Servo driver test system and test method, upper industrial personal computer and storage medium

Abstract

The invention provides a servo driver testing system and method, an upper industrial personal computer and a storage medium. The system comprises a tested servo driver grating table, a twin-trawling motor rack and a main console. The tested servo driver grating table is used for placing a tested servo driver and is provided with a safety grating; the twin-trawling motor rack comprises a first motor connected with the tested servo driver and a second motor connected with the test-accompanying servo driver; the main console comprises an upper industrial personal computer, a test-accompanying servo driver, a virtual servo driver, a first PLC, a second PLC and a plurality of relays used for manufacturing different test conditions. The upper industrial personal computer serves as a master station to communicate with the virtual servo driver, the first PLC, the second PLC and the tested servo driver through an EtherCAT communication protocol, the first PLC is used for controlling triggering of the relay, the second PLC is used for controlling the test-accompanying servo driver, and the virtual servo driver is used for providing reference parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of servo drivers, and in particular to a servo driver testing system, a testing method, a host industrial computer and a storage medium. Background Art

[0002] Servo drives are an indispensable and important device in modern motion control systems. They are mainly used to control servo motors to achieve high-precision and high-efficiency motion control. They are widely used in CNC machine tools, robots, automated production lines and other fields. Before a servo drive leaves the factory, it is necessary to ensure that all aspects of its functions are normal. Therefore, it is very necessary to perform functional tests on the servo drive during the production process. However, traditional servo drive test systems have disadvantages such as low automation and low test efficiency, which makes it difficult to meet the needs of large-scale servo drive factory testing. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a servo drive test system, a test method, a host industrial control computer and a storage medium.

[0004] In a first aspect, the present invention provides a servo drive test system, comprising: Servo drive grating table, towing motor stand and main control console under test; The servo driver grating table to be tested is used to place the servo driver to be tested and is provided with a safety grating; The pair of motor test benches include a first motor and a second motor, wherein the first motor is connected to the servo driver to be tested, and the second motor is connected to the servo driver to be tested; The main control console includes a host industrial computer, the accompanying servo driver, a virtual servo driver, a first PLC, a second PLC, and a plurality of relays for manufacturing different test conditions of the servo driver under test; Among them, the upper industrial computer serves as an EtherCAT master station, and communicates with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test through the EtherCAT communication protocol; the first PLC is connected to the multiple relays, and is used to control the triggering of the multiple relays according to the control signal of the upper industrial computer; the second PLC is connected to the accompanying servo driver, and is used to control the motion of the accompanying servo driver under test according to the control signal of the upper industrial computer; the virtual servo driver is a servo driver that is in the same power supply environment as the servo driver under test but is not connected to the motor encoder, and the virtual servo driver is used to provide benchmark parameters to the upper industrial computer.

[0005] In some embodiments, the plurality of relays comprises: An undervoltage power supply relay, the undervoltage power supply relay is connected between the transformer and the servo drive under test, and is used to create a three-phase power input undervoltage test condition of the servo drive under test; A phase-loss power supply relay, which is connected between a strong power supply and the servo drive under test and is used to create a three-phase power input phase-loss test condition of the servo drive under test; A braking resistor relay is connected between the braking resistor and the servo drive under test, and is used to create a braking resistor disconnection test condition of the servo drive under test.

[0006] In some embodiments, the first PLC is also connected to the I / O terminal and the brake terminal of the servo drive under test, and is used to detect input and output signals of the I / O terminal and the brake terminal.

[0007] In some embodiments, the companion servo driver adopts a stand-alone running firmware, which is used to control the operation of the second motor under the triggering of the second PLC to create an overcurrent condition of the first motor.

[0008] In a second aspect, the present invention further provides a test method performed by the servo drive test system according to the first aspect, the method comprising: The upper industrial computer serves as an EtherCAT master station, and establishes communication connections with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test through the EtherCAT communication protocol; In response to the user's test item selection operation, the upper-level industrial computer executes the test of a single test item or executes the automatic test of all test items.

[0009] In some embodiments, the performing of the test of a single test item includes: Sending a first control signal to the first PLC, so that the first PLC triggers a high-power supply relay to supply high power to the servo driver under test; According to the test item selected by the user, a second control signal is sent to the first PLC to make the first PLC trigger the target relay to create the target test condition, or a third control signal is sent to the second PLC to make the second PLC trigger the accompanying test servo driver to create the first motor overcurrent condition; If it is determined that the feedback information of the servo driver under test is correct according to the reference parameters provided by the virtual servo driver, the fault information of the servo driver under test is cleared, the test system is restored to an initial state, and a test report is exported.

