CN208539918U - A kind of CAN bus test device based on industrial robot - Google Patents
A kind of CAN bus test device based on industrial robot Download PDFInfo
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- CN208539918U CN208539918U CN201820765091.1U CN201820765091U CN208539918U CN 208539918 U CN208539918 U CN 208539918U CN 201820765091 U CN201820765091 U CN 201820765091U CN 208539918 U CN208539918 U CN 208539918U
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Abstract
The CAN bus test device based on industrial robot that the utility model discloses a kind of, including controller, CAN module, controller is connected with CAN module, controller is connected with CAN bus interference configuration, CAN bus interference configuration is connected with CAN interference module, CAN interference module includes multiple relays, controller is connected with relay, relay is connected with CAN interference module, coder module is provided between CAN interference module and controller, controller is connected with coder module, coder module is connected with CAN interference module, CAN interference module is connected with CAN module, controller is connected with CAN module, CAN module is connected with CAN bus, TCH test channel is connected with communication channel, controller is connected with communication bus.The utility model uses CANoe equipment, and interface configurations are simple, easy to operate, is our ideal testing tools, solves the problems, such as that testing tool is expensive in the prior art and manually manufactures various bus failures and influences test results.
Description
Technical field
The utility model relates to industrial automation test equipment technical fields, are based on industrial robot more particularly to one kind
CAN bus test device.
Background technique
Ethercat CAN network has had in industrial robot field at present is extremely widely applied, thus CAN is total
Line test is just particularly important.From industrial robot controller system product be designed into exploitation to require after sale carry out CAN
The relevant test of bus, the test that auto electric Test Engineer progress CAN bus is needed in the Development of ECU for Compressed stage.At present
Mainly dependence test is carried out using two kinds of tools of CANoe and CANstress.It is primarily present some problem at present:
CANstress cannot achieve physics layer line mistake and the automatic test with time strong correlation, and being manually operated will
Cause waveform to interfere, then influences test result.Such as, if it is desired to line error checking is carried out, this just needs to be grasped manually
Make, that is, tester is different come the time span of manual manufacturing defect according to testing requirement, fault injection time also without
Method meets test request, also inevitably occurs operation error during direct fault location and operating time length is difficult to control and asks
Topic, thus several reliabilities of accuracy for influencing test result, or even the phenomenon that will appear a variety of test results.
In addition, test content very harsh comprising some pairs of time requirement in CAN bus test, such as the test of sampled point
Need to be accurate to the 1/20 of no position, it is even more small to need to be accurately measured 0.1us for the CAN network that rate is 500k, individually
Test is gone also to cannot achieve by manual.
Also, dependence test is carried out for Vector equipment in such as industry, it usually needs at the same using CANoe and
stress。
Utility model content
The purpose of this utility model is that provide a kind of CAN based on industrial robot to solve the above-mentioned problems total
Line test device.
The utility model achieves the above object through the following technical schemes:
A kind of CAN bus test device based on industrial robot, including controller, CAN module, the controller and institute
It states CAN module to be connected, the controller is connected with CAN bus interference configuration, and the CAN bus interference configuration and CAN interfere mould
Block be connected, the CAN interference module includes multiple relays, and the controller is connected with the relay, the relay and
The CAN interference module is connected, and coder module, the control are provided between the CAN interference module and the controller
Device is connected with the coder module, and the coder module is connected with the CAN interference module, the CAN interference module with
CAN module be connected, the controller is connected with the CAN module, and the CAN module is connected with CAN bus, the controller and
CAN bus message interference configuration be connected, the controller is connected with Rate selector, TCH test channel, the TCH test channel with lead to
It interrogates channel to be connected, the controller is connected with communication bus.
Further, the coder module is arranged between the controller and the CAN interference module, the coding
Device module is for output after being extended to the control signal that the controller exports to the CAN interference module.
Further, the controller before the signal for receiving the CAN bus interference configuration, also use by the controller
In the signal for receiving the TCH test channel and the Rate selector, and according to presently described communication channel and rate judgement
Whether the channel and rate indicated in the signal of TCH test channel and the Rate selector be correct, and activates in the right circumstances
The rate communications in indicated channel and instruction.
