Servo drive testing system, testing methods, host industrial computer and storage media

Abstract

This invention provides a servo drive testing system, testing method, host industrial control computer, and storage medium. The system includes: a grating stage for the servo drive under test, a motor test bench, and a main control console. The grating stage for the servo drive under test is used to place the servo drive under test and is equipped with a safety grating. The motor test bench includes a first motor connected to the servo drive under test and a second motor connected to the servo drive under test. The main control console includes a host industrial control computer, the servo drive under test, a virtual servo drive, a first PLC, a second PLC, and multiple relays for creating different test conditions. The host industrial control computer, acting as the master station, communicates with the virtual servo drive, the first PLC, the second PLC, and the servo drive under test via the EtherCAT communication protocol. The first PLC is used to control the triggering of the relays, the second PLC is used to control the servo drive under test, and the virtual servo drive is used to provide reference parameters.

Description

Technical Field

[0001] This invention relates to the field of servo drive technology, and in particular to a servo drive testing system, testing method, host industrial control computer, and storage medium. Background Technology

[0002] Servo drives are an indispensable component in modern motion control systems, primarily used to control servo motors and achieve high-precision, high-efficiency motion control. They are widely used in CNC machine tools, robots, and automated production lines. Before leaving the factory, servo drives need to be ensured to function properly in all aspects; therefore, functional testing of servo drives during the production process is essential. However, traditional servo drive testing systems suffer from low automation and low testing efficiency, making it difficult to meet the needs of large-scale servo drive factory testing. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a servo driver testing system, testing method, host industrial control computer, and storage medium.

[0004] In a first aspect, the present invention provides a servo driver testing system, comprising:

[0005] The grating stage of the servo drive under test, the test motor stand, and the main control console;

[0006] The grating stage for the servo driver under test is used to place the servo driver under test and is equipped with a safety grating.

[0007] The drag motor test bench includes a first motor and a second motor. The first motor is connected to the servo driver under test, and the second motor is connected to the servo driver under test.

[0008] The main control console includes a host industrial computer, the servo driver under test, a virtual servo driver, a first PLC, a second PLC, and multiple relays for manufacturing different test conditions of the servo driver under test.

[0009] The host industrial control computer acts as an EtherCAT master station, communicating with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test via the EtherCAT communication protocol. The first PLC is connected to the plurality of relays and is used to control the triggering of the plurality of relays according to the control signals from the host industrial control computer. The second PLC is connected to the servo driver under test and is used to perform motion control on the servo driver under test according to the control signals from the host industrial control 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 a motor encoder. The virtual servo driver is used to provide reference parameters to the host industrial control computer.

[0010] In some embodiments, the plurality of relays includes:

[0011] 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.

[0012] A phase loss power supply relay is connected between a high-voltage power supply and the servo driver under test, and is used to create a three-phase power input phase loss test condition for the servo driver under test.

[0013] A braking resistor relay is connected between a braking resistor and the servo drive under test, and is used to create a braking resistor disconnection test condition for the servo drive under test.

[0014] In some embodiments, the first PLC is also connected to the I / O terminals and the brake terminals of the servo drive under test, for detecting input and output signals of the I / O terminals and the brake terminals.

[0015] In some embodiments, the accompanying servo driver uses stand-alone firmware to control the operation of the second motor under the trigger of the second PLC, thereby creating an overcurrent condition in the first motor.

[0016] Secondly, the present invention also provides a test method based on the servo drive test system described in the first aspect, the method comprising:

[0017] The host industrial control computer acts 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.

[0018] In response to the user's test item selection operation, the host industrial control computer executes a single test item test or executes an automatic test of all test items.

[0019] In some embodiments, performing a test on a single test item includes:

[0020] Send a first control signal to the first PLC, causing the first PLC to trigger a high-voltage power supply relay to supply high voltage to the servo driver under test;

[0021] According to the test item selected by the user, a second control signal is sent to the first PLC to trigger the target relay to create the target test condition, or a third control signal is sent to the second PLC to trigger the accompanying servo driver to create the overcurrent condition of the first motor.