[0010] In some embodiments, the automatic test of performing all test items includes: Determine the execution order of test items; Execute the test of each test item in sequence according to the execution order. After each test item is completed, execute the test of the next test item at an interval of a set time until all test items are completed. Clear the fault information of the servo drive under test, restore the test system to its initial state, and export the test report.

[0011] In a third aspect, the present invention further provides a host industrial computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the test method as described in the second aspect above when executing the computer program.

[0012] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the test method as described in the second aspect above.

[0013] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the test method as described in the second aspect is implemented.

[0014] The servo driver test system, test method, host industrial computer and storage medium provided by the present invention establish communication connection between the host industrial computer and the virtual servo driver, the first PLC, the second PLC and the servo driver under test by using the EtherCAT communication protocol, the virtual servo driver provides reference parameters to the host industrial computer, the first PLC controls the triggering of multiple relays according to the control signal of the host industrial computer to manufacture different test conditions of the servo driver under test, and the second PLC performs motion control on the accompanying servo driver under test according to the control signal of the host industrial computer, so that different test conditions can be automatically manufactured according to the test requirements, and automated test work is realized, which greatly improves the test efficiency. In addition, by installing a safety grating device on the grating platform of the servo driver under test, the safety level in the test process is significantly enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the servo drive test system provided by the present invention.

[0017] Figure 2This is an example diagram of the EtherCAT communication link provided by the present invention.

[0018] Figure 3 It is an example diagram of various parts of the servo drive test system provided by the present invention.

[0019] Figure 4 The present invention provides a servo drive test system that provides a wiring logic example diagram between the various parts.

[0020] Figure 5 This is an example diagram of the basic architecture of the test system provided by the present invention.

[0021] Figure 6 The present invention provides a test method based on a servo drive test system.

[0022] Figure 7 This is an example diagram of the test software design provided by the present invention.

[0023] Figure 8 This is an example diagram of a single test process provided by the present invention.

[0024] Fig. 9 This is an example diagram of the automatic test process of all test items provided by the present invention.

[0025] Fig.10 It is a structural schematic diagram of the upper industrial control computer provided by the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Combine the following Figure 1-Figure 10 Embodiments of the present invention are described.

[0028] Figure 1 Schematic diagram of the structure of the servo drive test system provided by the present invention. Figure 1As shown, the test system includes: a grating table for the servo drive under test, a pair of motor test benches and a main control console; the grating table for the servo drive under test is used to place the servo drive under test and is provided with a safety grating; the pair of motor test benches include a first motor and a second motor, the first motor is connected to the servo drive under test, and the second motor is connected to the accompanying servo drive under test; the main control console includes an upper industrial computer, an accompanying servo drive under test, a virtual servo drive, a first PLC, a second PLC and a plurality of relays for manufacturing different test conditions of the servo drive under test; wherein the upper industrial computer serves as an EtherCAT master station and communicates with the virtual servo drive, the first PLC, the second PLC and the servo drive under test through the EtherCAT communication protocol; the first PLC is connected to a plurality of relays and is used to control the triggering of the plurality of relays according to the control signal of the upper industrial computer; the second PLC is connected to the accompanying servo drive and is used to control the motion of the accompanying servo drive under test according to the control signal of the upper industrial computer; the virtual servo drive is a servo drive that is in the same power supply environment as the servo drive under test but is not connected to the motor encoder, and the virtual servo drive is used to provide reference parameters to the upper industrial computer.

[0029] Specifically, the servo drive needs to be tested for various functions during the R&D experiment and the production process to ensure that all functions of the drive can work normally and to eliminate problems caused by assembly of various components. Considering that the testing of the entire servo drive is relatively cumbersome and too time-consuming and labor-intensive, the present invention provides an automated servo drive testing system to meet the testing needs of large quantities of servo drives.

[0030] In the present invention, PLC refers to Programmable Logic Controller. EtherCAT refers to Ethernet for Control Automation Technology. The EtherCAT network includes a master station device and multiple slave station devices. Its operating principle is: in a communication cycle, the master station sends Ethernet data frames to each slave station. After the data frame arrives at the slave station, each slave station extracts the corresponding data from the data frame according to the addressing, and writes its feedback data into the data frame. When the data frame is sent to the last slave station, it returns and returns to the master station through the first slave station. This transmission mode can realize data communication in one cycle, and also improves bandwidth utilization. The maximum effective data utilization rate is more than 90%.

