CN110470985A - A kind of system and method detecting servo motor timing - Google Patents
A kind of system and method detecting servo motor timing Download PDFInfo
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- CN110470985A CN110470985A CN201910642755.4A CN201910642755A CN110470985A CN 110470985 A CN110470985 A CN 110470985A CN 201910642755 A CN201910642755 A CN 201910642755A CN 110470985 A CN110470985 A CN 110470985A
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- servo motor
- motor
- timing
- oscillograph
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R13/00—Arrangements for displaying electric variables or waveforms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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Abstract
The invention discloses a kind of system and method for detecting servo motor timing, it specifically includes, first servo motor, matching and preset in a timing with the first servo motor drives the motor servo driver of parameter to connect, and is rotated under the driving of the motor servo driver；Second servo motor with the motor of the first servo motor by dragging union joint to be attached, and drags shaft coupling to rotate coaxially with the first servo motor and rotates under the dragging of the first servo motor by described pair；Oscillograph is connect with the winding line end of second servo motor and encoder-side, for detecting the motor timings of second servo motor.The beneficial effect of above-mentioned technical proposal is: first servo motor using to drag union joint drag the second servo motor rotate, so as to allow motor directly to be measured by oscillograph the running parameter of motor, it does not need to match corresponding motor servo driver, the triviality for reducing servo motor operating process reduces the economic cost of servo motor selection.
Description
Technical field
The present invention relates to a kind of control field of servo motor more particularly to it is a kind of detect servo motor timing system and
Its method.
Background technique
There are a large amount of servo motor manufacturer in market today, different servo motor manufacturers has different servos
Motor manufacture craft, this causes the timing of servo motor that can not completely unify.When operating servo motor, motor servo driver
Need the matching servo motor timing consistent with the sequential coupling of servo motor, only servo motor manufacturer specially provides
Motor servo driver, otherwise other drivers can not all drive servo motor.When choosing servo motor, servo motor when
Sequence can reflect the performance information of servo motor, if the servo motor using same driver control difference timing rotates, energy
Enough various performances for detecting different servo motor easily.However consider due to being related to industry competition etc., servo motor manufacturer
The driving parameter of motor servo driver will not generally be disclosed, therefore different servo motors needs different servo motors to drive
Control is adjusted in device, is very difficult to the model of unified motor servo driver, and the system for forming a set of measurement servo motor, this allows
The work step of motor servo driver driving servo motor becomes more complicated, and increases the survey in servo motor test process
Complexity is tried, the economic cost of servo motor buying is also added.
Summary of the invention
According to defect existing in the prior art, in order to solve the problems, such as the presence of existing environment, a kind of detect now is provided and is watched
The system for taking motor timings, specifically includes:
First servo motor, the first servo motor match in a timing and preset the servo electricity of driving parameter
It is rotated under the driving of machine driver；
Second servo motor, with the first servo motor by coaxially connected to shaft coupling is dragged, with first servo
Motor coaxle rotation；
Oscillograph is connect with the sequential export end of second servo motor, for detecting second servo motor
Motor timings.
Preferably, the motor servo driver and the oscillograph are all made of powers with 220 volts of AC power sources.
Preferably, the sequential export end includes the winding line end of second servo motor；
The oscillograph is connect with the winding line end of second servo motor, for detecting the second servo electricity
First timing of the winding line end output of machine；
It include first timing in the motor timings of the oscillograph output.
Preferably, the sequential export end includes the encoder-side of second servo motor；
The oscillograph is connect with the encoder-side of second servo motor, for detecting the second servo electricity
Second timing of the encoder-side output of machine；
It include second timing in the motor timings of the oscillograph output.
Preferably, the encoder-side of second servo motor also accesses the DC power supply of a 5V, to show described
Wave device is powered when carrying out time-series rules to the encoder-side.
Preferably, the oscillograph includes the first oscillography end and the second oscillography end；
The sequential export end includes winding line end and encoder-side；
First oscillography end connects the winding line end of second servo motor, for detecting second servo
First timing of the winding line end output of motor；
Second oscillography end connects the encoder-side of second servo motor, for detecting second servo
Second timing of the encoder-side output of motor；
The motor timings of the oscillograph output include first timing and second timing.
Preferably, the encoder-side of second servo motor also accesses the DC power supply of a 5V, to show described
Wave device is powered when carrying out time-series rules to the encoder-side.
Preferably, the measuring probe that the oscillograph is connect with the winding line end of second servo motor is high_voltage isolation
Probe.
Preferably, the measuring probe that the oscillograph is connect with the encoder-side of second servo motor is voltage spy
Head.
