Hardware detection method and device for digital output interface of motion control system

Abstract

The invention provides a hardware detection method and device for a digital output interface of a motion control system, and the method comprises the steps: triggering the motion control system to enter a pre-configured test mode, and generating an ultralow-frequency periodic signal; the ultralow-frequency periodic signal is output to the target signal pin of the digital output interface without changing related parameters of a normal working mode of the motion control system, and the duration time of a single level in the ultralow-frequency periodic signal is greater than or equal to the preset response time of the universal meter, so that the target signal pin can be measured through the universal meter, and the measurement accuracy is improved. Therefore, the hardware detection of the digital output interface is realized through a simple universal meter, the cost is reduced, and the universal meter is convenient to carry and is more suitable for on-site detection and troubleshooting.

Description

Technical Field

[0001] This application relates to the field of industrial testing, and in particular to a hardware testing method and apparatus for a digital output interface of a motion control system. Background Technology

[0002] Currently, motion controllers in motion control systems send high-frequency pulse sequences (PULSE) and direction (DIR) signals to servo drivers or stepper motor drivers via digital output interfaces (such as pulse output ports), which is the core of achieving precise position control. In practical applications, field technicians need to quickly determine whether the hardware of the digital output interface (such as wiring, connectors, driver chips, etc.) is working properly when installing, debugging, or maintaining equipment. However, the pulse frequency of the pulse output port can reach hundreds of kHz or even MHz, and the pulse width is extremely narrow. Conventional portable measuring tools (such as digital multimeters) are limited by bandwidth and sampling rate and cannot detect this. Only high-end instruments such as oscilloscopes can be used for measurement, which is costly and inconvenient to carry, making it unfavorable for on-site testing and troubleshooting. Summary of the Invention

[0003] This application provides a hardware testing method and apparatus for a digital output interface of a motion control system to solve at least one problem existing in the related technology. The technical solution is as follows: In a first aspect, embodiments of this application provide a method for hardware detection of a digital output interface of a motion control system, comprising: The motion control system is triggered to enter the test mode, generating an ultra-low frequency periodic signal. In the ultra-low frequency periodic signal, the duration of a single level is greater than or equal to the preset response time of the multimeter. The ultra-low frequency periodic signal is output to the target signal pin of the digital output interface; The target signal pin is measured using a multimeter to determine the level change of the target signal pin; Based on the changes in the voltage level, the hardware detection result of the digital output interface is determined.

[0004] In one embodiment, the ratio of the duration of the high level to the duration of the low level in the ultra-low frequency periodic signal is in the range of 1:4 to 4:1, and the ultra-low frequency periodic signal is a square wave.

[0005] In one implementation, the preset response time is 0.5 seconds or 2 seconds.

[0006] In one implementation, the triggering motion control system to enter the test mode and generate an ultra-low frequency periodic signal includes: Test commands are sent to the motion control system through the user interface or communication interface; The motion control system responds to the test command, triggering the motion control system to switch from the working mode to the test mode; When the motion control system enters the test mode, the operation controller of the motion control system generates the ultra-low frequency periodic signal.

[0007] In one embodiment, outputting the ultra-low frequency periodic signal to the target signal pin of the digital output interface includes: When the test mode is the first mode, the ultra-low frequency periodic signal is output sequentially to the target signal pin of the digital output interface through the driving circuit of the digital output interface in a time-division multiplexing manner. When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driving circuit of the digital output interface. The target signal pin includes at least one of the following: positive pulse terminal (PULSE+), negative pulse terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-).

[0008] In one embodiment, the step of measuring the target signal pin with a multimeter to determine the level change of the target signal pin includes: When the test mode is the first mode, the black probe of the multimeter is grounded and the red probe is connected to the target signal pins in sequence to determine the level change of each target signal pin in sequence. When the test mode is the second mode, the black probe of the multimeter is grounded and the red probe is connected to any one of the target signal pins to determine the level change of the target signal pin connected to the red probe.