[0031] For example, Figure 2 This is an example diagram of the EtherCAT communication link provided by the present invention, such as Figure 2As shown, the virtual servo drive (the virtual servo in the figure), the first PLC (PLC1 in the figure), the second PLC (PLC2 in the figure), and the servo drive under test (the servo under test in the figure) are all EtherCAT slaves. The test system uses the EtherCAT communication protocol to connect the upper industrial computer (referred to as the upper computer), the virtual servo drive, the first PLC, the second PLC, and the servo drive under test in series for communication. The first EtherCAT slave is the virtual servo drive, and the last EtherCAT slave is the servo drive under test. In one communication cycle, the upper industrial computer sends Ethernet data frames to each slave. After the data frame arrives at the slave, each slave extracts the corresponding data from the data frame according to the addressing, and writes its feedback data into the data frame. When the data frame is sent to the servo drive under test, it returns and returns to the upper industrial computer through the virtual servo drive.

[0032] Figure 3 is an example diagram of various parts of the servo drive test system provided by the present invention, such as Figure 3 As shown, the servo drive grating table under test is mainly used to place the servo drive under test. In addition, since the test of the servo drive generally requires the on-off operation of high voltage electricity, there are certain safety hazards. Therefore, the present invention is provided with a safety grating on the servo drive grating table under test, and the safety grating is connected in series to the power supply relay of the servo drive under test. When a person or object enters the range of the servo drive test table under test, the safety grating will instantly disconnect the power supply of the servo drive under test, playing a safety protection role. In addition, the servo drive grating table under test provided by the present invention can also have functions such as driver power supply (supplying power to the servo drive under test), motor power output (supplying power to the first motor), receiving and transmitting signals of the I / O terminal of the servo drive under test, and motor encoder connection.

[0033] The tow motor test bench includes two motors, wherein the first motor connected to the servo drive under test can be called the loading-end tow motor, and the second motor connected to the accompanying servo drive can be called the load-end tow motor. The two motors of the tow motor test bench are respectively controlled by the servo drive under test and the accompanying servo drive. The accompanying servo drive serves as the driver of the load-end tow motor and is used to control the operation of the load-end tow motor. In some embodiments, the accompanying servo drive adopts a stand-alone running firmware, which is used to control the operation of the second motor under the triggering of the second PLC to create an overcurrent condition for the first motor. In other words, the accompanying servo drive does not enter the EtherCAT connection link. When used, it is matched with the driver stand-alone running firmware to create an overcurrent condition for the other motor by controlling the second motor to run at a larger torque.

[0034] The main console is mainly used to control the power supply of various devices, the software control of the upper industrial computer, and the active triggering of various test conditions. In some embodiments, the wiring logic between the various parts of the servo drive test system is as follows: Figure 4 As shown, it includes: an external strong power supply is connected to the main control console, and the main control console separates the 220V power supply of the upper industrial computer and the low-voltage power supply module through a transformer. The undervoltage power supply relay for manufacturing undervoltage conditions is also connected to the power supply, and the low-voltage power supply module provides weak power. The accompanying servo driver is connected to the load-end towing motor of the towing motor stand through the motor power line and the encoder line. The main control console is connected to the servo driver grating platform under test through the strong power line, I / O terminal line, weak power line, brake terminal line and grating power control line. The servo driver under test on the servo driver grating platform under test is connected to the loading-end towing motor of the towing motor stand through the motor power line and the encoder line.

[0035] In some embodiments, the main control console includes a test servo drive, a virtual servo drive, a first PLC, a second PLC, a host industrial computer, various switches and all relay modules. The various switches include a main switch and various button switches, and the button switches include: a host industrial computer switch, a first PLC switch, a second PLC switch, a weak-current power supply switch of the servo drive under test, a strong-current power supply switch of the servo drive under test, a weak-current power supply switch of the servo drive under test, a strong-current power supply switch of the servo drive under test, a single-machine operation mode switch of the servo under test, a weak-current power supply switch of the virtual servo drive, and a strong-current power supply switch of the virtual servo drive. The relay module includes a strong-current relay and a weak-current relay, the strong-current relay is used to control the on and off of the high-voltage current, and the weak-current relay is mainly used to control the on and off of the low-voltage current.

[0036] Since there are many factory test items for servo drives and each test item requires a different test environment, a test system that can cover all test items is needed to automatically create a special test environment, automatically perform testing work, and ensure the testing requirements of each test item. Therefore, the main control console of the present invention, in addition to conventional power supply relays, the relay module also includes some special relays, that is, multiple relays for creating different test conditions of the servo drive under test.

