CN105866683B - A kind of test macro of closed loop stepper motor and its driver - Google Patents

A kind of test macro of closed loop stepper motor and its driver Download PDF

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Publication number
CN105866683B
CN105866683B CN201610203239.8A CN201610203239A CN105866683B CN 105866683 B CN105866683 B CN 105866683B CN 201610203239 A CN201610203239 A CN 201610203239A CN 105866683 B CN105866683 B CN 105866683B
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driver
test
circuit
module
encoder
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CN201610203239.8A
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Chinese (zh)
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CN105866683A (en
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李寒逸
郑铁帅
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深圳北航天汇创业孵化器有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34Testing dynamo-electric machines

Abstract

The invention discloses the test macros of a kind of closed loop stepper motor and its driver, including microcontroller, touch screen, drive control circuit, remote alarm interface circuit, vibration detection interface circuit, voltage detecting circuit, current detection circuit and encoder interface circuit, touch screen connects microcontroller, and the output end of remote alarm interface circuit, the output end of vibration detection interface circuit, the output end of voltage detecting circuit, the output end of current detection circuit and the output end of encoder interface circuit connect microcontroller respectively;The control signal output of microcontroller connects drive control circuit.Test system structure of the invention is simple, integrated level is high, easy to operate.

Description

A kind of test macro of closed loop stepper motor and its driver

[technical field]

The present invention relates to closed loop stepper motor and its driver test more particularly to a kind of closed loop stepper motor and its drivings The test macro of device.

[background technique]

As technology is constantly mature, the closed loop driving system of stepping motor being made of closed loop stepper motor and its driver is obtained To extensive use.Closed loop stepper motor and the difference of open loop stepper motor are installed than open loop stepper motor more in closed loop stepper motor Encoder as feedback, encoder as critical component, be the performance of closed loop driving system of stepping motor influence factor it One.In production procedure, the quality of closed loop stepper motor and its driver and the integrality of function are examined, is even more important, such as examined Look into confirm its all technical whether meet the requirements of the standard, therefore closed loop stepper motor and its driver measuring technology have it is non- Normal important role.

Currently, the conventional inspection method of most of closed loop stepper motors is, a qualified closed loop step actuator is used It is driven, if closed loop stepper motor operates normally, illustrates that the encoder installation of closed loop stepper motor and lead are correct;It is no Then, need to check whether installation and lead are correct, retest.

Closed loop step actuator mainly has the functions such as pulse, direction, enabled, alarm, under-voltage, over-voltage, overcurrent, most of to close The functional test method of ring step actuator is that operative employee sends arteries and veins to closed loop stepper motor driver by additional controller Punching, direction, enable signal observe the operating status of driver by estimating or marking, therefore, it is determined that closed loop stepper motor drives Whether the function of dynamic device meets design requirement.

Application No. is the test methods and step of a kind of stepper motor driver of the disclosure of the invention of CN201410593584.8 Into motor driver test fixture, this method comprises: when receiving the open loop functional test request of user's input, described in response Open loop functional test request, a key control stepper motor driver open loop drives stepper motor operating, and acquires and export institute State the current operation information of stepper motor;When receiving the closed loop functional test request of user's input, the closed loop function is responded Can test request, stepper motor operating described in stepper motor driver close-loop driven described in a key control, and acquire and export The current operation information of the stepper motor, to improve the degree of automation of the test process of stepper motor driver.

The test method and stepper motor driver test fixture of the stepper motor driver of the disclosure of the invention are by a variety of Test fixture made of different tool combinations, structure is complicated, and integrated level is low, not readily portable, complicated for operation, has a single function.

[summary of the invention]

That the technical problem to be solved in the present invention is to provide a kind of structures is simple, integrated level is high, closed loop stepping easy to operate The test macro of motor and its driver.

In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that, a kind of closed loop stepper motor and its driving The test macro of device, including microcontroller, touch screen, drive control circuit, remote alarm interface circuit, vibration detection interface circuit, Voltage detecting circuit, current detection circuit, encoder interface circuit, eeprom circuit and protection (under-voltage, over-voltage, overcurrent) test Circuit, touch screen connect microcontroller, the output end of remote alarm interface circuit, the output end of vibration detection interface circuit, voltage inspection The output end of the output end of slowdown monitoring circuit, the output end of current detection circuit and encoder interface circuit connects microcontroller respectively;It is micro- The control signal output of controller connects drive control circuit;Microcontroller protection test signal output end connect protection (it is under-voltage, Over-voltage, overcurrent) test circuit;Eeprom circuit is connect with microcontroller.

