CN106774269B - A kind of test method and test macro of the controller for industrial robot - Google Patents
A kind of test method and test macro of the controller for industrial robot Download PDFInfo
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- CN106774269B CN106774269B CN201611247416.9A CN201611247416A CN106774269B CN 106774269 B CN106774269 B CN 106774269B CN 201611247416 A CN201611247416 A CN 201611247416A CN 106774269 B CN106774269 B CN 106774269B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
Abstract
The invention discloses the test methods and test macro of a kind of controller for industrial robot, first the method achieve multiple output ends of the controller to be tested to connection output for control respective shaft work control signal while acquisition and while handle, greatly increase data acquisition and processing (DAP) efficiency；Secondly, the actual motion position of each output end control respective shaft can be determined in real time, the real time monitoring of each axis actual motion position to the control of each output end is realized；In addition, in the actual motion position for determining each output end control respective shaft, and when determining the deviation of control signal of each output end output, without servo motor and executing agency, while reducing testing cost, the interference of servo motor and executing agency in measurement accuracy is avoided, the accuracy of test is improved.
Description
Technical field
The present invention relates to the testing field of industrial robot controller, espespecially a kind of controller for industrial robot
Test method and test macro.
Background technique
Industrial robot generally comprises executing agency, servo motor and controller three parts, and executing agency is for executing
The instruction that control system issues, for servo motor for driving executing agency, controller is used for the program according to input to servo electricity
Machine issues command signal；Wherein, the core of industrial robot is the research of controller.
Currently, type of the industrial robot according to servo motor, it can be mainly divided into two kinds: bus-type and impulse type, it is right
The controller answered also includes bus-type and impulse type；Certainly, the widely used industrial robot for impulse type in the market.
For the development process of impulse type industrial robot, the pulse control signal of the output end output to controller is needed to survey
Examination, determine each output end of current controller control corresponding servo motor actual motion position and target movement position whether one
It causes, determines the precision of the pulse control signal of each output end output of controller.
In the prior art, the test of the actual motion position of corresponding servo motor is controlled for each output end of controller
There are mainly three types of methods: one is sequentially connected controller, servo motor and executing agency, controls execution machine using controller
Structure, and detect the precision of the moving end of executing agency；Second is that controller is connect with servo motor, by servo motor
The tool software that driver provides is read on computer (Personal Computer, PC) for controlling respective shaft work
The value of encoder in servo motor, and carry out that the actual motion position that controller passes through Serve Motor Control respective shaft is calculated
It sets；Three be equally to connect controller with servo motor, the communication interface provided by the driver in servo motor, according to logical
The communications protocol of communication interface reads the value of the encoder in the servo motor for controlling respective shaft work in PC machine, goes forward side by side
The actual motion position that controller passes through Serve Motor Control respective shaft is calculated in row.
In above-mentioned test method, if method one finds that the moving end position of executing agency deviates, it is difficult to determine
It is position deviation caused by any one of controller, servo motor or executing agency component；Though in method two and method three
It so is omitted this component of executing agency, if but position deviation occurs, being still difficult to determination is that controller there is a problem, also
It is that servo motor there is a problem；In addition, a servo motor can only connect the output end of a controller in method two, to
The value for reading the encoder of multiple servo motors needs to lead to efficiency by carrying out manual record and processing to a large amount of data
It is too low；Equally, an output end of controller can only once be communicated with a servo motor in method three, for multiple
The multiple output ends and multiple servo motors of controller, need to be sequentially completed in one cycle communication, thus processing speed compared with
Slowly, it takes a long time, efficiency is lower.
Based on this, how quickly, efficiently and accurately, it is used to control respective shaft work to what each output end of controller exported
The pulse control signal of work is detected, and is those skilled in the art to determine the pulse control signal precision of controller output
Technical problem urgently to be resolved.
