CN112783048B - Remote debugging system for servo driver - Google Patents
Remote debugging system for servo driver Download PDFInfo
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- CN112783048B CN112783048B CN202011637881.XA CN202011637881A CN112783048B CN 112783048 B CN112783048 B CN 112783048B CN 202011637881 A CN202011637881 A CN 202011637881A CN 112783048 B CN112783048 B CN 112783048B
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention discloses a remote debugging system for a servo driver, which comprises a remote control platform, remote debugging equipment, the servo driver and an execution motor, wherein the remote debugging equipment is connected with the servo driver through a network; the remote control platform comprises a computer and a remote control unit, and the servo driver is remotely controlled through remote debugging equipment; the remote debugging equipment comprises a main control chip, and a communication module, a mode selection module, a debugging information communication module, a CAN communication module, an external SRAM, an SD card, a FLASH, a network connection state indicator lamp and an upgrade state indicator lamp which are electrically connected with the main control chip; the servo driver is connected with the main control chip and the execution motor, and is used for receiving the control information sent by the main control chip, controlling the execution motor and uploading the state information of the motor to the main control chip. The system can remotely realize all functions of debugging the upper computer by the servo driver, and simultaneously supplement the functions of remote upgrading, off-line upgrading, log saving and the like.
Description
Technical Field
The invention relates to the field of remote debugging of servo drivers, in particular to a remote debugging system for a servo driver.
Background
The servo driver is a controller for controlling a servo motor, acts on a common alternating current motor similarly to a frequency converter, belongs to a part of a servo system, and is mainly applied to a high-precision positioning system. The servo motor is generally controlled by three modes of position, speed and moment, so that the high-precision positioning of a transmission system is realized, and the servo motor is a high-end product of a transmission technology. The actual application environment of the servo driver is often severe, once abnormality occurs in the use process, technicians are difficult to acquire real-time data of the operation of the servo driver, and the debugging/troubleshooting process is difficult and low in efficiency;
the existing debugging upper computer is connected with a servo driver through a debugging line, and a worker acquires data of the servo driver by means of the upper computer and analyzes the running state of the servo driver; however, the prior art is generally applied to the development stage of the servo driver or the special situation that the application environment is suitable for an external debugging line, and is not suitable for the actual application scene of most servo drivers, once the servo driver is abnormal, an experienced technician must be dispatched to the site to solve the problem, the capture of abnormal data of the servo driver is a long process, the efficiency of solving the problem in the prior art is low, the labor consumption is serious, the potential hazard of harming the personal safety of the technician exists in debugging/troubleshooting under a severe environment, and the maintenance, debugging and troubleshooting of the servo driver are not an optimal choice;
therefore, a novel debugging system is urgently needed to be designed, so that the interconnection among the servo driver, a person and a remote control platform is realized, the servo driver is free from the constraint of external wiring in an extremely severe environment, and the purpose that a worker remotely obtains the running state data of the servo driver for a long time in real time is realized; furthermore, as the technology of research personnel is improved to promote the optimization of the performance of the servo driver, the remote debugging system can also remotely upgrade the application program of the servo driver, and the remote code alternation of the servo driver product is realized.
Disclosure of Invention
The invention aims to provide a remote debugging system for a servo driver, which can meet the function of remotely debugging/troubleshooting the servo driver and ensure the personal safety of technicians.
The technical scheme for realizing the purpose of the invention is as follows: a remote debugging system for a servo driver comprises a remote control platform, remote debugging equipment, the servo driver and an execution motor;
the remote control platform comprises a computer and a remote control unit, and the remote control unit remotely controls the servo driver through remote debugging equipment to complete debugging/troubleshooting functions or upgrading functions;
the remote debugging equipment comprises a main control chip, and a communication module, a mode selection module, a debugging information communication module, a CAN communication module, an external SRAM, an SD card, a FLASH, a network connection state indicator lamp and an upgrade state indicator lamp which are electrically connected with the main control chip; the communication module is electrically connected with the main control chip through a serial port bus and is used for communication between the main control chip and the remote control platform so as to complete the functions of remote control of a servo driver, uploading state information and downloading bin files issued by the remote control platform; the mode selection module is used for guiding the remote debugging equipment to execute a remote debugging/troubleshooting function or an upgrading function; the debugging information communication module electrically connects the remote debugging equipment with the servo driver by virtue of a debugging line and is used for information interaction between the remote debugging equipment and the servo driver; the CAN communication module is also electrically connected with the servo driver and is used for monitoring CAN message information of the servo driver receiving the upper layer controller in real time; the external SRAM is used for caching bin files issued by the remote control platform; the FLASH is used for storing bin files issued by the remote control platform; the SD card stores the running state information of the servo driver; the network connection state indicator is used for displaying the network connection state of the communication module and the remote control platform; the upgrading state indicator lamp is used for displaying the offline upgrading state of the servo driver;
the servo driver is connected with a debugging information communication module and a CAN communication module of the remote debugging device, is simultaneously connected with the execution motor, and is used for receiving the control information sent by the main control chip, controlling the execution motor and uploading the state information of the motor and the servo driver to the main control chip.
