CN111338329A - Robot servo system, fault debugging method and device thereof, and electronic equipment - Google Patents
Robot servo system, fault debugging method and device thereof, and electronic equipment Download PDFInfo
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- CN111338329A CN111338329A CN202010429274.8A CN202010429274A CN111338329A CN 111338329 A CN111338329 A CN 111338329A CN 202010429274 A CN202010429274 A CN 202010429274A CN 111338329 A CN111338329 A CN 111338329A
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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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The invention provides a robot servo system, a fault debugging method and device thereof, and electronic equipment, wherein debugging signals are sent to all servo motor drivers; receiving feedback signals sent back by each servo motor driver; acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit; controlling the fault servo unit to enter a shielding state according to the fault information; repeating the steps until all debugging is finished; therefore, when a servo fault occurs in the debugging process of the robot servo system, the problems of complex operation and easy error caused by the fact that the interference of fault servo is eliminated in a network cable plugging mode are avoided.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot servo system, a fault debugging method and device thereof, and electronic equipment.
Background
Some industrial robots have a plurality of joints, each joint being provided with a servo motor, each servo motor being driven by a servo driver, all servo driver drives being controlled by a motion controller; the motion control bus based on the industrial Ethernet, such as an EtherCAT bus, has the advantages of high communication speed, good anti-interference performance, strong real-time performance and the like, and the motion controller and the servo driver of a multiplex robot are connected by the EtherCAT bus.
Fig. 4 is a schematic structural diagram of a robot servo system using an EtherCAT bus, which includes a motion controller, a plurality of servo motors and a plurality of servo motor drivers, wherein each servo motor is electrically connected to one servo motor driver, an EtherCAT master station is arranged in the motion controller, an EtherCAT slave station is arranged in each servo motor driver, and the motion controller and the servo motor drivers are sequentially connected in series by using the EtherCAT bus.
When debugging is carried out, debugging signals sent by the motion controller need to be transmitted through the servo motor drivers in sequence, when a certain servo (a unit formed by the servo motor drivers and the servo motors) in the middle breaks down, the interference of the broken servo can be generally eliminated, debugging of other servos can be carried out (debugging of other servos is not influenced after the broken servo is eliminated), and finally the broken servo is repaired and debugged. However, in order to debug other servos without the interference of the faulty servos, the network cable is usually plugged and unplugged, i.e., the cable originally connected to the faulty servos is unplugged and reconnected around the faulty servos, but the operation of unplugging and reconnecting is complicated to implement and is prone to errors (faulty connection).
Disclosure of Invention
In view of the defects of the prior art, an object of the embodiments of the present application is to provide a robot servo system, a fault debugging method and apparatus thereof, and an electronic device, which aim to solve the problems that when a servo fault occurs in a debugging process of the existing robot servo system, the interference of a fault servo is eliminated in a network cable plugging and unplugging manner, so that the operation is complicated, and errors are easily caused.
In a first aspect, an embodiment of the present application provides a robot servo system fault debugging method, which is applied to a motion controller in a robot servo system based on an EtherCAT bus, where the motion controller is sequentially connected in series with a plurality of servo units through the EtherCAT bus, each servo unit includes a servo motor driver and a servo motor connected to the servo motor driver, an EtherCAT master station is arranged in the motion controller, and an EtherCAT slave station is arranged in the servo motor driver; the robot servo system fault debugging method comprises the following steps:
sending debugging signals to each servo motor driver;
receiving feedback signals sent back by each servo motor driver;
acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit;
controlling the fault servo unit to enter a shielding state according to the fault information;
and repeating the steps until all debugging is completed.
In the robot servo system fault debugging method, the fault information also comprises fault reason information;
the step of controlling the fault servo unit to enter the shielding state according to the fault information comprises the following steps: and controlling the fault servo unit to enter a shielding state according to the fault reason information.
In the method for debugging the fault of the robot servo system, the step of controlling the fault servo unit to enter a shielding state according to the fault cause information comprises the following steps: judging whether the fault reason information belongs to first-class fault reason information or not;
if the fault reason information belongs to the first type of fault reason information, automatically controlling the fault servo unit to enter a shielding state;
and if the fault reason information does not belong to the first type of fault reason information, sending an inquiry signal and waiting for a response signal, and controlling the fault servo unit according to the response signal.
