subsequent parameter configuration and operation adjustment of the servo motor. Specifically, the parameter writing requirements include two core components: one is the servo motor information that needs to be written, which usually covers the key identifications such as the servo motor model, serial number, current working status, and its position or number in the entire control system to ensure the accuracy of the parameter writing operation; the other is the corresponding written operation parameter information, which lists in detail the various parameter values ​​that need to be adjusted or set, such as the power used when the motor is running, the operating speed, the motor phase resistance, the motor phase inductance, etc., as well as any specific operating logic or algorithm parameters, etc. These parameters directly determine the operating characteristics and performance of the servo motor.

[0065] In actual operation, obtaining these parameter writing requirements may be completed through the dedicated software interface of the industrial computer. The operator or automation program enters or selects the corresponding motor information and parameter values ​​according to actual needs, and then the processing system inside the industrial computer integrates this information into standardized parameter writing instructions. This process ensures the accuracy and efficiency of the parameter writing operation, laying a solid foundation for the precise control and optimized operation of the servo motor in the subsequent steps.

[0066] Step S2: Obtain a first state test result generated by the tester.

[0067] Specifically, the first state test result is generated by the tester performing write state detection on each target servo motor recorded in the servo motor information. The process of the tester performing write state detection on each target servo motor recorded in the servo motor information to generate the first state test result may specifically include:

[0068] ① Performing a motor stator performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain a stator performance index and a first safety test index.

[0069] ② Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as having passed the write status detection.

[0070] ③ Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as failing the write status detection.

[0071] ④ Integrate the write status detection results of each target servo motor recorded in the servo motor information to generate the first status test result.

[0072] The core of step S2 is to perform a first state test through a tester to ensure that all servo motors to be written with parameters (ie, each target servo motor recorded in the servo motor information) have passed the necessary state test, thereby meeting the basic conditions for accepting the writing of new parameters.

[0073] Specifically, the tester performs a series of rigorous write status tests on each target servo motor listed in the servo motor information. These tests include, but are not limited to, motor stator performance tests and motor insulation withstand voltage safety tests. The motor stator performance test is designed to evaluate the electrical performance of the motor, such as key parameters such as resistance and inductance, to obtain stator performance indicators that reflect the health and working efficiency of the motor. The motor insulation withstand voltage safety test is to verify the reliability and voltage resistance of the motor insulation material to ensure that the motor will not break down or short-circuit under normal operating voltage, thereby deriving the first safety test indicator.

[0074] Next, the tester will judge these test results according to the preset conditions or standards. Only when the stator performance index and the first safety test index meet or exceed these preset conditions, the corresponding target servo motor will be judged as passing the write status test. On the contrary, if any of the indicators fail to meet the standard, the servo motor will be judged as failing the write status test, which means that in the current electrical state, it may not be suitable for parameter writing operation and requires further inspection or maintenance.

[0075] Finally, the tester will integrate the write status test results of all target servo motors to generate the first status test results. The first status test results record the test results and judgment status of each servo motor, and may also include specific suggestions or treatment measures for motors that have not passed the test, providing an important reference for subsequent parameter writing decisions. Through this step, it can be ensured that only servo motors in good condition will enter the next stage of parameter writing, effectively avoiding problems such as parameter writing failure or motor damage caused by poor motor condition.

[0076] Step S3, determining a parameter writing method according to the parameter writing requirement and the first state detection result, and batch writing operating parameters to the connected multiple servo drives according to the parameter writing method, so that the written operating parameters are synchronously written into the only corresponding connected servo motor through the servo drive.

[0077] Specifically, based on the parameter writing requirements collected in the early stage (including servo motor information and corresponding operating parameter information) and the first state detection results, the optimal parameter writing method is determined, and the operating parameters are written in batches to multiple servo drives accordingly, and finally these parameters are synchronously transmitted to their respective unique corresponding servo motors through the servo drives.

[0078] Specifically, in step S3, the system will first analyze the parameter writing requirements, clarify which servo motors need to update parameters, and which specific operating parameters need to be updated. At the same time, the system will also comprehensively consider the first state detection results, that is, which servo motors have passed the write state detection and are in a state where they can accept new parameters. Based on this information, the system will intelligently select the most appropriate parameter writing method, including direct writing (parameters are updated uniformly for all servo motors that have passed the test), batch writing (grouped according to factors such as the type or priority of the servo motor), conditional writing (parameters are updated only for servo motors that meet specific conditions), and other strategies to ensure the efficiency and accuracy of parameter writing.