Further, the communication module includes but is not limited to 5G communication module, 4G communication module, 3G communication module, 2G communication module, NB communication module and/or WIFI communication module.
Further, the main control chip is a single chip microcomputer or a microcontroller unit.
Further, the servo driver supports single-channel or multi-channel execution motor control.
Further, the SD card stores the running state information of the servo driver in the last half hour.
Further, the mode selection module comprises the selection of debugging, troubleshooting, offline upgrading and online upgrading, and the debugging comprises the selection of controlling the position, the speed and the torque of the servo driver and the starting/stopping of the execution motor.
Further, the running state information of the servo driver stored by the SD card includes: the method comprises the following steps that a servo driver runs in real time, the waveform of the running state of the servo driver within a period of time and a CAN message instruction received by the servo driver; wherein:
the real-time running state of the servo driver comprises the following steps: fault codes, position information, speed information, torque information, three-phase current information, driver temperature information, bus voltage information and driver model;
the waveform of the operation state of the servo driver in a period of time comprises: the three-phase current waveform, the position command value and position actual value waveform, the speed command value and speed actual value waveform, and the torque command value and torque actual value waveform.
Furthermore, the system supports a remote online upgrading function and an offline upgrading function.
Further, the online upgrade function specifically includes: the remote control platform issues the bin file to an external SRAM of the remote debugging equipment, and when the remote debugging equipment receives the complete bin file, the remote control platform displays that the file is downloaded completely; the remote debugging equipment sends the external SRAM data to the servo driver through a debugging line, and when the servo driver receives the complete bin file, the remote control platform displays that the servo driver is successfully updated; in the remote updating process, any abnormity occurs, and the remote control platform displays that the updating of the servo driver fails.
Further, the offline upgrade function specifically includes: the servo driver is connected with the remote debugging equipment, the mode selection module is in an off-line upgrading state, the FLASH content in which the bin file is prestored is written into the external SRAM by the remote debugging equipment at the moment, the remote debugging equipment sends the data of the external SRAM to the servo driver through a debugging line, when the servo driver receives the complete bin file, the upgrading state indicator lamp can FLASH alternately by slow-frequency lighting and extinguishing, otherwise, the upgrading state indicator lamp can FLASH alternately by fast-frequency lighting and extinguishing.
Compared with the prior art, the invention has the following beneficial effects: the system migrates the traditional servo driver debugging system to a server by means of the Internet of things technology to realize the remote debugging/troubleshooting function, thereby not only realizing the remote debugging/troubleshooting function under any working condition of the servo driver under the condition of network connection, but also ensuring the personal safety of technicians; the system can remotely realize all functions of debugging the upper computer of the servo driver, and simultaneously supplements the functions of online upgrading, offline upgrading, log saving and the like, and has the advantages of less manpower and high efficiency; the system achieves the purpose that a worker remotely obtains the operating state data of the servo driver in real time for a long time.
Drawings
Fig. 1 is a schematic structural diagram of a remote debugging system for a servo driver according to the present invention.
Detailed Description
The foregoing is a summary of the present invention, and for the purposes of promoting a clear understanding of the principles of the invention, its operation, features, and advantages, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings.
The invention provides a remote debugging system for a servo driver, which is composed of a remote control platform, remote debugging equipment (remote diagnosis equipment in figure 1), the servo driver and an execution motor, and forms an intelligent network by a wireless network through a servo driver, the remote debugging equipment and a remote control platform by means of the technology of the internet of things, as shown in figure 1.