Summary of the invention
The embodiment of the present invention provides the test method and test macro of a kind of output accuracy of industrial robot controller, uses
How quickly to solve in the prior art, efficiently and accurately, it is used to control respective shaft work to what each output end of controller exported
The pulse control signal of work is detected, to determine the pulse control signal precision of controller output.
The embodiment of the invention provides a kind of test methods of controller for industrial robot, comprising:
The control of multiple output ends output of the controller to be tested of connection to work for controlling respective shaft is obtained simultaneously
Signal；
According to the control signal of each output end output got and it is pre-set correspond to it is each described
The parameter of axis determines the actual motion position of each corresponding axis of output end control in real time；
It is each described defeated according to what is currently determined when determining that needs carry out accuracy detection to the controller to be tested of connection
The actual motion position of the corresponding axis of outlet control, and the current each corresponding axis of output end control got
Target movement position, determine the deviation of the control signal of each output end output.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test method in, the output of multiple output ends of controller to be tested that is described while obtaining connection for controlling respective shaft work
The control signal of work, specifically includes:
The pulse of multiple output ends output of the controller to be tested of connection to work for controlling respective shaft is obtained simultaneously
Control signal and direction control signal.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test method in, the pre-set parameter corresponding to each axis specifically includes: the frequency multiplication corresponding to each axis
Than and frequency dividing ratio；
The control signal for each output end output that the basis is got and it is pre-set correspond to it is each
The parameter of the axis determines the actual motion position of each corresponding axis of output end control in real time, specifically includes:
Determine the actual motion distance L of X output end control X axis in real time using following formulaX:
PX/QX=NX/LX
Wherein, PXFor times frequency ratio for the X axis that the X output end of setting controls, QXFor the X output end of setting
The frequency dividing ratio of the X axis of control, NXFor the pulse control letter in the unit time of the X output end output got
Number number, LXThe actual motion distance of X axis is controlled for X output end；X is positive integer；
According to the direction control signal of the X output end output got, the control of X output end is determined in real time
The actual motion direction of X axis.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test method in, the control signal for each output end output that the basis is got and pre-set right
It before the actual motion position for determining each corresponding axis of output end control in real time, should also be wrapped in the parameter of each axis
It includes:
Initialize installation is carried out to the position of each corresponding axis of output end control.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test method in, after determining the deviation of control signal of each output end output, further includes:
When determining that the deviation of control signal of the output end output is greater than preset range, the output end output is adjusted
Control signal, until the deviation be less than the preset range until.
The embodiment of the invention also provides a kind of test macros of controller for industrial robot, comprising:
The input interface being correspondingly connected with respectively with multiple output ends of controller to be tested, for simultaneously obtain connection to
The control signal of multiple output ends output of test controller to work for controlling respective shaft；
Parameter setting switch, for presetting the parameter corresponding to each axis according to the signal received；
Reader, for obtaining current each institute when determining that needs carry out accuracy detection to the controller to be tested of connection
State the target movement position of the corresponding axis of output end control；
The processor connecting respectively with the input interface, parameter setting switch and reader, gets for basis
The control signal of each output end output and the pre-set parameter corresponding to each axis, determine each in real time
The actual motion position of the corresponding axis of output end control；And it needs to carry out essence to the controller to be tested of connection determining
When degree detection, according to the actual motion position for each corresponding axis of output end control currently determined, and obtain
The target movement position of the current each corresponding axis of output end control arrived, determines the control letter of each output end output
Number deviation；
The display being connected to the processor determines in real time for showing the parameter corresponding to each axis of setting
Each output end control out corresponds to the actual motion position of the axis, and the control for each output end output determined
The deviation of signal processed.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test macro in, the output end of the controller to be tested includes: multiple pulse control signal output ends and multiple directions control
Signal output end processed, pulse control signal output end and direction control signal output end described in one group are for controlling an axis
Work；
The input interface includes: that the first input to connect one to one with each pulse control signal output end connects
Mouthful, and the second input interface to connect one to one with each direction control signal output end.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test macro in, the input interface further include: at least a pair of of the first input interface of redundancy and the second input interface of redundancy.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test macro in, further includes: origin calibration switch carries out just for the position to each corresponding axis of output end control
Beginningization setting.