Further, the controller is used to receive the signal of the CAN bus message interference configuration, wherein the CAN
The signal of bus message interference configuration includes the mark of message to be interfered in the signal for indicate the CAN bus and to be interfered
To the information of interference position in message.
Further, the controller be also used to be determined according to the information of the CAN bus message interference configuration in CAN to
In the message of interference and message to be interfered to interference position and export the signal of interference signal to the CAN bus, and
The controller is also used to receive and export the signal of the CAN bus after interference.
Further, the controller is used to before the signal of the drive CAN bus after output interference judge pre-
Whether the CAN bus communication state in fixing time is normal, and the CAN bus communication state in the given time is not just
The CAN bus signal in the case where often after output interference.
Further, the CAN interference module includes multiple relays, the control signal control of the controller output
The switch state of multiple relays is made, to realize that the signal of the CAN bus sent to the CAN module is done
It disturbs.
The utility model has the beneficial effects that: device uses CANoe equipment, interface configurations are simple, operation side
Just, it is our ideal testing tools, solves that testing tool is expensive in the prior art and manually manufactures various bus failure shadows
The problem of ringing test result.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of system structure diagram of CAN bus test device based on industrial robot described in the utility model.
Wherein: 1, controller；2, CAN bus interference configuration；3, CAN interference module；4, relay；5, coder module；
6, CAN module；7, CAN bus；8, TCH test channel；9, Rate selector；10, communication channel；11, CAN bus message interference is matched
It sets；12, communication bus.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, a kind of CAN bus test device based on industrial robot, including controller 1, CAN module 6, control
Device 1 processed is connected with CAN module 6, and controller 1 is connected with CAN bus interference configuration 2, and CAN bus interference configuration 2 and CAN interfere mould
Block 3 is connected, and CAN interference module 3 includes multiple relays 4, and controller 1 is connected with relay 4, relay 4 and CAN interference module
3 are connected, and coder module 5 is provided between CAN interference module 3 and controller 1, and controller 1 is connected with coder module 5, compile
Code device module 5 is connected with CAN interference module 3, and CAN interference module 3 is connected with CAN module 6, and controller 1 is connected with CAN module 6,
CAN module 6 is connected with CAN bus 7, and controller 1 is connected with 7 message interference configuration of CAN bus, controller 1 and Rate selector
9, TCH test channel 8 is connected, and TCH test channel 8 is connected with communication channel 10, and controller 1 is connected with communication bus 12.
Coder module 5 is arranged between controller 1 and CAN interference module 3, and coder module 5 is for defeated to controller 1
Output is to CAN interference module 3 after control signal out is extended, and controller 1 is in the signal for receiving CAN bus interference configuration 2
Before, controller 1 is also used to receive the signal of TCH test channel 8 and Rate selector 9, and according to Current communications channel 10 and rate
Judge whether the channel indicated in the signal of TCH test channel 8 and Rate selector 9 and rate are correct, and swashs in the right circumstances
The rate communications in indicated channel and instruction living, controller 1 are used to receive the signal of 7 message interference configuration of CAN bus,
The signal of middle 7 message interference configuration of CAN bus includes the mark of message to be interfered and to dry in the signal for indicate CAN bus 7
To the information of interference position in the message disturbed, controller 1 is also used to determine CAN according to the information of 7 message interference configuration of CAN bus
In in message and message to be interfered to be interfered to interference position and export the signal of interference signal to CAN bus 7, and
Controller 1 is also used to receive and export the signal of the CAN bus 7 after interference, and controller 1 is used for the drive after output interference
Judge whether 7 communication state of CAN bus in the predetermined time is normal before the signal of CAN bus 7, and in the given time
In the abnormal situation of 7 communication state of CAN bus output interference after 7 signal of CAN bus, CAN interference module 3 include it is multiple after
Electric appliance 4, the control signal that controller 1 exports control the switch state of multiple relays 4, are sent with realization to CAN module 6
The signal of CAN bus 7 is interfered.
