CN110515352B - Fault monitoring method and device for servo driver, processor and electronic equipment - Google Patents
Fault monitoring method and device for servo driver, processor and electronic equipment Download PDFInfo
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- CN110515352B CN110515352B CN201910813133.3A CN201910813133A CN110515352B CN 110515352 B CN110515352 B CN 110515352B CN 201910813133 A CN201910813133 A CN 201910813133A CN 110515352 B CN110515352 B CN 110515352B
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37616—Use same monitoring tools to monitor tool and workpiece
Abstract
The embodiment of the invention provides a fault monitoring method, a fault monitoring device, a processor, a storage medium and electronic equipment of a servo driver, wherein the fault monitoring method of the servo driver comprises the following steps: modifying the relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller, and enabling the time parameter of the servo driver to be the real-time clock data; and automatically displaying the time of the failure of the servo driver on a display device according to the modified relative time parameter of the servo driver. According to the embodiment of the invention, when the servo driver fails, the time of the failure can be accurately recorded, so that the failure monitoring can be effectively and conveniently carried out.
Description
Technical Field
The embodiment of the invention relates to the technical field of industrial control, in particular to a fault monitoring method and device of a servo driver, a processor, a storage medium and electronic equipment.
Background
The servo driver is an important component of industrial control, and is widely applied to automation equipment such as industrial robots and numerical control machining centers, for example, the field of injection molding machines, textile machinery, packaging machinery, numerical control machine tools, and the like. Servo drivers, also known as "servo controllers" or "servo amplifiers", are controllers used to control servo motors, which function like frequency converters and are often used in high precision positioning systems. Generally, a servo motor is controlled through three modes of position, speed and moment, and high-precision positioning of a transmission system is realized.
During the above-described operations, the servo driver may experience various failures, including but not limited to: no display, phase loss, overcurrent, overvoltage, undervoltage, overheating, grounding, parameter error, module damage and the like. However, it is still difficult to monitor and diagnose the fault. More efficient and convenient fault detection methods are desired.
Disclosure of Invention
In order to solve the above problem, embodiments of the present invention provide a method, an apparatus, a processor, a storage medium, and an electronic device for monitoring a failure of a servo driver, which can determine a time when the failure occurs when the servo driver fails.
According to a first aspect of the embodiments of the present invention, there is provided a fault monitoring method of a servo driver, including:
modifying the relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller, and enabling the time parameter of the servo driver to be the real-time clock data; and
and automatically displaying the time of the failure of the servo driver on a display device according to the modified relative time parameter of the servo driver.
Optionally, the modifying the relative time parameter of the servo driver according to the obtained real-time clock data of the programmable logic controller, and making the time parameter of the servo driver be the real-time clock data specifically includes: and modifying the relative time parameter of the servo driver by adopting an aperiodic communication functional block or an aperiodic communication instruction according to the acquired real-time clock data of the programmable logic controller, and enabling the time parameter of the servo driver to be the real-time clock data.
Optionally, the modifying the relative time parameter of the servo driver according to the obtained real-time clock data of the programmable logic controller, and making the time parameter of the servo driver be the real-time clock data specifically includes: and calculating date and/or time offset based on the real-time clock data according to the acquired real-time clock data of the programmable logic controller, and modifying the relative time parameter of the servo driver by using the offset, so that the time parameter of the servo driver is the real-time clock data.
Optionally, the method further comprises:
acquiring a fault code corresponding to a fault occurring in the servo driver;
and automatically displaying the alarm information text corresponding to the fault code on the display equipment according to the corresponding relation between the fault code and the corresponding alarm information text.
Optionally, automatically displaying the alarm information text corresponding to the fault code on the display device according to the corresponding relationship between the fault code and the alarm information text corresponding to the fault code, specifically: and calling an alarm information text acquisition function block to acquire an alarm information text corresponding to the fault code according to the fault code and the corresponding relation of the fault code to the corresponding alarm information text, and automatically displaying the alarm information text on the display equipment.
Optionally, before automatically displaying the alarm information text corresponding to the fault code on the display device according to the corresponding relationship between the fault code and the alarm information text thereof, the method further includes:
and storing the corresponding relation between the fault code of the servo driver and the corresponding alarm information text in advance.