In a kind of possible embodiment, in the above-mentioned controller for industrial robot provided in an embodiment of the present invention
Test macro in, parameter setting switch corresponds to times frequency ratio and frequency dividing ratio of each axis specifically for setting；
The processor, specifically for determining the practical fortune of X output end control X axis in real time using following formula
Dynamic distance LX:
PX/QX=NX/LX
Wherein, PXFor times frequency ratio for the X axis that the X output end of setting controls, QXFor the X output end of setting
The frequency dividing ratio of the X axis of control, NXFor the pulse control letter in the unit time of the X output end output got
Number number, LXThe actual motion distance of X axis is controlled for X output end；X is positive integer；
According to the direction control signal of the X output end output got, the control of X output end is determined in real time
The actual motion direction of X axis.
The present invention has the beneficial effect that:
The test method and test macro of a kind of controller for industrial robot provided in an embodiment of the present invention, the party
Method is believed according to the control for controlling respective shaft work of the multiple output ends output for the controller to be tested for obtaining connection simultaneously
Number and the pre-set parameter corresponding to each axis, determine the actual motion position of each output end control respective shaft in real time；?
When determining that needs carry out accuracy detection to the controller to be tested of connection, respective shaft is controlled according to each output end currently determined
Actual motion position, and the target movement position of current each output end control respective shaft got determines each output
The deviation of the control signal of end output；Therefore, the method achieve multiple output ends of the controller to be tested to connection first
It acquires while the control signal of output and handles simultaneously, greatly increase data acquisition and processing (DAP) efficiency；Secondly, can be real
When determine the actual motion position of each output end control respective shaft, realize each axis actual motion position to the control of each output end
The real time monitoring set；In addition, determining the actual motion position of each output end control respective shaft, and determining that each output end is defeated
When the deviation of control signal out, servo is avoided while reducing testing cost without servo motor and executing agency
The interference of motor and executing agency in measurement accuracy, improves the accuracy of test.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the test method of the controller for robot provided in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the test macro of the controller for robot provided in the embodiment of the present invention
One of；
Fig. 3 is a kind of structural schematic diagram of the test macro of the controller for robot provided in the embodiment of the present invention
Two；
Fig. 4 is the aobvious of display in a kind of test macro for the controller of robot provided in the embodiment of the present invention
Show the schematic diagram of mode；
Fig. 5 is the volume of display in a kind of test macro for the controller of robot provided in the embodiment of the present invention
The schematic diagram for the mode of collecting.
Specific embodiment
Below in conjunction with attached drawing, to a kind of test side of the controller for industrial robot provided in an embodiment of the present invention
The specific embodiment of method and test macro is described in detail.It should be noted that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of test methods of controller for industrial robot, as shown in Figure 1, can be with
Include:
S101, simultaneously obtain connection controller to be tested multiple output ends output for control respective shaft work
Control signal；
S102, the control signal according to each output end output got and the pre-set ginseng corresponding to each axis
Number determines the actual motion position of each output end control respective shaft in real time；
S103, determine need to carry out accuracy detection to the controller to be tested of connection when, it is each according to what is currently determined
Output end controls the actual motion position of respective shaft, and the target movement of the current each output end control respective shaft got
Position determines the deviation of the control signal of each output end output.
The test method of the above-mentioned controller for industrial robot provided in an embodiment of the present invention is realized first to even
It is acquired while the control signal for being used to control respective shaft work of multiple output ends output of the controller to be tested connect and same
When handle, greatly increase data acquisition and processing (DAP) efficiency；Secondly, the reality of each output end control respective shaft can be determined in real time
Border movement position realizes the real time monitoring of each axis actual motion position to the control of each output end；In addition, each defeated determining
Outlet controls the actual motion position of respective shaft, and when determining the deviation of control signal of each output end output, without watching
Motor and executing agency are taken, while reducing testing cost, avoids servo motor and executing agency in measurement accuracy
Interference, improve the accuracy of test.