Test noted above system, wherein

Touch screen is directly interacted as host, with user, is received user's input test request, is asked according to the test of user It asks, realizes functional test;Slave feedback information is received, and is shown;

Drive control circuit receives pulse, the direction, enable signal that microcontroller is sent, and carries out electrical isolation, then transmit To measurand;

Encoder interface circuit receives the code device signal of measurand, and sends microcontroller to;

Vibration detection interface circuit connects vibrating sensor, the vibration data of acquisition motor at various speeds;

Remote alarm interface circuit receives the alarm signal of measurand, and sends microcontroller to;

The measured point of the ADC sampling module and measurand of voltage detecting circuit and microcontroller connects, by measurand The voltage signal of measured point send microcontroller to;

Current detection circuit is connected with the motor phase line of the ADC sampling module of microcontroller and measurand, will be tested The current signal of object is converted into voltage signal and reaches microcontroller;

The connection of the I2C module for reading and writing of eeprom circuit and microcontroller, for storing data, microcontroller can carry out it Read-write operation;

Protect (under-voltage, over-voltage, overcurrent) test circuit electricity with the protection test module of microcontroller, measurand respectively Source interface and the connection of motor phase line interface, receive the test signal of the protection test module of microcontroller, carry out to measurand Defencive function detection.

Test noted above system, microcontroller include motion-control module, encoder read module, drive control mould Block, alarm read module, ADC sampling module, I2C module for reading and writing, protection test module, Modbus serial port module;Motion control Module includes driver functions test module, encoder test module and driver burn-in test module.

Test noted above system, motion-control module include:

401, the judgement of voltage test processes and alarm on the circuit board of measurand;

402, the alarm signal processing of measurand;

403, control driver operational mode selection;

404, driver direction selection;

405, the enabled test of driver;

406, driver warning function is tested;

407, encoder errors are handled;

408, current signal is handled;

409, vibration signal processing;

410, defencive function is tested.

Test noted above system,

Driver functions test module includes:

401, the judgement of voltage test processes and alarm on the circuit board of measurand;

403, control driver operational mode selection;

404, driver direction selection;

405, the enabled test of driver;

406, driver warning function is tested;

407, encoder errors are handled;

408, current signal is handled;

409, vibration signal processing;

410, defencive function is tested.

Encoder test module includes:

403, control driver operational mode selection;

404, driver direction selection;

407, encoder errors are handled;

Driver burn-in test module includes:

402, the alarm signal processing of measurand;

403, control driver operational mode selection;

404, driver direction selection;

407, encoder errors are handled.

Test noted above system,

Drive control module is connect with drive control circuit, executes the control instruction of motion-control module, control driving control Circuit processed;

Encoder read module is connect with encoder interface circuit, converts numerical value for the electric signal of encoder interface circuit Signal, and judge the operating status of tested encoder, motion-control module processing is reached, touch screen is finally reached, is shown;

Alarm read module and remote alarm interface circuit connection, read the level signal of remote alarm interface circuit, and reach movement Control module processing, finally reaches touch screen, is shown;

ADC sampling module is connect with ADC sample circuit, and the voltage signal received, current signal, vibration signal turn Digital quantity is turned to, motion-control module processing is reached, finally reaches touch screen, shown;

I2C module for reading and writing is connect with eeprom circuit, and the encoder read module, alarm read module, ADC are adopted Treated the data such as egf block, reach in EEPROM;Also related data in EEPROM is read;

It protects test module and protection (under-voltage, over-voltage, overcurrent) to test circuit connection, measurand can be owed respectively The defencive functions such as pressure, over-voltage, overcurrent are tested.

Test noted above system, when being tested, the first optocoupler driving circuit of drive control circuit is driver connected Pulse signal input interface, the driver connected direction signal input interface of the second optocoupler driving circuit, third optocoupler driving electricity The driver connected enable signal input interface in road;The driver connected alarm signal output interface of remote alarm interface circuit, voltage detecting The driver connected voltage test points of circuit;The line of current detection circuit driver connected motor Wiring port and closed loop stepper motor Road, encoder interface circuit connect the encoder of closed loop stepper motor, and vibration detection interface circuit connects the vibration on closed loop stepper motor Dynamic sensor, the driver connected power supply of protection (under-voltage, over-voltage, overcurrent) test circuit.