Optionally, the storing the corresponding relationship between the fault code of the servo driver and the corresponding alarm information text in advance specifically includes: and storing the fault code of the servo driver and the corresponding relation of the corresponding alarm information text in advance in the form of an alarm text list.
Optionally, the storing the corresponding relationship between the fault code of the servo driver and the corresponding alarm information text in advance specifically includes: and storing the corresponding relation between the fault code of the servo driver and the corresponding alarm information text in advance through an automatic tool platform.
Optionally, the obtaining of the fault code corresponding to the fault occurring in the servo driver specifically includes: and acquiring the fault code corresponding to the fault of the servo driver by adopting a non-periodic communication functional block or a non-periodic communication instruction.
Optionally, before acquiring a fault code corresponding to a fault occurring in the servo driver, the method further includes: calling system resources in a programmable logic controller to enable the called system resources to acquire fault codes (401) corresponding to faults when the servo driver is in fault, and automatically displaying alarm information texts corresponding to the fault codes on the display equipment according to the corresponding relation between the fault codes and the corresponding alarm information texts.
Optionally, the modifying the relative time parameter of the servo driver according to the obtained real-time clock data of the programmable logic controller, and making the time parameter of the servo driver be before the real-time clock data includes: and powering on the servo driver and establishing communication connection between the servo driver and the programmable logic controller.
According to a second aspect of embodiments of the present invention, there is provided a fault monitoring apparatus of a servo driver, including:
a relative time parameter modifying module, configured to modify a relative time parameter of the servo driver according to the obtained real-time clock data of the programmable logic controller, so that the time parameter of the servo driver is the real-time clock data;
and the failure time display module is used for automatically displaying the failure time of the servo driver on display equipment according to the modified relative time parameter of the servo driver.
According to a third aspect of the embodiments of the present invention, there is provided a processor, configured to execute a program, where the program executes to perform the method described in any one of the embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention, there is provided an electronic apparatus, including: one or more processors, a memory, a display unit, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of the embodiments of the present invention.
According to a fourth aspect of embodiments of the present invention, there is provided a storage medium comprising a stored program, wherein a device comprising the storage medium is controlled to perform the method described in any one of the embodiments of the present invention when the program is run.
In the embodiment of the invention, according to the acquired real-time clock data of the programmable logic controller, the relative time parameter of the servo driver is modified, and the time parameter of the servo driver is made to be the real-time clock data; and automatically displaying the fault time of the servo driver on display equipment according to the modified relative time parameter of the servo driver, so that the time parameter of the servo driver is the real-time clock data by modifying the relative time parameter of the servo driver because the programmable logic controller has the real-time clock data, and the fault time can be accurately recorded when the servo driver fails, thereby effectively and conveniently monitoring the fault.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein the content of the first and second substances,
FIG. 1 is a diagram of an application system architecture for fault monitoring in one embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for monitoring a servo driver for faults according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a method for modifying a relative time parameter of a servo driver according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a processing flow of an alarm information text in an embodiment of the present invention;
FIG. 5 is a diagram illustrating a correspondence between a fault code and an alarm message text corresponding to the fault code displayed in the form of an alarm text list according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary interface for importing an alert text list into a display device in accordance with an embodiment of the present invention;
FIG. 7 is a diagram illustrating the encapsulation of resource management function blocks in an embodiment of the invention;
FIG. 8 is a schematic diagram of the encapsulation of an alarm information text acquisition function block in an embodiment of the present invention;
FIG. 9 is a schematic diagram of an interface for displaying an alarm message text and a time of occurrence of a fault on a display device according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a fault monitoring device for a servo driver according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a fault monitoring device for a servo driver according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of an electronic device in an embodiment of the invention.