A method of detection servo motor timing, applied to detection servo motor timing described in above-mentioned any one
System, and the following steps are included:
Step 1, by dragging first servo motor described in coupling connection and second servo motor；
Step 2, the motor servo driver for presetting driving parameter by one drives the first servo motor
Dynamic, second servo motor drags shaft coupling to rotate coaxially with the first servo motor by described pair；
Step 3, the sequential export end of second servo motor is connected using an oscillograph, obtains described second with detection
The motor timings of servo motor.
The beneficial effect of above-mentioned technical proposal is:
Servo motor, which does not need to match corresponding motor servo driver, is also able to carry out rotation work, and at this time can be with
Oscillograph directly measures the running parameter of servo motor, reduces the triviality of servo motor operating process, also reduces and watch
Take the economic cost of motor selection.
Detailed description of the invention
Fig. 1 is the structural block diagram in a preferred embodiment of the invention
Fig. 2 is the instrumentation plan in a preferred embodiment of the invention；
Fig. 3 is the instrumentation plan in a preferred embodiment of the invention；
Fig. 4 is the instrumentation plan in a preferred embodiment of the invention；
Fig. 5 is the flow diagram in a preferred embodiment of the invention；
Fig. 6 is the result schematic diagram in a preferred embodiment of the invention；
Fig. 7 is the result schematic diagram in a preferred embodiment of the invention；
Fig. 8 is the result schematic diagram in a preferred embodiment of the invention；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
The system that one of preferred embodiment of the invention detects servo motor timing, structure composition, such as Fig. 1 institute
Show, specifically include:
First servo motor 4, first servo motor 4 match in a timing and preset the servo motor of driving parameter
It is rotated under the driving of driver 1；
Second servo motor 6, with first servo motor 4 by dragging shaft coupling 5 coaxially connected, with first servo motor 4
It rotates coaxially；
Oscillograph 0 is connect with the sequential export end 60 of the second servo motor 6, for detecting the motor of the second servo motor 6
Timing.
Specifically, to dragging shaft coupling 5 to connect the main shaft of first servo motor 4 and the main shaft of the second servo motor 6, so that first
When the driving by motor servo driver 1 is rotated, the second servo motor 6 of dragging is rotated servo motor 4 together,
The rotation of the second servo motor 6 at this time do not need with the matched driver of the second servo motor parameter, when this can be considered tested
Second servo motor 6 of sequence is provided with unified drive system, is also just capable of forming the motor timings of the second servo motor 6 of measurement
System.
The system that one of preferred embodiment of the invention detects servo motor timing, motor servo driver 1
It is all made of with oscillograph 0 and powers with 220 volts of AC power sources.
The system that one of preferred embodiment of the invention detects servo motor timing, as shown in Fig. 2, timing is defeated
Outlet 60 includes the winding line end 7 of the second servo motor 6；
Oscillograph 0 is connect with the winding line end 7 of the second servo motor 6, for detecting the winding line end of the second servo motor 6
First timing of 7 outputs；
It include the first timing in the motor timings that oscillograph 0 exports.
Specifically, the pin 01,02 of the winding line end 7 of the measurement pin 21,22 and the second servo motor of oscillograph 0 connects
It connects, the measurement pin 23,24 of oscillograph 0 is connect with the pin 02,03 of the winding line end 7 of the second servo motor, the survey of oscillograph 0
Amount pin 25,26 is connect with the pin 03,01 of the winding line end 7 of the second servo motor, and measurement obtains the anti-of 7 end of winding wire output
EMF waveform and the precedence relationship for analyze and determine according to waveform counter electromotive force, when obtaining the first of the output of winding line end 7
Sequence.
The system that one of preferred embodiment of the invention detects servo motor timing, sequential export end 60 includes
The encoder-side 8 of second servo motor 6；
Oscillograph 0 is connect with the encoder-side 8 of the second servo motor 6, for detecting the encoder-side of the second servo motor 6
Second timing of 8 outputs；
It include the second timing in the motor timings that oscillograph 0 exports.
The system that one of preferred embodiment of the invention detects servo motor timing, the second servo motor 6
Encoder-side 8 also accesses the DC power supply 9 of a 5V, to be powered when oscillograph 0 carries out time-series rules to encoder-side 8.