[0037] In some embodiments, the plurality of relays includes: An undervoltage power supply relay is connected between the transformer and the servo drive under test, and is used to create a three-phase power input undervoltage test condition for the servo drive under test; Phase-loss power supply relay: The phase-loss power supply relay is connected between the strong power supply and the servo drive under test, and is used to create a three-phase power input phase-loss test condition for the servo drive under test; The brake resistor relay is connected between the brake resistor and the servo drive under test and is used to create a brake resistor disconnection test condition for the servo drive under test.

[0038] In the present invention, the plurality of relays are controlled by the first PLC. In some embodiments, the first PLC is also connected to the I / O terminal and the brake terminal of the servo drive under test, and is used to detect the input and output signals of the I / O terminal and the brake terminal. Figure 5 The figure shows an example diagram of the basic architecture of the test system provided by the present invention. The upper industrial computer performs the receiving and sending actions of commands as the EtherCAT master station, and the PLC performs the triggering action of its own point signal according to the master station signal. The virtual servo driver transmits its own driver parameters through the EtherCAT communication link, and the servo driver under test performs all required data reading and writing actions and motion control through the EtherCAT communication link. Through the control of the undervoltage power supply relay, the phase loss power supply relay, the brake resistor relay, etc. by the first PLC, special test conditions such as three-phase power input undervoltage, three-phase power input phase loss, and brake resistor disconnection can be actively created, and the input and output signals of the I / O terminals and brake terminals of the servo driver under test can also be detected. By triggering the specified point signal of the second PLC, the motion control of the accompanying servo driver can be performed, such as triggering the enabling of the accompanying servo driver, the speed mode selection, and other actions. The servo parameters can be debugged and confirmed in advance and saved in the servo driver.

[0039] It should be noted that the virtual servo driver in the present invention is a servo driver with a physical body. The virtual servo driver and the servo driver under test are in the same power supply environment, but the motor encoder is not connected. It only exists as a reference device that provides benchmark parameters. The benchmark parameters are the driver parameters of the virtual servo driver itself. For example, the virtual servo driver provides its own voltage or temperature parameters to the upper-level industrial computer, which are used as the judgment basis for voltage or temperature test items. The virtual servo driver also needs to be used with special operating firmware to ensure that the virtual servo driver can operate normally without connecting to the motor encoder.

[0040] The role of the virtual servo drive is to provide a stable, known voltage or temperature parameter for comparison with the corresponding parameters of the servo drive under test. In this way, it is possible to evaluate whether the voltage or temperature performance of the servo drive under test meets expectations under the same power supply environment, thereby determining whether it is operating normally.

[0041] The servo driver test system provided by the present invention establishes a communication connection between a host industrial computer and a virtual servo driver, a first PLC, a second PLC, and a servo driver to be tested by using an EtherCAT communication protocol, wherein the virtual servo driver provides reference parameters to the host industrial computer, and the first PLC controls the triggering of multiple relays according to the control signal of the host industrial computer to manufacture different test conditions of the servo driver to be tested, and the second PLC performs motion control on the accompanying servo driver to be tested according to the control signal of the host industrial computer, thereby automatically manufacturing different test conditions according to the test requirements, and realizing automated test work, thereby greatly improving the test efficiency. In addition, by installing a safety grating device on the grating platform of the servo driver to be tested, the safety level in the test process is significantly enhanced.

[0042] Figure 6 The present invention provides a test method based on a servo drive test system. Figure 6 As shown, the method includes the following steps 601 and 602.

[0043] Step 601: The upper industrial computer serves as an EtherCAT master station and establishes communication connections with the virtual servo drive, the first PLC, the second PLC, and the servo drive under test through the EtherCAT communication protocol.

[0044] Step 602: In response to the user's test item selection operation, the upper industrial computer executes a test of a single test item or executes an automatic test of all test items.

[0045] The host industrial computer of the present invention is installed with test software. Figure 7 This is an example diagram of the test software design provided by the present invention. The software can be written based on the Linux platform. The backend mainly includes PLC control, control of slave stations based on EtherCAT communication, and reading and writing of information. The frontend UI can be written with the help of Widgets, such as Figure 7 As shown, the software is mainly designed with EtherCAT communication connection function, single test function of each test item, automatic test function of all test items, automatic export function of test report and user login authority differentiation function.