[0079] Once the parameter writing method is determined, the system will establish a connection with multiple connected servo drives through a communication interface (such as Ethernet, serial communication, etc.). Subsequently, the system will send the operating parameters in batches to the corresponding servo drives in accordance with the predetermined parameter writing method and sequence. After receiving these parameters, the servo drive will immediately perform internal processing and synchronously write the updated operating parameters to the servo motor that is uniquely connected to it. This process ensures the timeliness and consistency of parameter updates, so that each servo motor can be accurately controlled according to the latest operating parameters, thereby optimizing the performance and stability of the entire system.

[0080] Step S4: Obtain the second state test result generated by the tester.

[0081] Specifically, the second state test result is generated by the tester performing running state detection on each servo motor. The second state test ensures that the servo motor after the parameters are written can meet the preset running requirements. The specific execution steps are detailed as follows:

[0082] ① Performing a motor operation performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain an operation performance index and a second safety test index.

[0083] Specifically, a motor operation performance test and a motor insulation withstand voltage safety test are performed for each target servo motor recorded in the servo motor information. These two tests are designed to evaluate the comprehensive performance and safety of the servo motor. The operation performance test focuses on key parameters such as the motor's speed, torque, and efficiency to ensure its stability and efficiency under normal working conditions. The motor insulation withstand voltage safety test is to verify whether the insulation system of the motor can remain intact when it is subjected to rated voltage and possible overvoltage, to prevent safety hazards such as electrical failures or short circuits. Through these tests, the operation performance indicators of each servo motor and the second safety test indicators can be obtained to provide data support for subsequent judgments.

[0084] ② Determine each target servo motor whose operating performance index and the second safety test index meet the preset conditions as having passed the operating status detection.

[0085] ③ Determine each target servo motor whose operating performance index and the second safety test index do not meet the preset conditions as failing the operating status detection.

[0086] Specifically, the collected operating performance indicators and the second safety test indicators are compared one by one according to the preset standards or conditions. These standards or conditions are usually set based on industry specifications or safety performance requirements in specific application scenarios, aiming to ensure that the servo motor can operate stably and efficiently after the parameters are written, while meeting the requirements of safety and reliability. Only when all the indicators of the servo motor meet or exceed the preset conditions will it be judged as passing the operating status test. This step ensures that only servo motors with excellent performance, safety and reliability can be recognized as qualified.

[0087] ④ Integrate the operating status detection results of the target servo motors recorded in the servo motor information to generate the second status test result.

[0088] Step S5: If the second state test result meets the preset servo operation requirement, confirm that the parameter writing is completed.

[0089] Specifically, if the second state test results of all target servo motors meet or exceed these preset servo operation requirements, the system will automatically confirm that the parameter writing is complete. This confirmation not only marks the successful completion of the parameter writing process, but also means that the servo motor system is ready to enter the formal production operation stage.

[0090] In addition, if the second state test result does not meet the preset servo operation requirement, the second state test result is sent to the industrial computer, and the process of obtaining the parameter writing requirement generated by the industrial computer is returned.

[0091] It can be seen from the above technical scheme that a servo motor parameter writing method and related equipment provided by the embodiment of the present application, first of all, the present application directly obtains the parameter writing requirement from the industrial computer, and this requirement includes the servo motor information and the corresponding operating parameter information that need to be written into the parameters, thereby avoiding the cumbersome steps of the traditional method that needs to communicate through the intermediary such as the single-chip microcomputer, thereby improving the efficiency and accuracy of information processing. Secondly, the present application introduces a tester to perform state detection of the servo motor, including the first state test before writing and the second state test after writing. The first state test ensures that before the parameter is written, each target servo motor is in a writable state, avoiding the writing failure caused by the poor state of the motor; the second state test verifies whether the motor running state after the parameter is written meets the preset requirements, thereby realizing the real-time detection of the servo motor performance and ensuring the product quality. Furthermore, the present application can flexibly determine the parameter writing method according to the parameter writing requirement and the first state detection result, and realize batch writing to multiple servo drives. This innovation breaks the limitation of the single-channel communication of the traditional single-chip microcomputer, realizes multi-channel parallel writing, and greatly improves the efficiency of parameter writing. At the same time, the written operating parameters are synchronously written to the only corresponding connected servo motor through the servo driver, ensuring the accuracy and consistency of parameter writing. Finally, if the second state test result meets the preset servo operation requirements, the parameter writing is confirmed to be completed. This step realizes the closed-loop verification of the parameter writing effect and ensures the reliability and stability of the entire writing process.

