Servo driver debugging method and device, terminal and storage medium

Abstract

The invention discloses a servo driver debugging method and device, a terminal and a storage medium, the method is based on a servo driving system comprising a servo driver, a sorting execution unit and a control center host, the method comprises the following steps: starting the sorting execution unit, and identifying the type of the current servo driver; a corresponding servo driver address is matched according to the type of the servo driver, communication connection is established according to the servo driver address, and state parameters of the connected sorting execution unit are obtained in real time; an input target parameter value is obtained, the target parameter value is converted according to a preset dynamic compensation algorithm to obtain a write-in parameter value, and the write-in parameter value is written into the sorting execution unit; and dynamically generating a parameter threshold range based on the state parameters acquired in real time, and when the state parameters are detected to exceed the parameter threshold range, performing exception processing in combination with the written parameter values. The method can meet the requirement of a modern logistics system for efficient debugging.

Description

Technical Field

[0001] The present application relates to the field of logistics sorting, and in particular to a servo drive debugging method, device, terminal and storage medium. Background Art

[0002] In the logistics and sorting sector, with the continuous advancement of automation technology, the efficient operation of logistics equipment is crucial to improving overall logistics efficiency. Servo drives are key components in logistics equipment, and their debugging accuracy directly affects the equipment's operating performance and stability. While traditional debugging methods can meet basic requirements, the rapid development of the logistics industry has placed higher demands on the efficiency and accuracy of servo drive debugging.

[0003] In existing technologies, manual parameter configuration is often used to debug servo drives. For example, data format conversion between the servo drive and the controller is performed using a communication adapter module within the controller, or parameter settings are performed using dedicated debugging tools. Other technical approaches include using manual configuration software with specific protocols and adjusting parameters item by item using pre-set parameter tables. While these methods can accomplish debugging tasks to a certain extent, the operation process is relatively cumbersome.

[0004] Therefore, the above traditional methods have obvious defects: on the one hand, manual parameter configuration is time-consuming and prone to abnormal equipment operation due to human error; on the other hand, when faced with different types of servo drives, the lack of a unified debugging process increases the difficulty of debugging and cannot meet the needs of modern logistics systems for efficient debugging. Summary of the Invention

[0005] In order to meet the demand for efficient debugging of modern logistics systems, the present application provides a servo drive debugging method, device, terminal and storage medium.

[0006] In a first aspect, the present application provides a servo drive debugging method, which adopts the following technical means: A servo drive debugging method is based on a servo drive system including a servo drive, a sorting execution unit, and a control center host, and the method includes the following steps: Establishing a connection between the control center host and the servo drive, starting the sorting execution unit, and identifying the type of the current servo drive; Matching a corresponding servo drive address according to the type of the servo drive, establishing a communication connection according to the servo drive address, and acquiring state parameters of the sorting execution unit connected to the servo drive in real time; Obtaining an input target parameter value, converting the target parameter value according to a preset dynamic compensation algorithm to obtain a write parameter value, and writing the write parameter value into the sorting execution unit; Based on the state parameter acquired in real time, a parameter threshold range is dynamically generated. When it is detected that the state parameter exceeds the parameter threshold range, exception processing is performed in combination with the written parameter value.

[0007] By adopting the above technical solution, a debugging method for a servo drive system consisting of a servo drive, a sorting execution unit, and a control center host has been implemented. This method automatically identifies the servo drive type and matches the corresponding address, ensuring the stability and accuracy of the communication connection. It also generates write parameter values through a dynamic compensation algorithm, improving the accuracy and adaptability of parameter settings. Furthermore, threshold ranges are dynamically generated based on real-time status parameters, and abnormal situations are promptly addressed, effectively improving the system's operational stability and fault response capabilities.

[0008] Preferably, the sorting execution unit includes a sorting trolley or a servo roller, and the types of the servo drive include MDI servo drive and infrared photoelectric servo drive. When the type of the servo drive is MDI servo drive, the sorting execution unit is a servo roller; when the type of the servo drive is infrared photoelectric servo drive, the sorting execution unit is a sorting trolley.

[0009] By adopting the above technical solution, accurate matching of servo drive types and sorting execution units is achieved, ensuring that the system can automatically select the appropriate sorting execution unit according to the type of servo drive, thereby improving the adaptability and operating efficiency of the system; at the same time, different types of servo drives are bound to specific sorting execution units, avoiding operational failures caused by equipment mismatch and improving the stability and reliability of the system.

[0010] Preferably, the identifying the type of the current servo drive specifically includes the following steps: Read the dial status information of the physical dial switch, which is installed on the servo drive, combine the preset drive type identification algorithm and the drive type rules pre-stored in the control center host to identify the type of the current servo drive, and return the obtained identification result to the sorting execution unit through the control center host; if the drive type identification algorithm cannot match the read dial status information with any of the drive type rules, an abnormal alarm is triggered, and an abnormal prompt information is sent to the control center host through the preset alarm mechanism.

[0011] By adopting the above technical solution, the dial status information of the physical dial switch is read, and combined with the drive type identification algorithm and pre-stored drive type rules, the servo drive type is accurately identified, thereby providing a reliable basis for subsequent parameter matching and communication connection; an abnormal alarm mechanism is set to improve the stability and security of the system.