In some embodiments, the step of controlling the faulty servo unit to enter a shielding state according to the fault information comprises: and sending a first control signal to the fault servo unit so as to enable a servo motor driver of the fault servo unit to be short-circuited.
In other embodiments, the step of controlling the faulty servo unit to enter the shielding state according to the fault information includes: and sending a second control signal to the fault servo unit so as to enable the EtherCAT slave station of the fault servo unit to enter a non-interactive mode.
In a second aspect, an embodiment of the present application further provides a robot servo system fault debugging device, where the robot servo system fault debugging device is a motion controller in a robot servo system based on an EtherCAT bus, the motion controller is sequentially connected in series with a plurality of servo units through the EtherCAT bus, each servo unit includes a servo motor driver and a servo motor connected to the servo motor driver, an EtherCAT master station is arranged in the motion controller, and an EtherCAT slave station is arranged in the servo motor driver; the robot servo system fault debugging device comprises:
the transmission module is used for transmitting debugging signals to each servo motor driver;
the receiving module is used for receiving feedback signals sent back by the servo motor drivers;
the acquisition module is used for acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit;
and the control module is used for controlling the fault servo unit to enter a shielding state according to the fault information.
In the robot servo system fault debugging apparatus, the obtaining module includes:
the first acquisition unit is used for acquiring the positioning information of the fault servo unit according to the feedback signal;
and the second acquisition unit is used for acquiring the fault reason information of the fault servo unit according to the feedback signal.
In the robot servo system fault debugging apparatus, the control module includes:
the judging unit is used for judging whether the fault reason information belongs to first-class fault reason information or not;
the first control unit is used for automatically controlling the fault servo unit to enter a shielding state when the fault reason information belongs to the first type of fault reason information;
and the second control unit is used for sending out an inquiry signal and waiting for a response signal when the fault reason information does not belong to the first type of fault reason information, and controlling the fault servo unit according to the response signal.
An electronic device comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is used for executing the robot servo system fault debugging method by calling the computer program stored in the memory.
In a third aspect, an embodiment of the present application further provides a robot servo system, including a motion controller, where the motion controller is sequentially connected in series with multiple servo units through an EtherCAT bus, each servo unit includes a servo motor driver and a servo motor connected to the servo motor driver, an EtherCAT master station is disposed in the motion controller, and an EtherCAT slave station is disposed in the servo motor driver; the servo unit further comprises a bypass bus connected with the servo motor driver in parallel, and a bidirectional switch used for connecting the bypass bus or the servo motor driver and the EtherCAT bus.
Has the advantages that:
according to the robot servo system and the fault debugging method, device and electronic equipment thereof, debugging signals are sent to all servo motor drivers; receiving feedback signals sent back by each servo motor driver; acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit; controlling the fault servo unit to enter a shielding state according to the fault information; repeating the steps until all debugging is finished; therefore, when a servo fault occurs in the debugging process of the robot servo system, the problems of complex operation and easy error caused by the fact that the interference of fault servo is eliminated in a network cable plugging mode are avoided.
Drawings
Fig. 1 is a flowchart of a robot servo system fault debugging method according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a robot servo system fault debugging apparatus according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a first robot servo system.
Fig. 5 is a schematic structural diagram of a second robot servo system.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The following disclosure provides embodiments or examples for implementing different configurations of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Referring to fig. 1 and 4, the robot servo system fault debugging method provided in the embodiment of the present application is applied to a motion controller 200 in a robot servo system based on an EtherCAT bus, the motion controller is sequentially connected in series with a plurality of servo units 202 through the EtherCAT bus 201, each servo unit 202 includes a servo motor driver 203 and a servo motor 204 connected with the servo motor driver, an EtherCAT master station 205 is disposed in the motion controller 200, and an EtherCAT slave station 206 is disposed in the servo motor driver 203; the robot servo system fault debugging method comprises the following steps:
A1. sending debugging signals to each servo motor driver;
A2. receiving feedback signals sent back by each servo motor driver;
A3. acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit;
A4. controlling the fault servo unit to enter a shielding state according to the fault information;
A5. and repeating the steps until all debugging is completed.
The shielding state refers to a state in which a signal of the EtherCAT bus 201 can directly pass through a faulty servo unit and does not interact with the servo motor driver 203 of the faulty servo unit.