The signal that controller 1 receives 7 interference configuration 2 of CAN bus receives the letter of TCH test channel 8 and Rate selector 9 before
Number, and judge that the channel and rate that indicate in TCH test channel 8 and rate selecting signal are according to Current communications channel 10 and rate
It is all correct, and activate indicated channel with indicated rate communications in the right circumstances, controller 1 receives CAN bus 7
Message interference configuration signal, wherein the signal of 7 message interference configuration of CAN bus includes in the signal for indicate CAN bus 7 wait interfere
Message mark and message to be interfered in the information to interference position；It is true according to 7 message interference configuration signal of CAN bus
Determine message to be interfered in the signal of CAN bus 7 and message in interference position signal determine in the signal of CAN bus 7 to
In the message of interference and message to be interfered to interference position and export interference model to CAN bus 7 signal, and receive
And the signal of the CAN bus 7 after interference is exported, judge in the predetermined time before the signal of the CAN bus 7 after output interference
Whether 7 communication state of bus is normal, and CAN bus 7 in the given time communicates in abnormal situation after output interference
The signal of CAN bus 7.
The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change
And improvement, these various changes and improvements fall within the scope of the claimed invention.
Claims (7)
1. a kind of CAN bus test device based on industrial robot, it is characterised in that: described including controller, CAN module
Controller is connected with the CAN module, and the controller is connected with CAN bus interference configuration, the CAN bus interference configuration with
CAN interference module is connected, and the CAN interference module includes multiple a relays, and the controller is connected with the relay, institute
It states relay to be connected with the CAN interference module, is provided with encoder mould between the CAN interference module and the controller
Block, the controller are connected with the coder module, and the coder module is connected with the CAN interference module, the CAN
Interference module is connected with CAN module, and the CAN module is connected with CAN bus, and the controller is matched with the interference of CAN bus message
Set connected, the controller is connected with Rate selector, TCH test channel, and the TCH test channel is connected with communication channel, the control
Device processed is connected with communication bus.
2. a kind of CAN bus test device based on industrial robot according to claim 1, it is characterised in that: described
Coder module is arranged between the controller and the CAN interference module, and the coder module is used for the control
The control signal of device output exports after being extended to the CAN interference module.
3. a kind of CAN bus test device based on industrial robot according to claim 1, it is characterised in that: described
Controller before the signal for receiving the CAN bus interference configuration, the controller be also used to receive the TCH test channel and
The signal of the Rate selector, and judge that the TCH test channel and the rate select according to presently described communication channel and rate
It selects the channel indicated in the signal of device and whether rate is correct, and activate indicated channel and instruction in the right circumstances
Rate communications.
4. a kind of CAN bus test device based on industrial robot according to claim 1, it is characterised in that: described
Controller is used to receive the signal of the CAN bus message interference configuration, wherein the signal of the CAN bus message interference configuration
Letter in signal including indicating the CAN bus in the mark of message to be interfered and message to be interfered to interference position
Breath.
5. a kind of CAN bus test device based on industrial robot according to claim 1, it is characterised in that: described
Controller is also used to determine message to be interfered in CAN and to be interfered according to the information of the CAN bus message interference configuration
In message to interference position and export interference signal to the signal of the CAN bus and the controller and be also used to receive
And export the signal of the CAN bus after interference.
6. a kind of CAN bus test device based on industrial robot according to claim 1, it is characterised in that: described
Controller is used to before the signal of the drive CAN bus after output interference judge the CAN bus in the predetermined time
Whether communication state is normal, and in the abnormal situation of CAN bus communication state in the given time after output interference
The CAN bus signal.
7. a kind of CAN bus test device based on industrial robot according to claim 1, it is characterised in that: described
CAN interference module includes multiple relays, and the control signal of the controller output controls opening for multiple relays
Off status, to realize that the signal of the CAN bus sent to the CAN module interferes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820765091.1U CN208539918U (en) | 2018-05-22 | 2018-05-22 | A kind of CAN bus test device based on industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820765091.1U CN208539918U (en) | 2018-05-22 | 2018-05-22 | A kind of CAN bus test device based on industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208539918U true CN208539918U (en) | 2019-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820765091.1U Active CN208539918U (en) | 2018-05-22 | 2018-05-22 | A kind of CAN bus test device based on industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208539918U (en) |
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2018
- 2018-05-22 CN CN201820765091.1U patent/CN208539918U/en active Active
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