A test device and method for a servo motor controller

Abstract

The application discloses a kind of servo motor controller's testing device and method, including support structure, drive structure, sliding structure, side clamp structure, press down structure and test structure, the inner wall of support structure left side is equipped with drive structure by bolt fixed mounting, the drive structure includes drive motor, worm gear, fixed block, turbine and threaded rod, the outer wall of drive structure is engaged to be connected with sliding structure, support block drives press down rod to move towards fixed bin, so that transmission gear is engaged with the engagement groove of fixed bin inner wall and drives press down rod to rotate, press down rod drives threaded block to move downward in clamping cavity under the action of screw force, threaded block drives press down block to clamp and position the top of controller, while sliding plate drives controller to enter completely into fixed bin and makes the output end of controller and plug butt joint, without manual butt joint, reduce the labor intensity of staff, improve the work efficiency of staff.

Description

Technical Field

[0001] This invention relates to the field of servo motor controller technology, specifically to a testing device and method for servo motor controllers. Background Technology

[0002] A servo motor is an engine that controls the operation of mechanical components in a servo system. It is a type of auxiliary motor indirect speed change device. Servo motors can control speed and have very accurate positioning. They can convert voltage signals into torque and speed to drive the controlled object. The rotor speed of a servo motor is controlled by the input signal and can respond quickly. In automatic control systems, it is used as an actuator and has characteristics such as small electromechanical time constant and high linearity. It can convert the received electrical signals into angular displacement or angular velocity output on the motor shaft.

[0003] Servo motor controllers are key components in CNC systems and other related mechanical control fields. They typically control servo motors through position, speed, and torque to achieve high-precision positioning of the transmission system. Servo control technologies have become an important reference for the technological level of a nation's equipment.

[0004] Most servo motor controller testing devices on the market require manual connection between the controller and the servo motor during use, which increases the labor intensity of workers and reduces their work efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a testing device and method for servo motor controllers, solving the problem that existing methods require manual connection between the controller and the servo motor.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a testing device for a servo motor controller, comprising a support structure, a drive structure, a sliding structure, a side clamping structure, a pressing structure, and a testing structure. The drive structure is bolted to the inner wall of the left side of the support structure. The drive structure includes a drive motor, a worm gear, a fixed block, a worm wheel, and a threaded rod. The outer wall of the drive structure is meshed with a sliding structure. A sliding groove for the sliding structure to slide is provided at the top near the center of the support structure. The back side of the sliding structure near the left side is fixedly connected to the front side of the side clamping structure. The side clamping structure includes a clamping chamber, a return spring, a telescopic block, and a side clamping block. An insertion interface for the support structure to be inserted is provided at the center of the side clamping structure. The inner wall of the sliding structure is rotatably connected to the outer wall of the pressing structure. The pressing structure consists of a pressing rod, a transmission gear, a threaded block, and a pressing block. A meshing groove for the pressing structure to engage is provided on the inner side wall of the support structure. The testing structure is bolted to the top of the support structure near the right side.

[0007] Preferably, the support structure consists of a support platform, a fixed compartment, and a plug-in block. The top of the support platform near the center has a sliding groove for the sliding structure to slide, and the fixed compartment is fixedly installed above the sliding groove on the support platform. The inner side wall of the fixed compartment has an engagement groove for the downward pressing structure to engage, and the top of the support platform on the left side is fixedly connected to the bottom of the plug-in block. The plug-in block is an L-shaped plug-in block, and the right protruding part of the plug-in block has a wedge design.

[0008] Preferably, the inner wall of the drive motor is fixedly connected to the left side of the support platform by fixing bolts, and the output shaft of the drive motor is fixedly connected to one end of the worm gear by a coupling. The outer wall of the worm gear is rotatably connected to the inner wall of the fixing block, and the right side of the fixing block is fixedly connected to the left side of the support platform. The outer wall of the worm gear is meshed with the outer wall of the turbine, and the inner wall of the turbine is fixedly connected to one end of the threaded rod. The other end of the threaded rod passes through the left side of the support platform and extends into the interior of the sliding groove. The threaded rod is provided with an external thread on the outer wall of the inner wall of the sliding groove.