After the debugging signals are sent to the servo motor drivers 203 according to the preset debugging items, the servo motor drivers 203 send back feedback signals after the servo motors 204 are driven to execute related operations according to the debugging signals, under normal conditions, the feedback signals should be consistent with corresponding standard feedback signals (standard feedback signal information and preset debugging item information are prestored in the motion controller 200 together), and if the feedback signals sent back by the servo motor drivers 203 of a certain servo unit 202 are inconsistent with the corresponding standard feedback signals, the fault of the servo unit 202 can be judged.
Therefore, after the feedback signal is received, the positioning information of the fault servo unit can be obtained according to the feedback signal; the step of obtaining the positioning information of the fault servo unit according to the feedback signal comprises the following steps:
comparing each received feedback signal with a corresponding standard feedback signal to obtain a comparison result;
and if the comparison result shows that the feedback signal is inconsistent with the corresponding standard feedback signal, extracting the address bit information in the data frame of the feedback signal as the positioning information of the fault servo unit.
Because there are many reasons for the failure of the servo unit 202, some failures may cause the interruption of the EtherCAT bus (for example, the EtherCAT slave station 206 cannot operate), and at this time, the feedback signals of the servo unit 202 including the interrupted point and all the servo units 202 thereafter cannot be received, and at this time, the interruption position may be determined according to which servo unit 202 does not receive the feedback signal, so as to obtain the positioning information of the failed servo unit.
In this embodiment, the failure information further includes failure cause information; the step of controlling the fault servo unit to enter the shielding state according to the fault information comprises the following steps: and controlling the fault servo unit to enter a shielding state according to the fault reason information. There are many fault causes of the faulty servo unit, for example, current is too large, motor fault, servo configuration is wrong, external power line is not connected well, there is no feedback signal (generally caused by fault of EtherCAT slave station), and the fault cause information can be obtained by analyzing and judging the actual condition of the feedback signal, the specific analyzing and judging method is the prior art, and details thereof are not described here.
In some embodiments, since some faults can be quickly cleared on the spot (such as a servo configuration error, a failure of an external power line, and the like), and some faults are relatively troublesome to process (such as an excessive current, a motor fault, no feedback signal, and the like), fault cause information can be classified into first type fault cause information and second type fault cause information according to the convenience of clearing faults, wherein the first type fault cause information refers to fault cause information of a fault which is relatively troublesome to process, and the second type fault cause information refers to fault cause information of a fault which can be quickly cleared on the spot; the specific classification of various fault reasons can be set according to actual conditions.
In some embodiments, the step of controlling the faulty servo unit to enter the masking state according to the fault cause information comprises 1) -3):
1) judging whether the fault reason information belongs to the first type of fault reason information;
a fault classification table can be preset specifically, and inquiry is carried out in the fault classification table according to fault reason information, so that whether the fault reason information belongs to the first type or not is finally determined.
2) If the fault reason information belongs to the first type of fault reason information, automatically controlling the fault servo unit to enter a shielding state;
the failure reason information belongs to the first type of failure reason information, which indicates that it is difficult to rapidly remove the failure on site, so that the failed servo unit directly enters a shielding state, and the failure is removed and debugged after the other servo units 202 complete debugging.
3) If the fault reason information does not belong to the first type of fault reason information, sending an inquiry signal, waiting for a response signal, and controlling the fault servo unit according to the response signal;
the failure reason information does not belong to the first type of failure, which indicates that the failure can be rapidly removed on site, so that an inquiry signal can be sent out firstly, and a debugging person determines whether to remove the failure or not; if the debugging personnel decide to carry out fault elimination, sending back a response signal indicating that the fault is eliminated after the fault elimination, and continuing to carry out debugging after receiving the response signal; if the debugging personnel decide not to carry out the fault elimination, a response signal indicating that the fault is not eliminated is sent back, and the fault servo unit is automatically controlled to enter a shielding state after the response signal is received.
The inquiry signal can be one or more of a sound signal, a light signal and a text signal, and the inquiry signal can contain the positioning information and the fault reason information of the fault servo unit. The inquiry signal includes, for example, a sound signal emitted through a speaker provided at the motion controller 200 and used to broadcast the fault cause information, and a light signal emitted from a warning lamp provided at the fault servo unit and used to transmit the location information.