In the specific implementation, in the test method of the above-mentioned controller for industrial robot provided in an embodiment of the present invention
In step S101 simultaneously obtain connection controller to be tested multiple output ends output for control respective shaft work
Signal is controlled, can be specifically included:
The pulse of multiple output ends output of the controller to be tested of connection to work for controlling respective shaft is obtained simultaneously
Control signal and direction control signal.
Specifically, pulse control signal is used to indicate the rotation speed of respective shaft, pulse control signal in the unit time
Number is more, indicates that the speed of respective shaft rotation is faster, the number of pulse control signal is fewer in the unit time, indicates respective shaft
The speed of rotation is slower；Direction control signal is used to indicate the direction of respective shaft rotation, i.e., forward or reverse.
In the specific implementation, in order to determine that each output end controls the actual motion position of respective shaft in real time, firstly,
Step S102 in the test method of the above-mentioned controller for industrial robot provided in an embodiment of the present invention is pre-set
It corresponding to the parameter of each axis, can specifically include: times frequency ratio and frequency dividing ratio corresponding to each axis；
Later, according to the control signal of each output end output got and the pre-set ginseng corresponding to each axis
Number determines the actual motion position of each output end control respective shaft in real time, can specifically include:
Determine the actual motion distance L of X output end control X axis in real time using following formulaX:
PX/QX=NX/LX
Wherein, PXFor times frequency ratio for the X axis that the X output end of setting controls, QXFor the X output end of setting
The frequency dividing ratio of the X axis of control, NXFor the pulse control signal in the unit time of the X output end output got
Number, LXThe actual motion distance of X axis is controlled for X output end；X is positive integer；
According to the direction control signal of the X output end output got, determine that X output end controls X in real time
The actual motion direction of a axis.
Specifically, the actual motion distance L of X output end control X axis is determined in real time according to above-mentioned formulaX, then
According to the direction control signal of the X output end output got, the reality of X output end control X axis is determined in real time
The border direction of motion finally determines the actual motion position of each output end control respective shaft in real time.
Further, by taking first output end controls the actual motion position of first axis as an example, due to first axis
Times frequency ratio and frequency dividing ratio are to preset, and are a definite values, therefore, within the unit time of the first output end output got
Pulse control signal number N1When constantly changing, first output end controls the actual motion distance L of first axis1
Also it is constantly changing, and N1And L1Inversely proportional variation, that is, work as N1When increase, L1Reduce, works as N1When reduction, L1Increase,
And no matter N1And L1How to change, N1And L1Ratio be all certain value.
Further according to the direction control signal of the first output end output got, first output end control first is obtained
The actual motion position of a axis；If the direction control signal of first output end output is to rotate forward, first is determined real-time
When output end controls the actual motion position of first axis, to real-time move distance L1It adds up；First output end is defeated
Direction control signal out is reversion, then at the real-time actual motion position for determining first output end first axis of control,
To real-time move distance L1Carry out regressive；Certainly, it is if the direction control signal of first output end output is first after rotating forward
Reversion then needs to control first output end the actual motion distance L of first axis1It first carries out adding up and carries out regressive again.
In the specific implementation, in order to accurately determine the actual motion distance that each output end controls respective shaft, at this
It is defeated according to each output end got in the test method for the above-mentioned controller for industrial robot that inventive embodiments provide
Control signal and the pre-set parameter corresponding to each axis out determine the reality of each output end control respective shaft in real time
Before movement position, can also include:
Initialize installation is carried out to the position of each output end control respective shaft.
It should be noted that needing to control each output end the ginseng of respective shaft when if desired replacing controller to be detected
Several and position is reset, in order to avoid the actual motion of each output end control respective shaft to the controller to be detected after replacement
Position generates interference.