[0046] After the user account logs in, the upper industrial computer acts as the EtherCAT master station and establishes communication connections with the virtual servo drive, the first PLC, the second PLC, and the servo drive under test through the EtherCAT communication protocol. The user selects the test items. If the single test mode is selected, the upper industrial computer executes the test of a single test item. If the automatic test mode of all test items is selected, the automatic test of all test items is executed. All test items refer to all testable test items of the test system. After the test is completed, the test report is automatically exported.

[0047] In some embodiments, performing a test of a single test item includes: Sending a first control signal to the first PLC, so that the first PLC triggers a high-power supply relay to supply high power to the servo driver under test; According to the test item selected by the user, a second control signal is sent to the first PLC to make the first PLC trigger the target relay to create the target test condition, or a third control signal is sent to the second PLC to make the second PLC trigger the accompanying test servo driver to create the first motor overcurrent condition; If the feedback information of the servo driver under test is determined to be correct according to the reference parameters provided by the virtual servo driver, the fault information of the servo driver under test is cleared, the test system is restored to an initial state, and a test report is exported.

[0048] Figure 8 This is an example diagram of a single test process provided by the present invention, such as Figure 8 As shown, the first PLC is connected to the high-voltage power supply relay. After the single test is started, the upper industrial computer sends a first control signal to the first PLC, so that the first PLC triggers the high-voltage power supply relay to supply high voltage to the servo driver under test. Then, according to the specific working conditions to be tested, the upper industrial computer sends a second control signal to the first PLC, so that the first PLC triggers the target relay to create the target test condition, or sends a third control signal to the second PLC, so that the second PLC triggers the accompanying servo driver to create the working condition of overcurrent of the first motor.

[0049] For example: if the specific working condition to be tested is a three-phase power input undervoltage test condition, the target test condition is a three-phase power input undervoltage test condition, the target relay is an undervoltage power supply relay, and the upper-level industrial computer sends a second control signal to the first PLC, causing the first PLC to trigger the undervoltage power supply relay to create a three-phase power input undervoltage test condition.

[0050] For another example, if the specific working condition to be tested is an overcurrent test condition, the upper industrial computer sends a third control signal to the second PLC, so that the second PLC triggers the accompanying test servo driver to create an overcurrent condition for the first motor.

[0051] After the test condition is triggered, the servo drive under test executes the corresponding test action according to the command of the upper industrial computer. After receiving the feedback information of the servo drive under test, the upper industrial computer judges the correctness of the feedback according to the benchmark parameters provided by the virtual servo drive under the same power supply environment. If it is correct, the fault information is automatically cleared after the test is completed, all power supply relays are disconnected, the test system is restored to the initial state, and the test report is exported.

[0052] In some embodiments, performing automatic testing of all test items includes: Determine the execution order of test items; Execute each test item in sequence according to the execution order. After each test item is completed, execute the next test item at a set interval until all test items are completed. Clear the fault information of the servo drive under test, restore the test system to the initial state, and export the test report.

[0053] Fig. 9 is an example diagram of the automatic test process of all test items provided by the present invention, such as Fig. 9 As shown, after the automated test of all test items is started, the upper industrial computer executes the test of each test item in sequence according to the execution order of each test item. The test process of each test item is the same as the single test described above, including high power on the driver, triggering the test condition, driver feedback, the upper computer judging the correctness of the feedback, clearing the fault information, and high power off the driver, so it will not be repeated here.

[0054] Design the delay between each test item according to the needs. After each test item is completed, set the interval and then execute the next test item to ensure that there is no mutual interference between the test items. After all test items are completed, clear the fault information of the servo drive under test, restore the test system to the initial state, and export the test report.

[0055] Fig.10 It is a structural diagram of the upper industrial control computer provided by the present invention, such as Fig.10 As shown, the upper industrial computer may include: a processor 1010, a communications interface 1020, a memory 1030 and a communication bus 1040, wherein the processor 1010, the communications interface 1020 and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 may call the logic instructions in the memory 1030 to execute the above-mentioned test method, which includes: the upper industrial computer serves as an EtherCAT master station, and establishes a communication connection with the virtual servo drive, the first PLC, the second PLC, and the servo drive under test through the EtherCAT communication protocol; in response to the user's test item selection operation, the upper industrial computer executes the test of a single test item or executes the automatic test of all test items.