[0022] If the feedback information of the servo drive under test is determined to be correct based on the benchmark parameters provided by the virtual servo drive, then the fault information of the servo drive under test is cleared, the test system is restored to its initial state, and a test report is exported.

[0023] In some embodiments, the automatic testing of all test items includes:

[0024] Determine the execution order of the test items;

[0025] The tests are executed sequentially according to the execution order. After each test is completed, the next test is executed after a set interval, until all test items are completed. The fault information of the servo drive under test is cleared, the test system is restored to its initial state, and the test report is exported.

[0026] Thirdly, the present invention also provides a host industrial control computer, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the testing method described in the second aspect above.

[0027] Fourthly, the present invention also 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.

[0028] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the testing method described in the second aspect above.

[0029] The servo drive testing system, testing method, host industrial control computer, and storage medium provided by this invention establish a communication connection between the host industrial control computer, a virtual servo drive, a first PLC, a second PLC, and the servo drive under test using the EtherCAT communication protocol. The virtual servo drive provides reference parameters to the host industrial control computer. The first PLC controls the triggering of multiple relays according to the control signals from the host industrial control computer to create different test conditions for the servo drive under test. The second PLC performs motion control on the servo drive under test according to the control signals from the host industrial control computer. This allows for the automatic creation of different test conditions according to test requirements and achieves automated testing, significantly improving testing efficiency. Furthermore, by installing a safety light curtain device on the light curtain stage of the servo drive under test, the safety level during the testing process is significantly enhanced. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the servo driver testing system provided by the present invention.

[0032] Figure 2 This is an example diagram of the EtherCAT communication link provided by the present invention.

[0033] Figure 3 These are example diagrams of the various parts of the servo driver testing system provided by this invention.

[0034] Figure 4 This is an example diagram of the wiring logic between the various parts of the servo driver testing system provided by the present invention.

[0035] Figure 5 This is an example diagram of the basic architecture of the testing system provided by the present invention.

[0036] Figure 6 This invention provides a test method based on a servo driver test system.

[0037] Figure 7 This is a sample diagram of the test software design provided by the present invention.

[0038] Figure 8 This is an example diagram of a single-item test process provided by the present invention.

[0039] Figure 9 This is an example diagram of the automatic testing process for all test items provided by the present invention.

[0040] Figure 10 This is a schematic diagram of the structure of the host industrial control computer provided by the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0042] The following is combined Figures 1-10 Embodiments of the present invention are described.

[0043] Figure 1 This is a schematic diagram of the servo driver testing system provided by the present invention, as shown below. Figure 1 As shown, the test system includes: a grating stage for the servo drive under test, a motor test bench, and a main control console. The grating stage for the servo drive under test is used to place the servo drive under test and is equipped with a safety grating. The motor test bench includes 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 servo drive under test. The main control console includes a host industrial computer, the servo drive under test, a virtual servo drive, a first PLC, a second PLC, and multiple relays for different test conditions of the servo drive under test. The host industrial computer acts as an EtherCAT master station and communicates with the virtual servo drive, the first PLC, the second PLC, and the servo drive under test via the EtherCAT communication protocol. The first PLC is connected to multiple relays and is used to control the triggering of multiple relays according to the control signals from the host industrial computer. The second PLC is connected to the servo drive under test and is used to perform motion control on the servo drive under test according to the control signals from the host 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 a motor encoder. The virtual servo drive is used to provide reference parameters to the host industrial computer.

[0044] Specifically, during the research, development, and production processes of servo drives, it is necessary to test all of their functions to ensure that all functions of the drive can work normally and to eliminate problems caused by the assembly of various components. Considering that the testing of the entire servo drive is quite cumbersome and too time-consuming and labor-intensive, this invention provides an automated servo drive testing system to meet the testing needs of large-volume servo drives.

[0045] In this invention, PLC refers to Programmable Logic Controller. EtherCAT refers to Ethernet for Control Automation Technology. An EtherCAT network includes a master station and multiple slave stations. Its operating principle is as follows: within one 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 address and writes the data it returns into the data frame. When the data frame is sent to the last slave station, it returns and then returns to the master station through the first slave station. This transmission method can achieve data communication within one cycle and also improves bandwidth utilization, with a maximum effective data utilization rate of over 90%.