Test noted above system, the sequence tested automatically are as follows:

801, the multiple measured point voltages of driver are disposably detected simultaneously, voltage value and predetermined reference value collected into Row comparison, determines whether to meet the requirements according to set error range, and in touching screen display test result, if there is wherein One test result test result exceeds error range, then terminates automatic detection, same to alarm;

802, the output electric current of driver (first power on alignment electric current) is detected, by the current value of setting with adopt Sample value compares, and in touching screen display current curve, test result is in the error range of setting, then prompt is normal, test knot Fruit exceeds error, then terminates automatic detection, and alarm;

803, it carries out pulse function to driver to test, using unidirectional fixed pulse continuous operation test mode, together When read the value of feedback of encoder, obtain the operating status of motor that driver is controlled, judge that the pulse function of driver is It is no normal, if test result exceeds error, automatic detection is terminated, and show the same alarm of result;

804, the output electric current of driver (normal rotatory current) is detected, is stored in advance under friction speed (such as Three speed such as 30rpm, 60rpm, 120rpm) current curve value, successively the current value under three kinds of friction speeds, is sampling two just The sampled value in string period, is compared with reference value, while in touch screen display current curve, mistake of the test result in setting In poor range, then prompt is normal, and test result exceeds error, then terminates automatic detection, and alarm;

805, the direction function of driver is tested, using reciprocal fixed pulse continuous operation test mode, simultaneously Read the value of feedback of encoder, obtain the operating status of motor that driver is controlled, judge driver direction function whether Normally, if test result exceeds error, automatic detection is terminated, and show the same alarm of result;

806, the ena-bung function of driver is tested, using unidirectional fixed pulse continuous operation test mode, simultaneously Read the value of feedback of encoder, obtain the motor that is controlled of driver, according to as a result, judge driver ena-bung function whether Normally, such as it is judged as abnormal, then terminates automatic detection, and show the same alarm of result;

807, the warning function of driver is tested, using unidirectional fixed pulse continuous operation test mode, simultaneously To enable signal, driver is allowed to belong to off-line state;Within the set time, if test macro receives the alarm of driver Output signal, confirmation driver warning function is normal and prompts, on the contrary, then terminating automatic detection, and warning note;

808, motor oscillating is detected, at various speeds according to the vibrating sensor of system institute band acquisition motor Vibration speed value is judged automatically by the reference value of setting, display test result and judgement prompt;

809, under-voltage protection test is carried out to driver, automatically switching driver power supply, (voltage value < driver is owed Pressure protection threshold value), within the set time, if test macro receives the alarm output signal of driver, confirm driver Under-voltage protection function is normal and prompts, on the contrary, then warning note;

8010, overvoltage protection test is carried out to driver, automatically switches driver power supply (voltage value > driver Overvoltage protection threshold), within the set time, if test macro receives the alarm output signal of driver, confirm driver Over-voltage protecting function it is normal and prompt, on the contrary, then warning note;

8011, overcurrent protection test, starting motor phase line short circuit, within the set time, if test are carried out to driver System receives the alarm output signal of driver, confirms that the overcurrent protection function of driver is normal and prompts, on the contrary, then alarming Prompt.

Test noted above system, when encoder is tested, closed loop stepper motor is used as open loop motor, testing procedure It is as follows:

901, it unidirectional test: first at a slow speed, afterwards quickly, repeatedly tests, test macro sends the pulse of setting in total Number, control closed loop stepper motor operation, while encoder values are acquired, by the level change of encoder interfaces, with transmitted arteries and veins It rushes number to compare, judges whether encoder installation is normal;

902, reciprocal quickly test: the pulse number of test macro transmission setting, control closed loop stepper motor operation, simultaneously Encoder values are acquired, is compared with transmitted pulse number, judges the repeatability of encoder.

Test noted above system is connected in series plural platform driver and carries out burn-in test;Driver is set when test It surely include the different motion state of curve movement, speed and/or direction.

Closed loop stepper motor of the present invention and its driver test macro have high integration, structure are simple, operate letter to make Feature.

[Detailed description of the invention]

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is the functional block diagram of test macro of the embodiment of the present invention.

Fig. 2 is the architecture diagram of MCU control module of the embodiment of the present invention.

Fig. 3 is the functional block diagram of test system module of embodiment of the present invention connection.

Fig. 4 is the connection block diagram of test macro of the embodiment of the present invention.

Fig. 5 is driver auto test flow figure of the embodiment of the present invention.

Fig. 6 is encoder test module hardware of embodiment of the present invention connection block diagram.

Fig. 7 is encoder auto test flow figure of the embodiment of the present invention.

Fig. 8 is burn-in test wiring diagram of the embodiment of the present invention.