The response signal may be sent back to the motion controller 200 by a trigger button, a keyboard input, a touch screen input, a remote control input, or the like.
Through the steps 1) -3), a debugging worker can independently select whether the fault servo unit enters a shielding state according to specific fault reasons and field conditions, when the fault which can be rapidly eliminated on site is found and immediately eliminated, the fault is eliminated and debugged again after other servo units finish debugging, and the work efficiency is improved.
Further, the step of controlling the faulty servo unit to enter the shielded state according to the fault information includes S1 or S2.
S1, sending a first control signal to the fault servo unit to enable the servo motor driver of the fault servo unit to be short-circuited.
For example, based on the robot servo system shown in fig. 5, the servo unit 202 further includes a bypass bus 207 connected in parallel with the servo motor driver 203 thereof, and a bidirectional switch 208 for connecting the bypass bus 207 or the servo motor driver 203 with the EtherCAT bus 201 (i.e., one of the bypass bus 207 and the servo motor driver 203 is connected with the EtherCAT bus 201 at the same time);
when a first control signal for enabling the bidirectional switch 208 to be connected with the bypass bus 207 is sent to the fault servo unit, the bidirectional switch 208 is connected with the bypass bus 207, at the moment, the connection between the servo motor driver 203 and the EtherCAT bus 201 is cut off, so that the servo motor driver 203 is short-circuited, and at the moment, the signal of the EtherCAT bus 201 can directly pass through the bypass bus 207 without information interaction with the servo motor driver 203.
And S2, sending a second control signal to the fault servo unit so as to enable the EtherCAT slave station of the fault servo unit to enter a non-interactive mode.
The fact that the EtherCAT slave station 206 enters the non-interactive mode means that the EtherCAT slave station 206 enters an operating mode in which the EtherCAT slave station 206 does not operate a slave station code for causing the EtherCAT bus 201 to perform information interaction with the inside of the servo motor driver 203, and thus operates only as a network connector. After the EtherCAT slave station 206 enters the non-interactive mode, the signal of the EtherCAT bus 201 can directly pass through the EtherCAT slave station 206 without information interaction with the servo motor driver 203. By sending the second control signal to the faulty servo unit, the EtherCAT slave station 206 enters the non-interactive mode, and the faulty servo unit can be controlled to enter the shielding state.
Since the debugging signal includes the data frame sent to all servo motor drivers 203, each EtherCAT slave station 206 extracts corresponding data according to the address code in the data frame, and even if a certain servo unit enters a shielding state and does not extract corresponding data any more, the extraction of data and the sending of feedback information by other EtherCAT slave stations 206 are not affected.
In some embodiments, the data frame of the EtherCAT bus signal includes a flag bit, when the EtherCAT slave station 206 recognizes that the flag bit of the received data frame is 0 (or 1), the slave station code for causing the EtherCAT bus 201 to perform information interaction with the inside of the servo motor driver 203 is operated, and when the EtherCAT slave station 206 recognizes that the flag bit of the received data frame is 1 (or 0), the slave station code for causing the EtherCAT bus 201 to perform information interaction with the inside of the servo motor driver 203 is not operated. The EtherCAT slave station 206 is controlled to enter the non-interactive mode in this way, and only the value of the zone bit of the corresponding data frame in the transmitted information needs to be changed, so that the method is simple to implement and occupies less resources. That is, the second control signal may be formed by inverting the flag bit in the data frame sent to the EtherCAT slave of the faulty servo unit.
In some embodiments, based on the robot servo system described in fig. 5, when the faulty servo unit is controlled to enter the shielding state according to the fault information, the steps S1 or S2 may be selectively adopted according to the fault cause information; for example, when the failure cause is that EtherCAT slave station fails to cause a feedback signal, and the EtherCAT bus 201 is interrupted at the failed EtherCAT slave station, the failed slave unit cannot enter the shielded state in step S2, but the failed slave unit can enter the shielded state in step S1, and the first method should be selected.
According to the method for debugging the faults of the robot servo system, the debugging signals are sent to the servo motor drivers; receiving feedback signals sent back by each servo motor driver; acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit; controlling the fault servo unit to enter a shielding state according to the fault information; repeating the steps until all debugging is finished; therefore, when a servo fault occurs in the debugging process of the robot servo system, the problems of complex operation and easy error caused by the fact that the interference of fault servo is eliminated in a network cable plugging mode are avoided.