[0046] For example, Figure 2 This is an example diagram of the EtherCAT communication link provided by the present invention, such as... Figure 2 As shown, the virtual servo driver (virtual servo in the figure), the first PLC (PLC1 in the figure), the second PLC (PLC2 in the figure), and the servo driver under test (servo driver under test in the figure) are all EtherCAT slaves. The test system uses the EtherCAT communication protocol to connect the host industrial control computer (hereinafter referred to as the host computer), the virtual servo driver, the first PLC, the second PLC, and the servo driver under test in series for communication. The first EtherCAT slave is the virtual servo driver, and the last EtherCAT slave is the servo driver under test. In one communication cycle, the host industrial control 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 address and writes the data it feeds back into the data frame. When the data frame is sent to the servo driver under test, it returns and is then returned to the host industrial control computer through the virtual servo driver.

[0047] Figure 3 These are example diagrams of various parts of the servo driver testing system provided by this invention, such as... Figure 3As shown, the grating stage for the servo drive under test is mainly used to place the servo drive under test. Furthermore, since servo drive testing generally requires switching on and off high-voltage electricity, posing a certain safety hazard, this invention includes a safety grating on the grating stage. The safety grating is connected in series with the power supply relay of the servo drive under test. When a person or object enters the test area of ​​the servo drive under test, the safety grating will instantly disconnect the power supply to the servo drive under test, providing safety protection. In addition, the grating stage for the servo drive under test provided by this invention can also have functions such as driver power supply (powering the servo drive under test), motor power output (powering the first motor), I / O terminal signal transmission and reception of the servo drive under test, and motor encoder connection.

[0048] The dual-motor test bench includes two motors. The first motor, connected to the servo driver under test, can be referred to as the load-side dual-motor, and the second motor, connected to the auxiliary servo driver under test, can be referred to as the load-side dual-motor. The two motors on the dual-motor test bench are controlled by the servo driver under test and the auxiliary servo driver under test, respectively. The auxiliary servo driver under test acts as the driver for the load-side dual-motor, controlling its operation. In some embodiments, the auxiliary servo driver uses stand-alone firmware to control the second motor under the trigger of a second PLC, creating an overcurrent condition for the first motor. That is, the auxiliary servo driver does not enter the EtherCAT connection link; it is used in conjunction with the driver's stand-alone firmware to control the second motor to operate at a higher torque, thereby creating an overcurrent condition for the other motor.

[0049] The main control console is primarily used to control the power supply of various devices, the software control of the host 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, the system includes: an external high-voltage power supply connected to the main control console; the main control console, through a transformer, provides 220V power to the host industrial computer and a low-voltage power module; an undervoltage power supply relay for creating an undervoltage condition is also connected to this power supply; and the low-voltage power module provides low-voltage power. The servo driver under test is connected to the load end of the drag motor test bench via motor power lines and encoder lines to the drag motor. The main control console and the grating stage of the servo driver under test are connected via high-voltage power lines, I / O terminal lines, low-voltage power lines, brake terminal lines, and grating power control lines. The servo driver under test on the grating stage is connected to the load end of the drag motor test bench via motor power lines and encoder lines to the drag motor.

[0050] In some embodiments, the main control console includes a test servo driver, a virtual servo driver, a first PLC, a second PLC, a host industrial control computer, various switches, and all relay modules. The various switches include a main switch and various push-button switches, including: a host industrial control computer switch, a first PLC switch, a second PLC switch, a low-voltage power supply switch for the tested servo driver, a high-voltage power supply switch for the tested servo driver, a low-voltage power supply switch for the test servo driver, a high-voltage power supply switch for the test servo driver, a single-machine operation mode switch for the test servo driver, a low-voltage power supply switch for the virtual servo driver, and a high-voltage power supply switch for the virtual servo driver. The relay modules include high-voltage relays and low-voltage relays. High-voltage relays are used to control the on / off state of high-voltage current, while low-voltage relays are mainly used to control the on / off state of low-voltage current.