[0009] Preferably, the sliding structure consists of a sliding block, a sliding plate, and a support block. The outer wall of the sliding block is slidably connected to the inner wall of the sliding groove, and the inner wall of the sliding block is threadedly connected to the outer wall of the threaded rod. The top of the sliding block is fixedly connected to the bottom of the sliding plate, and support blocks are fixedly installed on the top of both sides of the sliding plate. A T-shaped clamping opening is provided on the inner wall of the support block near the left side, and a clamping cavity is provided on the inner wall of the support block near the right side.

[0010] Preferably, the front of the clamping chamber is fixedly connected to the back of the support block located at the clamping opening, and the inner wall of the clamping chamber is fixedly connected to one end of the return spring. The other end of the return spring is fixedly connected to the back of the telescopic block, and the outer wall of the telescopic block is slidably connected to the inner wall of the transverse groove of the clamping opening. The front of the telescopic block is fixedly connected to the back of the side clamping block, and the outer wall of the side clamping block is slidably connected to the inner wall of the longitudinal groove of the clamping opening. An insertion interface for the insertion block to be inserted is provided at the center of the clamping chamber and the telescopic block, and the insertion interface is designed to be inclined.

[0011] Preferably, the outer wall of the pressing rod is rotatably connected to the inner wall of the clamping cavity, and the outer wall of the pressing rod near the bottom end is engaged with the inner wall of the transmission gear. The outer wall of the transmission gear is engaged with the inner wall of the meshing groove. The outer wall of the pressing rod at the top end is threadedly connected to the inner wall of the threaded block. The outer wall of the threaded block is slidably connected to the inner wall of the clamping cavity, and the front side of the threaded block is fixedly connected to the back side of the pressing block.

[0012] Preferably, the test structure includes a servo motor body, a Hall sensor, and a plug. The inner wall of the servo motor body is fixedly mounted on the top of the support platform near the right side by bolts, and the output shaft of the servo motor body is inserted into the Hall sensor. The bottom of the Hall sensor is fixedly connected to the top of the support platform near the right side, and the servo motor body is fixedly connected to the plug by wires. The plug is fixed to the right side of the fixed chamber by bolts.

[0013] Preferably, the left side of the fixed compartment is provided with a limiting groove for the clamping compartment to slide, and the right side of the fixed compartment is provided with a fixing port for plug insertion.

[0014] Preferably, the method of using the testing device for a servo motor controller includes the following steps:

[0015] S1: After placing the controller on the sliding plate, start the drive motor. The drive motor drives the threaded rod to rotate through the meshing action of the worm gear and the turbine. Under the meshing force of the threaded rod, the sliding block drives the sliding block to slide in the sliding groove. The sliding block drives the sliding plate and the support block to slide into the fixed chamber. The support block drives the clamping chamber to disengage from the outer wall of the plug-in block. Under the extension and retraction force of the return spring, the telescopic block pushes the side clamping block to clamp and position the controller from both sides.

[0016] S2: The support block drives the pressure rod to move into the fixed chamber, so that the transmission gear meshes with the meshing groove on the inner side wall of the fixed chamber and drives the pressure rod to rotate. Under the action of the thread, the pressure rod drives the threaded block to move downward in the clamping cavity. The threaded block drives the pressure block to clamp and position the top of the controller. At the same time, the sliding plate drives the controller to fully enter the fixed chamber and connects the output end of the controller with the plug.

[0017] S3: Start the servo motor body, control the speed of the servo motor body through the controller, record the speed of the output shaft of the servo motor body through the Hall sensor and transmit it to the processing device, and test whether the controller is qualified by comparing the corresponding data. Beneficial effects

[0018] This invention provides a testing device and method for servo motor controllers. Compared with the prior art, it has the following advantages:

[0019] (1) The test device and method of the servo motor controller uses the cooperation of sliding structure, side clamping structure and pressing structure. The support block drives the pressing rod to move into the fixed chamber, so that the transmission gear meshes with the meshing groove of the inner side wall of the fixed chamber and drives the pressing rod to rotate. Under the action of the thread, the pressing rod drives the threaded block to move downward in the clamping cavity. The threaded block drives the pressing block to clamp and position the top of the controller. At the same time, the sliding plate drives the controller to fully enter the fixed chamber and connects the output end of the controller with the plug. No manual connection is required, which reduces the labor intensity of the staff and improves the work efficiency of the staff.