List of reference numerals:
101: an automated tool platform;
102: a programmable logic controller;
103: a servo driver;
201: modifying the relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller, and enabling the time parameter of the servo driver to be the real-time clock data;
202: automatically displaying the time of the servo driver failure on display equipment according to the modified relative time parameter of the servo driver;
301: calculating the date and/or time offset based on the real-time clock data according to the acquired real-time clock data of the programmable logic controller;
302: modifying the relative time parameter of the servo driver by using the offset, and enabling the time parameter of the servo driver to be the real-time clock data;
401: acquiring a fault code corresponding to a fault occurring in the servo driver;
402: acquiring an alarm information text corresponding to a fault code according to the corresponding relation between the fault code and the alarm information text corresponding to the fault code;
403: automatically displaying an alarm information text corresponding to the fault code on the display equipment;
1001: a relative time parameter modification module;
1002: a failure time display module;
1003: an alarm information text acquisition function block;
1101: a processor;
1102: a memory; and
1103: a display unit.
Detailed Description
In order to more clearly understand technical features, objects, and effects of embodiments of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.
As mentioned above, the operation of the servo driver is mainly based on relative time, for example, the low-end servo driver without a hardware clock is mainly based on internal relative time timing on its power-on start, for example, once a fault occurs, only the time when the fault occurs is recorded to the hours of the power-on start, for example, 6h, so that for fault monitoring, the time when the fault occurs cannot be determined, thereby making it difficult to effectively perform fault monitoring.
In the embodiment of the invention, according to the acquired real-time clock data of the programmable logic controller, the relative time parameter of the servo driver is modified, and the time parameter of the servo driver is made to be the real-time clock data; and automatically displaying the fault time of the servo driver on display equipment according to the modified relative time parameter of the servo driver, so that the time parameter of the servo driver is the real-time clock data as the programmable logic controller has the real-time clock data to modify the relative time parameter of the servo driver, and the fault time can be accurately recorded when the servo driver fails, thereby effectively monitoring the fault.
FIG. 1 is a diagram of an application system architecture for fault monitoring in one embodiment of the present invention. As shown in fig. 1, the application system includes an automation tool platform 101 (such as a fully integrated automation software TIA Portal, which is called bottu for short), a programmable logic controller 102, and a servo driver 103, where the automation tool platform is used to provide a platform for developing a control program, and the developed control program is imported into the programmable logic controller; the programmable logic controller controls the servo driver according to the imported control program, and the servo driver controls the motor under the control of the programmable logic controller.
Specifically, in the embodiment of the present invention, a control program for monitoring a fault is developed on an automated tool platform according to a fault monitoring scheme of a servo driver, the developed control program is imported into a programmable logic controller, and the programmable logic controller executes the control program for monitoring the fault, thereby implementing automatic monitoring of the fault of the servo driver.
Fig. 2 is a flow chart illustrating a method for monitoring a failure of a servo driver according to an embodiment of the present invention. As shown in fig. 2, the method may include the following steps 201 and 202:
and 202, automatically displaying the time of the servo driver in failure on display equipment according to the modified relative time parameter of the servo driver.
In the embodiment of the invention, according to the acquired real-time clock data of the programmable logic controller, the relative time parameter of the servo driver is modified, and the time parameter of the servo driver is made to be the real-time clock data; according to the modified relative time parameter of the servo driver, the time when the servo driver fails is automatically displayed on display equipment, so that the real-time clock data of the programmable logic controller is based on global standard time, and the relative time parameter of the servo driver is modified to enable the time parameter of the servo driver to be the real-time clock data.
In embodiments of the present invention, the servo driver may comprise any servo driver that operates on a relative time basis, including low-end servo drivers that are not configured with a clock.
Optionally, fig. 3 is a flowchart illustrating a method for modifying a relative time parameter of a servo driver according to an embodiment of the present invention. The method may comprise the following steps 301 and 302:
301. calculating the date and/or time offset based on the real-time clock data according to the acquired real-time clock data of the programmable logic controller;
302. and modifying the relative time parameter of the servo driver by using the date and/or time offset, wherein the time parameter of the servo driver is the real-time clock data.
In the embodiment of the present invention, in consideration of the fact that in some application scenarios, the servo driver and the programmable logic controller have different basic reference times, for this purpose, the date and/or time offset of the real-time clock data is calculated through step 301, so that when the servo driver fails, the time when the failure occurs can be accurately recorded. For example, the reference clock provided to the servo driver is 12 o 'clock 00 min 00 s at 1/1970, and the reference clock provided to the programmable logic controller is 12 o' clock 00 min 00 s at 1/1990, whereby the date offset is 7305 days and the time offset is 0 s. .