[specific embodiment]

The structure and principle of closed loop of embodiment of the present invention stepper motor and its driver test macro are as shown in Figures 1 to 8.

As shown in Figure 1, test macro includes microcontroller (MCU control module), touch screen, drive control circuit, alarm Interface circuit, vibration detection interface circuit, voltage detecting circuit, current detection circuit, encoder interface circuit, serial communication electricity Circuit is tested in road, eeprom circuit and protection (under-voltage, over-voltage, overcurrent).

Touch screen connects MCU control module, output end, the vibration detection interface of remote alarm interface circuit by serial communication circuit The output end of circuit, the output end of voltage detecting circuit, the output end of current detection circuit and the output of encoder interface circuit End connects MCU control module respectively;The control signal output of MCU control module connects drive control circuit;The protection of microcontroller Test signal output end connects protection (under-voltage, over-voltage, overcurrent) test circuit;Eeprom circuit is connect with microcontroller.

Wherein,

Touch screen is directly interacted as host with user with serial communication interface circuit connection, is received user and is inputted survey Examination request realizes functional test according to the test request of user;Slave feedback information is received, and is directly displayed.

Drive control circuit, for receiving pulse, the direction, enable signal that MCU control module is sent, carry out electrically every From, then send measurand to.

Encoder interface circuit for receiving the code device signal of measurand, and sends the coding of MCU control module to Device read module.

Vibration detection interface circuit, connects vibrating sensor, and the vibration data of acquisition motor at various speeds is converted to Voltage signal, and send the ADC sampling module of MCU control module to.

Remote alarm interface circuit, for receiving the alarm signal of measurand, and the alarm for sending MCU control module to is read Module.

Voltage detecting circuit connect with the measured point of the ADC sampling module of MCU control module and measurand, will be tested The voltage signal of the measured point of object sends the ADC sampling module of MCU control module to.

Current detection circuit is connected with the motor phase line of the ADC sampling module of MCU control module and measurand, will The current signal of measurand is converted into the ADC sampling module that voltage signal reaches MCU control module.

Serial communication circuit, for connecting MCU control module and touch screen, receiving the data that touch screen is sent and sending to The Modbus serial port module of MCU control module, and receive the data of the Modbus serial port module of MCU control module and send touching to Touch screen.

Eeprom circuit is connect for storing data with I2C module for reading and writing, carries out reading and writing data.

Protect (under-voltage, over-voltage, overcurrent) test circuit electricity with the protection test module of microcontroller, measurand respectively Source interface and the connection of motor phase line interface, receive the test signal of the protection test module of microcontroller, carry out to measurand Defencive function detection.

As shown in Figures 2 and 3, the system software of microcontroller includes motion-control module, encoder read module, driving Control module, alarm read module, Modbus serial port module, I2C module for reading and writing, ADC sampling module, protection test module.Its Middle motion-control module includes driver functions test module, encoder test module and driver burn-in test module.

Motion-control module, including driver functions test module, encoder test module and driver burn-in test Three kinds of operational modes such as module by the data of Modbus serial port module wait-for-response touch screen, and are handled as slave;Root According to actual needs, may be selected one of which operational mode, and according to relevant parameter, to I2C module for reading and writing, drive control module and Protection test module is operated;Receive encoder read module, the data of ADC sampling module and read module of alarming and place Reason;It is sent to touch screen finally by Modbus serial port module, is shown.

Wherein, motion-control module is mainly used for:

1, the judgement of voltage test processes and alarm on the circuit board of measurand;

2, the alarm signal processing of measurand;

3, control driver operational mode selection (unidirectional continuous operation and round-trip continuous operation);

4, driver direction selection;

5, the enabled test of driver;

6, driver warning function is tested;

7, encoder errors are handled;

8, current signal is handled;

9, vibration signal processing;

10, defencive function is tested.

Different functions can be achieved by the selection to submodule, for example, driver functions test module is by 1,3,4,5, 6,7,8,9 and 10 etc. 9 kinds of function compositions;Encoder test module is made of 3,4 and 7 etc. 3 kinds of functions;Driver burn-in test mould Block is made of the functions such as 2,3,4 and 7.

In addition, the function of other submodules is as follows:

Modbus serial port module, and serial communication interface circuit connection, for receiving data transmitted by touch screen, and to Touch screen sends data.

Drive control module is connect with driver control circuit, executes the corresponding control instruction of motion-control module, thus Control drive control circuit.

Encoder read module, connect with encoder interface circuit, converts tool for the electric signal of encoder interface circuit The numerical value of body, and judge the operating status of tested encoder, motion-control module processing is reached, finally by Modbus serial ports mould Block reaches touch screen, is shown.