[0051] Since there are many factory tests for servo drives, and each test requires a different test environment, a test system that can cover all test items is needed to automatically create special test environments and automate the testing process to ensure that the test requirements for each test item are met. Therefore, in addition to the conventional power supply relays, the main control console of this invention also includes some special relays, namely multiple relays used to create different test conditions for the servo drive under test.

[0052] In some embodiments, the plurality of relays includes:

[0053] The undervoltage supply relay is connected between the transformer and the servo drive under test to create a three-phase undervoltage test condition for the servo drive under test.

[0054] A phase loss power supply relay is connected between the high-voltage power supply and the servo drive under test to create a three-phase power input phase loss test condition for the servo drive under test.

[0055] A braking resistor relay is connected between a braking resistor and the servo drive under test, and is used to create a braking resistor disconnection test condition for the servo drive under test.

[0056] In this invention, the multiple relays are controlled by a first PLC. In some embodiments, the first PLC is also connected to the I / O terminals and the brake terminals of the servo drive under test for detecting input and output signals from the I / O terminals and the brake terminals. Figure 5The diagram shows an example of the basic architecture of the test system provided by this invention. The host industrial control computer acts as the EtherCAT master station, sending and receiving commands. The PLC executes its own point signal triggering actions based on the master station signals. The virtual servo driver transmits its own driver parameters through the EtherCAT communication link. The servo driver under test performs all necessary data reading and writing actions and motion control through the EtherCAT communication link. By controlling the undervoltage power supply relay, phase loss power supply relay, and braking resistor relay through the first PLC, special test conditions such as three-phase power input undervoltage, three-phase power input phase loss, and braking resistor disconnection can be actively generated. It can also detect the input and output signals of the I / O terminals and brake terminals of the servo driver under test. By triggering the specified point signal of the second PLC, motion control of the auxiliary servo driver can be performed, such as triggering the enable and speed mode selection of the auxiliary servo driver. The servo parameters can be pre-determined and saved in the servo driver.

[0057] It should be noted that the virtual servo driver in this invention is a physical servo driver. The virtual servo driver and the servo driver under test operate under the same power supply environment, but the virtual servo driver is not connected to the motor encoder. It exists merely as a reference device providing baseline parameters. These baseline parameters are the virtual servo driver's own driver parameters, such as the virtual servo driver providing its own voltage or temperature parameters to the host industrial control computer as a benchmark for voltage or temperature testing. The virtual servo driver also requires special firmware to ensure it can operate normally without being connected to the motor encoder.

[0058] The purpose of a virtual servo drive is to provide a stable, known voltage or temperature parameter for comparison with the corresponding parameter 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.

[0059] The servo drive testing system provided by this invention establishes a communication connection between a host industrial control computer, a virtual servo drive, a first PLC, a second PLC, and the servo drive under test using the EtherCAT communication protocol. The virtual servo drive provides reference parameters to the host industrial control computer. The first PLC controls the triggering of multiple relays according to the control signals from the host industrial control computer to create different test conditions for the servo drive under test. The second PLC performs motion control on the servo drive under test according to the control signals from the host industrial control computer. This allows for the automatic creation of different test conditions according to test requirements and achieves automated testing, significantly improving testing efficiency. Furthermore, by installing a safety light curtain device on the light curtain stage of the servo drive under test, the safety level during the testing process is significantly enhanced.

[0060] Figure 6 This invention provides a test method based on a servo driver test system, such as... Figure 6 As shown, the method includes the following steps 601 and 602.

[0061] Step 601: The host industrial control computer acts as the EtherCAT master station and establishes a communication connection with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test through the EtherCAT communication protocol.

[0062] Step 602: In response to the user's test item selection operation, the host industrial control computer executes a single test item test or executes an automatic test of all test items.

[0063] The host industrial control computer of this invention is equipped with testing software. Figure 7 This is a design example diagram of the test software provided by the present invention. The software can be written based on the Linux platform. The backend mainly includes PLC control, EtherCAT communication-based control of slave stations, and information reading and writing. The frontend UI can be written using Widgets, such as... Figure 7 As shown, the software mainly includes EtherCAT communication connection function, single test function for each test item, automatic test function for all test items, automatic export function for test reports, and user login permission differentiation function.