Here, although the reference clock provided to the servo driver is also based on the world standard time, since the power supply and the clock are not provided to the servo driver, the reference clock is not actually available to the servo driver, that is, the reference clock cannot be used for timing.
In the embodiment of the present invention, if the real-Time clock data is clock data composed of Universal Time Coordinated (UTC) and a Time zone set by the programmable logic controller, and the relative Time configured by the real-Time clock data in the programmable logic controller with respect to the relative Time parameter of the servo driver sometimes has an offset on the clock data, i.e. an offset of date and/or Time, the embodiment of the present invention modifies the relative Time parameter of the servo driver based on the date and/or Time offset of the real-Time clock data to make the Time parameter of the servo driver be the real-Time clock data, so that the servo driver is also based on the global standard Time, thereby when the servo driver fails, accurately recording the Time when the failure occurs, the problem of servo driver work among the prior art mainly based on relative time, can't accurately confirm the time that the trouble took place is solved.
Optionally, in an embodiment of the present invention, for example, before step 301, a clock instruction of the programmable logic controller is first read through a clock read command, real-time clock data of the programmable logic controller is acquired from the clock instruction, and then step 301 is executed to calculate a date and/or time offset based on the real-time clock data according to the acquired real-time clock data of the programmable logic controller; in step 302, considering that the fault is an emergency event, it is preferable to modify the relative time parameter of the servo driver by a non-periodic communication function block or a non-periodic communication command, so that the time parameter of the servo driver is the real-time clock data and the relative time parameter is modified only once.
Optionally, in this embodiment of the present invention, preferably before step 201, the servo driver is powered on and a communication connection is established with the programmable logic, that is, step 201 is performed after the servo driver is powered on, so that the modification of the relative time parameter of the servo driver can be completed after the servo driver is powered on, so as to accurately record the time when the failure occurs in the servo driver.
In addition, in the fault monitoring scheme provided in the prior art, a specific fault that occurs is generally indicated by a fault code when the fault occurs, and after an operator knows the fault code, the operator needs to check a product manual to determine the specific fault that is indicated by the fault code, so that further fault monitoring cannot be conveniently and effectively implemented. Therefore, in addition to the failure detection method shown in fig. 2, the time when the failure occurs is displayed on the display device, and preferably, a warning information text indicating the failure is also displayed.
Fig. 4 is a schematic processing flow diagram of an alarm information text in an embodiment of the present invention. Preferably, before the time of the fault occurrence is automatically displayed on the display device, in order to display the alarm information text corresponding to the fault together, the processing flow of the alarm information text may include the following steps:
and 403, automatically displaying an alarm information text corresponding to the fault code on the display device.
As mentioned above, the fault belongs to an emergency event, therefore, in the embodiment of the present invention, preferably, in step 401, the non-periodic communication functional block or the non-periodic communication instruction is used to obtain the fault code corresponding to the fault occurred in the servo driver.
Optionally, in this embodiment of the present invention, before step S402, specifically, for example, before the servo driver is powered on, the corresponding relationship between the fault code of the servo driver and the corresponding alarm information text thereof is stored in advance. In particular, it is stored locally, for example, on the display device, so that it can be retrieved locally directly from the display device when retrieved in step 401. Specifically, the fault code of the servo driver and the corresponding relation of the corresponding alarm information text of the fault code can be imported into the display device in a file form through the automatic tool platform 101, and then the fault code and the corresponding relation of the alarm information text stored locally in the display device can be stored locally in the display device, so that when the servo driver breaks down, the alarm information text is displayed on the display device according to the corresponding fault code and the corresponding relation between the fault code and the alarm information text stored locally in the display device, and therefore an operator can visually and clearly see the specific fault.
Optionally, the corresponding relationship between the fault code of the servo driver and the corresponding alarm information text in the display device is stored in the form of an alarm text list. Fig. 5 is a schematic diagram illustrating a correspondence relationship between a fault code and an alarm information text corresponding to the fault code, which is displayed in the form of an alarm text list in an embodiment of the present invention. The fault codes are located in the column B, the text content of the alarm information in the Chinese form is located in the column C, and the text content of the alarm information in the English form is located in the column D. In order to visually display an alarm information text on display equipment through fault code query during fault monitoring, the alarm information text in a Chinese form or English form comprises a fault code and a fault type, and in the alarm information text, an identifier A in front of the fault code represents an alarm type fault, mainly means a fault which does not influence the continuous operation of a servo driver and can not be immediately processed; the flag F indicates a fault type failure, mainly a failure that affects the continued operation of the servo driver and needs to be handled immediately. Here, it should be noted that chinese and english are freely selected and switched according to the item requirements.