Alarm read module reads the level signal of remote alarm interface circuit with remote alarm interface circuit connection, and reaches movement Control module processing, reaches touch screen finally by Modbus serial port module module, is shown.

I2C module for reading and writing, connect with eeprom circuit, can be written and read data to outer extension memory.

ADC sampling module is connect with ADC sample circuit, for receive and by the analog quantity of voltage signal, current signal, Vibration signal, and it is translated into digital quantity, motion-control module processing is reached, reaches touching finally by Modbus serial port module Screen is touched, is shown.

It protects test module and protection (under-voltage, over-voltage, overcurrent) to test circuit connection, measurand can be owed respectively The defencive functions such as pressure, over-voltage, overcurrent are tested.

Closed loop stepper motor and the control strategy of driver test macro are that a key detects and single step artificial detection automatically.

One key detects automatically, i.e., when receiving the test of user's driving device, test macro automatically according to user's setup parameter, The successively functions such as the measured point voltage of test driver, phase current, enabled, pulse, direction, alarm, under-voltage, over-voltage, overcurrent, and Successively show test result;For example, test macro is set automatically according to user joins when receiving the test of user's motor encoder Number, successively tests the forward and reverse value of feedback and error amount of motor encoder, and successively shows test result.

Single step artificial detection, i.e. user can carry out selectivity function to driver or encoder according to the detection demand of oneself Test.

When user select automatic test pattern when, i.e., when receive user's driving device test when, test macro automatically according to User's setup parameter or default parameters, are tested automatically.

As shown in figure 4, carrying out driver test, need test macro carrying out one-to-one correspondence with measurand to be connected, Such as, the driver connected pulse signal input interface of the first optocoupler driving circuit of drive control circuit, the second optocoupler driving circuit Driver connected direction signal input interface, the driver connected enable signal input interface of third optocoupler driving circuit;Alarm connects The driver connected alarm signal output interface of mouth circuit, the driver connected voltage test points of voltage detecting circuit;Current detecting electricity The route of road driver connected motor Wiring port and closed loop stepper motor, encoder interface circuit connect the volume of closed loop stepper motor Code device, vibration detection interface circuit connect the vibrating sensor on closed loop stepper motor, protection (under-voltage, over-voltage, overcurrent) test electricity The driver connected power supply end in road.

Test process is as shown in Figure 5:

1, four kinds of measurand measured point voltage (15V, 5V, 3.3V, Vref (1.0V-1.5V)) etc., is disposably examined simultaneously Survey, it is ensured that the power work of measurand is normal, according to each voltage error range (± 1% or ± 5%, can set) into Row detection shows that test result and prompt are normal, if test result exceeds error, will terminate if meeting this requirement Automatic detection, and show result warning note simultaneously, it is convenient for user maintenance;

2, on the basis of completing step 1, output electric current (first powering on alignment electric current) detection of measurand, root are carried out According to setting electric current value, compared with systematic sampling value, and in touching screen display current curve, test result is in certain error model It encloses in (± 1% or ± 5%, can set), then shows that test result and prompt are normal, it, will be whole if test result exceeds error Only automatic detection, and show result warning note simultaneously, it is convenient for user maintenance;

3, on the basis of completing step 2, carry out measurand pulse function test, using unidirectional fixed pulse (1 circle or Multi-turn can be set) continuous operation test mode, while reading the value of feedback of encoder, i.e. the measurand motor that is controlled Operating status (umber of pulse and speed) is simultaneously handled, and according to as a result, judge whether the pulse function of measurand is normal, and is shown and is mentioned Show, if test result exceeds error, automatic detection will be terminated, and show result warning note simultaneously, is convenient for user maintenance;

4, on the basis of completing step 3, the output electric current (normal rotatory current) of driver is detected, interval is certain Time runs motor at various speeds (three speed such as 30rpm, 60rpm, 120rpm), while in each speed The sampled value of two sinusoidal cycles of down-sampling, and be compared with reference value, while in touch screen display current curve, if Test result is in the error range of setting, then prompt is normal, and test result exceeds error, then terminates automatic detection, and alarm;

5, on the basis of completing step 4, carry out the direction functional test of measurand, using reciprocal fixed pulse (1 circle or Multi-turn) continuous operation test mode, while reading the value of feedback of encoder, i.e. the operating status of motor that is controlled of measurand (direction) is simultaneously handled, according to as a result, judge whether the direction function of measurand normal, and display reminding, otherwise will terminate from Dynamic detection, and show result warning note simultaneously, it is convenient for user maintenance;