[0056] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0057] It should be noted here that the above-mentioned upper industrial control computer provided by the present invention can implement all the method steps implemented by the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0058] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned test method when executed by a processor, the method comprising: a host industrial computer acts as an EtherCAT master station, establishing a communication connection with a virtual servo drive, a first PLC, a second PLC, and a servo drive under test through an EtherCAT communication protocol; in response to a user's test item selection operation, the host industrial computer executes a test of a single test item or executes an automatic test of all test items.

[0059] It should be noted here that the above-mentioned non-transitory computer-readable storage medium provided by the present invention can implement all the method steps implemented by the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0060] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, it implements the above-mentioned test method, which includes: a host industrial computer acts as an EtherCAT master station, and establishes a communication connection with a virtual servo drive, a first PLC, a second PLC, and a servo drive under test through an EtherCAT communication protocol; in response to a user's test item selection operation, the host industrial computer executes a test of a single test item or executes an automatic test of all test items.

[0061] It should be noted here that the above-mentioned computer program product provided by the present invention can implement all the method steps implemented by the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0062] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0063] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A servo drive test system, characterized in that: include: Servo drive grating table, towing motor stand and main control console under test; The servo driver grating table to be tested is used to place the servo driver to be tested and is provided with a safety grating; The pair of motor test benches include a first motor and a second motor, wherein the first motor is connected to the servo driver to be tested, and the second motor is connected to the servo driver to be tested; The main control console includes a host industrial computer, the accompanying servo driver, a virtual servo driver, a first PLC, a second PLC, and a plurality of relays for manufacturing different test conditions of the servo driver under test; Among them, the upper industrial computer serves as an EtherCAT master station, and communicates with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test through the EtherCAT communication protocol; the first PLC is connected to the multiple relays, and is used to control the triggering of the multiple relays according to the control signal of the upper industrial computer; the second PLC is connected to the accompanying servo driver, and is used to control the motion of the accompanying servo driver under test according to the control signal of the upper industrial computer; the virtual servo driver is a servo driver that is in the same power supply environment as the servo driver under test but is not connected to the motor encoder, and the virtual servo driver is used to provide benchmark parameters to the upper industrial computer.

2. The servo drive test system according to claim 1, characterized in that: The plurality of relays include: An undervoltage power supply relay, the undervoltage power supply relay is connected between the transformer and the servo drive under test, and is used to create a three-phase power input undervoltage test condition of the servo drive under test; A phase-loss power supply relay, which is connected between a strong power supply and the servo drive under test and is used to create a three-phase power input phase-loss test condition of the servo drive under test; A braking resistor relay is connected between the braking resistor and the servo drive under test, and is used to create a braking resistor disconnection test condition of the servo drive under test.

3. The servo drive test system according to claim 1 or 2, characterized in that: The first PLC is also connected to the I / O terminal and the brake terminal of the servo driver under test, and is used to detect input and output signals of the I / O terminal and the brake terminal.

4. The servo drive test system according to claim 1, characterized in that: The accompanying test servo driver adopts a stand-alone running firmware, which is used to control the operation of the second motor under the triggering of the second PLC to create an overcurrent condition of the first motor.

5. A test method performed by the servo drive test system according to any one of claims 1 to 4, characterized in that: The method comprises: The upper industrial computer serves as an EtherCAT master station, and establishes communication connections with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test through the EtherCAT communication protocol; In response to the user's test item selection operation, the upper-level industrial computer executes the test of a single test item or executes the automatic test of all test items.

6. The testing method according to claim 5, characterized in that: The test of executing a single test item includes: Sending a first control signal to the first PLC, so that the first PLC triggers a high-power supply relay to supply high power to the servo driver under test; According to the test item selected by the user, a second control signal is sent to the first PLC to make the first PLC trigger the target relay to create the target test condition, or a third control signal is sent to the second PLC to make the second PLC trigger the accompanying test servo driver to create the first motor overcurrent condition; If it is determined that the feedback information of the servo driver under test is correct according to the reference parameters provided by the virtual servo driver, the fault information of the servo driver under test is cleared, the test system is restored to an initial state, and a test report is exported.

7. The testing method according to claim 5, characterized in that: The automatic test of executing all test items includes: Determine the execution order of test items; Execute the test of each test item in sequence according to the execution order. After each test item is completed, execute the test of the next test item at an interval of a set time until all test items are completed. Clear the fault information of the servo drive under test, restore the test system to its initial state, and export the test report.

8. A host industrial computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the testing method according to any one of claims 5 to 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the testing method according to any one of claims 5 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the testing method according to any one of claims 5 to 7 is implemented.

Images