The remote control platform comprises a computer and remote control software, and the remote debugging equipment knows the IP address and the port number of a server of the remote control software in advance and initiates a communication request; once the remote debugging equipment is connected with the remote control software server, the remote control platform can realize the wireless control of the remote debugging equipment and the servo driver;
the remote debugging equipment comprises a main control chip, a communication module, a mode selection module, a debugging information communication module, a CAN communication module, an external SRAM, an SD card, a FLASH, a network connection state indicator lamp and an upgrading state indicator lamp;
the servo driver supports single-channel or multi-channel motor control;
the main Control chip is a Micro Controller Unit (MCU) or a Micro Controller Unit (MPU) with Chinese name of single chip microcomputer;
the communication module is electrically connected with the main control chip through a serial port bus and is used for realizing remote control, state information uploading and bin (binary, Chinese name: binary file) file downloading functions of the servo driver, and the communication module comprises but is not limited to a 5G communication module, a 4G communication module, a 3G communication module, a 2G communication module, an NB communication module and/or a WIFI communication module;
the mode selection module is electrically connected with the main control chip, the remote selection module is actually a dial switch, and the remote debugging equipment guides the remote debugging equipment to execute a remote debugging function or an offline upgrading function by reading the state of the dial switch;
the debugging information communication module electrically connects the remote debugging equipment with the servo driver by a debugging line and is used for information interaction between the remote debugging equipment and the servo driver;
the CAN communication module is electrically connected with the servo driver and is used for monitoring CAN message information of the servo driver receiving an upper layer controller in real time, and the remote debugging equipment reports CAN message data once when monitoring 10 CAN message information according to a protocol;
the external SRAM is electrically connected with the main control chip and is used for caching the bin file issued by the remote control platform to realize the remote upgrading function of the servo driver;
the FLASH is electrically connected with the main control chip, stores the bin file issued by the remote control platform and realizes the off-line upgrading function of the servo driver;
the network connection state indicator lamp (state indicator lamp 1 in fig. 1) is electrically connected with the main control chip and is used for displaying the network connection state of the communication module and the remote control platform;
the upgrade status indicator lamp (status indicator lamp 2 in fig. 1) is electrically connected with the main control chip and is used for displaying the offline upgrade status of the servo driver;
the remote debugging system for the servo driver can adapt to remote debugging/troubleshooting work under any working condition in an environment with a network on an application site, technicians issue debugging/troubleshooting instructions by operating the remote control platform, and the running state of the servo driver is remotely monitored by means of transmitting the instructions through the remote debugging equipment to control the running mode of the servo driver;
the technical staff controls the motion of the servo driver through the remote control platform, which specifically comprises: the servo driver position/speed/torque mode is selected to control the execution motor to start/stop;
a technician performs functions of importing, restarting and fault clearing servo parameters of the servo driver through the remote control platform;
the technical personnel monitor the operation state of the servo driver through the remote control platform, and the method specifically comprises the following three parts:
monitoring the real-time running state of the servo driver, wherein the monitoring comprises the following steps: fault codes, position information, speed information, torque information, three-phase current information, driver temperature information, bus voltage information and driver models; the specific operation is as follows: a technician controls the remote control platform to issue a data acquisition instruction in real time, the remote debugging equipment performs data interaction with the servo driver after receiving the data acquisition instruction, and uploads the acquired running state information of the servo driver to the remote control platform, so that the real-time running state of the servo driver is remotely monitored;
monitoring a waveform of an operating state of the servo driver for a period of time, specifically comprising: three-phase current waveform, position command value and position actual value, speed command value and speed actual value, torque command value and torque actual value; the specific operation is as follows: a technician controls the remote control platform to issue a data tracking instruction in real time, the remote debugging equipment performs data interaction with the servo driver after receiving the data tracking instruction, the obtained data tracking information of the servo driver is stored in the external SRAM, and the data tracking information is uploaded to the remote control platform after the data tracking data is obtained, so that the waveform of the operation state of the servo driver in a period of time can be rapidly monitored;
monitoring CAN message instructions received by the servo driver, wherein the remote debugging equipment CAN monitor CAN messages sent by the upper controller in real time, and the remote control platform displays the monitored CAN message information in real time;
the SD card stores the running state information of the servo driver in the last half hour;
the remote debugging system for the servo driver supports a remote upgrading function under the normal condition of network communication; the remote control platform issues the bin file to the external SRAM of the remote debugging equipment, and when the remote debugging equipment receives the complete bin file, the remote control platform displays that the file is downloaded completely; the remote debugging equipment continuously sends the external SRAM data to the servo driver through the debugging line, and the remote control platform displays that the servo driver is successfully updated when the servo driver receives the complete bin file; in the remote updating process, the remote control platform displays that the servo driver fails to update in any abnormal condition;
the remote debugging system for the servo driver supports an offline upgrading function under the condition that network communication is limited; specifically, a technician connects the servo driver with the remote debugging device, selects the mode selection module state as the offline upgrade mode, writes the FLASH content pre-stored with the bin file into the external SRAM by the remote debugging device, sends the external SRAM data to the servo driver through the debugging line, and sends the upgrade state indicator lamp to FLASH alternately with slow frequency when the servo driver receives the complete bin file, or else, flashes alternately with fast frequency; and a field technician can determine success/failure of offline downloading of the servo driver through the flashing condition of the upgrade status indicator lamp.