6, on the basis of completing step 5, carry out measurand ena-bung function test, using unidirectional fixed pulse (1 circle or Multi-turn) continuous operation test mode, while reading the value of feedback of encoder, i.e., the operating status (umber of pulse) of measurand and locates Reason, according to as a result, judge whether the ena-bung function of measurand is normal, and display reminding, it otherwise will terminate and detect automatically, and show Show result warning note simultaneously, is convenient for user maintenance;

7, on the basis of completing step 6, the warning function test of measurand is carried out, is continuously transported using unidirectional fixed pulse Row test mode, while enable signal is given, it allows measurand to belong to off-line state, is more than to set when measurand receives pulse number When alarm threshold value is set in positioning, measurand warning function starting, within a certain period of time, if test macro receives measurand Alarm output signal, then this function is normal and prompts, on the contrary, automatic detection will be terminated, and shows result warning note simultaneously, just In user maintenance;

8, on the basis of completing step 7, motor oscillating detection is carried out, motor is acquired according to the vibrating sensor of system institute band Vibration speed value at various speeds is judged automatically in conjunction with pre-stored reference value (motor vibration diagnostic criteria), display Test result and judgement prompt.

9, on the basis of completing step 8, under-voltage protection test is carried out to driver, automatically switches driver power supply (voltage value < driver under-voltage protection threshold value), within the set time, if test macro receives the warning output of driver Signal confirms that the under-voltage protection function of driver is normal and prompts, on the contrary, then warning note;

10, on the basis of completing step 9, overvoltage protection test is carried out to driver, automatically switches driver power supply (voltage value > driver overvoltage protection threshold), within the set time, if test macro receives the warning output of driver Signal confirms that the over-voltage protecting function of driver is normal and prompts, on the contrary, then warning note;

11, on the basis of completing step 10, overcurrent protection test is carried out to driver, starting motor phase line short circuit is being set In fixing time, if test macro receives the alarm output signal of driver, confirm that the overcurrent protection function of driver is normal And prompt, on the contrary, then warning note;

Tested by above 11 points, the globality functional test of achievable primary measured object, exclude it is every there may be The problem of, it reduces personnel and intervenes, improve the degree of automation, and whether the performance that can be used as verifying measurand meets design requirement Important assistant criteria.

As shown in fig. 6, test macro and open loop step actuator and tested closed loop stepper motor connect when encoder is tested It connects, closed loop stepper motor is used as open loop motor, and encoder line is connected the encoder interfaces into test macro;Test process It is as shown in Figure 7:

1, unidirectional test, first (=1rps) afterwards quick (> 5rps), is repeated several times test, test macro is sent in total at a slow speed Fixed pulse number (4000), control closed loop stepper motor operation, while encoder values are acquired, pass through the electricity of encoder interfaces Flat variation, and compared with transmitted pulse number, judge whether encoder installation is normal, and display reminding, if not Normally, automatic detection, and warning note will be terminated, user maintenance is convenient for;

2, reciprocal quickly (> 5rps) test, test macro sends fixed pulse number in total, and (default 4000, can repair Change), control closed loop stepper motor operation, while encoder values are acquired, and compare with transmitted pulse number, judge to compile The repeatability of code device, and display reminding will terminate automatic detection, and warning note, are convenient for user maintenance if abnormal;

The wiring of burn-in test carries out aging as shown in figure 8, burn-in test module serializable connects 50 step actuators Test.

1, different motion state, including curve movement, speed, direction etc. are set to measurand when testing;

2, it if any driver exception, is then prompted online;

3, each measurand temperature detection can be carried out simultaneously.

Above embodiments closed loop stepper motor of the present invention and driver test macro are directed to closed loop stepper motor and its driving Detection function needed for device uses ARM (or DSP) microcontroller for core, and touch screen is man-machine interface, there is driver to test, The integrated test macro of encoder test and ageing testing function.Wherein, different test patterns may be selected by touch screen. Driver test pattern has voltage tester on the plate of driver, driving output electric current measure, control driver operational mode, side To functions such as functional test, enabled test, the test of driver ann test, motor oscillating, defencive function tests, to driver Function carries out integrity test;Encoder test pattern, which has, may be selected different directions, different pulse numbers, motor pattern situation Under encoder is tested, and by encoder feedback, can determine whether the installation of encoder and lead correct;Burn-in test Mode, closed loop stepper motor and its disposable endurance test of driver in batch, while by touch panel monitor system driver whether Alarm, improves the efficiency of burn-in test;It is a kind of automatic detection, integrated level is high, vdiverse in function, the degree of automation has higher collection At system.