[0009] In one implementation, determining the hardware detection result of the digital output interface based on the level change includes: When the test mode is the first mode, determine whether the level change of each target signal pin is a periodic level change. Record the hardware test result of the target signal pin that shows a periodic level change as normal, and record the hardware test result of the target signal pin that shows a non-periodic level change as abnormal. When the test mode is the second mode, if the level change is periodic, the hardware detection results of all target signal pins are recorded as normal; if the level change is non-periodic, the hardware detection results of all target signal pins are recorded as abnormal. The hardware detection results of the digital output interface include the hardware detection results of each of the target signal pins.

[0010] Secondly, embodiments of this application provide a hardware testing device for a digital output interface of a motion control system, comprising: The trigger module is used to trigger the motion control system to enter the test mode and generate an ultra-low frequency periodic signal. In the ultra-low frequency periodic signal, the duration of a single level is greater than or equal to the preset response time of the multimeter. The output module is used to output the ultra-low frequency periodic signal to the target signal pin of the digital output interface; The multimeter module is used to measure the target signal pin using a multimeter to determine the level change of the target signal pin. The determination module is used to determine the hardware detection result of the digital output interface based on the level change.

[0011] In one embodiment, the ratio of the duration of the high level to the duration of the low level in the ultra-low frequency periodic signal is in the range of 1:4 to 4:1, the ultra-low frequency periodic signal is a square wave, and the preset response time is 0.5 seconds.

[0012] In one implementation, the output module is specifically used for: When the test mode is the first mode, the ultra-low frequency periodic signal is output sequentially to the target signal pin of the digital output interface through the driving circuit of the digital output interface in a time-division multiplexing manner. When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driving circuit of the digital output interface. The target signal pin includes at least one of the following: positive pulse terminal (PULSE+), negative pulse terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-).

[0013] The beneficial effects of the above technical solution include at least the following: By triggering the motion control system to enter a pre-configured test mode, an ultra-low frequency periodic signal is generated. Without changing the relevant parameters of the motion control system's normal operating mode, the ultra-low frequency periodic signal is output to the target signal pin of the digital output interface. Since the duration of a single level in the ultra-low frequency periodic signal is greater than or equal to the multimeter's preset response time, the target signal pin can be measured with a multimeter to determine the level change of the target signal pin, thereby determining the hardware test result of the digital output interface. Therefore, using a simple multimeter to perform hardware testing of the digital output interface helps reduce costs, is portable, and is more suitable for on-site testing and troubleshooting.

[0014] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, these aspects, embodiments, and features will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0015] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0016] Figure 1 This is a schematic flowchart illustrating the steps of a hardware testing method for a digital output interface of a motion control system according to an embodiment of this application. Figure 2 This is a schematic diagram of an ultra-low frequency periodic signal according to an embodiment of this application; Figure 3 This is a wiring diagram for a multimeter according to an embodiment of this application; Figure 4 This is a structural block diagram of a hardware detection device for a digital output interface of a motion control system according to an embodiment of this application. Detailed Implementation

[0017] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0018] Reference Figure 1 The flowchart illustrates a hardware detection method for a digital output interface of a motion control system according to an embodiment of this application. This hardware detection method for the digital output interface of a motion control system may include at least steps S100-S400: S100 triggers the motion control system to enter the test mode and generates an ultra-low frequency periodic signal. In the ultra-low frequency periodic signal, the duration of a single level is greater than or equal to the preset response time of the multimeter.

[0019] S200 outputs an ultra-low frequency periodic signal to the target signal pin of the digital output interface.

[0020] S300. Use a multimeter to measure the target signal pin to determine the level change of the target signal pin.

[0021] S400: Determine the hardware detection results of the digital output interface based on the level changes.

[0022] The technical solution of this application embodiment triggers the motion control system to enter a pre-configured test mode, generating an ultra-low frequency periodic signal without changing the relevant parameters of the normal working mode of the motion control system. The ultra-low frequency periodic signal is output to the target signal pin of the digital output interface. Since the duration of a single level in the ultra-low frequency periodic signal is greater than or equal to the preset response time of the multimeter, the target signal pin can be measured by the multimeter to determine the level change of the target signal pin, thereby determining the hardware test result of the digital output interface. Therefore, the hardware test of the digital output interface is realized by using a simple multimeter, which helps to reduce costs, is portable and more suitable for on-site testing and troubleshooting.