Referring to fig. 2 and 4, the embodiment of the present application further provides a robot servo system fault debugging apparatus, where the robot servo system fault debugging apparatus is a motion controller 200 in a robot servo system based on an EtherCAT bus, the motion controller is sequentially connected in series with a plurality of servo units 202 through the EtherCAT bus 201, each servo unit 202 includes a servo motor driver 203 and a servo motor 204 connected to the servo motor driver, an EtherCAT master station 205 is disposed in the motion controller 200, and an EtherCAT slave station 206 is disposed in the servo motor driver 203; the robot servo system fault debugging device comprises a sending module 1, a receiving module 2, an obtaining module 3 and a control module 4;
the system comprises a sending module 1, a debugging module and a control module, wherein the sending module 1 is used for sending debugging signals to each servo motor driver;
the receiving module 2 is used for receiving feedback signals sent back by the servo motor drivers;
the acquisition module 3 is used for acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of the fault servo unit;
the control module 4 is configured to control the fault servo unit to enter a shielding state according to the fault information.
Further, the acquiring module 3 includes a first acquiring unit and a second acquiring unit;
the first acquisition unit is used for acquiring the positioning information of the fault servo unit according to the feedback signal;
and the second acquisition unit is used for acquiring the fault reason information of the fault servo unit according to the feedback signal.
Further, the control module 4 comprises a judging unit, a first control unit and a second control unit;
the judging unit is used for judging whether the fault reason information belongs to the first type of fault reason information;
the first control unit is used for automatically controlling the fault servo unit to enter a shielding state when the fault reason information belongs to the first type of fault reason information;
and the second control unit is used for sending out an inquiry signal and waiting for a response signal when the fault reason information does not belong to the first type of fault reason information, and controlling the fault servo unit according to the response signal.
Therefore, the robot servo system fault debugging device sends debugging signals to each servo motor driver; receiving feedback signals sent back by each servo motor driver; acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit; controlling the fault servo unit to enter a shielding state according to the fault information; repeating the steps until all debugging is finished; therefore, when a servo fault occurs in the debugging process of the robot servo system, the problems of complex operation and easy error caused by the fact that the interference of fault servo is eliminated in a network cable plugging mode are avoided.
Referring to fig. 3, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the robot servo system fault debugging method by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: sending debugging signals to each servo motor driver; receiving feedback signals sent back by each servo motor driver; acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit; controlling the fault servo unit to enter a shielding state according to the fault information; and repeating the steps until all debugging is completed.
As can be seen from the above, the electronic device transmits a debugging signal to each servo motor driver; receiving feedback signals sent back by each servo motor driver; acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit; controlling the fault servo unit to enter a shielding state according to the fault information; repeating the steps until all debugging is finished; therefore, when a servo fault occurs in the debugging process of the robot servo system, the problems of complex operation and easy error caused by the fact that the interference of fault servo is eliminated in a network cable plugging mode are avoided.
Referring to fig. 5, an embodiment of the present application further provides a robot servo system, including a motion controller 200, where the motion controller is sequentially connected in series with a plurality of servo units 202 through an EtherCAT bus 201, each servo unit 202 includes a servo motor driver 203 and a servo motor 204 connected to the servo motor driver, an EtherCAT master station 205 is disposed in the motion controller 200, and an EtherCAT slave station 206 is disposed in the servo motor driver 203; the servo unit 202 further includes a bypass bus 207 connected in parallel to the servo motor driver thereof, and a bidirectional switch 208 for connecting the bypass bus 207 or the servo motor driver 203 to the EtherCAT bus 201 (i.e., one of the bypass bus 207 and the servo motor driver 203 is connected to the EtherCAT bus 201 at the same time).
In some embodiments, the bi-directional switch 208 is an electromagnetic switch; in other embodiments, the bi-directional switch 208 is a manual switch.
By the robot servo system, when a servo fault occurs in the debugging process, the fault servo unit can enter a shielding state by connecting the bypass bus, so that the problem that the operation is complicated and the error is easy to occur due to the fact that the fault servo interference is eliminated in a network cable plugging and unplugging mode can be avoided.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.