[0064] After the user logs in, the host industrial control computer acts as the EtherCAT master station, establishing communication connections with the virtual servo drive, the first PLC, the second PLC, and the servo drive under test via the EtherCAT communication protocol. The user selects test items. If the single test mode is selected, the host industrial control 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.

[0065] In some embodiments, performing a test on a single test item includes:

[0066] Send a first control signal to the first PLC, causing the first PLC to trigger the high-voltage power supply relay to supply high voltage to the servo drive under test;

[0067] Based on the test item selected by the user, a second control signal is sent to the first PLC to trigger the target relay to create the target test condition, or a third control signal is sent to the second PLC to trigger the accompanying servo driver to create the first motor overcurrent condition.

[0068] If the feedback information of the servo drive under test is determined to be correct based on the benchmark parameters provided by the virtual servo drive, then the fault information of the servo drive under test is cleared, the test system is restored to its initial state, and the test report is exported.

[0069] Figure 8 This is an example diagram of a single-item test process provided by the present invention, such as... Figure 8 As shown, the first PLC is connected to a high-voltage power supply relay. After a single test is started, the host industrial control computer sends a first control signal to the first PLC, causing the first PLC to trigger the high-voltage power supply relay to supply high voltage to the servo drive under test. Then, depending on the specific working condition to be tested, the host industrial control computer sends a second control signal to the first PLC, causing the first PLC to trigger the target relay to create the target test condition, or sends a third control signal to the second PLC, causing the second PLC to trigger the servo drive under test to create the first motor overcurrent condition.

[0070] For example: if the specific operating condition to be tested is the three-phase power input undervoltage test condition, then the target test condition is the three-phase power input undervoltage test condition, the target relay is the undervoltage power supply relay, and the host industrial control computer sends a second control signal to the first PLC, so that the first PLC triggers the undervoltage power supply relay to create the three-phase power input undervoltage test condition.

[0071] For example, if the specific working condition to be tested is an overcurrent test condition, the host industrial control computer sends a third control signal to the second PLC, causing the second PLC to trigger the accompanying servo driver to create an overcurrent condition for the first motor.

[0072] After the test condition is triggered, the servo drive under test executes the corresponding test actions according to the command of the host industrial control computer. After receiving the feedback information from the servo drive under test, the host industrial control computer judges the correctness of the feedback based on the benchmark parameters provided by the virtual servo drive under the same power supply environment. If it is correct, the test is completed and the fault information is automatically cleared, all power supply relays are disconnected, the test system is restored to the initial state, and the test report is exported.

[0073] In some embodiments, performing automated testing of all test items includes:

[0074] Determine the execution order of the test items;

[0075] The tests are executed sequentially according to the execution order. After each test is completed, the next test is executed after a set interval, until all test items are completed. The fault information of the servo drive under test is cleared, the test system is restored to the initial state, and the test report is exported.

[0076] Figure 9 This is an example diagram of the automated testing process for all test items provided by this invention, such as... Figure 9As shown, after the automated test of all test items is started, the host industrial control computer executes the test of each test item in the order of execution. The test process of each test item is the same as that of the single test described above, including the process of powering on the driver, triggering the test condition, driver feedback, the host computer judging the correctness of the feedback, clearing the fault information, and powering off the driver, etc., so it will not be described again.

[0077] Design delays between each test item according to requirements. After each test item is completed, set an interval before executing 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.

[0078] Figure 10 This is a schematic diagram of the structure of the host industrial control computer provided by the present invention, as shown below. Figure 10 As shown, the host industrial control computer may include: a processor 1010, a communication interface 1020, a memory 1030, and a communication bus 1040. The processor 1010, communication interface 1020, and memory 1030 communicate with each other via the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute the aforementioned test method. This method includes: the host industrial control computer acting as an EtherCAT master station, establishing communication connections with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test via the EtherCAT communication protocol; and, in response to the user's test item selection operation, the host industrial control computer executes a single test item or performs automatic testing of all test items.

