Servo driver debugging system

Abstract

The utility model provides a servo driver debugging system, which relates to the technical field of servo debugging and comprises a communication module, a driver setting module, a limiting module, a digital IO module, an error display module, an expert module and an oscilloscope module. The driver setting module, the limiting module, the digital IO module, the error display module, the expert module and the oscilloscope module are all connected with the communication module, and the output end of the driver setting module is connected with the limiting module. According to the invention, multiple debugging functions are integrated, so that tedious operation caused by using multiple tools is avoided, debugging personnel can complete a series of debugging tasks such as equipment connection, parameter setting, waveform acquisition and analysis and the like on one software platform, and the debugging time is greatly shortened.

Description

Technical Field

[0001] This invention relates to the field of servo debugging technology, and in particular to a servo driver debugging system. Background Technology

[0002] In the field of modern industrial automation, servo drives are widely used in various precision motion control scenarios, such as CNC machine tools, robots, and automated production lines. The performance and accuracy of the servo drive directly affect the overall system's operation. However, debugging is a crucial and complex step in the development, production, and maintenance of servo drives.

[0003] Currently, common servo drive debugging methods mainly rely on specialized debugging software. However, different debugging software programs vary in functionality and user experience. Some software suffers from incomplete functionality and complex operation, affecting the debugging efficiency and accuracy of servo drives. For example, some debugging software lacks detailed command data observation functions in the communication section, resulting in insufficient information when analyzing problems; the operation process is not clear and convenient enough, failing to quickly provide detailed information and complete operations for newly connected servo drives; unreasonable permission management of servo parameter tables may lead to the accidental modification of important parameters; alarm code display is not clear and comprehensive enough, making it difficult to accurately determine the specific location and type of alarm; oscilloscope functions have deficiencies in sampling methods, number of channels, and interface design, affecting the effectiveness of waveform analysis; debugging personnel need to use multiple tools and software to complete different debugging tasks, such as oscilloscopes and parameter setting software, which not only increases debugging costs but also makes the debugging process cumbersome and inefficient. At the same time, data interaction between different tools is inconvenient, making it difficult to achieve integrated debugging operations, which is not conducive to quickly and accurately locating and solving servo drive problems. In addition, during the debugging process, the status monitoring of the servo drive is not comprehensive and intuitive enough, making it impossible to obtain key information in a timely manner, affecting the debugging progress and quality.

[0004] Therefore, there is an urgent need for a servo debugging system for servo drives that is more comprehensive in function, easier to operate, and has better performance, in order to overcome the shortcomings of existing servo debugging software. Utility Model Content

[0005] The present invention aims to propose a servo drive debugging system, which provides more comprehensive, convenient and powerful functional support for the debugging and optimization of servo drives, improves the debugging efficiency and accuracy of servo drives, optimizes various functions in the debugging process, and thus ensures the stable operation and performance improvement of industrial automation systems.

[0006] To achieve the above objectives, this utility model provides a servo driver debugging system, including a communication module, a driver setting module, a limiting module, a digital I / O module, an error display module, an expert module, and an oscilloscope module. The driver setting module, the limiting module, the digital I / O module, the error display module, the expert module, and the oscilloscope module are all connected to the communication module, and the output terminal of the driver setting module is connected to the limiting module.

[0007] Optionally, the communication module includes a serial port configuration unit, and the servo driver debugging system connects to the servo driver through the serial port configuration unit.

[0008] Optionally, the driver setting module includes a driver shaft number setting unit and a driver motor setting unit;

[0009] The driver motor setting unit includes a motor manufacturer setting subunit, a motor rated speed setting subunit, a motor peak current setting subunit, a motor rated current setting subunit, an encoder type setting subunit, and a motor level logarithm setting subunit.

[0010] Optionally, the limiting module includes a position limiting unit, a speed limiting unit, and a current limiting unit.

[0011] Optionally, the digital I / O module includes a DI function configuration unit and a DO function configuration unit.

[0012] Optionally, the expert module includes a parameter editing unit and a parameter reading / writing unit;

[0013] The parameter read / write unit includes a monitoring subunit, a writing subunit, a detailed display subunit, and a simplified display subunit.

[0014] Optionally, the oscilloscope module includes a parameter setting unit, a trigger setting unit, an oscilloscope channel setting unit, a Jog debugging unit, and a waveform drawing unit.