[0092] In summary, this application effectively avoids the defects of the prior art and improves the efficiency, quality control level and automation level of servo motor parameter writing by optimizing information acquisition, strengthening status detection, realizing multi-channel parallel writing and closed-loop verification strategy.

[0093] In some embodiments of the present application, the process of step S3, determining the parameter writing method according to the parameter writing requirement and the first state detection result, is introduced. Three optional implementation methods are provided in the present application, which may specifically include:

[0094] The first one, generally speaking, includes two steps A1-A2.

[0095] A1. According to the first state detection result, each target servo motor recorded in the servo motor information is divided into a batch write motor group and a write shielding motor group, and each servo driver group uniquely connected to each servo motor in the batch write motor group is formed into a batch write driver group.

[0096] A2. Determine a parameter writing method, based on the operating parameter information recorded in the parameter writing requirement, and batch write corresponding operating parameters to the batch writing driver group.

[0097] Specifically, according to the first state detection result, each target servo motor recorded in the servo motor information can be divided into a batch write motor group and a write shielded motor group, wherein the batch write motor group includes those servo motors that are in good condition and meet the parameter writing conditions. These motors are considered to be suitable for batch parameter writing because they have high reliability and stability. The write shielded motor group includes servo motors that are in poor condition, have faults or abnormalities, or do not meet the parameter writing conditions. These motors will be temporarily excluded from parameter writing to avoid possible write failures or further damage. After determining the batch write motor group, the servo driver groups that are uniquely connected to each servo motor in the batch write motor group will also be grouped as a batch write driver group to facilitate subsequent parameter writing.

[0098] After completing the grouping of the servo motors and the composition of the driver groups, the system will batch write the corresponding operating parameters to the batch write driver group based on the operating parameter information recorded in the parameter writing requirements. Through the grouping of the servo motors and the composition of the driver groups based on the first state detection results, and the batch writing method based on the parameter writing requirements, the servo motor parameters are quickly and accurately written. This method not only improves the efficiency of parameter writing, but also ensures the reliability and stability of the writing process.

[0099] Second, the parameter writing requirement may also include writing priority information.

[0100] On this basis, it includes three steps B1-B3.

[0101] B1. According to the first state detection result and the write priority information, each target servo motor recorded in the servo motor information is divided into a plurality of batch write motor groups and a write shield motor group, wherein each batch write motor group corresponds to a write priority.

[0102] B2. The servo driver groups uniquely connected to the servo motors in the batch write motor groups corresponding to the write priorities are grouped into batch write driver groups corresponding to the write priorities.

[0103] B3. Determine the parameter writing method based on the operating parameter information recorded in the parameter writing requirement, and batch write the corresponding operating parameters to the batch write driver groups corresponding to each write priority in sequence according to the write priority order.

[0104] Specifically, according to the first state detection result and the write priority information, the system will conduct a comprehensive evaluation of the servo motor information. First, the servo motor is divided into multiple batch write motor groups and write shielding motor groups. Unlike the first embodiment, the batch write motor group here is no longer a single group, but is further subdivided into multiple groups according to the write priority. Each batch write motor group corresponds to a specific write priority, which depends on factors such as the actual needs of the production line, the importance of the servo motor, and the possible production delay costs. The system will form a corresponding batch write driver group with the servo driver group that is uniquely connected to the servo motor in the batch write motor group corresponding to each write priority. In this way, each write priority has a corresponding driver group.

[0105] After determining the write priority and the corresponding drive group, the system will batch write the corresponding operating parameters to the batch write drive groups corresponding to each write priority in the order of write priority according to the operating parameter information recorded in the parameter write requirement. This process ensures that the servo motors with high priority can get parameter updates first, thereby reducing the risk of production delays.

[0106] The third type is that the parameter writing requirement also includes a predetermined writing cycle.

[0107] On this basis, it includes three steps C1-C3.

[0108] Before batch writing the operating parameters to the connected multiple servo drives in accordance with the parameter writing method, the following steps are also included:

[0109] C1. Detect the time interval between the current time and the last batch write time.

[0110] C2. If the time interval is less than the predetermined writing cycle, keep waiting for writing until the time interval is greater than the predetermined writing cycle.

[0111] C3. If the time interval is greater than the predetermined writing period, a process of batch writing the operating parameters to the connected multiple servo drives is executed according to the parameter writing method.