[0012] Preferably, matching a corresponding servo drive address according to the type of the servo drive, establishing a communication connection according to the servo drive address, and acquiring the status parameters of the sorting execution unit connected to the servo drive in real time specifically include the following steps: Sending an address query instruction to all the servo drives and receiving the physical address codes returned by all the servo drives; creating a dynamic mapping table of logical addresses and physical addresses based on all the physical address codes; combining the identification result, sending a connection request to the target servo drive based on the logical address; when receiving a confirmation response from the target servo drive, the control center host successfully establishes a connection with the target servo drive; When the connection is established, a status information query instruction is sent to the sorting execution unit connected to the target servo drive, and the status parameters returned by the sorting execution unit are received.

[0013] By adopting the above technical solution, a dynamic mapping table between logical and physical addresses is created based on the collected physical address codes. Combined with the previously identified servo drive type information, a connection request can be accurately sent to the target servo drive, successfully establishing a communication connection between the control center host and the target servo drive. By sending status information query commands to the sorting execution unit connected to the target servo drive and receiving the status parameters returned, real-time monitoring of the sorting execution unit's operating status is achieved, thereby improving the debugging efficiency and operational stability of the entire servo drive system. This achieves a method for precise address matching and stable communication connection for servo drives.

[0014] Preferably, the method further comprises the following steps: After receiving the physical address codes returned by all the servo drivers, a round of conflict detection is initiated for all the physical address codes. If it is detected that multiple servo drivers return the same physical address code, the same physical address code is recorded in a temporary conflict list. The physical address code in the temporary conflict list is verified twice, and the secondary verification return result is received. The secondary verification return result includes the physical address code returned by the servo drive and its own unique identifier. If the same physical address code exists and the corresponding unique identifiers are different, it is determined to be a real address conflict, and the temporary conflict list is updated to obtain a conflict list. The corresponding servo drive in the conflict list is processed in combination with the preset conflict processing rules.

[0015] By adopting the above technical solution, when multiple servo drives return the same physical address code, the system can automatically detect address conflicts and handle them according to preset conflict handling rules. This ensures that in complex logistics scenarios, even if there is an address conflict, logical addresses can be reasonably allocated, thereby avoiding communication confusion.

[0016] Preferably, the step of obtaining the input target parameter value and converting the target parameter value to obtain the write parameter value according to a preset dynamic compensation algorithm specifically includes the following steps: When a target parameter value is detected, the target parameter value is stored and located in a corresponding parameter template storage directory according to the recognition result. The parameter template storage directory stores parameter templates corresponding to different types of servo drives. All the parameter templates are classified and stored according to parameter categories, and each parameter template includes a type coefficient of the corresponding type of servo drive; Determining the parameter category corresponding to the current debugging according to the target parameter value, determining the parameter template corresponding to the current servo drive according to the parameter category, the parameter template also including an offset value corresponding to the current parameter category, and determining the offset value corresponding to the current servo drive according to the parameter template; Acquire ambient temperature data in real time from a preset temperature sensor, the temperature sensor being electrically connected to the control center host, and calculate an environmental compensation factor based on a preset environmental compensation factor calculation model and the ambient temperature data; The write parameter value is calculated based on the target parameter value, the type coefficient, the offset value and the environmental compensation factor in combination with a preset dynamic compensation algorithm.

[0017] By adopting the above technical solution, the target parameter values are stored and matched with the corresponding parameter templates. Combined with the type coefficient and offset value, personalized parameter adjustment can be performed according to different types of servo drives. The introduction of ambient temperature data and the calculation of the environmental compensation factor effectively compensates for the impact of environmental factors on the performance of the servo drive. Finally, the target parameter values are comprehensively calculated in combination with the dynamic compensation algorithm to generate the written parameter values, ensuring the accuracy and real-time performance of the parameter adjustment, thereby optimizing the operating status of the servo drive and the sorting execution unit it controls, achieving accurate conversion of the target parameter values, and improving the accuracy and adaptability of the servo drive debugging.

[0018] Preferably, the dynamically generating parameter threshold range based on the state parameters acquired in real time specifically includes the following steps: According to the current parameter category, extract the historical operating data of the corresponding parameter from a pre-established historical database, calculate the average of all the historical operating data based on the data analysis algorithm, and use the average as the benchmark value; Obtaining the accumulated operating time information of the current servo drive, and calculating the device aging coefficient of the servo drive in combination with a preset device aging coefficient calculation model; The load condition of the sorting execution unit is monitored in real time by a pre-installed load sensor to obtain real-time load data, and the load fluctuation coefficient is obtained by analyzing and processing the real-time load data in combination with a preset load fluctuation coefficient calculation rule; A maximum parameter threshold is calculated based on the reference value and the equipment aging coefficient, and a minimum parameter threshold is calculated based on the reference value and the load fluctuation coefficient; If the state parameter exceeds the maximum parameter threshold or is lower than the minimum parameter threshold, it is determined that the state parameter is abnormal, and the abnormal servo drive and the sorting execution unit controlled by it are located in combination with the dynamic mapping table.

[0019] By adopting the above technical solution, a benchmark value is calculated based on historical operating data, and the equipment aging coefficient is obtained by combining the accumulated operating time information of the servo drive. At the same time, the load fluctuation coefficient is obtained according to the load condition of the sorting execution unit, thereby dynamically generating the maximum and minimum parameter thresholds, more accurately judging whether the status parameters are abnormal, and quickly locating the abnormal servo drive and the sorting execution unit it controls through a dynamic mapping table, thereby improving the stability of the system and the efficiency of troubleshooting.