Claims (9)

1. the test macro of a kind of closed loop stepper motor and its driver, including microcontroller, touch screen, drive control circuit, Remote alarm interface circuit, vibration detection interface circuit, voltage detecting circuit, current detection circuit, encoder interface circuit, EEPROM Circuit and protection test circuit, touch screen connect microcontroller, the output end of remote alarm interface circuit, vibration detection interface circuit The output end difference of output end, the output end of voltage detecting circuit, the output end of current detection circuit and encoder interface circuit Connect microcontroller;The control signal output of microcontroller connects drive control circuit;The protection test signal output of microcontroller Termination protection test circuit;Eeprom circuit is connect with microcontroller;The sequence of test is as follows:
801, the multiple measured point voltages of driver are disposably detected simultaneously, voltage value collected and predetermined reference value carry out pair Than determining whether to meet the requirements according to set error range, and in touching screen display test result, if there is one of them Test result exceeds error range, then terminates automatic detection, same to alarm;
802, the output electric current of driver is detected, by the current value of setting compared with sampled value, in touch screen display Current curve, test result is in the error range of setting, then prompt is normal, and test result exceeds error, then terminates automatic inspection It surveys, and alarms;
803, pulse function is carried out to driver to test, using unidirectional fixed pulse continuous operation test mode, read simultaneously The value of feedback of encoder is taken, the operating status for the motor that driver is controlled is obtained, whether just to judge the pulse function of driver Often, if test result exceeds error, automatic detection is terminated, and show the same alarm of result;
804, the output electric current of driver is detected, current curve value under friction speed is stored in advance, successively not at three kinds With current value under speed, the sampled value of two sinusoidal cycles is sampled, is compared with reference value, while is electric in touching screen display Flow curve, test result is in the error range of setting, then prompt is normal, and test result exceeds error, then terminates automatic detection, And it alarms;
805, the direction function of driver is tested, using reciprocal fixed pulse continuous operation test mode, is read simultaneously The value of feedback of encoder obtains the operating status for the motor that driver is controlled, judges whether the direction function of driver is normal, If test result exceeds error, automatic detection is terminated, and show the same alarm of result;
806, the ena-bung function of driver is tested, using unidirectional fixed pulse continuous operation test mode, is read simultaneously The value of feedback of encoder obtains the operating status for the motor that driver is controlled, according to as a result, judging the ena-bung function of driver It is whether normal, such as it is judged as abnormal, then terminates automatic detection, and show the same alarm of result;
807, the warning function of driver is tested, using unidirectional fixed pulse continuous operation test mode, while is made Energy signal, allows driver to belong to off-line state;Within the set time, if test macro receives the warning output of driver Signal, confirmation driver warning function is normal and prompts, on the contrary, then terminating automatic detection, and warning note;
808, motor oscillating is detected, the vibration of motor at various speeds is acquired according to the vibrating sensor of system institute band Velocity amplitude is judged automatically by the reference value of setting, display test result and judgement prompt;
809, under-voltage protection test is carried out to driver, automatically switches driver power supply, within the set time, if test System receives the alarm output signal of driver, confirms that the under-voltage protection function of driver is normal and prompts, on the contrary, then alarming Prompt;
8010, overvoltage protection test is carried out to driver, automatically switches driver power supply, within the set time, if surveyed Test system receives the alarm output signal of driver, confirms that the over-voltage protecting function of driver is normal and prompts, on the contrary, then reporting Alert prompt;
8011, overcurrent protection test, starting motor phase line short circuit, within the set time, if test macro are carried out to driver The alarm output signal for receiving driver confirms that the overcurrent protection function of driver is normal and prompts, on the contrary, then alarm mentions Show.
2. test macro according to claim 1, which is characterized in that wherein,
Touch screen is directly interacted as host, with user, receives user's input test request, real according to the test request of user Existing functional test;Slave feedback information is received, and is shown;
Drive control circuit receive microcontroller send pulse, direction, enable signal, carry out electrical isolation, then send to by Survey object;
Encoder interface circuit receives the code device signal of measurand, and sends microcontroller to;
Vibration detection interface circuit connects vibrating sensor, the vibration data of acquisition motor at various speeds, and sends to micro- Controller;
Remote alarm interface circuit receives the alarm signal of measurand, and sends microcontroller to;
The measured point of the ADC sampling module and measurand of voltage detecting circuit and microcontroller connects, by the quilt of measurand The voltage signal of measuring point sends microcontroller to;