Optionally, the alarm text list imported into the display device may be specifically included in an excel file. It should be noted here that, if the list including the alarm text provided by the manufacturer is included in non-excel, it is preferable to convert the list into an excel file and then import the excel file into the display device. It should be noted that the specific format of the file is merely an example, and is not particularly limited.
FIG. 6 is a diagram illustrating an exemplary interface for importing an alert text list into a display device in accordance with an embodiment of the present invention. As shown in fig. 6, in a standard automation tool platform (e.g., botas software), tools related to the control of the display device, such as configuration, screen, running system setting, screen management, display device variables, report operations, etc., are configured. For example, a warning text list may be named with reference to a specific model of the servo driver, for example, "V90 Alarm," and the warning text list includes a file of a correspondence between a fault code of the servo driver and a corresponding warning information text thereof, and specific contents of the file may be presented in an operation interface of the Tia Portal platform in a form of a text list entry, and the text list entry may display the fault code and the warning information text specifically corresponding to the fault code. For example, a "value" (e.g., 1000) in the text list entry of FIG. 6 represents a trouble code, a "F01000" in the text represents that an F type trouble is attached, 01000 represents a trouble code, and a "text" includes a trouble code and alarm text information (e.g., "internal software error")
In the technical scheme of the real-time embodiment, a standard function block for assisting in executing the fault monitoring method is configured on the programmable logic controller: a resource management function block and an alarm information text acquisition function block.
FIG. 7 is a diagram illustrating the encapsulation of a resource management function block according to an embodiment of the invention. As shown in fig. 7, the resource management function block may be named: "LAcycCom _ resource manager" for managing system resources in a Buffer (Buffer) of a programmable logic controller to perform an operation of modifying a relative time parameter of the servo driver and an operation of automatically displaying a time when the servo driver fails on a display device when there are available system resources in the Buffer of the programmable logic controller, wherein a signal is configured as follows in the "LAcycCom _ resource manager" function block to call the system resources in the programmable logic controller:
input end:
EN: inputting an enabling signal for the resource management function block to enter a working state;
enable: inputting an enabling signal of the Buffer to enable the Buffer to enter a working state;
config: inputting a configuration signal of a resource management function block;
requestBuffer: inputting a request signal for accessing the Buffer to call the system resource in the Buffer;
output end:
ENO: outputting an output enabling signal of the resource management function block, wherein the enabling resource management function block can be in a signal output state;
valid: when the Buffer which can be matched with the access Buffer request signal is available, outputting a corresponding Buffer effective signal;
error: outputting a Buffer error signal when the Buffer which can be matched with the access Buffer request signal is abnormal;
busy: outputting a Buffer busy signal when the Buffer to be accessed is occupied;
status; outputting a calling state signal of the system resource in the Buffer to be accessed; (ii) a
Diagnostics: and outputting a signal of whether the system resource in the Buffer can be called successfully or not.