[0112] Specifically, before executing parameter writing, the system will first detect the time interval between the current moment and the last batch writing moment. This step is to ensure that parameter writing is not too frequent or too sparse, so as to maintain the stable operation of the production line.

[0113] If the detected time interval is less than the predetermined writing cycle, the system will remain in the writing waiting state and will not immediately perform parameter writing. This step is to avoid excessive parameter adjustments to the servo motor in a short period of time, which may cause system instability or performance degradation. When the detected time interval is greater than the predetermined writing cycle, the system will batch write the operating parameters to the connected multiple servo drives according to the predetermined parameter writing method. This process ensures that the parameter writing is performed at the appropriate time point, and will neither interfere with the operation of the production line too frequently nor cause the performance of the production line to degrade due to too sparse writing.

[0114] A servo motor parameter writing device provided in an embodiment of the present application is described below. The servo motor parameter writing device described below and the servo motor parameter writing method described above can refer to each other.

[0115] See also Figure 3 , Figure 3 A schematic diagram of a servo motor parameter writing device disclosed in an embodiment of the present application.

[0116] like Figure 3 As shown, the servo motor parameter writing device may include:

[0117] The writing requirement unit 110 is used to obtain the parameter writing requirement generated by the industrial computer, wherein the parameter writing requirement includes the servo motor information to be written with parameters and the corresponding operation parameter information to be written;

[0118] A first testing unit 120 is used to obtain a first state test result generated by a tester, where the first state test result is generated by the tester performing a write state detection on each target servo motor recorded in the servo motor information;

[0119] A parameter writing unit 130 is used to determine a parameter writing method according to the parameter writing requirement and the first state detection result, and batch write operating parameters to the connected multiple servo drives according to the parameter writing method, so as to synchronously write the written operating parameters to the only corresponding connected servo motor through the servo drive;

[0120] A second testing unit 140 is used to obtain a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor;

[0121] The writing completion unit 150 is used to confirm that the parameter writing is completed when the second state test result meets the preset servo operation requirement.

[0122] It can be seen from the above technical scheme that a servo motor parameter writing method and related equipment provided by the embodiment of the present application, first of all, the present application directly obtains the parameter writing requirement from the industrial computer, and this requirement includes the servo motor information and the corresponding operating parameter information that need to be written into the parameters, thereby avoiding the cumbersome steps of the traditional method that needs to communicate through the intermediary such as the single-chip microcomputer, thereby improving the efficiency and accuracy of information processing. Secondly, the present application introduces a tester to perform state detection of the servo motor, including the first state test before writing and the second state test after writing. The first state test ensures that before the parameter is written, each target servo motor is in a writable state, avoiding the writing failure caused by the poor state of the motor; the second state test verifies whether the motor running state after the parameter is written meets the preset requirements, thereby realizing the real-time detection of the servo motor performance and ensuring the product quality. Furthermore, the present application can flexibly determine the parameter writing method according to the parameter writing requirement and the first state detection result, and realize batch writing to multiple servo drives. This innovation breaks the limitation of the single-channel communication of the traditional single-chip microcomputer, realizes multi-channel parallel writing, and greatly improves the efficiency of parameter writing. At the same time, the written operating parameters are synchronously written to the only corresponding connected servo motor through the servo driver, ensuring the accuracy and consistency of parameter writing. Finally, if the second state test result meets the preset servo operation requirements, the parameter writing is confirmed to be completed. This step realizes the closed-loop verification of the parameter writing effect and ensures the reliability and stability of the entire writing process.

[0123] In summary, this application effectively avoids the defects of the prior art and improves the efficiency, quality control level and automation level of servo motor parameter writing by optimizing information acquisition, strengthening status detection, realizing multi-channel parallel writing and closed-loop verification strategy.

[0124] Optionally, the process of the tester performing write status detection on each target servo motor recorded in the servo motor information to generate the first status test result includes:

[0125] Performing a motor stator performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain a stator performance index and a first safety test index;

[0126] Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as having passed the write state detection;

[0127] Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as failing the write state detection;

[0128] The writing state detection results of the target servo motors recorded in the servo motor information are integrated to generate the first state test result.

[0129] Optionally, the parameter writing unit performs a process of determining a parameter writing method according to the parameter writing requirement and the first state detection result, which may include:

[0130] According to the first state detection result, each target servo motor recorded in the servo motor information is divided into a batch write motor group and a write shield motor group, and each servo driver group uniquely connected to each servo motor in the batch write motor group is formed into a batch write driver group;

[0131] The parameter writing method is determined to batch write corresponding operating parameters to the batch writing driver group based on the operating parameter information recorded in the parameter writing requirement.