[0015] Optionally, the waveform drawing unit includes a save subunit, a load subunit, a statistics subunit, a start subunit, a stop subunit, a fast Fourier transform subunit, a same scale subunit, and a vernier subunit.

[0016] Optionally, the servo debugging system further includes a menu module and a status module;

[0017] The menu module includes a connection unit, an import unit, an export unit, a save unit, a clear error unit, an emergency stop unit, an about unit, and a help unit;

[0018] The status module includes an alarm status display unit, a communication connection status display unit, a bus voltage display unit, a temperature display unit, and a speed information display unit.

[0019] Optionally, the parameter reading and writing unit of the expert module is connected to the import unit, export unit, and save unit of the menu module.

[0020] Compared with the closest existing technology, the present invention has the following beneficial effects:

[0021] The serial port configuration in the communication module of this invention facilitates in-depth analysis of software command and data transmission and reception by R&D / testing personnel, helping to quickly locate and resolve communication problems and improve debugging efficiency. The driver setting module meets the servo parameter management needs of different users in different scenarios, improving the accuracy and flexibility of parameter settings. Debugging personnel can comprehensively understand the driver's operating status through the error display module, promptly detect abnormalities, and take proactive measures to improve system reliability and stability. The oscilloscope module provides rich waveform analysis tools, such as precise trigger settings, multi-channel acquisition, statistical analysis, and FFT transformation, which can help debugging personnel more accurately analyze servo driver performance, optimize system parameters, and improve motion control precision. The dual prompts of the error display module and the status bar make alarm conditions clear at a glance, facilitating timely fault handling and reducing downtime caused by difficulties in troubleshooting. By integrating multiple debugging functions into one, this invention avoids the cumbersome operation of using multiple tools. Debugging personnel can complete a series of debugging tasks such as device connection, parameter setting, and waveform acquisition and analysis on a single software platform, greatly shortening debugging time. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a structural diagram of a servo driver debugging system according to the present invention;

[0024] Figure 2 This is a schematic diagram of the DI function configuration of the digital I / O module of this utility model;

[0025] Figure 3 This is a schematic diagram of the DO function configuration of the digital IO module of this utility model. Detailed Implementation

[0026] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] like Figure 1 As shown, this utility model provides a servo driver debugging system, including a communication module, a driver setting module, a limiting module, a digital I / O module, an error display module, an expert module, and an oscilloscope module. The driver setting module, the limiting module, the digital I / O module, the error display module, the expert module, and the oscilloscope module are all connected to the communication module, and the output terminal of the driver setting module is connected to the limiting module.

[0029] Furthermore, the communication module includes a serial port configuration unit, through which the servo driver debugging system connects to the servo driver.

[0030] Furthermore,

[0031] The driver setting module includes a driver shaft number setting unit and a driver motor setting unit;

[0032] The driver motor setting unit includes a motor manufacturer setting subunit, a motor rated speed setting subunit, a motor peak current setting subunit, a motor rated current setting subunit, an encoder type setting subunit, and a motor level logarithm setting subunit.

[0033] Furthermore, the limiting module includes a position limiting unit, a speed limiting unit, and a current limiting unit.

[0034] Furthermore, the digital I / O module includes a DI function configuration unit and a DO function configuration unit.

[0035] Furthermore, the expert module includes a parameter editing unit and a parameter reading / writing unit;

[0036] The parameter read / write unit includes a monitoring subunit, a writing subunit, a detailed display subunit, and a simplified display subunit.

[0037] Furthermore, the oscilloscope module includes a parameter setting unit, a trigger setting unit, an oscilloscope channel setting unit, a Jog debugging unit, and a waveform drawing unit.

[0038] Furthermore, the waveform drawing unit includes a save subunit, a load subunit, a statistics subunit, a start subunit, a stop subunit, a fast Fourier transform subunit, a same scale subunit, and a vernier subunit.

[0039] Furthermore, the servo debugging system also includes a menu module and a status module;

[0040] The menu module includes a connection unit, an import unit, an export unit, a save unit, a clear error unit, an emergency stop unit, an about unit, and a help unit;

[0041] The status module includes an alarm status display unit, a communication connection status display unit, a bus voltage display unit, a temperature display unit, and a speed information display unit.

[0042] Furthermore, the parameter reading and writing unit of the expert module is connected to the import unit, export unit, and save unit of the menu module.