[0020] In a second aspect, the present application provides a servo drive debugging device, which adopts the following technical means: A servo drive debugging device includes the following modules: A driver identification module is used to establish a connection between the control center host and the servo driver, start the sorting execution unit, and identify the type of the current servo driver; An address matching and connection module is used to match the corresponding servo drive address according to the type of the servo drive, establish a communication connection according to the servo drive address, and obtain the status parameters of the sorting execution unit connected to the servo drive in real time; a parameter writing module, configured to obtain an input target parameter value, convert the target parameter value according to a preset dynamic compensation algorithm to obtain a write parameter value, and write the write parameter value into the sorting execution unit; The exception handling module is used to dynamically generate a parameter threshold range based on the state parameter obtained in real time, and perform exception handling in combination with the written parameter value when it is detected that the state parameter exceeds the parameter threshold range.

[0021] In a third aspect, the present application provides a smart terminal that adopts the following technical solution: An intelligent terminal includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the servo drive debugging method as described above.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores at least one instruction, at least one program, code set or instruction set, which is loaded and executed by a processor to implement the servo drive debugging method as described above.

[0023] In summary, this application has at least one of the following beneficial effects: 1. The method of the present application automatically identifies the servo drive type and matches the corresponding address to achieve precise adaptation and efficient communication connection with the sorting execution unit, solving the problem that the traditional manual configuration method is time-consuming and error-prone.

[0024] 2. The method of the present application converts the target parameter value based on a dynamic compensation algorithm, and generates a write parameter value in combination with factors such as ambient temperature, equipment aging and load fluctuation, thereby improving the accuracy of parameter setting and system adaptability.

[0025] 3. The method of the present application can detect and handle abnormal situations in a timely manner by dynamically generating parameter threshold ranges and monitoring status parameters in real time, thereby ensuring the stable operation and efficient operation of the sorting system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is one of the flow charts of the servo driver debugging method of this embodiment; Figure 2 This is a flow chart of step S3 of the servo drive debugging method of this embodiment; Figure 3 4 is a structural diagram of the servo drive debugging device of this embodiment. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. The described embodiments are only possible technical implementations of the present invention and are not all possible implementations. Those skilled in the art can fully combine the embodiments of the present invention to derive other embodiments without creative work, and these embodiments are also within the scope of protection of the present invention.

[0028] The inventors of the present application have found that in the prior art, when dealing with the adaptation problem of multiple types of servo drives and sorting execution units, it is difficult to achieve accurate parameter matching and dynamic adjustment. In particular, when facing complex working conditions and diverse equipment combinations, traditional methods cannot effectively cope with the impact of environmental changes, equipment aging and other factors on system performance, resulting in a long debugging process and prone to misjudgment. For this reason, the present application mainly adopts a servo drive debugging method based on a servo drive system including a servo drive, a sorting execution unit and a control center host, wherein a connection is established between the control center host and the servo drive, the sorting execution unit is started, and the type of the current servo drive is identified. According to the type of servo drive, the corresponding servo drive address is matched, and according to the servo drive address, a communication connection is established and the status parameters of the sorting execution unit connected to the servo drive are obtained in real time, thereby achieving the effect of improving debugging efficiency and accuracy. The present application is further described in detail below.

[0029] The servo drive debugging method provided in the embodiment of the present application is based on a servo drive system including a servo drive, a sorting execution unit and a control center host. Figure 1 As shown, the method includes the following steps: S1. Establish a connection between the control center host and the servo drive, start the sorting execution unit, and identify the type of the current servo drive. Specifically, the following steps are included: S11. Establish a connection between the control center host and the servo drive through the 485 communication method, turn on the power, and start the sorting execution unit.

[0030] This step mainly builds the most basic communication link between the control center host and the servo drive, so that it can start the sorting execution unit and make it run, laying the foundation for the subsequent overall debugging of the servo drive.

[0031] The sorting execution unit includes a sorting trolley or a servo roller. The types of servo drives include MDI servo drive and infrared photoelectric servo drive. When the servo drive is an MDI servo drive, the sorting execution unit is a servo roller; when the servo drive is an infrared photoelectric servo drive, the sorting execution unit is a sorting trolley.

[0032] S12. Monitor the operating status of the sorting execution unit in real time. When the speed of the sorting execution unit reaches a preset stability threshold, identify the type of servo drive corresponding to the current sorting execution unit.

[0033] In another specific implementation, when the items carried by the sorting execution unit continue to move on the logistics line and pass through a preset sensing area, the type of the servo drive corresponding to the current sorting execution unit begins to be identified.

[0034] S13. The steps of identifying the type of servo drive corresponding to the current sorting execution unit are as follows: S131. Reading the dial status information of the physical dial switch. The physical dial switch is installed on the servo drive. The control center host uses sensor technology and hardware interface circuit to read the status information of the physical dial switch on the servo drive in real time.

[0035] In this embodiment, a specific circuit connects to the DS2 DIP switch group for the MDI low-voltage servo driver. The on / off status of each DIP switch is accurately captured and converted into a digital signal for transmission to the control center. Similarly, a hardware circuit is used to obtain the status signals of each DIP switch, B1-B8, for the infrared photoelectric low-voltage servo driver.

[0036] S132: Identify the type of the current servo drive by combining a preset drive type identification algorithm and drive type rules pre-stored in the control center host.