[0020] (2) The test device and method of the servo motor controller uses the cooperation of the drive structure, the sliding structure and the side clamping structure. The drive motor drives the threaded rod to rotate through the meshing action of the worm gear and the turbine. Under the thread meshing force, the threaded rod drives the sliding block to slide in the sliding groove. The sliding block drives the sliding plate and the support block to slide into the fixed chamber. The support block drives the clamping chamber to disengage from the outer wall of the plug-in block. Under the extension and retraction force of the return spring, the extension block pushes the side clamping block to clamp and position the controller from both sides. The controller can be clamped and positioned to avoid the controller from shifting during docking.

[0021] (3) The test device and method of the servo motor controller uses the support structure, drive structure, sliding structure, side clamping structure and pressing structure in combination. The drive motor drives the pressing block and the side clamping block to clamp and position the controller in multiple directions, which reduces energy consumption. At the same time, the controller is placed in a fixed chamber when it is tested, which further avoids the influence of external factors on the controller test results and improves the accuracy of the controller test. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0024] Figure 3 This is an exploded view of the overall structure of the present invention;

[0025] Figure 4 For the present invention Figure 3 Cross-sectional views of the sliding structure, side clamping structure, and downward pressing structure;

[0026] Figure 5 This is an exploded view of the sliding structure and the pressing structure of the present invention;

[0027] Figure 6 This is an exploded view of the side clamp structure of the present invention.

[0028] In the diagram: 1. Support structure; 101. Support platform; 102. Fixed compartment; 103. Plug-in block; 2. Drive structure; 201. Drive motor; 202. Worm gear; 203. Fixed block; 204. Turbine; 205. Threaded rod; 3. Sliding structure; 301. Sliding block; 302. Sliding plate; 303. Support block; 4. Side clamping structure; 401. Clamping compartment; 402. Return spring; 403. Telescopic block; 404. Side clamping block; 5. Pressing structure; 501. Pressing rod; 502. Transmission gear; 503. Threaded block; 504. Pressing block; 6. Test structure; 601. Servo motor body; 602. Hall sensor; 603. Plug. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see Figures 1-6 A testing device for a servo motor controller includes a support structure 1, a drive structure 2, a sliding structure 3, a side clamping structure 4, a pressing structure 5, and a testing structure 6. The drive structure 2 is bolted to the inner wall of the left side of the support structure 1. The drive structure 2 includes a drive motor 201, a worm gear 202, a fixing block 203, a worm 204, and a threaded rod 205. The sliding structure 3 is meshed with the outer wall of the drive structure 2. A sliding groove for the sliding structure 3 to slide is provided at the top near the center of the support structure 1. The back of the sliding structure 3 near the left side is connected to the side clamping structure 6. The front of the structure 4 is fixedly connected. The side clamping structure 4 includes a clamping chamber 401, a return spring 402, a telescopic block 403 and a side clamping block 404. The center of the side clamping structure 4 is provided with an insertion interface for the support structure 1 to be inserted. The inner wall of the sliding structure 3 is rotatably connected to the outer wall of the pressing structure 5. The pressing structure 5 is composed of a pressing rod 501, a transmission gear 502, a threaded block 503 and a pressing block 504. The inner side wall of the support structure 1 is provided with a meshing groove for the pressing structure 5 to engage. The test structure 6 is fixedly installed on the top of the support structure 1 near the right side by bolts.

[0031] In this invention, the support structure 1 consists of a support platform 101, a fixed chamber 102, and a plug-in block 103. The top of the support platform 101 near the center is provided with a sliding groove for the sliding structure 3 to slide. The fixed chamber 102 is fixedly installed above the sliding groove on the support platform 101. The inner side wall of the fixed chamber 102 is provided with a meshing groove for the pressing structure 5 to engage. The top of the support platform 101 on the left side is fixedly connected to the bottom of the plug-in block 103. The plug-in block 103 is an L-shaped plug-in block, and the right protruding part of the plug-in block 103 has a wedge-shaped design.