Current detection circuit is connected with the motor phase line of the ADC sampling module of microcontroller and measurand, by measurand Current signal be converted into voltage signal and reach microcontroller;
The connection of the I2C module for reading and writing of eeprom circuit and microcontroller, for storing data, microcontroller can be written and read it Operation;
Protection test circuit respectively with the protection test module of microcontroller, the power interface of measurand and motor phase line interface Connection, receives the test signal of the protection test module of microcontroller, carries out defencive function detection to measurand.
3. test macro according to claim 2, which is characterized in that microcontroller includes motion-control module, encoder Read module, drive control module, alarm read module, ADC sampling module, I2C module for reading and writing, protection test module, Modbus serial port module;Motion-control module includes driver functions test module, encoder test module and driver aging Test module.
4. test macro according to claim 3, which is characterized in that motion-control module includes:
401, the judgement of voltage test processes and alarm on the circuit board of measurand;
402, the alarm signal processing of measurand;
403, control driver operational mode selection;
404, driver direction selection;
405, the enabled test of driver;
406, driver warning function is tested;
407, encoder errors are handled;
408, current signal is handled;
409, vibration signal processing;
410, defencive function is tested.
5. test macro according to claim 4, which is characterized in that driver functions test module includes:
401, the judgement of voltage test processes and alarm on the circuit board of measurand;
403, control driver operational mode selection;
404, driver direction selection;
405, the enabled test of driver;
406, driver warning function is tested;
407, encoder errors are handled;
408, current signal is handled;
409, vibration signal processing;
410, defencive function is tested;
Encoder test module includes:
403, control driver operational mode selection;
404, driver direction selection;
407, encoder errors are handled;
Driver burn-in test module includes:
402, the alarm signal processing of measurand;
403, control driver operational mode selection;
404, driver direction selection;
407, encoder errors are handled.
6. test macro according to claim 3, which is characterized in that
Drive control module is connect with drive control circuit, executes the control instruction of motion-control module, control drive control electricity Road;
Encoder read module is connect with encoder interface circuit, converts numerical value letter for the electric signal of encoder interface circuit Number, and judge the operating status of tested encoder, motion-control module processing is reached, touch screen is finally reached, is shown;
Alarm read module and remote alarm interface circuit connection, read the level signal of remote alarm interface circuit, and reach motion control Resume module finally reaches touch screen, is shown;
ADC sampling module is connect with ADC sample circuit, and the voltage signal received, current signal, vibration signal are converted into Digital quantity reaches motion-control module processing, finally reaches touch screen, shown;
I 2C module for reading and writing is connect with eeprom circuit, and the encoder read module, alarm read module, ADC are sampled Treated the data such as module, reach in EEPROM;Also related data in EEPROM is read;
Test module and protection test circuit connection are protected, it can be respectively to defencive functions such as the under-voltage of measurand, over-voltage, overcurrents It is tested.
7. test macro according to claim 6, which is characterized in that when being tested, the first light of drive control circuit The driver connected pulse signal input interface of coupling driving circuit, the driver connected direction signal input of the second optocoupler driving circuit connect Mouthful, the driver connected enable signal input interface of third optocoupler driving circuit;The driver connected alarm signal of remote alarm interface circuit Output interface, the driver connected voltage test points of voltage detecting circuit;The driver connected motor Wiring port of current detection circuit With the route of closed loop stepper motor, encoder interface circuit connects the encoder of closed loop stepper motor, and vibration detection interface circuit connects Vibrating sensor on closed loop stepper motor, the driver connected power supply of protection test circuit.
8. test macro according to claim 6, which is characterized in that when encoder is tested, closed loop stepper motor is as opening Ring motor uses, and testing procedure is as follows:
901, it unidirectional test: first at a slow speed, afterwards quickly, repeatedly tests, test macro sends the pulse number of setting in total, control Closed loop stepper motor operation processed, while encoder values are acquired, by the level change of encoder interfaces, with transmitted pulse number It compares, judges whether encoder installation is normal;
902, reciprocal quickly test: test macro sends the pulse number of setting, and control closed loop stepper motor operation acquires simultaneously Encoder values are compared with transmitted pulse number, judge the repeatability of encoder.
9. test macro according to claim 6, which is characterized in that be connected in series plural platform driver and carry out aging survey Examination;It include the different motion state of curve movement, speed and/or direction to driver setting when test.
CN201610203239.8A 2016-04-01 2016-04-01 A kind of test macro of closed loop stepper motor and its driver CN105866683B (en)

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