[0037] The control center host is preset with the servo drive type information expected for this debugging task. In this embodiment, this information is set in the system by the debugging personnel according to the actual logistics line equipment configuration before the debugging work starts. In other specific implementable methods, this information can also be pre-stored in the system core database based on the overall operation plan of the logistics line, so that the debugging process can call it at any time.

[0038] In this embodiment, a special driver type identification algorithm and driver type rules are pre-stored in the control center host. When a digital signal about the dial status information from the hardware is received, the driver type identification algorithm is called.

[0039] For MDI low-voltage servo drives, this embodiment's drive type identification algorithm analyzes the received signal based on the function definitions of the DS2 DIP switch in Table 1: MDI Low-Voltage Servo Drive DIP Switch Definitions. If the speed setting DIP switch position matches a specific pattern, combined with the DIP switch status associated with the 485 control, the driver is identified as an MDI low-voltage servo drive.

[0040] For infrared photoelectric low-voltage servo drives, the algorithm performs logical operations and comparisons on the received signal based on the definition rules for bits B1-B8. These rules include B8 for determining the RS485 terminal resistor status and B5-B1 for address calculation. When the calculated address information and terminal resistor status match the infrared photoelectric low-voltage servo drive dial definition table (Table 2), the driver's type can be accurately identified.

[0041] Therefore, in this embodiment, the driver type rules are the contents defined in Table 1 and Table 2.

[0042] Table 1 below is the definition table of the MDI low-voltage servo driver dial switches, and Table 2 below is the definition table of the infrared photoelectric low-voltage servo driver dial switches.

[0043] Table 1: Table 2: S133. The obtained recognition result is returned to the sorting execution unit through the control central host.

[0044] S14. If the driver type identification algorithm cannot match the read dial status information with any driver type rule, an abnormal alarm is triggered, and an abnormal prompt information is sent to the control center host through the preset alarm mechanism.

[0045] In a specific implementable method, the alarm mechanism is to suspend the sorting execution unit, prompt the operator to perform manual verification, and display the abnormal prompt information in the form of a pop-up window through the upper computer software interface. At the same time, a signal is sent to the associated warning device, such as lighting a warning light, triggering a buzzer, etc., to remind the debugging personnel to check whether the drive hardware connection or the dial code setting is correct.

[0046] S2. Match the corresponding servo drive address according to the type of servo drive, establish a communication connection according to the servo drive address, and obtain the status parameters of the sorting execution unit connected to the servo drive in real time, which specifically includes the following steps: S21. The control center host sends an address query instruction to all servo drives on the bus through the 485 communication bus. After receiving the instruction, each servo drive on the bus transmits it back to the control center host through the 485 communication bus according to the physical address code set by its own hardware. The control center host receives the physical address codes returned by all servo drives.

[0047] In this embodiment, the MDI low-voltage servo driver encodes and transmits back the data according to the communication address (0-255) set under the 485 control; the infrared photoelectric low-voltage servo driver encodes and transmits back the data according to the address calculated by Addr=B5*16+B4*8+B3*4+B2*2+B1.

[0048] S22. After receiving the physical address codes returned by the servo drivers, the control center host creates a dynamic mapping table between the logical address and the physical address according to the physical address codes.

[0049] The logical addresses are assigned in sequence by the control central host. In this embodiment, the first servo drive that receives the physical address code is assigned logical address 1, the second is assigned logical address 2, and so on. The control central host records each logical address and the corresponding physical address code in detail in the dynamic mapping table.

[0050] The dynamic mapping table of this embodiment has a dynamic update function. If a new servo drive is connected or an existing servo drive is replaced due to a fault during subsequent operation, resulting in a change in the physical address, the system can automatically resend the address query instruction to update the dynamic mapping table content.

[0051] S23. Through the above dynamic mapping table and in combination with the identification result, the identification result is the driver type, and the control center host sends a connection request to the target servo driver according to the corresponding logical address.

[0052] In a specific embodiment, if the servo drive is identified as an MDI low-voltage servo drive and its logical address is 5, the control center host sends a connection request to the physical address corresponding to the logical address 5.

[0053] S24: After receiving the request and confirming that its address matches, the target servo driver returns a confirmation response to the control center host. After the control center host receives the confirmation response from the target servo driver, the two parties negotiate and determine the communication parameters based on the 485 communication protocol. The communication parameters include baud rate, data bits, and stop bits. The control center host and the target servo driver successfully establish a communication connection.

[0054] The connection between the control center host and the target servo drive in this step differs from the initial connection in step S1. Based on the identification results, the servo drive address is automatically matched, a communication connection is established, and the status parameters of the lower computer are obtained in real time. The connection purpose of this step is more targeted and in-depth. After matching the address of the target servo drive, the specific device of the same type can be locked by address among all drives of the same type on the bus.

[0055] The sorting execution unit packages and organizes its own working current, speed, temperature and other status parameters in real time and transmits them back to the control center host through the servo drive via the 485 communication bus, providing comprehensive and accurate basic data support for subsequent debugging work.

[0056] S25. After the connection is established, the control center host sends a status information query instruction to the sorting execution unit connected to the target servo drive according to the Modbus protocol. The sorting execution unit collects its own working current, speed, temperature and other status parameters in real time, packages and organizes them, and transmits them back to the control center host through the target servo drive via the 485 communication bus.