[0079] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] It should be noted that the host industrial control computer provided by the present invention can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiments and the beneficial effects will not be described in detail.

[0081] On the other hand, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-mentioned testing method. The method includes: a host industrial control computer acting as an EtherCAT master station, establishing a communication connection with a virtual servo drive, a first PLC, a second PLC, and the servo drive under test via the EtherCAT communication protocol; and, in response to a user's test item selection operation, the host industrial control computer performing a single test item test or performing an automatic test of all test items.

[0082] It should be noted that the non-transitory computer-readable storage medium provided by the present invention can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiments and the beneficial effects will not be described in detail.

[0083] In another aspect, the present invention also provides a computer program product, which includes a computer program that 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 testing method. The method includes: a host industrial control computer acting as an EtherCAT master station, establishing a communication connection with a virtual servo driver, a first PLC, a second PLC, and the servo driver under test through the EtherCAT communication protocol; and responding to the user's test item selection operation, the host industrial control computer performs a test of a single test item or performs an automatic test of all test items.

[0084] It should be noted that the computer program product provided by the present invention can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiments and the beneficial effects will not be described in detail.

[0085] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A servo driver testing system, characterized in that, include: The grating stage of the servo drive under test, the test motor stand, and the main control console; The grating stage for the servo driver under test is used to place the servo driver under test and is equipped with a safety grating. The drag motor test bench includes a first motor and a second motor. The first motor is connected to the servo driver under test, and the second motor is connected to the servo driver under test. The main control console includes a host industrial computer, the servo driver under test, a virtual servo driver, a first PLC, a second PLC, and multiple relays for manufacturing different test conditions of the servo driver under test. The host industrial control computer acts as an EtherCAT master station, communicating with the virtual servo driver, the first PLC, the second PLC, and the servo driver under test via the EtherCAT communication protocol. The first PLC is connected to the plurality of relays and is used to control the triggering of the plurality of relays according to the control signals from the host industrial control computer. The second PLC is connected to the servo driver under test and is used to perform motion control on the servo driver under test according to the control signals from the host industrial control 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 a motor encoder. The virtual servo driver is used to provide reference parameters to the host industrial control computer.

2. The servo driver testing system according to claim 1, characterized in that, 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. A phase loss power supply relay is connected between a high-voltage power supply and the servo driver under test, and is used to create a three-phase power input phase loss test condition for the servo driver under test. A braking resistor relay is connected between a braking resistor and the servo drive under test, and is used to create a braking resistor disconnection test condition for the servo drive under test.

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

4. The servo driver testing system according to claim 1, characterized in that, The accompanying servo driver uses stand-alone firmware to control the second motor to operate under the trigger of the second PLC, thereby creating an overcurrent condition in the first motor.

5. A test method performed based on the servo drive test system according to any one of claims 1 to 4, characterized in that, The method includes: The host industrial control computer acts 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 host industrial control computer executes a single test item test or executes an automatic test of all test items.

6. The test method according to claim 5, characterized in that, The test that executes a single test item includes: Send a first control signal to the first PLC, causing the first PLC to trigger a high-voltage power supply relay to supply high voltage 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 trigger the target relay to create the target test condition, or a third control signal is sent to the second PLC to trigger the accompanying servo driver to create the overcurrent condition of the first motor. If the feedback information of the servo drive under test is determined to be correct based on the benchmark parameters provided by the virtual servo drive, then the fault information of the servo drive under test is cleared, the test system is restored to its initial state, and a test report is exported.

7. The test method according to claim 5, characterized in that, The automated testing that performs all test items includes: Determine the execution order of the test items; The tests are executed sequentially according to the execution order. After each test is completed, the next test is executed after a set interval, until all test items are completed. The fault information of the servo drive under test is cleared, the test system is restored to its initial state, and the test report is exported.

8. A host industrial control 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, it implements the test method as described in any one of claims 5 to 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the test method as described in any one of claims 5 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the test method as described in any one of claims 5 to 7.

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