Specifically, as shown in figure 3, the positive and negative anodes pin 27,28 of 5V DC power supply 9 draws respectively at 09, the 09 of encoder-side 8
Foot connection is powered to encoder, the pin 09 of the encoder-side 8 of the measurement pin 30,31 and the second servo motor of oscillograph 0,
08 connection, the measurement pin 32,33 of oscillograph 0 are connect with the pin 09,07 of the encoder-side 8 of the second servo motor, oscillograph 0
Measurement pin 34,35 connect with the pin 09,06 of the encoder-side 8 of the second servo motor, the measurement pin 36 of oscillograph 0,
37 connect with the pin 09,05 of the encoder-side 8 of the second servo motor, the measurement pin 38,39 of oscillograph 0 and the second servo electricity
The pin 09,04 of the encoder-side 8 of machine connects, measurement obtain the position signal waveform of the output of encoder-side 8 and according to waveform into
Row analyzes and determines the precedence relationship of position signal, obtains the second timing of the output of encoder-side 8.
The system that one of preferred embodiment of the invention detects servo motor timing, oscillograph 0 include first
Oscillography end 10 and the second oscillography end 12；
Sequential export end 60 includes winding line end 7 and encoder-side 8；
First oscillography end connects the winding line end 7 of the second servo motor 6, for detecting the winding wire of the second servo motor 6
First timing of 7 output of end；
Second oscillography end 12 connects the encoder-side 8 of the second servo motor 6, for detecting the coding of the second servo motor 6
The second timing that device end 8 exports；
The motor timings that oscillograph 0 exports include the first timing and the second timing.
The system that one of preferred embodiment of the invention detects servo motor timing, the second servo motor 6
Encoder-side 8 also accesses the DC power supply 11 of a 5V, to be powered when oscillograph carries out time-series rules to encoder-side 8.
Specifically, as shown in figure 4, the measurement pin 40,41 of oscillograph 10 and drawing for 7 end of winding wire of the second servo motor
Foot 01,02 connects, and the measurement pin 42,43 of oscillograph 10 is connect with the pin 02,03 at 7 end of winding wire of the second servo motor,
The pin 03,01 at 7 end of winding wire of the measurement pin 44,45 and the second servo motor of oscillograph 10 connects, and measurement obtains winding
The back emf waveform of 7 end of line output and the precedence relationship for analyze and determine according to waveform counter electromotive force, obtain 7 end of winding wire
First timing of output.And
The positive and negative anodes pin 46,47 of 5V DC power supply 11 is connected respectively at 09,09 pin of encoder 8 to encoder 8
Power supply, the measurement pin 48,49 of oscillograph 12 connect with the pin 09,08 at 8 end of encoder of the second servo motor, oscillograph
12 measurement pin 50,51 is connect with the pin 09,07 at 8 end of encoder of the second servo motor, the measurement pin of oscillograph 12
52, it 53 is connect with the pin 09,06 at 8 end of encoder of the second servo motor, the measurement pin 54,55 of oscillograph 12 is watched with second
The pin 09,05 for taking 8 end of encoder of motor connects, the coding of the measurement pin 56,57 and the second servo motor of oscillograph 12
The pin 09,04 at 8 end of device connects, and measurement obtains the position signal waveform of 8 end of encoder output and analyze according to waveform to sentence
The precedence relationship of disconnected position signal, obtains the second timing of 8 end of encoder output.
The system that one of preferred embodiment of the invention detects servo motor timing, oscillograph 0 are watched with second
The measuring probe for taking the connection of winding line end 7 of motor 6 is high_voltage isolation probe.
The system that one of preferred embodiment of the invention detects servo motor timing, oscillograph 0 are watched with second
The measuring probe for taking the connection of encoder-side 8 of motor 6 is voltage probe.
The method that one of preferred embodiment of the invention detects servo motor timing, as shown in figure 5, being applied to
The system for detecting servo motor timing, and the following steps are included:
Step 1, by dragging shaft coupling 5 to connect first servo motor 4 and the second servo motor 6；
Step 2, the motor servo driver 1 for presetting driving parameter by one drives first servo motor 4,
Second servo motor 6 is by dragging shaft coupling 5 to rotate coaxially with first servo motor 4；
Step 3, the sequential export end 60 of the second servo motor 6 is connected using an oscillograph, and the second servo is obtained with detection
The motor timings of motor 6.
Specifically, as shown in fig. 6, oscillograph respectively with the first phase pin 01 of the winding wire 7 of the second servo motor 6 and
Second phase pin 02 connects, and measures UV line counter electromotive force 60, connect with second phase pin 02 and third phase pin 03, surveys
VW line counter electromotive force 62 is obtained, is connect with third phase pin 03 and first phase pin 01, measures WU line counter electromotive force 63
UV line counter electromotive force 60 is obtained, VW line counter electromotive force 62 is identical with 63 amplitude size of WU line counter electromotive force, 120 ° of phase phase difference
UV line counter electromotive force 60 can be obtained before VW line counter electromotive force 62 according to waveform observation at this time, VW line counter electromotive force in three-phase electricity
62 before WU line counter electromotive force 63, and the first timing of the second servo motor 6 at this time can be obtained.