[0057] Through the above steps, the address that matches the current drive type can be screened out, a stable communication link can be established, and the operating data of the sorting execution unit can be monitored in real time to ensure efficient and coordinated operation of the system.

[0058] S26, perform conflict detection on the servo drive address, the steps are as follows: S261: After receiving the physical address codes returned by all servo drives, a conflict detection round is initiated for all physical address codes. Specifically, all received physical address codes are traversed and address groups that may conflict are quickly identified through a hash table or sorting comparison. If multiple servo drives are detected to return the same physical address code, the same physical address code and the corresponding driver identifier are recorded in a temporary conflict list.

[0059] S262: Perform a secondary verification on the physical address codes in the temporary conflict list. Specifically, the control center host resends an address query command to the servo drives suspected of conflict, but the second address query command includes a verification identifier. Upon receiving the command with the verification identifier, the servo drive returns the physical address code and its own unique identifier.

[0060] The control center host receives the secondary verification return result, which includes the physical address code returned by the servo drive and its own unique identifier. If the same physical address code exists and the corresponding unique identifiers are different, it is determined to be a real address conflict, and the temporary conflict list is updated to obtain a conflict list.

[0061] S263. Further analyze the conflicting servo drives' location within the logistics line, their assigned area, and the type of connected sorting execution unit, to precisely define the conflict scope. For example, determine whether the conflicting drives are concentrated in a particular sorting branch line, a specific storage area, or a specific type of lower-level control unit, providing a basis for subsequent targeted processing.

[0062] S264: Process the corresponding servo drives in the conflict list in accordance with preset conflict processing rules.

[0063] Conflict handling rules include dynamic priority evaluation and address negotiation and reallocation.

[0064] The dynamic priority evaluation is based on multiple factors, including the importance of the sorting execution unit controlled by the drive in the logistics line, the degree of dependence of the current sorting task on the drive, and the operating status of the sorting execution unit.

[0065] In a specific implementation, the driver of the core sorting equipment has a higher priority than the driver of the auxiliary transport equipment, the driver that is performing an emergency order sorting task has a higher priority than the driver that is performing a normal order sorting task, and the driver that is running stably and has no fault alarm has a higher priority. By combining the above factors, a priority value is assigned to each conflicting driver.

[0066] A special negotiation communication protocol is established between the control center host and the conflicting drives to ensure accurate transmission of information during the negotiation process, and a negotiation start instruction is sent to all conflicting drives to inform the drives to enter the address negotiation process.

[0067] The control hub host conducts one-on-one negotiations with each conflicting drive in order of priority values from high to low. For the drive with the highest priority value, the control hub host asks it whether it is willing to maintain the current physical address code. If the drive responds that it is willing to maintain it, the control hub host records the address information of the drive and broadcasts a message to other conflicting drives that the address has been occupied. If other conflicting drives choose to release the address, the control hub host assigns it a new physical address code from the pre-planned backup address pool and confirms the address update. If the drive with the highest priority value chooses to release the address, it enters the next round of negotiation with the next priority value drive, and so on, until all conflicting drives have completed address negotiation and reallocation.

[0068] S3, obtain the input target parameter value, convert the target parameter value according to the preset dynamic compensation algorithm to obtain the write parameter value, and write the write parameter value into the sorting execution unit, such as Figure 2 As shown, the specific steps include: S31. When the target parameter value is detected, the target parameter value is stored and input into the control center host by the debugging personnel.

[0069] Based on the recognition results, the parameter template storage directory of the corresponding drive type is located. The parameter template storage directory stores parameter templates corresponding to different types of servo drives. All parameter templates are classified and stored according to parameter categories. Each parameter template includes the type coefficient of the corresponding type of servo drive.

[0070] In this embodiment, the driver type includes an MDI driver or an infrared photoelectric driver, and the parameter category includes a speed control parameter, a position control parameter, and a torque control parameter.

[0071] S32. Determine a parameter category corresponding to the current debugging according to the target parameter value, and determine a parameter template corresponding to the current servo drive according to the parameter category.

[0072] For example, if the drive type is an MDI drive and the target parameter value is a speed control parameter, the system will search for subfolders or file indexes related to speed control parameters within the MDI drive parameter template storage directory. In one embodiment, each parameter template file or folder is labeled with a category, allowing for quick filtering based on the category label.

[0073] The parameter template contains a series of key information related to the type of drive and the parameter category, such as parameter address, coefficient, and data type. In a specific implementable method, for the speed control parameter template of the MDI low-voltage servo drive, the address of the speed parameter in the memory, the type coefficient used to calculate the speed, and the data type used for the speed data are recorded in detail, including integer and floating-point types. The system loads the retrieved parameter template data into a specific area of the memory so that in the subsequent steps, after the debugger enters the target parameter value, the system can perform accurate parameter calculation and writing operations based on the parameter address, coefficient and other information in the template, combined with the dynamic compensation algorithm.

[0074] S33. The parameter template also includes an offset value corresponding to the current parameter category, and the offset value corresponding to the current servo drive is determined based on the parameter template.

[0075] S34, obtaining ambient temperature data in real time from a preset temperature sensor, the temperature sensor being electrically connected to the control center host, and calculating an ambient compensation factor based on a preset ambient compensation factor calculation model and the ambient temperature data; According to the target parameter value, type coefficient, offset value and environmental compensation factor, the write parameter value is calculated in combination with the preset dynamic compensation algorithm, and the write parameter value is written into the sorting execution unit.