[0132] Optionally, the parameter writing requirement also includes writing priority information;

[0133] The process in which the parameter writing unit determines the parameter writing mode according to the parameter writing requirement and the first state detection result may include:

[0134] Determining a parameter writing method according to the parameter writing requirement and the first state detection result includes:

[0135] According to the first state detection result and the write priority information, each target servo motor recorded in the servo motor information is divided into a plurality of batch write motor groups and write shield motor groups, wherein each batch write motor group corresponds to a write priority;

[0136] The servo driver groups uniquely connected to the servo motors in the batch writing motor groups corresponding to the writing priorities are formed into batch writing driver groups corresponding to the writing priorities;

[0137] The parameter writing method is determined based on the operating parameter information recorded in the parameter writing requirement, and the corresponding operating parameters are batch-written to the batch-write driver groups corresponding to each writing priority in sequence according to the writing priority order.

[0138] Optionally, the parameter writing requirement further includes a predetermined writing cycle;

[0139] The process in which the parameter writing unit determines the parameter writing mode according to the parameter writing requirement and the first state detection result may include:

[0140] Before batch writing the operating parameters to the connected multiple servo drives in accordance with the parameter writing method, the following steps are also included:

[0141] Detect the time interval between the current time and the last batch write time;

[0142] If the time interval is less than the predetermined writing cycle, keep waiting for writing until the time interval is greater than the predetermined writing cycle;

[0143] If the time interval is greater than the predetermined writing cycle, a process of batch writing the operating parameters to the connected multiple servo drives according to the parameter writing method is executed.

[0144] Optionally, the second test unit executes a process of obtaining a second state test result generated by the tester, which may include:

[0145] Performing a motor operation performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain an operation performance index and a second safety test index;

[0146] Determine each target servo motor whose operating performance index and the second safety test index meet the preset conditions as having passed the operating state detection;

[0147] Determine each target servo motor whose operating performance index and the second safety test index do not meet the preset conditions as failing the operating state detection;

[0148] The operating state detection results of the target servo motors recorded in the servo motor information are integrated to generate the second state test result.

[0149] Optionally, the write completion unit can also be used to send the second state test result to the industrial computer when the second state test result does not meet the preset servo operation requirements, and return to execute the process of obtaining the parameter writing requirements generated by the industrial computer.

[0150] The servo motor parameter writing device provided in the embodiment of the present application can be applied to a servo motor parameter writing device. Figure 4 The hardware structure diagram of the servo motor parameter writing device is shown in FIG. Figure 4 ,The hardware structure of the servo motor parameter writing 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;

[0151] 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;

[0152] 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.;

[0153] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory;

[0154] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0155] Obtaining a parameter writing requirement generated by an industrial computer, wherein the parameter writing requirement includes servo motor information for which parameters need to be written and corresponding operating parameter information to be written;

[0156] Acquire a first state test result generated by a tester, where the first state test result is generated by the tester performing a write state test on each target servo motor recorded in the servo motor information;

[0157] Determine a parameter writing method according to the parameter writing requirement and the first state detection result, and write operating parameters in batches to the connected multiple servo drives according to the parameter writing method, so that the written operating parameters are synchronously written into the only corresponding connected servo motor through the servo drive;

[0158] Acquire a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor;

[0159] If the second state test result meets the preset servo operation requirement, it is confirmed that the parameter writing is completed.

[0160] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0161] 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:

[0162] Obtaining a parameter writing requirement generated by an industrial computer, wherein the parameter writing requirement includes servo motor information for which parameters need to be written and corresponding operating parameter information to be written;

[0163] Acquire a first state test result generated by a tester, where the first state test result is generated by the tester performing a write state test on each target servo motor recorded in the servo motor information;

[0164] Determine a parameter writing method according to the parameter writing requirement and the first state detection result, and write operating parameters in batches to the connected multiple servo drives according to the parameter writing method, so that the written operating parameters are synchronously written into the only corresponding connected servo motor through the servo drive;

[0165] Acquire a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor;

[0166] If the second state test result meets the preset servo operation requirement, it is confirmed that the parameter writing is completed.

[0167] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0168] 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.

[0169] 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.