In the specific implementation, in order to guarantee controller each output end output control signal precision, in the present invention
In the test method for the above-mentioned controller for industrial robot that embodiment provides, in the control letter for determining each output end output
Number deviation after, can also include:
When the deviation for the control signal for determining output end output is greater than preset range, the control letter of adjustment output end output
Number, until deviation is less than preset range.
Based on the same inventive concept, the embodiment of the invention also provides a kind of tests of controller for industrial robot
System, as shown in Fig. 2, may include:
The input interface 210 being correspondingly connected with respectively with multiple output ends of controller to be tested, for obtaining connection simultaneously
Controller to be tested multiple output ends output for control respective shaft work control signal；
Parameter setting switch 220, for presetting the parameter corresponding to each axis according to the signal received；
Reader 230, for determining that acquisition is current each when needing to carry out accuracy detection to the controller to be tested of connection
The target movement position of output end control respective shaft；
The processor 240 connecting respectively with input interface 210, parameter setting switch 220 and reader 230 is used for basis
The control signal of each output end output got and the pre-set parameter corresponding to each axis, determine each output in real time
The actual motion position of end control respective shaft；And when determining that needs carry out accuracy detection to the controller to be tested of connection, root
According to the actual motion position for each output end control respective shaft currently determined, and the current each output end control got
The target movement position of respective shaft determines the deviation of the control signal of each output end output；
The display 250 connecting with processor 240 is determined in real time for showing the parameter corresponding to each axis of setting
Each output end control respective shaft actual motion position, and determine each output end output control signal deviation.
In the specific implementation, it in order to guarantee input interface 210 while obtaining control signal, is mentioned in the embodiment of the present invention
In the test macro of the above-mentioned controller for industrial robot supplied, the output end of controller to be tested may include: multiple
Pulse control signal output end and multiple directions control signal output, set of pulses control signal output and direction controlling letter
Number output end is for controlling an axis job；
Input interface 210 may include: that the first input to connect one to one with each pulse control signal output end connects
Mouthful, and the second input interface to connect one to one with all directions control signal output.
In the specific implementation, in order to smoothly collect the control signal that multiple output ends of controller export simultaneously,
In the test macro of the above-mentioned controller for industrial robot provided in an embodiment of the present invention, input interface 210 can be with
It include: at least a pair of of the first input interface of redundancy and the second input interface of redundancy.
Specifically, in order to avoid the damage because of some input interface caused by can not acquire data simultaneously, or meet pair
Different types of controller is tested, and when designing the quantity of input interface 210, needs to remain at least a pair of of redundancy the
The second input interface of one input interface and redundancy.
Specifically, in the test macro of the above-mentioned controller for industrial robot provided in an embodiment of the present invention, such as
Shown in Fig. 3, between input interface 210 and processor 240, field programmable gate array (Field can also be set
Programmable Gate Array, FPGA) 260, for monitoring the control for each output end output that input interface 210 is got
Signal processed, and be sent in processor 240.
In the specific implementation, in the test macro of the above-mentioned controller for industrial robot provided in an embodiment of the present invention
In, as shown in figure 3, parameter setting switch 220, can also include: edit switch 221 and selection switch 222；Wherein, Bian Jikai
221 are closed for presetting the parameter corresponding to each axis according to the signal received；Selection switch 222 is for selecting each axis.
Specifically, as shown in figure 3, edit switch 221, can specifically include: the first edit switch 221-1, the second editor
Switch 221-2, third edit switch 221-3 and the 4th edit switch 221-4；Wherein, the first edit switch 221-1 and
Two edit switch 221-2 are used to switch the digit of each axis parameter, third edit switch 221-3 and the 4th edit switch 221-4
For being added and subtracted to the digit chosen.
Certainly, it for the setting of edit switch 221, can be set to include four edit switch, may be arranged as only
Edit switch including two for being added and subtracted to the digit chosen, the function of switching the digit of each axis parameter assign choosing
Switch 222 is selected, then distinguishes different functions by the way that different key press times is arranged；Therefore, for edit switch 221 and selection
The setting quantity and function of switch 222 can be not limited thereto there are many setting method.