[0076] The dynamic compensation algorithm is: write parameter value = target parameter value × (type coefficient + environment compensation factor) + offset value.

[0077] S35. After the parameter value is written, a parameter verification operation is performed on the written parameter value. Specifically, a parameter write check code is generated. The check code includes the triple XOR operation result of the address bit, the parameter value, and the timestamp. The check code is attached to the parameter readback request data packet. The written parameter is read back in real time and compared with the written parameter value. When the readback value verification fails, the write operation is automatically retried three times to confirm that the written parameter value is successfully written.

[0078] S4. Based on the status parameters obtained in real time, dynamically generate a parameter threshold range. When it is detected that the status parameter exceeds the parameter threshold range, perform exception processing in combination with the written parameter value, which specifically includes the following steps.

[0079] S41. According to the current parameter category, extract the historical operating data of the corresponding parameter from a pre-established historical database, which stores the historical operating data of the servo drive of this type. Calculate the mean of all the historical operating data based on the data analysis algorithm, and use the mean as the benchmark value.

[0080] In a specific implementation, if the speed parameter is currently being debugged, historical speed data is extracted, and the average of the historical speed data is calculated using a data analysis algorithm, and the average is used as a reference value.

[0081] S42: Obtain the accumulated operating time information of the current servo drive, and calculate the device aging coefficient of the servo drive by combining it with a preset device aging coefficient calculation model.

[0082] The equipment aging coefficient calculation model adopts the exponential function form: K=e (-α×J) ; Where K is the equipment aging coefficient, J is the cumulative operating time, and α is the aging attenuation constant, which is pre-set based on factors such as the drive's material properties and design life, and is pre-stored in the system's parameter configuration file.

[0083] In a specific implementation, if α = 0.001, the cumulative operating time J = 5000 hours, the equipment aging coefficient K = e (-0.001×5000) ≈0.0067.

[0084] S43. Monitor the load condition of the sorting execution unit in real time based on load sensors pre-installed at key locations of the equipment and obtain real-time load data. Combined with preset load fluctuation coefficient calculation rules, analyze and process the real-time load data to obtain the load fluctuation coefficient.

[0085] The calculation process of load fluctuation coefficient is as follows: The load fluctuation coefficient calculation rule is based on the standard deviation principle in statistics. The load data sequence {L1, L2, …, Ln} transmitted by the load sensor is obtained with a preset time window as the period.

[0086] Calculate the mean of the load data series Calculate the standard deviation of the load data Where L is the load fluctuation coefficient.

[0087] In a specific implementation, within a 10-minute time window, the load data sequence is {10, 12, 8, 11, 9}, and the mean is calculated. The standard deviation σ≈1.414, then the load fluctuation coefficient S44. Calculate a maximum parameter threshold based on the reference value and the equipment aging coefficient, and calculate a minimum parameter threshold based on the reference value and the load fluctuation coefficient.

[0088] In this embodiment, the maximum parameter threshold value = reference value × (1 + 10% × equipment aging coefficient); Minimum parameter threshold = reference value × (1-15% × load fluctuation coefficient).

[0089] S45. If the status parameter exceeds the maximum parameter threshold or falls below the minimum parameter threshold, the status parameter is determined to be abnormal. The system then uses the dynamic mapping table and hardware connection relationships to locate the abnormal servo drive and the sorting execution unit it controls. The host computer software interface displays the abnormal device location and parameter abnormality information to the debugging personnel through prominent color identification, pop-up prompts, and other methods. Simultaneously, a signal is sent to the associated alarm device, prompting the debugging personnel to conduct timely inspection and processing.

[0090] The working principle of the method of this embodiment is: First, install and connect the components: precisely install the servo drive on the logistics line and the corresponding sorting cart or servo roller equipment, and connect it to the control center host through several connecting lines to build the hardware infrastructure.

[0091] Secondly, information interaction is triggered: when the speed of the sorting execution unit reaches the preset stability threshold, or the items carried by the sorting execution unit continue to move on the logistics line and pass through the sensing area, the system is activated, triggering the information interaction mechanism to perform drive identification and matching.

[0092] Finally, information processing and control are realized: with the help of pre-set addresses, real-time interaction, rapid acquisition and precise control of information between components are realized, bypassing the traditional manual parameter configuration link. The system automatically completes the information processing required for debugging and achieves the debugging of the servo drive.

[0093] Based on the same inventive concept above, the present application also discloses a servo drive debugging device, such as Figure 3 As shown, it includes the following modules: The driver identification module is used to establish a connection between the control center host and the servo driver, start the sorting execution unit, and identify the type of the current servo driver; The address matching and connection module is used to match the corresponding servo drive address according to the type of servo drive, establish a communication connection based on the servo drive address, and obtain the status parameters of the sorting execution unit connected to the servo drive in real time; A parameter writing module is used to obtain an input target parameter value, convert the target parameter value according to a preset dynamic compensation algorithm to obtain a write parameter value, and write the write parameter value into the sorting execution unit; The exception handling module is used to dynamically generate parameter threshold ranges based on the status parameters obtained in real time. When it is detected that the status parameters exceed the parameter threshold range, exception handling is performed in combination with the written parameter value.