Specifically, as shown in fig. 7,04 pin of first position signal of the encoder 8 of oscillograph and the second servo motor connects
It connects, measures the Wave data 64 of position signal A, connect with 05 pin of second position signal of the encoder 8 of the second servo motor 6
It connects, measures the Wave data 65 of position signal B, connect with the third place signal pins 06 of the encoder 8 of the second servo motor,
The Wave data 66 for measuring position signal C, according to the waveform analysis to Fig. 7, we can obtain between three position signals when
Order relation, the waveform 64 of position signal A is before the waveform 65 of position signal B, and the waveform 65 of position signal B is in position signal C
Waveform 66 before, this three waveforms also show respectively the number of pole-pairs p of the second servo motor 6 exported within the period, and
Number of pole-pairs p and supply frequency f, motor speed n have linear relationshipIt can be obtained by the waveform more about electricity
The information of machine attribute.
Specifically, it as shown in figure 8, being connect with 07 pin of the 4th position signal of the encoder 8 of the second servo motor, measures
The Wave data 67 of position signal CA connect with the 5th position signal pin 08 of the encoder 8 of the second servo motor, measures position
The Wave data 68 of confidence CB, according to the waveform analysis to Fig. 7, we can obtain the confidence in place of waveform 67 of position signal CA
Before the waveform 68 of number CB, the timing between the two position signals is obtained, and this two articles of waveforms also show respectively
The number of pole-pairs p that two servo motors 6 export within the period1, i.e. p1=kp, p are motor number of pole-pairs, and k is motor multiple.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of system for detecting servo motor timing characterized by comprising
First servo motor, the first servo motor match in a timing and preset the servo motor drive of driving parameter
It is rotated under the driving of dynamic device；
Second servo motor, with the first servo motor by coaxially connected to shaft coupling is dragged, with the first servo motor
It rotates coaxially；
Oscillograph is connect with the sequential export end of second servo motor, for detecting the motor of second servo motor
Timing.
2. a kind of system for detecting servo motor timing according to claim 1, which is characterized in that the servo motor drives
Dynamic device and the oscillograph are all made of powers with 220 volts of AC power sources.
3. system according to claim 1, which is characterized in that the sequential export end includes second servo motor
Winding line end；
The oscillograph is connect with the winding line end of second servo motor, for detecting second servo motor
First timing of the winding line end output；
It include first timing in the motor timings of the oscillograph output.
4. system according to claim 1, which is characterized in that the sequential export end includes second servo motor
Encoder-side；
The oscillograph is connect with the encoder-side of second servo motor, for detecting second servo motor
Second timing of encoder-side output；
It include second timing in the motor timings of the oscillograph output.
5. system according to claim 4, which is characterized in that the encoder-side of second servo motor also accesses
The DC power supply of one 5V, to be powered when the oscillograph carries out time-series rules to the encoder-side.
6. system according to claim 1, which is characterized in that the oscillograph includes the first oscillography end and the second oscillography
End；
The sequential export end includes winding line end and encoder-side；
First oscillography end connects the winding line end of second servo motor, for detecting second servo motor
Winding line end output the first timing；
Second oscillography end connects the encoder-side of second servo motor, for detecting second servo motor
Encoder-side output the second timing；
The motor timings of the oscillograph output include first timing and second timing.
7. system according to claim 6, which is characterized in that the encoder-side of second servo motor also accesses
The DC power supply of one 5V, to be powered when the oscillograph carries out time-series rules to the encoder-side.
8. the system according to claim 3 or 6, which is characterized in that the oscillograph and second servo motor around
The measuring probe of group line end connection is high_voltage isolation probe.
9. system according to claim 5 or 6, which is characterized in that the volume of the oscillograph and second servo motor
The measuring probe of code device end connection is voltage probe.
10. a kind of method for detecting servo motor timing, which is characterized in that be applied to such as any one of claim 1-9 institute
The system for the detection servo motor timing stated, and the following steps are included:
Step 1, by dragging first servo motor described in coupling connection and second servo motor；
Step 2, the motor servo driver for presetting driving parameter by one drives the first servo motor, institute
It states the second servo motor and drags shaft coupling to rotate coaxially with the first servo motor by described pair；
Step 3, the sequential export end of second servo motor is connected using an oscillograph, and second servo is obtained with detection
The motor timings of motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910642755.4A CN110470985A (en) | 2019-07-16 | 2019-07-16 | A kind of system and method detecting servo motor timing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910642755.4A CN110470985A (en) | 2019-07-16 | 2019-07-16 | A kind of system and method detecting servo motor timing |
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