Fig. 8 is a schematic packaging diagram of an alarm information text acquisition function block in an embodiment of the present invention. As shown in fig. 8, the alarm information text obtaining function block is mainly configured to obtain and display an alarm information text corresponding to a fault code according to the corresponding relationship between the fault code and the alarm information text corresponding to the fault code when step 403 is executed, where the alarm information text obtaining function block is named as: "LAcycCom _ ReadDriveMessageDateTime" where
The signal configuration in the "LAcycCom _ ReadDriveMessageDateTime" function block is as follows:
input end:
EN: inputting an alarm information text to obtain a working state enabling signal of a functional block;
excute: inputting a signal of an alarm information text acquisition function block in a data reading action, wherein in the embodiment of the invention, the read data comprises but is not limited to a fault code and an alarm information text corresponding to the fault code;
alarms: inputting a signal for reading a fault code corresponding to the Alarm type fault;
the fruits: inputting and reading Fault code signals corresponding to Fault type faults;
and (3) SiMessages: inputting a signal for reading a text of the alarm information corresponding to the fault code;
drive ObjectId: inputting a driving object (comprising a motor) identification signal controlled by a servo driver;
hardware id: inputting a hardware identification signal of a servo driver associated with a fault code;
requestBuffer: inputting a request signal for accessing the Buffer, pointing to the same Buffer as the requestBuffer in the resource management module, and calling the resource to read a fault code and a corresponding alarm information text once the fact that the Buffer pointed by the requestBuffer has system resources which can be called is known through the resource management module Diagnostics;
output end:
ENO: the output alarm information text acquisition function block outputs an enable signal;
done: outputting a signal that the alarm information text acquisition function block has completed work
Busy: outputting a busy signal of the function block when the alarm information text acquisition function block is occupied;
error: outputting an alarm information text to acquire a signal that the functional block cannot work normally; (ii) a
Status: outputting a signal of an action execution result of the alarm information text acquisition function block, for example, successfully reading a fault code and/or a corresponding alarm information text;
messages: outputting a fault diagnosis result of the servo driver, namely outputting an alarm information text corresponding to the acquired fault code to display equipment for displaying;
diagnostics: and outputting a signal of an operation result of the alarm information text acquisition function block, namely whether the fault code and the corresponding alarm information text are finished or not, and successfully outputting the acquired alarm information text to display equipment for displaying.
Fig. 9 is a schematic interface diagram for displaying an alarm information text and a failure occurrence time on a display device in an embodiment of the present invention. As shown in fig. 9, the alarm information text and the time when the fault occurs, such as the content and reason of a certain alarm information, and the time when the fault occurs, are displayed in the form of a list in the interface of the display device. The quick and accurate fault monitoring and diagnosis can be realized through the text and time of the related alarm information displayed in the interface.
Fig. 10 is a schematic structural diagram of a fault monitoring device of a servo driver in an embodiment of the present invention. As shown in fig. 10, the fault monitoring apparatus includes:
a relative time parameter modification module 1001, configured to modify a relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller, so that the time parameter of the servo driver is the real-time clock data;
and the failure time display module 1002 is used for automatically displaying the failure time of the servo driver on a display device according to the modified relative time parameter of the servo driver.
In an embodiment of the present invention, the relative time parameter modification module 1001 may be configured to perform the step 201, and the failure time display module 1002 may be configured to perform the step 202.
Optionally, in this embodiment of the present invention, after the servo driver is powered on and the communication connection with the programmable logic is established, the failure time display module 1002 automatically displays the failure time of the servo driver on the display device according to the modified relative time parameter of the servo driver.
Optionally, in this embodiment of the present invention, the relative time parameter modification module 1001 specifically uses an aperiodic communication function block or an aperiodic communication instruction to modify the relative time parameter of the servo driver according to the obtained real-time clock data of the plc, so that the time parameter of the servo driver is the real-time clock data.
Optionally, in this embodiment of the present invention, the relative time parameter modification module 1001 specifically calculates a date and/or time offset based on the real-time clock data according to the acquired real-time clock data of the plc, and modifies the relative time parameter of the servo driver using the offset, so that the time parameter of the servo driver is the real-time clock data.
Fig. 11 is a schematic structural diagram of a servo driver failure monitoring apparatus according to an embodiment of the present invention. As shown in fig. 11, the failure monitoring device of the servo driver may further include, in addition to fig. 10, a controller: an alarm information text obtaining function block 1003, configured to obtain a fault code corresponding to a fault occurring in the servo driver, so as to automatically display, on the display device, an alarm information text corresponding to the fault code according to a correspondence between the fault code and the alarm information text corresponding to the fault code.
Optionally, in the embodiment of the present invention, the alarm information text obtaining function block 1003 stores the fault code of the servo driver and the corresponding relationship between the fault code and the corresponding alarm information text in advance, for example, in the display device, before automatically displaying the alarm information text corresponding to the fault code on the display device according to the corresponding relationship between the fault code and the alarm information text thereof.
Optionally, in this embodiment of the present invention, the alarm information text obtaining function block 1003 is further configured to obtain the fault code corresponding to the fault occurring in the servo driver by using an aperiodic communication function block or an aperiodic communication command.