[0032] In this invention, the inner wall of the drive motor 201 is fixedly connected to the left side of the support platform 101 by fixing bolts, and the output shaft of the drive motor 201 is fixedly connected to one end of the worm gear 202 by a coupling. The outer wall of the worm gear 202 is rotatably connected to the inner wall of the fixing block 203, and the right side of the fixing block 203 is fixedly connected to the left side of the support platform 101. The outer wall of the worm gear 202 is meshed with the outer wall of the turbine 204, and the inner wall of the turbine 204 is fixedly connected to one end of the threaded rod 205. The other end of the threaded rod 205 passes through the left side of the support platform 101 and extends into the interior of the sliding groove. The threaded rod 205 is provided with an external thread on the outer wall of the inner wall of the sliding groove.

[0033] In this invention, the sliding structure 3 is composed of a sliding block 301, a sliding plate 302, and a support block 303. The outer wall of the sliding block 301 is slidably connected to the inner wall of the sliding groove, and the inner wall of the sliding block 301 is threadedly connected to the outer wall of the threaded rod 205. The top of the sliding block 301 is fixedly connected to the bottom of the sliding plate 302, and support blocks 303 are fixedly installed on the top of both sides of the sliding plate 302. A T-shaped clamping opening is opened on the inner wall of the support block 303 near the left side, and a clamping cavity is opened on the inner wall of the support block 303 near the right side.

[0034] In this invention, the front of the clamping chamber 401 is fixedly connected to the back of the support block 303 located at the clamping opening, and the inner wall of the clamping chamber 401 is fixedly connected to one end of the return spring 402. The other end of the return spring 402 is fixedly connected to the back of the telescopic block 403, and the outer wall of the telescopic block 403 is slidably connected to the inner wall of the transverse groove of the clamping opening. The front of the telescopic block 403 is fixedly connected to the back of the side clamping block 404, and the outer wall of the side clamping block 404 is slidably connected to the inner wall of the longitudinal groove of the clamping opening. An insertion interface for the insertion block 103 to be inserted is provided at the center of the clamping chamber 401 and the telescopic block 403, and the insertion interface is designed to be inclined.

[0035] In this invention, the outer wall of the pressure rod 501 is rotatably connected to the inner wall of the clamping cavity, and the outer wall of the pressure rod 501 near the bottom end is engaged with the inner wall of the transmission gear 502. The outer wall of the transmission gear 502 is engaged with the inner wall of the meshing groove. The outer wall of the pressure rod 501 at the top end is threadedly connected to the inner wall of the threaded block 503. The outer wall of the threaded block 503 is slidably connected to the inner wall of the clamping cavity, and the front side of the threaded block 503 is fixedly connected to the back side of the pressure block 504.

[0036] In this invention, the test structure 6 includes a servo motor body 601, a Hall sensor 602, and a plug 603. The inner wall of the servo motor body 601 is fixedly mounted on the top of the support platform 101 near the right side by bolts, and the output shaft of the servo motor body 601 is inserted into the Hall sensor 602. The bottom of the Hall sensor 602 is fixedly connected to the top of the support platform 101 near the right side, and the servo motor body 601 is fixedly connected to the plug 603 by wires. The plug 603 is fixed to the right side of the fixing chamber 102 by bolts.

[0037] In this invention, a limiting groove is provided on the left side of the fixed compartment 102 for the clamping compartment 401 to slide, and a fixing port is provided on the right side of the fixed compartment 102 for the plug 603 to be inserted.

[0038] A method for using a testing device for a servo motor controller includes the following steps:

[0039] S1: After placing the controller on the sliding plate 302, start the drive motor 201. The drive motor 201 drives the threaded rod 205 to rotate through the meshing action of the worm gear 202 and the turbine 204. Under the meshing force of the threaded rod, the threaded rod 205 drives the sliding block 301 to slide in the sliding groove. The sliding block 301 drives the sliding plate 302 and the support block 303 to slide into the fixed chamber 102. The support block 303 drives the clamping chamber 401 to disengage from the outer wall of the plug-in block 103. Under the extension and retraction force of the return spring 402, the extension block 403 pushes the side clamping block 404 to clamp and position the controller from both sides.