[0043] Example

[0044] This utility model is an application software primarily for servo debugging, featuring general functions such as servo driver settings, servo driver limitations, error display, servo status monitoring, servo parameter reading and writing, and oscilloscope waveform acquisition and analysis. In addition, the software is compatible with R6B series and ES2A series servo drivers. Depending on the driver series, corresponding function pages will be displayed, allowing for the operation of various types of devices using a single software program.

[0045] This embodiment provides a servo driver debugging system, including a communication module, a driver setting module, a limit module, a digital I / O module, an error display module, an expert module, an oscilloscope module, a menu module, and a status module.

[0046] Communication Module: Before testing the servo driver using the servo debugging system, a communication connection must first be established between the servo debugging system and the device. The connection process is as follows:

[0047] (1) Enter the “Communication” interface, click “Communication” in the menu area of ​​the servo driver debugging system to enter the main page of communication settings;

[0048] (2) Select “Connection Method”. The default is “Serial Port” communication. When “Serial Port” connection is selected, use a USB to serial cable to connect the slave device to the computer.

[0049] (3) Configure the communication interface parameters. Click the “Serial Port Configuration” button, select the serial port, baud rate, data bits and other information, and finally click the “Open Serial Port” button to complete the device connection process.

[0050] Driver setting module: includes driver shaft number setting unit and driver motor setting unit;

[0051] (1) Driver axis number setting unit: After entering the driver axis number setting unit, you can select the driver axis number to be operated, check the driver axis number to be operated, and click "Apply".

[0052] (2) Driver Motor Setting Unit: After entering the driver motor setting unit, you can modify the motor-related parameters of the selected axis through the motor manufacturer setting subunit, motor rated speed setting subunit, motor peak current setting subunit, motor rated current setting subunit, encoder type setting subunit, and motor stage number setting subunit. These parameters have initial default values. If you need to modify them, simply modify the value in the corresponding input box and click the "Apply" button.

[0053] Limiting Module: After completing the driver shaft number setting and driver motor setting, enter the limiting module. At this time, the position, speed and current will have a default value. Users can use the position limiting unit, speed limiting unit and current limiting unit to set the relevant parameters of position, speed and current according to actual usage requirements. After setting, click the "Apply" button.

[0054] Digital I / O module: includes DI function configuration unit and DO function configuration unit;

[0055] DI Function Configuration Unit: such as Figure 2As shown, if the software address configuration is P1:16#0203 and P2:16#0104, it indicates that DI1: counterclockwise travel limit, DI2: clockwise travel limit, DI3: alarm clear, and DI4: control mode switching; if the software address configuration is P1:16#0102 and P2:16#0304, it indicates that DI1: alarm clear, DI2: counterclockwise travel limit, DI3: clockwise travel limit, and DI4: control mode switching; if the software address configuration is P1:16#0102 and P2:16#0104, the system will prompt that the function configuration is duplicated.

[0056] DO Function Configuration Unit: such as Figure 3 As shown, if the software address configuration is P3:16#0203 and P4:16#0104, it indicates DO1: servo alarm output, DO2: positioning complete output, DO3: servo ready, and DO4: zero speed detection output; if the software address configuration is P3:16#0102 and P4:16#0304, it indicates DO1: servo ready, DO2: servo ready, DO3: positioning complete output, and DO4: zero speed detection output; if the software address configuration is P3:16#0102 and P4:16#0104, the system will prompt that the function configuration is duplicated.

[0057] Error display module: When the servo drive generates an error alarm, the alarm information will be displayed in the error display, and it will be displayed on different axes depending on the axis number.

[0058] Expert Module: The expert module provides R&D / testing personnel with a servo parameter table that can be read and written to the servo driver parameters. The servo parameter table in expert mode will vary depending on the driver being communicated with. It includes a parameter editing unit and a parameter read / write unit. The operation process is as follows:

[0059] (1) Parameter editing unit

[0060] ① Operation Method 1: Move the mouse to the servo parameter directory list on the left, check the group name, and all parameters in that group will be added to the parameter display table on the right. Check a single parameter in the group, and that single parameter will be added to the parameter display table on the right. Uncheck the box, and the corresponding parameter will be deleted from the parameter display table. ② Operation Method 2: In the blank space of the column containing the parameter code in the parameter display table, enter the parameter code (P). n Select the value, then press Enter to add the parameter corresponding to the code to the parameter display table. Select the code corresponding to the parameter with the mouse, and then press the Delete key to delete the parameter corresponding to the code from the parameter display table.