The embodiment of the present invention further provides a storage medium, where the storage medium includes a stored program, and when the program runs, a device including the storage medium is controlled to execute the method according to any embodiment of the present invention.
It should be noted that the computer storage media described herein can be either computer readable signal media or computer readable storage media, or any combination of the two. The computer readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access storage media (RAM), a read-only storage media (ROM), an erasable programmable read-only storage media (EPROM or flash memory), an optical fiber, a portable compact disc read-only storage media (CD-ROM), an optical storage media piece, a magnetic storage media piece, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
The embodiment of the present invention further provides a processor, where the processor is configured to run a program, where the program executes the method according to any one of the embodiments of the present invention when running.
Fig. 12 is a schematic structural diagram of an electronic device in an embodiment of the present invention, and as shown in fig. 12, the electronic device includes one or more processors 1101, a memory 1102, a display unit 1103, and one or more programs. Wherein the one or more programs are stored in the memory 1102 and configured to be executed by the one or more processors 1101, the one or more programs including instructions for performing the methods of any of the embodiments of the present invention.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any person skilled in the art should be able to make equivalent changes, modifications and combinations without departing from the concept and principle of the embodiments of the present invention.
Claims (14)
1. A method of fault monitoring a servo drive, comprising:
modifying a relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller, and enabling the time parameter of the servo driver to be the real-time clock data (201), wherein the servo driver is not provided with a hardware clock, the relative time parameter is relative time timing which is carried out by taking power-on starting of the servo driver as a reference, and the real-time clock data is based on global standard time; and
automatically displaying the time (202) recorded by the servo driver and the failure of the servo driver on a display device according to the modified relative time parameter of the servo driver;
wherein the modifying the relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller makes the time parameter of the servo driver be the real-time clock data specifically: according to the acquired real-time clock data of the programmable logic controller, calculating a date and/or time offset (301) based on the real-time clock data, and modifying a relative time parameter of the servo driver by using the date and/or time offset to enable the time parameter of the servo driver to be the real-time clock data (302).
2. The method according to claim 1, wherein the modifying the relative time parameter of the servo driver according to the obtained real-time clock data of the plc makes the time parameter of the servo driver be the real-time clock data specifically: and modifying the relative time parameter of the servo driver by adopting an aperiodic communication functional block or an aperiodic communication instruction according to the acquired real-time clock data of the programmable logic controller, and enabling the time parameter of the servo driver to be the real-time clock data.
3. The fault monitoring method according to any one of claims 1-2, wherein the method further comprises:
acquiring a fault code (401) corresponding to the fault of the servo driver;
and automatically displaying the alarm information text (403) corresponding to the fault code on the display equipment according to the corresponding relation between the fault code and the alarm information text corresponding to the fault code.
4. The fault monitoring method according to claim 3, wherein according to a correspondence between a fault code and its corresponding alarm information text, an alarm information text (403) corresponding to the fault code is automatically displayed on the display device, specifically: and calling an alarm information text acquisition function block to acquire an alarm information text corresponding to the fault code according to the fault code and the corresponding relation of the fault code to the corresponding alarm information text, and automatically displaying the alarm information text on the display equipment.
5. The method according to claim 3, wherein the automatically displaying the alarm information text corresponding to the fault code on the display device according to the corresponding relationship between the fault code and the alarm information text thereof further comprises:
and storing the corresponding relation between the fault code of the servo driver and the corresponding alarm information text in advance.
6. The method according to claim 5, wherein the pre-storing the corresponding relationship between the fault code of the servo driver and the corresponding alarm information text specifically comprises: and storing the fault code of the servo driver and the corresponding relation of the corresponding alarm information text in advance in the form of an alarm text list.
7. The method according to claim 5, wherein the pre-storing the corresponding relationship between the fault code of the servo driver and the corresponding alarm information text specifically comprises: and storing the corresponding relation between the fault code of the servo driver and the corresponding alarm information text in advance through an automatic tool platform.
8. The method according to claim 3, wherein the obtaining of the fault code corresponding to the fault occurring in the servo driver specifically includes: and acquiring the fault code corresponding to the fault of the servo driver by adopting a non-periodic communication functional block or a non-periodic communication instruction.