[0040] S2: The support block 303 drives the lower pressure rod 501 to move into the fixed chamber 102, so that the transmission gear 502 meshes with the meshing groove of the inner side wall of the fixed chamber 102 and drives the lower pressure rod 501 to rotate. Under the action of the thread, the lower pressure rod 501 drives the threaded block 503 to move downward in the clamping cavity. The threaded block 503 drives the lower pressure block 504 to clamp and position the top of the controller. At the same time, the sliding plate 302 drives the controller to fully enter the fixed chamber 102 and connects the output end of the controller with the plug 603.

[0041] S3: Start the servo motor body 601, control the speed of the servo motor body 601 through the controller, record the speed of the output shaft of the servo motor body 601 through the Hall sensor 602 and transmit it to the processing device, and test whether the controller is qualified by comparing the corresponding data.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A testing device for a servo motor controller, comprising a support structure (1), a drive structure (2), a sliding structure (3), a side clamping structure (4), a pressing structure (5), and a testing structure (6), characterized in that: The inner wall of the left side of the support structure (1) is fixedly installed with a drive structure (2) by bolts. The drive structure (2) includes a drive motor (201), a worm gear (202), a fixing block (203), a turbine (204), and a threaded rod (205). The outer wall of the drive structure (2) is engaged with a sliding structure (3). The top of the support structure (1) near the center is provided with a sliding groove for the sliding structure (3) to slide. The back side of the sliding structure (3) near the left side is fixedly connected to the front side of the side clamping structure (4). The side clamping structure (4) includes a clamping chamber (401), a double-sided clamping chamber (401), and a double-sided clamping chamber (402). The structure consists of a spring (402), a telescopic block (403), and a side clamp (404). The side clamp (4) has an insertion interface at its center for the support structure (1) to be inserted. The inner wall of the sliding structure (3) is rotatably connected to the outer wall of the pressing structure (5). The pressing structure (5) is composed of a pressing rod (501), a transmission gear (502), a threaded block (503), and a pressing block (504). The inner side wall of the support structure (1) has a meshing groove for the pressing structure (5) to engage. The test structure (6) is fixedly installed on the top right side of the support structure (1) by bolts. The support structure (1) consists of a support platform (101), a fixed compartment (102), and a plug-in block (103). The top of the support platform (101) near the center is provided with a sliding groove for the sliding structure (3) to slide. The fixed compartment (102) is fixedly installed above the sliding groove on the support platform (101). The inner side wall of the fixed compartment (102) is provided with a meshing groove for the pressing structure (5) to engage. The top of the support platform (101) on the left side is fixedly connected to the bottom of the plug-in block (103). The plug-in block (103) is an L-shaped plug-in block, and the right side of the plug-in block (103) has a wedge design.

2. The testing device for a servo motor controller according to claim 1, characterized in that: The inner wall of the drive motor (201) is fixedly connected to the left side of the support platform (101) by fixing bolts, and the output shaft of the drive motor (201) is fixedly connected to one end of the worm gear (202) by a coupling. The outer wall of the worm gear (202) is rotatably connected to the inner wall of the fixing block (203), and the right side of the fixing block (203) is fixedly connected to the left side of the support platform (101). The outer wall of the worm gear (202) is meshed with the outer wall of the turbine (204), and the inner wall of the turbine (204) is fixedly connected to one end of the threaded rod (205). The other end of the threaded rod (205) passes through the left side of the support platform (101) and extends into the interior of the sliding groove. The threaded rod (205) is provided with an external thread on the outer wall of the inner wall of the sliding groove.