In the specific implementation, in order to realize the position initialization to each output end control respective shaft, of the invention real
In the test macro for applying the above-mentioned controller for industrial robot of example offer, as shown in figure 3, can also include: origin mark
Surely switch 270 carry out Initialize installation for the position to each output end control respective shaft.
Specifically, the display pattern of display 250 as shown in Figure 4, to show that eight control terminals control the reality of eight axis
For border movement position is tested, axis selected by the selection switching of switch 222 first, 3 seconds origin calibration switches of long-pressing
270, it can be set as 0 to the position for the axis chosen, Initialize installation is realized, certainly, for the key of origin calibration switch 270
Time can be set to 3 seconds, may be arranged as being greater than 3 seconds or less than 3 seconds, be not limited thereto.
In the specific implementation, in the test macro of the above-mentioned controller for industrial robot provided in an embodiment of the present invention
In, parameter setting switch 220 corresponds to times frequency ratio and frequency dividing ratio of each axis specifically for setting；
Processor 240, specifically for determining the practical fortune of X output end control X axis in real time using following formula
Dynamic distance LX:
PX/QX=NX/LX
Wherein, PXFor times frequency ratio for the X axis that the X output end of setting controls, QXFor the X output end of setting
The frequency dividing ratio of the X axis of control, NXFor the pulse control signal in the unit time of the X output end output got
Number, LXThe actual motion distance of X axis is controlled for X output end；X is positive integer；
According to the direction control signal of the X output end output got, determine that X output end controls X in real time
The actual motion direction of a axis.
Specifically, the edit pattern that display 250 as shown in Figure 5 is shown controls eight axis with eight control terminals of display
Actual motion position tested for, digital 1-6 respectively indicates ten myriabits of times frequency ratio of each axis to a position, 7-12 points
Do not indicate ten myriabits of the frequency dividing ratio of each axis to a position；For example, being switched to when being moved to the left by the first edit switch 221-1
When leftmost digital 1 position of the first row, that is, when choosing ten myriabit of times frequency ratio of first axis, third editor can be used
Switch 221-3 adds 1 to the numerical value of ten myriabits, or subtracts 1 to the numerical value of ten myriabits using the 4th edit switch 221-4；And then it is logical
It crosses the second edit switch 221-2 to move right one, that is, chooses the myriabit of times frequency ratio of first axis, use third edit switch
221-3 adds 1 to the numerical value of myriabit, or subtracts 1 to the numerical value of myriabit using the 4th edit switch 221-4；So circulation, is respectively completed
The setting of times frequency ratio and frequency dividing ratio to eight axis；It certainly, can be 6 for the digit setting of frequency ratio again and frequency dividing ratio, also
It can be set to be greater than 6 or less than 6, be not limited thereto.
Further, the switching between the display pattern and edit pattern shown in fig. 5 of display 250 shown in Fig. 4, can
To realize that certainly, key press time may be arranged as greater than 3 seconds or less than 3 seconds, herein not by 3 seconds selection switches 222 of long-pressing
It limits.
Specifically, in the test macro of the above-mentioned controller for industrial robot provided in an embodiment of the present invention, such as
It can also include: the actual motion for each output end control respective shaft determined in real time for storage processor 240 shown in Fig. 3
The PC280 of position, and for connecting processor 240 and PC280, and by the reality of each output end determined control respective shaft
The interface 290 that movement position exports in real time；Wherein, interface 290 can also include serial ports and network interface, and the two may be implemented will be true
The actual motion position for each output end control respective shaft made exports in real time, while serial ports can also realize the ginseng to each axis
Number is configured.
It below will be with specific embodiment the present invention will be described in detail the above-mentioned control for being used for industrial robot that embodiment provides
The test macro of device.