[0094] In a specific implementation scheme, the driver identification module includes the following units: The first driver identification unit is used to read the dial status information of the physical dial switch, which is installed on the servo driver. It combines the preset driver type identification algorithm and the driver type rules pre-stored in the control center host to identify the type of the current servo driver, and returns the obtained identification result to the sorting execution unit through the control center host; the second driver identification unit is used to trigger an abnormal alarm if the driver type identification algorithm cannot match the read dial status information with any driver type rule, and send abnormal prompt information to the control center host through the preset alarm mechanism.

[0095] In a specific implementation scheme, the address matching and connection module includes the following units: The first address matching and connection unit is used to send address query instructions to all servo drivers and receive physical address codes returned by all servo drivers; The second address matching and connection unit is used to create a dynamic mapping table between logical addresses and physical addresses based on all physical address codes, and send a connection request to the target servo drive based on the logical address in combination with the recognition result. When a confirmation response from the target servo drive is received, the control center host successfully establishes a connection with the target servo drive; The third address matching and connection unit is used to send a status information query instruction to the sorting execution unit connected to the target servo drive after the connection is established, and receive the status parameters returned by the sorting execution unit.

[0096] a fourth address matching and connection unit, configured to, after receiving the physical address codes returned by all the servo drivers, initiate a round of conflict detection for all the physical address codes, and if it is detected that multiple servo drivers return the same physical address code, record the same physical address code in a temporary conflict list; The fifth address matching and connection unit is used to perform secondary verification on the physical address code in the temporary conflict list and receive the secondary verification return result. The secondary verification return result includes the physical address code returned by the servo drive and its own unique identifier. If the same physical address code exists and the corresponding unique identifiers are different, it is determined to be a real address conflict, and the temporary conflict list is updated to obtain a conflict list. The corresponding servo drive in the conflict list is processed in combination with the preset conflict handling rules.

[0097] In a specific implementation scheme, the parameter writing module includes the following units: A first parameter writing unit is used to store the target parameter value when it is detected, and locate the target parameter value in a corresponding parameter template storage directory according to the recognition result. The parameter template storage directory stores parameter templates corresponding to different types of servo drives. All parameter templates are classified and stored according to parameter categories. Each parameter template includes a type coefficient of the corresponding type of servo drive; A second parameter writing unit is used to determine the parameter category corresponding to the current debugging according to the target parameter value, and determine the parameter template corresponding to the current servo drive according to the parameter category, wherein the parameter template also includes an offset value corresponding to the current parameter category, and determines the offset value corresponding to the current servo drive according to the parameter template; The third parameter writing unit is used to obtain ambient temperature data in real time from a preset temperature sensor. The temperature sensor is electrically connected to the control center host, and the environmental compensation factor is calculated based on the preset environmental compensation factor calculation model and the ambient temperature data; the fourth parameter writing unit is used to calculate the write parameter value based on the target parameter value, type coefficient, offset value and environmental compensation factor, combined with the preset dynamic compensation algorithm.

[0098] In a specific implementation scheme, the exception handling module includes the following units: The first exception handling unit is configured to extract historical operating data of the corresponding parameter from a pre-established historical database according to the current parameter category, calculate the average of all the historical operating data according to a data analysis algorithm, and use the average as a benchmark value; The second exception handling unit is used to obtain the accumulated operating time information of the current servo drive and calculate the device aging coefficient of the servo drive in combination with a preset device aging coefficient calculation model; A third abnormality processing unit is configured to monitor the load of the sorting execution unit in real time based on a pre-installed load sensor and obtain real-time load data. The real-time load data is analyzed and processed in combination with a preset load fluctuation coefficient calculation rule to obtain a load fluctuation coefficient. A fourth abnormality processing unit, configured to calculate a maximum parameter threshold value based on the reference value and the equipment aging coefficient, and to calculate a minimum parameter threshold value based on the reference value and the load fluctuation coefficient; The fifth exception handling unit is used to determine that the state parameter is abnormal if the state parameter exceeds the maximum parameter threshold or is lower than the minimum parameter threshold, and locate the abnormal servo drive and the sorting execution unit controlled by it in combination with the dynamic mapping table.

[0099] Based on the same inventive concept mentioned above, an embodiment of the present application also discloses a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set. The at least one instruction, at least one program, code set or instruction set can be loaded and executed by a processor to implement the servo drive debugging method provided by the above method embodiment.

[0100] Also based on the same inventive concept mentioned above, an embodiment of the present application also discloses a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the servo drive debugging method as described above.

[0101] Those skilled in the art will appreciate that all or part of the steps of the above embodiments may be implemented by hardware or by programs instructing related hardware to implement them. The programs may be stored in computer-readable storage media, which may include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0102] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A servo drive debugging method, characterized in that: Based on a servo drive system including a servo drive, a sorting execution unit, and a control center host, the method includes the following steps: Establishing a connection between the control center host and the servo drive, starting the sorting execution unit, and identifying the type of the current servo drive; Matching a corresponding servo drive address according to the type of the servo drive, establishing a communication connection according to the servo drive address, and acquiring state parameters of the sorting execution unit connected to the servo drive in real time; Obtaining an input target parameter value, converting the target parameter value according to a preset dynamic compensation algorithm to obtain a write parameter value, and writing the write parameter value into the sorting execution unit; Based on the state parameter acquired in real time, a parameter threshold range is dynamically generated. When it is detected that the state parameter exceeds the parameter threshold range, exception processing is performed in combination with the written parameter value.