Claims (8)
1. A remote debugging system for a servo driver is characterized by comprising a remote control platform, remote debugging equipment, the servo driver and an execution motor;
the remote control platform comprises a computer and a remote control unit, and the remote control unit remotely controls the servo driver through remote debugging equipment to complete debugging/troubleshooting functions or upgrading functions;
the remote debugging equipment comprises a main control chip, and a communication module, a mode selection module, a debugging information communication module, a CAN communication module, an external SRAM, an SD card, a FLASH, a network connection state indicator lamp and an upgrade state indicator lamp which are electrically connected with the main control chip; the communication module is electrically connected with the main control chip through a serial port bus and is used for communication between the main control chip and the remote control platform so as to complete the functions of remote control of a servo driver, uploading state information and downloading bin files issued by the remote control platform; the mode selection module is used for guiding the remote debugging equipment to execute a remote debugging/troubleshooting function or an upgrading function; the debugging information communication module electrically connects the remote debugging equipment with the servo driver by virtue of a debugging line and is used for information interaction between the remote debugging equipment and the servo driver; the CAN communication module is also electrically connected with the servo driver and is used for monitoring CAN message information of the servo driver receiving the upper layer controller in real time; the external SRAM is used for caching bin files issued by the remote control platform; the FLASH is used for storing bin files issued by the remote control platform; the SD card stores the running state information of the servo driver; the network connection state indicator is used for displaying the network connection state of the communication module and the remote control platform; the upgrading state indicator lamp is used for displaying the offline upgrading state of the servo driver;
the servo driver is connected with a debugging information communication module and a CAN communication module of the remote debugging equipment, is also connected with the execution motor, and is used for receiving control information sent by the main control chip, controlling the execution motor and uploading the state information of the motor and the servo driver to the main control chip;
the upgrading function comprises an online upgrading function and an offline upgrading function; the offline upgrading function specifically comprises: the servo driver is connected with the remote debugging equipment, the mode selection module is in an off-line upgrading state, the FLASH content in which the bin file is prestored is written into the external SRAM by the remote debugging equipment at the moment, the remote debugging equipment sends the data of the external SRAM to the servo driver through a debugging line, when the servo driver receives the complete bin file, the upgrading state indicator lamp can FLASH alternately by slow-frequency lighting and extinguishing, otherwise, the upgrading state indicator lamp can FLASH alternately by fast-frequency lighting and extinguishing.
2. The remote debugging system for the servo driver of claim 1, wherein the communication module is a 5G communication module, a 4G communication module, a 3G communication module, a 2G communication module, an NB communication module and/or a WIFI communication module.
3. The remote debugging system for servo driver according to claim 1, wherein the main control chip is a single chip or a microcontroller unit.
4. The remote debugging system for a servo driver according to claim 1, wherein the servo driver supports single-channel or multi-channel execution motor control.
5. The remote debugging system for servo driver according to claim 1, wherein the SD card stores the operating status information of the servo driver in the last half hour.
6. The remote commissioning system for a servo drive of claim 1, wherein the commissioning/troubleshooting functions include controlling the position, speed, and torque of the servo drive and controlling the activation/deactivation of the actuator motor.
7. The remote debugging system for servo driver according to claim 1, wherein the operating state information of the servo driver stored by the SD card comprises: the method comprises the following steps that a servo driver runs in real time, the waveform of the running state of the servo driver within a period of time and a CAN message instruction received by the servo driver; wherein:
the real-time running state of the servo driver comprises the following steps: fault codes, position information, speed information, torque information, three-phase current information, driver temperature information, bus voltage information and driver model;
the waveform of the operation state of the servo driver in a period of time comprises: the three-phase current waveform, the position command value and position actual value waveform, the speed command value and speed actual value waveform, and the torque command value and torque actual value waveform.
8. The remote debugging system for a servo driver according to claim 1, wherein the online upgrade function is specifically: the remote control platform issues the bin file to an external SRAM of the remote debugging equipment, and when the remote debugging equipment receives the complete bin file, the remote control platform displays that the file is downloaded completely; the remote debugging equipment sends the external SRAM data to the servo driver through a debugging line, and when the servo driver receives the complete bin file, the remote control platform displays that the servo driver is successfully updated; in the remote updating process, any abnormity occurs, and the remote control platform displays that the updating of the servo driver fails.
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