[0061] (2) Parameter read / write unit

[0062] ① Monitoring Subunit: Clicking the "Monitor" button in the expert module of the servo drive debugging system displays the current values ​​of all servo parameters in the parameter display table, which will be refreshed periodically in real time. ② Writing Subunit: Clicking the "Write" button in the expert module of the servo drive debugging system displays the new servo parameter values ​​entered in the parameter display table, which will be written to the slave device. ③ Detailed Display Subunit: The detailed display subunit displays more information about the servo parameter descriptions (such as range, unit, etc.). ④ Simplified Display Subunit: The simplified display subunit only displays the name and current value of the servo parameter.

[0063] Oscilloscope Module: The oscilloscope function provides R&D / testing personnel with a visual graphical interface, allowing them to acquire and analyze waveforms according to actual needs. The oscilloscope module includes parameter setting units, trigger setting units, oscilloscope channel setting units, Jog debugging units, and waveform drawing area units, as detailed below:

[0064] (1) Parameter setting unit: In order to facilitate some parameter settings before waveform acquisition, you can enter the address of the servo parameter to be modified in the parameter setting area, select the corresponding axis number, enter the value to be modified, and finally click the "Apply" button to modify the servo parameter.

[0065] (2) Trigger setting unit: The trigger condition setting before the oscilloscope acquires waveforms. You can select the trigger object and trigger condition according to actual needs, input the trigger value, and finally input the pre-sampling ratio. Click the "Apply" button to complete the trigger setting.

[0066] (3) Oscilloscope channel setting unit: You can select the object to be acquired and the axis to be acquired according to actual needs. A total of 6 channels can be acquired at the same time. After the waveform data is acquired, the waveform is plotted on the waveform graph. When the mouse moves on the waveform graph, the value and time of the channel will be displayed below the channel of the oscilloscope. You can click the "Display" checkbox to select whether the waveform of the channel needs to be displayed. You can also click the color area to switch the color of the waveform of the channel.

[0067] (4) Jog debugging unit. Currently, the only Jog debugging mode is the jog (speed) mode. Jog: The speed ramp rise time is the time from the start to uniform rotation. Enter the corresponding value, select which axis the motor rotates, and enter the motor speed. Finally, click the "Enable" button to complete the Jog jog (speed) mode debugging. If you want the motor to rotate continuously, check the continuous mode check box and then click "Enable".

[0068] (5) Waveform drawing unit: The acquired waveform data will be displayed in the waveform drawing area as a waveform graph. Specifically:

[0069] ① Save Subunit: Click the "Save" button in the waveform drawing unit. In the pop-up file save dialog box, select the file save path, enter the file name, and then click the "Save" button at the bottom of the dialog box to save the waveform data to the specified file. ② Load Subunit: Click the "Load" button in the waveform drawing unit. In the pop-up file load dialog box, select the file load path, and then click the "Open" button at the bottom of the dialog box to load and display the waveform data in the waveform drawing area. ③ Statistics Subunit: The maximum, minimum, and average values ​​of the waveform are displayed on the statistics interface. ④ Start Subunit: After setting the sampling period, click the "Start" button to start waveform acquisition. The progress bar displays the waveform acquisition progress. When the progress bar reaches 100%, the waveform data acquisition is complete, and the waveform drawing is finished. The area displays the waveform of the acquired data; ⑤ Stop sub-unit: If you want to stop the acquisition of waveform data during the acquisition process, click the "Stop" button. At this time, the progress bar is cleared, and there is no waveform in the waveform plotting area; ⑥ FFT sub-unit: The Fast Fourier Transform sub-unit performs a Fast Fourier Transform on the waveform data, and the waveform will be converted into a bar chart; ⑦ Same scale sub-unit: For waveforms with inconsistent scales, which are inconvenient to analyze, you can click the "Same scale" checkbox. At this time, the scale values ​​of the waveforms in all 6 channels are consistent; ⑧ Cursor sub-unit: When you need to compare waveform data between two time periods, click the "Cursor" checkbox. At this time, two cursors appear in the waveform plotting area. You can use the mouse to move these two cursors, and the waveform data between the two cursors is displayed on the right.