[0023] In one implementation, step S100 includes steps S110-S130: S110. Send test commands to the motion control system through the user interface or communication interface.

[0024] Optionally, the testing personnel can generate test commands and send test commands to the motion controller of the motion control system through a user interface, which includes, but is not limited to, physical buttons / switches, touch screens, or remote control of the motion controller through a communication interface.

[0025] S120. The motion control system responds to the test command and triggers the motion control system to enter the test mode from the working mode.

[0026] Optionally, in this embodiment, a test mode is added in advance in addition to the working mode; the motion controller of the motion control system responds to the test command, thereby triggering the motion control system to enter the test mode from the working mode; wherein, the working mode is the normal operation of the motion control system, and its motion controller sends high-frequency pulse sequence (PULSE) and direction (DIR) signals to the servo driver or stepper motor driver through a digital output interface (such as a pulse output port); the test mode is a mode specifically used for hardware testing of the digital output interface.

[0027] S130. When the motion control system enters the test mode, the operation controller of the motion control system generates an ultra-low frequency periodic signal.

[0028] Optionally, when the motion control system enters test mode (or when the motion controller of the motion control system enters test mode), the timer / PWM module inside the operation controller of the motion control system is reconfigured to generate an ultra-low frequency periodic signal.

[0029] It should be noted that the duration of a single level is greater than or equal to the multimeter's preset response time; that is, the duration of both the high and low levels is greater than or equal to the multimeter's preset response time. Since the response time of most handheld multimeters is generally greater than 1 second, when the signal changes within 1 second, the multimeter reading will not have enough time to change. A very small number of high-end multimeters can achieve a response time of 0.5 seconds, meaning that if the signal changes within 0.5 seconds, the multimeter can detect and display the reading. Therefore, in this embodiment, the preset response time of the multimeter can be set to 0.5 seconds, corresponding to a frequency less than or equal to 1Hz, covering all ultra-low frequency signals that may be effectively responded to by the multimeter, thus eliminating the limitations of "frequency threshold judgment" and "waveform symmetry." Alternatively, in some embodiments, considering a general solution and ensuring successful measurement, the preset response time of the multimeter can be set to 2 seconds, corresponding to a frequency of 0.25Hz. Figure 2 As shown, assuming the preset response time is 2 seconds, the duration of a single level in the corresponding low-frequency periodic signal (Toff=2s) is given.

[0030] In addition, to ensure the measurement effect of the multimeter without taking too long to observe whether the level change shows periodic level change, the ratio of the duration of the high level to the duration of the low level in the ultra-low frequency periodic signal is limited to the range of 1:4 to 4:1. At the same time, the ultra-low frequency periodic signal is a square wave, that is, the ultra-low frequency periodic signal can be a square wave with a 50% duty cycle or a square wave with a non-50% duty cycle, without affecting the multimeter's detection.

[0031] In one implementation, step S200 includes steps S210-S220: S210. When the test mode is the first mode, the ultra-low frequency periodic signal is output sequentially to the target signal pin of the digital output interface through the driver circuit of the digital output interface in a time-division multiplexing manner.

[0032] Optionally, a first mode and a second mode can be configured in advance for the test mode. Testers can select which mode to enter when the test mode is triggered through the user interface or communication interface, or the system can automatically and randomly determine which mode to enter without specific restrictions.

[0033] In this embodiment, the target signal pin includes at least one of the differential output pulse positive terminal (PULSE+), pulse negative terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-); or, it includes single-ended output PULSE+, DIR+, GND, or 5V. Specifically, when the test mode is the first mode, the ultra-low frequency periodic signal is time-division multiplexed and sequentially output to the target signal pin of the digital output interface via the digital output interface's drive circuit. For example, the ultra-low frequency periodic signal is output in the order of pulse positive terminal (PULSE+), pulse negative terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-). It should be noted that when outputting sequentially, a preset output time can be set in advance. The controller automatically outputs the ultra-low frequency periodic signal sequentially at preset intervals, ensuring that each ultra-low frequency periodic signal output gives the tester sufficient time to detect and check the pulse positive terminal (PULSE+), pulse negative terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-). In some embodiments, the tester may also manually switch the output target signal pins of the ultra-low frequency periodic signal in sequence.