[0170] 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 method for writing servo motor parameters, characterized in that: include: Obtaining a parameter writing requirement generated by an industrial computer, wherein the parameter writing requirement includes servo motor information for which parameters need to be written and corresponding operating parameter information to be written; Acquire a first state test result generated by a tester, where the first state test result is generated by the tester performing a write state test on each target servo motor recorded in the servo motor information; Determine a parameter writing method according to the parameter writing requirement and the first state detection result, and write operating parameters in batches to the connected multiple servo drives according to the parameter writing method, so that the written operating parameters are synchronously written into the only corresponding connected servo motor through the servo drive; Acquire a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor; If the second state test result meets the preset servo operation requirement, it is confirmed that the parameter writing is completed.

2. The method according to claim 1, characterized in that The process of the tester performing write status detection on each target servo motor recorded in the servo motor information to generate the first status test result includes: Performing a motor stator performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain a stator performance index and a first safety test index; Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as having passed the write state detection; Determine each target servo motor whose stator performance index and the first safety test index meet the preset conditions as failing the write state detection; The writing state detection results of the target servo motors recorded in the servo motor information are integrated to generate the first state test result.

3. The method according to claim 1, characterized in that Determining a parameter writing method according to the parameter writing requirement and the first state detection result includes: According to the first state detection result, each target servo motor recorded in the servo motor information is divided into a batch write motor group and a write shield motor group, and each servo driver group uniquely connected to each servo motor in the batch write motor group is formed into a batch write driver group; The parameter writing method is determined to batch write corresponding operating parameters to the batch writing driver group based on the operating parameter information recorded in the parameter writing requirement.

4. The method according to claim 1, characterized in that: The parameter writing requirement also includes writing priority information; Determining a parameter writing method according to the parameter writing requirement and the first state detection result includes: According to the first state detection result and the write priority information, each target servo motor recorded in the servo motor information is divided into a plurality of batch write motor groups and write shield motor groups, wherein each batch write motor group corresponds to a write priority; The servo driver groups uniquely connected to the servo motors in the batch writing motor groups corresponding to the writing priorities are formed into batch writing driver groups corresponding to the writing priorities; The parameter writing method is determined based on the operating parameter information recorded in the parameter writing requirement, and the corresponding operating parameters are batch-written to the batch-write driver groups corresponding to each writing priority in sequence according to the writing priority order.

5. The method according to claim 1, characterized in that: The parameter writing requirement also includes a predetermined writing cycle; Before batch writing the operating parameters to the connected multiple servo drives in accordance with the parameter writing method, the following steps are also included: Detect the time interval between the current time and the last batch write time; If the time interval is less than the predetermined writing cycle, keep waiting for writing until the time interval is greater than the predetermined writing cycle; If the time interval is greater than the predetermined writing cycle, a process of batch writing the operating parameters to the connected multiple servo drives according to the parameter writing method is executed.

6. The method according to claim 1, characterized in that Obtaining a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor, including: Performing a motor operation performance test and a motor insulation withstand voltage safety test on each target servo motor recorded in the servo motor information to obtain an operation performance index and a second safety test index; Determine each target servo motor whose operating performance index and the second safety test index meet the preset conditions as having passed the operating state detection; Determine each target servo motor whose operating performance index and the second safety test index do not meet the preset conditions as failing the operating state detection; The operating state detection results of the target servo motors recorded in the servo motor information are integrated to generate the second state test result.

7. The method according to claim 1, characterized in that Also includes: If the second state test result does not meet the preset servo operation requirement, the second state test result is sent to the industrial computer, and the process of obtaining the parameter writing requirement generated by the industrial computer is returned.

8. A servo motor parameter writing device, characterized in that: include: A writing requirement unit, used for obtaining a parameter writing requirement generated by the industrial computer, wherein the parameter writing requirement includes the servo motor information for which parameters need to be written and the corresponding operation parameter information to be written; A first testing unit, used for obtaining a first state test result generated by a tester, wherein the first state test result is generated by the tester performing a write state detection on each target servo motor recorded in the servo motor information; A parameter writing unit, used for determining a parameter writing method according to the parameter writing requirement and the first state detection result, and batch writing operating parameters to the connected multiple servo drives according to the parameter writing method, so as to synchronously write the written operating parameters to the only corresponding connected servo motor through the servo drive; A second testing unit is used to obtain a second state test result generated by the tester, where the second state test result is generated by the tester performing running state detection on each servo motor; The writing completion unit is used to confirm that the parameter writing is completed when the second state test result meets the preset servo operation requirements.

9. A servo motor parameter writing 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 servo motor parameter writing method as described in any one of claims 1-7.

10. 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 servo motor parameter writing method as described in any one of claims 1 to 7 is implemented.

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