Embodiment one: the test macro of the controller for industrial robot as shown in connection with fig. 3 has eight with test
It is illustrated for the controller of output end.
Step 1: eight output ends of controller are connected to the input interface 210 of test macro；
Step 2: the control of eight output ends output that input interface 210 will acquire to work for controlling respective shaft
Signal is input in processor 240 by FPGA260；
Step 3: edit switch 221 and selection switch 222 control times frequency ratio of respective shaft to eight output ends respectively and divide
Frequency ratio is configured；
Step 4: the position of 270 pairs of eight output ends control respective shafts of origin calibration switch carries out Initialize installation；
Step 5: the actual motion position of eight output ends control respective shaft of the controller of 240 pairs of processor start-up operations
Set carry out calculation process；
Step 6: display 250 shows the practical fortune of the eight output ends control respective shaft for the controller determined respectively
Dynamic position；
Step 7: the target movement position of eight output ends control respective shaft of 230 Read Controller of reader；
Step 8: processor 240 controls eight output ends of the controller determined the actual motion position of respective shaft,
The target movement position of eight output ends control respective shaft of the controller read with reader 230 is compared, and determines eight
The deviation of the control signal of a output end output；
Step 9: interface 290 is by the actual motion position of determine eight output end control respective shafts, and determines
Eight output ends output control signal deviation, export into PC280.
The embodiment of the invention provides the test method and test macro of a kind of controller for industrial robot, the party
Method is believed according to the control for controlling respective shaft work of the multiple output ends output for the controller to be tested for obtaining connection simultaneously
Number and the pre-set parameter corresponding to each axis, determine the actual motion position of each output end control respective shaft in real time；?
When determining that needs carry out accuracy detection to the controller to be tested of connection, respective shaft is controlled according to each output end currently determined
Actual motion position, and the target movement position of current each output end control respective shaft got determines each output
The deviation of the control signal of end output；Therefore, the method achieve multiple output ends of the controller to be tested to connection first
It acquires while the control signal of output and handles simultaneously, greatly increase data acquisition and processing (DAP) efficiency；Secondly, can be real
When determine the actual motion position of each output end control respective shaft, realize each axis actual motion position to the control of each output end
The real time monitoring set；In addition, determining the actual motion position of each output end control respective shaft, and determining that each output end is defeated
When the deviation of control signal out, servo is avoided while reducing testing cost without servo motor and executing agency
The interference of motor and executing agency in measurement accuracy, improves the accuracy of test.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of test method of the controller for industrial robot characterized by comprising
The control signal of multiple output ends output of the controller to be tested of connection to work for controlling respective shaft is obtained simultaneously；
According to the control signal of each output end output got and pre-set corresponding to each axis
Parameter determines the actual motion position of each corresponding axis of output end control in real time；
When determining that needs carry out accuracy detection to the controller to be tested of connection, according to each output end currently determined
The actual motion position of the corresponding axis of control, and the current each output end got control the target for corresponding to the axis
Movement position determines the deviation of the control signal of each output end output.
2. test method as described in claim 1, which is characterized in that controller to be tested that is described while obtaining connection it is more
The control signal of a output end output to work for controlling respective shaft, specifically includes:
The pulse control of multiple output ends output of the controller to be tested of connection to work for controlling respective shaft is obtained simultaneously
Signal and direction control signal.
3. test method as claimed in claim 2, which is characterized in that the pre-set ginseng corresponding to each axis
Number, specifically includes: times frequency ratio and frequency dividing ratio corresponding to each axis；
The control signal for each output end output that the basis is got and it is pre-set correspond to it is each described
The parameter of axis determines the actual motion position of each corresponding axis of output end control in real time, specifically includes:
Determine the actual motion distance L of X output end control X axis in real time using following formulaX:
PX/QX=NX/LX
Wherein, PXFor times frequency ratio for the X axis that the X output end of setting controls, QXIt is controlled for the X output end of setting
X axis frequency dividing ratio, NXFor the pulse control signal in the unit time of the X output end output got
Number, LXThe actual motion distance of X axis is controlled for X output end；X is positive integer；
According to the direction control signal of the X output end output got, determine that X output end controls X in real time
The actual motion direction of a axis.