3. The testing device for a servo motor controller according to claim 2, characterized in that: The sliding structure (3) consists of a sliding block (301), a sliding plate (302) and a support block (303). The outer wall of the sliding block (301) is slidably connected to the inner wall of the sliding groove, and the inner wall of the sliding block (301) is threadedly connected to the outer wall of the threaded rod (205). The top of the sliding block (301) is fixedly connected to the bottom of the sliding plate (302), and support blocks (303) are fixedly installed on the top of both sides of the sliding plate (302). The support block (303) has a T-shaped clamping opening on the inner wall near the left side, and a clamping cavity on the inner wall near the right side.

4. The testing device for a servo motor controller according to claim 3, characterized in that: The front of the clamping chamber (401) is fixedly connected to the back of the support block (303) located at the clamping port, and the inner wall of the clamping chamber (401) is fixedly connected to one end of the return spring (402). The other end of the return spring (402) is fixedly connected to the back of the telescopic block (403), and the outer wall of the telescopic block (403) is slidably connected to the inner wall of the transverse groove of the clamping port. The front of the telescopic block (403) is fixedly connected to the back of the side clamping block (404), and the outer wall of the side clamping block (404) is slidably connected to the inner wall of the longitudinal groove of the clamping port. An insertion interface for the insertion block (103) is provided at the center of the clamping chamber (401) and the telescopic block (403), and the insertion interface is designed to be inclined.

5. The testing device for a servo motor controller according to claim 4, characterized in that: The outer wall of the pressure rod (501) is rotatably connected to the inner wall of the clamping cavity, and the outer wall of the pressure rod (501) near the bottom end is engaged with the inner wall of the transmission gear (502). The outer wall of the transmission gear (502) is engaged with the inner wall of the meshing groove, and the outer wall of the pressure rod (501) at the top end is threadedly connected to the inner wall of the threaded block (503). The outer wall of the threaded block (503) is slidably connected to the inner wall of the clamping cavity, and the front of the threaded block (503) is fixedly connected to the back of the pressure block (504).

6. The testing device for a servo motor controller according to claim 1, characterized in that: The test structure (6) includes a servo motor body (601), a Hall sensor (602), and a plug (603). The inner wall of the servo motor body (601) is fixedly mounted on the top of the support platform (101) near the right side by bolts. The output shaft of the servo motor body (601) is inserted into the Hall sensor (602). The bottom of the Hall sensor (602) is fixedly connected to the top of the support platform (101) near the right side. The servo motor body (601) is fixedly connected to the plug (603) by wires. The plug (603) is fixed to the right side of the fixed chamber (102) by bolts.

7. The testing device for a servo motor controller according to claim 6, characterized in that: The fixed compartment (102) has a limiting groove on the left side for the clamping compartment (401) to slide, and a fixing port on the right side for the plug (603) to be inserted.

8. The method of using the testing device for a servo motor controller according to claim 1 includes the following steps: S1: After placing the controller on the sliding plate (302), start the drive motor (201). The drive motor (201) drives the threaded rod (205) to rotate through the meshing action of the worm gear (202) and the turbine (204). Under the meshing force of the threaded rod (205), the sliding block (301) slides in the sliding groove. The sliding block (301) drives the sliding plate (302) and the support block (303) to slide into the fixed chamber (102). The support block (303) drives the clamping chamber (401) to disengage from the outer wall of the plug-in block (103). Under the extension and retraction force of the return spring (402), the extension block (403) pushes the side clamping block (404) to clamp and position the controller from both sides. S2: The support block (303) drives the pressure rod (501) to move into the fixed chamber (102), so that the transmission gear (502) meshes with the meshing groove of the inner side wall of the fixed chamber (102) and drives the pressure rod (501) to rotate. Under the action of the thread, the pressure rod (501) drives the threaded block (503) to move downward in the clamping cavity. The threaded block (503) drives the pressure block (504) to clamp and position the top of the controller. At the same time, the sliding plate (302) drives the controller to fully enter the fixed chamber (102) and connects the output end of the controller with the plug (603). S3: Start the servo motor body (601), control the speed of the servo motor body (601) through the controller, record the speed of the output shaft of the servo motor body (601) through the Hall sensor (602) and transmit it to the processing device, and test whether the controller is qualified by comparing the corresponding data.

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