2. The servo drive debugging method according to claim 1, wherein: The sorting execution unit includes a sorting trolley or a servo roller, and the types of the servo drive include MDI servo drive and infrared photoelectric servo drive. When the type of the servo drive is MDI servo drive, the sorting execution unit is a servo roller; when the type of the servo drive is infrared photoelectric servo drive, the sorting execution unit is a sorting trolley.

3. The servo drive debugging method according to claim 2, wherein: The identifying of the type of the current servo drive specifically includes the following steps: reading the dial state information of the physical dial switch installed on the servo drive, identifying the type of the current servo drive in combination with a preset drive type identification algorithm and a drive type rule pre-stored in the control center host, and returning the obtained identification result to the sorting execution unit through the control center host; If the driver type identification algorithm cannot match the read dial status information with any of the driver type rules, an abnormal alarm is triggered, and an abnormal prompt information is sent to the control center host through a preset alarm mechanism.

4. The servo driver debugging method according to claim 3, characterized in that: The method of matching a corresponding servo drive address according to the type of the servo drive, establishing a communication connection according to the servo drive address, and obtaining the status parameters of the sorting execution unit connected to the servo drive in real time specifically includes the following steps: Sending an address query instruction to all the servo drivers, and receiving the physical address codes returned by all the servo drivers; Creating a dynamic mapping table of logical addresses and physical addresses based on all the physical address codes, and sending a connection request to the target servo drive based on the logical address in combination with the recognition result. When receiving a confirmation response from the target servo drive, the control center host successfully establishes a connection with the target servo drive; When the connection is established, a status information query instruction is sent to the sorting execution unit connected to the target servo drive, and the status parameters returned by the sorting execution unit are received.

5. The servo driver debugging method according to claim 4, characterized in that: The following steps are also included: After receiving the physical address codes returned by all the servo drivers, a round of conflict detection is initiated for all the physical address codes. If it is detected that multiple servo drivers return the same physical address code, the same physical address code is recorded in a temporary conflict list. The physical address code in the temporary conflict list is verified twice, and the secondary verification return result is received. The secondary verification return result includes the physical address code returned by the servo drive and its own unique identifier. If the same physical address code exists and the corresponding unique identifiers are different, it is determined to be a real address conflict, and the temporary conflict list is updated to obtain a conflict list. The corresponding servo drive in the conflict list is processed in combination with the preset conflict processing rules.

6. The servo driver debugging method according to claim 3, characterized in that: The step of obtaining an input target parameter value and converting the target parameter value according to a preset dynamic compensation algorithm to obtain a write parameter value specifically includes the following steps: When a target parameter value is detected, the target parameter value is stored and located in a corresponding parameter template storage directory according to the recognition result. The parameter template storage directory stores parameter templates corresponding to different types of servo drives. All the parameter templates are classified and stored according to parameter categories, and each parameter template includes a type coefficient of the corresponding type of servo drive; Determining the parameter category corresponding to the current debugging according to the target parameter value, determining the parameter template corresponding to the current servo drive according to the parameter category, the parameter template also including an offset value corresponding to the current parameter category, and determining the offset value corresponding to the current servo drive according to the parameter template; Acquire ambient temperature data in real time from a preset temperature sensor, the temperature sensor being electrically connected to the control center host, and calculate an environmental compensation factor based on a preset environmental compensation factor calculation model and the ambient temperature data; The write parameter value is calculated based on the target parameter value, the type coefficient, the offset value and the environmental compensation factor in combination with a preset dynamic compensation algorithm.

7. The servo driver debugging method according to claim 4, characterized in that: The step of dynamically generating a parameter threshold range based on the state parameters acquired in real time specifically includes the following steps: According to the current parameter category, extract the historical operating data of the corresponding parameter from a pre-established historical database, calculate the average of all the historical operating data based on the data analysis algorithm, and use the average as the benchmark value; Obtaining the accumulated operating time information of the current servo drive, and calculating the device aging coefficient of the servo drive in combination with a preset device aging coefficient calculation model; The load condition of the sorting execution unit is monitored in real time by a pre-installed load sensor to obtain real-time load data, and the load fluctuation coefficient is obtained by analyzing and processing the real-time load data in combination with a preset load fluctuation coefficient calculation rule; A maximum parameter threshold is calculated based on the reference value and the equipment aging coefficient, and a minimum parameter threshold is calculated based on the reference value and the load fluctuation coefficient; If the state parameter exceeds the maximum parameter threshold or is lower than the minimum parameter threshold, it is determined that the state parameter is abnormal, and the abnormal servo drive and the sorting execution unit controlled by it are located in combination with the dynamic mapping table.

8. A servo drive debugging device, characterized in that: Includes the following modules: A driver identification module is used to establish a connection between the control center host and the servo driver, start the sorting execution unit, and identify the type of the current servo driver; An address matching and connection module is used to match the corresponding servo drive address according to the type of the servo drive, establish a communication connection according to the servo drive address, and obtain the status parameters of the sorting execution unit connected to the servo drive in real time; a parameter writing module, configured to obtain an input target parameter value, convert the target parameter value according to a preset dynamic compensation algorithm to obtain a write parameter value, and write the write parameter value into the sorting execution unit; The exception handling module is used to dynamically generate a parameter threshold range based on the state parameter obtained in real time, and perform exception handling in combination with the written parameter value when it is detected that the state parameter exceeds the parameter threshold range.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the servo drive debugging method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The readable storage medium stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the servo drive debugging method according to any one of claims 1 to 7.

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