4. test method as claimed in claim 3, which is characterized in that each output end output that the basis is got
The control signal and the pre-set parameter corresponding to each axis determine that each output end control corresponds in real time
Before the actual motion position of the axis, further includes:
Initialize installation is carried out to the position of each corresponding axis of output end control.
5. test method according to any one of claims 1-4, which is characterized in that in the control for determining each output end output
After the deviation of signal processed, further includes:
When determining that the deviation of control signal of the output end output is greater than preset range, the control of the output end output is adjusted
Signal processed, until the deviation is less than the preset range.
6. a kind of test macro of the controller for industrial robot characterized by comprising
The input interface being correspondingly connected with respectively with multiple output ends of controller to be tested, for obtaining the to be tested of connection simultaneously
The control signal of multiple output ends output of controller to work for controlling respective shaft；
Parameter setting switch, for presetting the parameter corresponding to each axis according to the signal received；
Reader, for determining that acquisition is current each described defeated when needing to carry out accuracy detection to the controller to be tested of connection
The target movement position of the corresponding axis of outlet control；
The processor being connect respectively with the input interface, parameter setting switch and reader, for according to each institute got
The control signal and the pre-set parameter corresponding to each axis that output end exports are stated, is determined in real time each described
The actual motion position of the corresponding axis of output end control；And it needs to carry out precision inspection to the controller to be tested of connection determining
When survey, according to the actual motion position for each corresponding axis of output end control currently determined, and what is got work as
The target movement position of preceding each corresponding axis of output end control, determines the inclined of the control signal of each output end output
Difference；
The display being connected to the processor is determined in real time for showing the parameter corresponding to each axis of setting
Each output end control corresponds to the actual motion position of the axis, and the control letter for each output end output determined
Number deviation.
7. test macro as claimed in claim 6, which is characterized in that the output end of the controller to be tested includes: multiple
Pulse control signal output end and multiple directions control signal output, pulse control signal output end described in one group and direction control
Signal output end processed is for controlling the axis work；
The input interface includes: the first input interface to connect one to one with each pulse control signal output end, and
The second input interface to connect one to one with each direction control signal output end.
8. test macro as claimed in claim 7, which is characterized in that the input interface further include: at least a pair of of redundancy the
The second input interface of one input interface and redundancy.
9. test macro as claimed in claim 6, which is characterized in that further include: origin calibration switch, for each described defeated
The position of the corresponding axis of outlet control carries out Initialize installation.
10. test macro as claimed in claim 7, which is characterized in that the parameter setting switch is specifically used for setting and corresponds to
In times frequency ratio and frequency dividing ratio of each axis；
The processor, specifically for using following formula in real time determine X output end control X axis actual motion away from
From LX:
PX/QX=NX/LX
Wherein, PXFor times frequency ratio for the X axis that the X output end of setting controls, QXIt is controlled for the X output end of setting
X axis frequency dividing ratio, NXFor the pulse control signal in the unit time of the X output end output got
Number, LXThe actual motion distance of X axis is controlled for X output end；X is positive integer；
According to the direction control signal of the X output end output got, determine that X output end controls X in real time
The actual motion direction of a axis.
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| CN108297101B (en) * | 2018-03-20 | 2020-12-22 | 四川大学 | Multi-joint-arm series robot end pose error detection and dynamic compensation method |
| CN109194200A (en) * | 2018-09-20 | 2019-01-11 | 珠海格力智能装备有限公司 | A kind of control method of servo motor and device |
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| CN102939592A (en) * | 2010-01-21 | 2013-02-20 | 杜尔系统有限责任公司 | Test installation for testing control programs for a robot installation |
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| JP2004246498A (en) * | 2003-02-12 | 2004-09-02 | Fanuc Ltd | Position control device |
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