[0070] Menu Module: The system's menu module offers convenient operations such as communication connection and importing / exporting servo parameters, as detailed below:

[0071] (1) Connection Unit: Click "Connect" to connect the servo driver debugging system to the driver. The communication icon will change when the communication connection is successful. (2) Import Unit: Click "Import" to select the servo parameter file to import. The data of the servo parameter file will be imported into the servo parameter table of the expert module. (3) Export Unit: Click "Export" to select the path to export the servo parameter file. The servo parameter table of the expert module will be saved to the local machine in CSV file format. (4) Save Unit: Click "Save Parameters to Driver". The current values ​​of all servo parameters in the parameter display table will be downloaded and updated to the servo driver. (5) Clear Error Unit: Click "Clear Error" to clear the alarm status of the servo driver. (6) Emergency Stop Unit: Click "Emergency Stop" to stop the servo driver motor from rotating. (7) About Unit: Click "About" to introduce the relevant version information of the software. (8) Help Unit: Click "Help" to open the help document of the servo debugging software.

[0072] Status Module: The status module includes an alarm status display unit, a communication connection status display unit, a bus voltage display unit, a temperature display unit, and a speed information display unit. It displays some statuses of the servo drive, including communication connection status, alarm status, bus voltage, temperature, and current speed information.

[0073] The parameter read / write unit of the expert module is connected to the import, export, and save units of the menu module for importing, exporting, and saving files, respectively. Specifically:

[0074] ① Import: Click the "Import" button in the menu module. In the pop-up file import dialog box, select the servo parameter file to import, and then click the "Import" button at the bottom of the dialog box to import the servo parameters from the servo parameter file into the parameter display table. ② Export: Click the "Export" button in the menu module. In the pop-up file export dialog box, select the file export path, enter the export file name, and then click the "Export" button at the bottom of the dialog box to save all the servo parameters in the parameter display table to the specified file. ③ Save: Click the "Save Parameters to Driver" button in the menu module to download and update the current values ​​of all servo parameters in the parameter display table to the servo driver.

[0075] This utility model is not limited to the specific embodiments described above. The above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A servo driver debugging system, characterized in that, It includes a communication module, a driver setting module, a limiting module, a digital I / O module, an error display module, an expert module, and an oscilloscope module. The driver setting module, the limiting module, the digital I / O module, the error display module, the expert module, and the oscilloscope module are all connected to the communication module, and the output terminal of the driver setting module is connected to the limiting module.

2. The servo driver debugging system according to claim 1, characterized in that, The communication module includes a serial port configuration unit, and the servo driver debugging system connects to the servo driver through the serial port configuration unit.

3. The servo driver debugging system according to claim 1, characterized in that, The driver setting module includes a driver shaft number setting unit and a driver motor setting unit; The driver motor setting unit includes a motor manufacturer setting subunit, a motor rated speed setting subunit, a motor peak current setting subunit, a motor rated current setting subunit, an encoder type setting subunit, and a motor level logarithm setting subunit.

4. The servo driver debugging system according to claim 1, characterized in that, The limiting module includes a position limiting unit, a speed limiting unit, and a current limiting unit.

5. A servo driver debugging system according to claim 1, characterized in that, The digital I / O module includes a DI function configuration unit and a DO function configuration unit.

6. The servo driver debugging system according to claim 1, characterized in that, The expert module includes a parameter editing unit and a parameter reading and writing unit; The parameter read / write unit includes a monitoring subunit, a writing subunit, a detailed display subunit, and a simplified display subunit.

7. A servo driver debugging system according to claim 1, characterized in that, The oscilloscope module includes a parameter setting unit, a trigger setting unit, an oscilloscope channel setting unit, a Jog debugging unit, and a waveform drawing unit.

8. A servo driver debugging system according to claim 7, characterized in that, The waveform drawing unit includes a save subunit, a load subunit, a statistics subunit, a start subunit, a stop subunit, a fast Fourier transform subunit, a same scale subunit, and a vernier subunit.

9. A servo driver debugging system according to claim 6, characterized in that, The servo driver debugging system also includes a menu module and a status module; The menu module includes a connection unit, an import unit, an export unit, a save unit, a clear error unit, an emergency stop unit, an about unit, and a help unit; The status module includes an alarm status display unit, a communication connection status display unit, a bus voltage display unit, a temperature display unit, and a speed information display unit.

10. A servo driver debugging system according to claim 9, characterized in that, The parameter reading and writing unit of the expert module is connected to the import unit, export unit and save unit of the menu module.

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