Claims (10)
1. A robot servo system fault debugging method is applied to a motion controller in a robot servo system based on an EtherCAT bus, the motion controller is sequentially connected with a plurality of servo units in series through the EtherCAT bus, each servo unit comprises a servo motor driver and a servo motor connected with the servo motor driver, an EtherCAT master station is arranged in the motion controller, and an EtherCAT slave station is arranged in the servo motor driver; the method is characterized by comprising the following steps:
sending debugging signals to each servo motor driver;
receiving feedback signals sent back by each servo motor driver;
acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit;
controlling the fault servo unit to enter a shielding state according to the fault information;
and repeating the steps until all debugging is completed.
2. The robot servo system fault debugging method of claim 1, wherein the fault information further comprises fault cause information;
the step of controlling the fault servo unit to enter the shielding state according to the fault information comprises the following steps: and controlling the fault servo unit to enter a shielding state according to the fault reason information.
3. The method according to claim 2, wherein the step of controlling the faulty servo unit to enter the shielding state according to the fault cause information comprises:
judging whether the fault reason information belongs to first-class fault reason information or not;
if the fault reason information belongs to the first type of fault reason information, automatically controlling the fault servo unit to enter a shielding state;
and if the fault reason information does not belong to the first type of fault reason information, sending an inquiry signal and waiting for a response signal, and controlling the fault servo unit according to the response signal.
4. The method according to claim 1, wherein the step of controlling the faulty servo unit to enter a shielding state according to the fault information comprises: and sending a first control signal to the fault servo unit so as to enable a servo motor driver of the fault servo unit to be short-circuited.
5. The method according to claim 1, wherein the step of controlling the faulty servo unit to enter a shielding state according to the fault information comprises: and sending a second control signal to the fault servo unit so as to enable the EtherCAT slave station of the fault servo unit to enter a non-interactive mode.
6. A robot servo system fault debugging device is a motion controller in a robot servo system based on an EtherCAT bus, the motion controller is sequentially connected with a plurality of servo units in series through the EtherCAT bus, each servo unit comprises a servo motor driver and a servo motor connected with the servo motor driver, an EtherCAT master station is arranged in the motion controller, and an EtherCAT slave station is arranged in each servo motor driver; the robot servo system fault debugging device is characterized by comprising:
the transmission module is used for transmitting debugging signals to each servo motor driver;
the receiving module is used for receiving feedback signals sent back by the servo motor drivers;
the acquisition module is used for acquiring fault information according to the feedback signal, wherein the fault information comprises positioning information of a fault servo unit;
and the control module is used for controlling the fault servo unit to enter a shielding state according to the fault information.
7. The robot servo system failure debugging device of claim 6, wherein the obtaining module comprises:
the first acquisition unit is used for acquiring the positioning information of the fault servo unit according to the feedback signal;
and the second acquisition unit is used for acquiring the fault reason information of the fault servo unit according to the feedback signal.
8. The robot servo system failure debugging device of claim 6, wherein the control module comprises:
the judging unit is used for judging whether the fault reason information belongs to first-class fault reason information or not;
the first control unit is used for automatically controlling the fault servo unit to enter a shielding state when the fault reason information belongs to the first type of fault reason information;
and the second control unit is used for sending out an inquiry signal and waiting for a response signal when the fault reason information does not belong to the first type of fault reason information, and controlling the fault servo unit according to the response signal.
9. An electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the robot servo system fault debugging method according to any one of claims 1 to 5 by calling the computer program stored in the memory.
10. The utility model provides a robot servo system, includes motion control ware, motion control ware passes through the EtherCAT bus and is connected with a plurality of servo unit series connection in proper order, servo unit include servo motor driver and with the servo motor that the servo motor driver is connected, just be provided with the EtherCAT main website in the motion control ware, be provided with the EtherCAT slave station in the servo motor driver, its characterized in that, servo unit still includes rather than servo motor driver parallel connection's bypass bus to and be used for putting through bypass bus or servo motor driver with the bilateral switch of EtherCAT bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429274.8A CN111338329B (en) | 2020-05-20 | 2020-05-20 | Robot servo system, fault debugging method and device thereof, and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429274.8A CN111338329B (en) | 2020-05-20 | 2020-05-20 | Robot servo system, fault debugging method and device thereof, and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
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| CN111338329A true CN111338329A (en) | 2020-06-26 |
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