[0034] S220. When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driver circuit of the digital output interface.

[0035] When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driving circuit of the digital output interface. For example, the ultra-low frequency periodic signal is simultaneously output to the corresponding target signal pin (PULSE+), pulse negative pin (PULSE-), direction positive pin (DIR+), and direction negative pin (DIR-) in the digital output interface through the driving circuits corresponding to the pulse positive pin (PULSE+), pulse negative pin (PULSE-), direction positive pin (DIR+), and direction negative pin (DIR-).

[0036] In one implementation, step S300 includes steps S310-S320: S310. In the first test mode, ground the black probe of the multimeter and connect the red probe to the target signal pins in sequence to determine the level changes of each target signal pin.

[0037] Optionally, in the first test mode, the black probe of the multimeter is grounded, and the red probe is connected sequentially to the target signal pins to determine the level changes of each target signal pin. For example, taking the sequence of pulse positive terminal (PULSE+), pulse negative terminal (PULSE-), direction positive terminal (DIR+), and direction negative terminal (DIR-) as an example: the black probe of the multimeter is grounded, and the red probe is connected to the pulse positive terminal (PULSE+), thus determining the level change of the pulse positive terminal (PULSE+). Then, the red probe is connected to the pulse negative terminal (PULSE-), thus determining the level change of the pulse negative terminal (PULSE-), and so on, thereby determining the level changes of each target signal pin sequentially using the multimeter. Figure 3 The diagram shown is the wiring diagram for the positive terminal (PULSE+) of the test pulse.

[0038] S320. In the second test mode, ground the black probe of the multimeter and connect the red probe to any target signal pin to determine the level change of the target signal pin connected to the red probe.

[0039] Optionally, in the second test mode, the black probe of the multimeter is grounded, and the red probe is connected to any target signal pin. At this time, the level change of the target signal pin connected to the red probe can be observed.

[0040] In one embodiment, step S400 includes steps S410-S420: S410. When the test mode is the first mode, determine whether the level change of each target signal pin is a periodic level change. Record the hardware test result of the target signal pin that shows a periodic level change as normal, and record the hardware test result of the target signal pin that shows a non-periodic level change as abnormal.

[0041] Optionally, taking a preset response time of 2 seconds as an example, when the multimeter is in DC voltage mode and the test mode is the first mode, determine whether the level change of each target signal pin is a periodic level change. For example, if the multimeter reading changes periodically once every preset response time, i.e., every 2 seconds, between 0V (or close to 0V, 0~0.1V range) and the rated high level (e.g., 5V), then it is determined to be a periodic level change, and the hardware test result of the target signal pin showing a periodic level change is recorded as normal. However, if there is no periodic change between 0V (or close to 0V, 0~0.1V range) and the rated high level (e.g., 5V) every preset response time, i.e., every 2 seconds, for example, it may remain constant without change, then it is considered to be a non-periodic level change, and the hardware test result of the target signal pin showing a non-periodic level change is recorded as abnormal.

[0042] It should be noted that in the first test mode, since each target signal pin is tested independently and sequentially, it is possible to accurately determine which target signal pin has a hardware malfunction. Even hidden faults such as short circuits between target signal pins can be detected. For example, if the PULSE+ and PULSE- signal lines are internally shorted together, when only a high level is output to PULSE+, the PULSE- pin will also be pulled high due to the short circuit. At this time, if a multimeter is used to measure the PULSE- pin, it will be found that its level abnormally follows the changes of PULSE+ instead of remaining at a low level, thus revealing the problem.

[0043] S420. When the test mode is the second mode, if the level change is periodic, the hardware test results of all target signal pins are recorded as normal; if the level change is non-periodic, the hardware test results of all target signal pins are recorded as abnormal.