9. A fault monitoring method according to claim 3, characterized in that: before acquiring a fault code (401) corresponding to a fault occurring in the servo driver, the method further comprises the following steps: calling system resources in a programmable logic controller to enable the called system resources to acquire fault codes (401) corresponding to faults when the servo driver is in fault, and automatically displaying alarm information texts (403) corresponding to the fault codes on the display device according to the corresponding relation between the fault codes and the corresponding alarm information texts.
10. The method of claim 3, wherein the modifying the relative time parameter of the servo driver according to the acquired real-time clock data of the PLC comprises: and powering on the servo driver and establishing communication connection between the servo driver and the programmable logic controller.
11. A fault monitoring device for a servo drive, comprising:
a relative time parameter modification module (1001) for modifying a relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller, so that the time parameter of the servo driver is the real-time clock data, wherein the servo driver is not configured with a hardware clock, the relative time parameter is relative time timing performed with the power-on start of the servo driver as a reference, and the real-time clock data is based on global standard time;
a failure time display module (1002) for automatically displaying the time recorded by the servo driver and the failure time of the servo driver on a display device according to the modified relative time parameter of the servo driver;
wherein the modifying the relative time parameter of the servo driver according to the acquired real-time clock data of the programmable logic controller makes the time parameter of the servo driver be the real-time clock data specifically: and calculating the date and/or time offset based on the real-time clock data according to the acquired real-time clock data of the programmable logic controller, and modifying the relative time parameter of the servo driver by using the date and/or time offset to enable the time parameter of the servo driver to be the real-time clock data.
12. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 10.
13. An electronic device, comprising: one or more processors (1101), a memory (1102), a display unit (1103), and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any one of claims 1-10.
14. A storage medium comprising a stored program, wherein a device comprising the storage medium is controlled to perform the method of any one of claims 1 to 10 when the program is run.
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| CN111930058A (en) * | 2020-08-05 | 2020-11-13 | 深圳市微秒控制技术有限公司 | Servo driver fault monitoring system and method |
| CN113960983A (en) * | 2021-10-26 | 2022-01-21 | 上海新纪元机器人有限公司 | Data storage method and system of servo driving device and servo driving device |
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| JPH117321A (en) * | 1997-06-18 | 1999-01-12 | Mitsubishi Electric Corp | System for diagnosing servo driving circuit |
| US7024257B2 (en) * | 2001-02-09 | 2006-04-04 | Motion Engineering, Inc. | System for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control |
| EP1782559A1 (en) * | 2003-01-14 | 2007-05-09 | Honeywell International Inc. | Method and apparatus for the synchronization of a system time of a communications network with a clock reference |
| CN101043253A (en) * | 2006-06-26 | 2007-09-26 | 华为技术有限公司 | Process for obtaining high-precision time |
| CN103457685B (en) * | 2012-05-29 | 2015-09-09 | 中国科学院沈阳自动化研究所 | Based on the industry wireless network high-precision time synchronization method of predictive compensation |
| CN103763055B (en) * | 2013-10-18 | 2016-05-18 | 杭州联汇数字科技有限公司 | The method of precise synchronization time a kind of |
| CN103728920A (en) * | 2014-01-16 | 2014-04-16 | 北京工业大学 | Numerical control machine tool servo system reliability test device |
| CN105049146A (en) * | 2015-06-25 | 2015-11-11 | 南京南瑞集团公司 | Accurate clock synchronization time-setting method for large PLC system |
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| JP6493259B2 (en) * | 2016-03-11 | 2019-04-03 | オムロン株式会社 | Temperature monitoring device, temperature monitoring method, information processing program, and recording medium |
| DE102016104767B4 (en) * | 2016-03-15 | 2017-10-12 | Pilz Gmbh & Co. Kg | Apparatus and method for controlling an automated plant |
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| CN107181553B (en) * | 2017-05-24 | 2019-03-26 | 英孚康（浙江）工业技术有限公司 | A kind of method that servo-driver inside carries out exact time synchronization |
| CN108090160A (en) * | 2017-12-13 | 2018-05-29 | 中车株洲电力机车有限公司 | Train fault diagnostic device and method based on embedded database |
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