[0044] Optionally, in the second test mode, if the level change is periodic, the hardware test results of all target signal pins are recorded as normal, that is, the hardware test results of the entire digital output interface are considered normal; if the level change is non-periodic, the hardware test results of all target signal pins are recorded as abnormal.

[0045] It should be noted that the second mode can determine that the hardware function of the entire digital output interface is basically normal in a very short time. It is especially suitable for quick troubleshooting on site. When time is tight, it can quickly narrow down the scope of the fault. The testers do not need to remember the order of testing, nor do they need to move the probes to measure multiple terminals one by one. The "one measurement, overall judgment" method greatly simplifies the operation process and lowers the technical threshold. Even less experienced testers can easily complete the test.

[0046] In this embodiment of the application, the hardware detection results of the digital output interface include the hardware detection results of each target signal pin; the hardware detection results of the target signal pin represent the detection results of the target signal pin, the driving circuit (such as the lines involved, connectors, driving chips) and other related hardware connected to the target signal pin.

[0047] This application embodiment uses an ultra-low frequency periodic signal that can be recognized by a multimeter to replace the unmeasurable high-frequency narrow pulse by generating an ultra-low frequency periodic signal through a motion control system. This allows on-site personnel to quickly and cost-effectively complete hardware testing without the need for professional instruments such as oscilloscopes, greatly reducing the technical threshold and maintenance costs. It solves the long-standing problem of on-site debugging, achieves rapid fault location, and has strong practicality and versatility. The design includes test modes in addition to the working mode, realizing a new paradigm of "high-frequency operation and low-frequency testing." No additional hardware circuitry is required; it can be achieved solely through software programming / upgrades. It is applicable to all motion controllers, PLCs, CNC systems, etc., with digital output interfaces (such as pulse output interfaces), demonstrating strong universality. At the same time, the voltage amplitude of the ultra-low frequency signal is within the normal range, and due to its extremely low frequency, it completely avoids the risk of malfunctions that may occur during the testing process, ensuring safety and reliability.

[0048] Furthermore, the method of this application embodiment is not only applicable to pulse-type interfaces, but can also be applied to the functional testing of other types of digital output interfaces, as long as the interface outputs high-frequency or difficult-to-measure signals with a multimeter during normal operation, and can be controlled by software to output low-frequency square wave signals with controllable periods, thus having a wide range of applications.

[0049] Reference Figure 4 This diagram illustrates a structural block diagram of a hardware detection device for a digital output interface of a motion control system according to an embodiment of this application. The device may include: The trigger module is used to trigger the motion control system to enter the test mode and generate an ultra-low frequency periodic signal. In the ultra-low frequency periodic signal, the duration of a single level is greater than or equal to the preset response time of the multimeter. The output module is used to output ultra-low frequency periodic signals to the target signal pin of the digital output interface; The multimeter module is used to measure the target signal pins using a multimeter to determine the level changes of the target signal pins. The determination module is used to determine the hardware detection results of the digital output interface based on the changes in the voltage level.

[0050] In one embodiment, the ratio of the duration of the high level to the duration of the low level in the ultra-low frequency periodic signal is in the range of 1:4 to 4:1, the ultra-low frequency periodic signal is a square wave, and the preset response time is 0.5 seconds.

[0051] In one implementation, the output module is specifically used for: When the test mode is the first mode, the ultra-low frequency periodic signal is output sequentially to the target signal pin of the digital output interface through the driver circuit of the digital output interface in a time-division multiplexing manner. When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driver circuit of the digital output interface. The target signal pin includes at least one of the following: positive pulse terminal (PULSE+), negative pulse terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-).

[0052] The functions of each module in the device of this application embodiment can be found in the corresponding description in the above method, and will not be repeated here.

[0053] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0056] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0057] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0058] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0059] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A hardware testing method for a digital output interface of a motion control system, characterized in that, include: The motion control system is triggered to enter the test mode, generating an ultra-low frequency periodic signal. In the ultra-low frequency periodic signal, the duration of a single level is greater than or equal to the preset response time of the multimeter. The ultra-low frequency periodic signal is output to the target signal pin of the digital output interface; The target signal pin is measured using a multimeter to determine the level change of the target signal pin; Based on the changes in the voltage level, the hardware detection result of the digital output interface is determined.

2. The hardware testing method for the digital output interface of the motion control system according to claim 1, characterized in that: In the ultra-low frequency periodic signal, the ratio of the duration of the high level to the duration of the low level is in the range of 1:4 to 4:1, and the ultra-low frequency periodic signal is a square wave.

3. The hardware testing method for the digital output interface of the motion control system according to claim 1, characterized in that: The preset response time is 0.5 seconds or 2 seconds.

4. The hardware testing method for the digital output interface of the motion control system according to claim 1, characterized in that: The trigger motion control system enters the test mode and generates an ultra-low frequency periodic signal, including: Test commands are sent to the motion control system through the user interface or communication interface; The motion control system responds to the test command, triggering the motion control system to switch from the working mode to the test mode; When the motion control system enters the test mode, the operation controller of the motion control system generates the ultra-low frequency periodic signal.

5. The hardware testing method for the digital output interface of the motion control system according to any one of claims 1-4, characterized in that: The target signal pin for outputting the ultra-low frequency periodic signal to the digital output interface includes: When the test mode is the first mode, the ultra-low frequency periodic signal is output sequentially to the target signal pin of the digital output interface through the driving circuit of the digital output interface in a time-division multiplexing manner. When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driving circuit of the digital output interface. The target signal pin includes at least one of the following: positive pulse terminal (PULSE+), negative pulse terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-).

6. The hardware testing method for the digital output interface of the motion control system according to claim 5, characterized in that: The step of measuring the target signal pin with a multimeter to determine the level change of the target signal pin includes: When the test mode is the first mode, the black probe of the multimeter is grounded and the red probe is connected to the target signal pins in sequence to determine the level change of each target signal pin in sequence. When the test mode is the second mode, the black probe of the multimeter is grounded and the red probe is connected to any one of the target signal pins to determine the level change of the target signal pin connected to the red probe.

7. The hardware testing method for the digital output interface of the motion control system according to claim 6, characterized in that: The step of determining the hardware detection result of the digital output interface based on the level change includes: When the test mode is the first mode, determine whether the level change of each target signal pin is a periodic level change. Record the hardware test result of the target signal pin that shows a periodic level change as normal, and record the hardware test result of the target signal pin that shows a non-periodic level change as abnormal. When the test mode is the second mode, if the level change is periodic, the hardware detection results of all target signal pins are recorded as normal; if the level change is non-periodic, the hardware detection results of all target signal pins are recorded as abnormal. The hardware detection results of the digital output interface include the hardware detection results of each of the target signal pins.

8. A hardware testing device for a digital output interface of a motion control system, characterized in that, include: The trigger module is used to trigger the motion control system to enter the test mode and generate an ultra-low frequency periodic signal. In the ultra-low frequency periodic signal, the duration of a single level is greater than or equal to the preset response time of the multimeter. The output module is used to output the ultra-low frequency periodic signal to the target signal pin of the digital output interface; The multimeter module is used to measure the target signal pin using a multimeter to determine the level change of the target signal pin. The determination module is used to determine the hardware detection result of the digital output interface based on the level change.

9. The hardware testing device for the digital output interface of the motion control system according to claim 8, characterized in that: In the ultra-low frequency periodic signal, the ratio of the duration of the high level to the duration of the low level is in the range of 1:4 to 4:1, the ultra-low frequency periodic signal is a square wave, and the preset response time is 0.5 seconds.

10. The hardware testing device for the digital output interface of the motion control system according to claim 8, characterized in that: The output module is specifically used for: When the test mode is the first mode, the ultra-low frequency periodic signal is output sequentially to the target signal pin of the digital output interface through the driving circuit of the digital output interface in a time-division multiplexing manner. When the test mode is the second mode, the ultra-low frequency periodic signal is simultaneously output to the target signal pin of the digital output interface through the driving circuit of the digital output interface. The target signal pin includes at least one of the following: positive pulse terminal (PULSE+), negative pulse terminal (PULSE-), positive direction terminal (DIR+), and negative direction terminal (DIR-).

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