DE202016000250U1 - System for monitoring at least one electric drive - Google Patents

Abstract

System (1) for monitoring at least one electric drive (11, 21, 31) comprising: a. at least one controller (10, 20, 30) for the electric drive (11, 21, 31), wherein the controller (10, 20, 30) has a bus interface (18, 28, 38), in particular a fieldbus interface (18, 28, 38), for connection to a bus (40) for transmitting process data (PD) for controlling the drive (11, 21, 31), a computing unit (12, 22, 32), a memory (15, 25, 35) and a data interface (13, 23, 33) for transmitting oscilloscope data (OD); b. a multi-channel oscilloscope (60) for displaying the oscilloscope data (OD); c. a data link (14, 24, 34) connected to the data interface (13, 23, 33) of the controller (10, 20, 30) and connecting it to the multichannel oscilloscope (OD); where d. the controller (10, 20, 30) is set up, in a first data stream (70), data packets (72) with the oscilloscope data (OD) from the memory (15, 25, 35) via the data interface (13, 23, 33) and the data link (14, 24, 34) to the multichannel oscilloscope (60); and where e. the arithmetic unit (12, 22, 32) of the controller (10, 20, 30) is adapted to continuously and autonomously initiate transmission of data packets (72) to generate the data stream (70).

Description

1. Field of the invention

The present invention relates to a system for monitoring at least one electric drive by means of a multi-channel oscilloscope. The system makes it possible to simultaneously represent, correlate and analyze different data from one or more electric drives.

2. State of the art

Modern electric drives, such as permanent magnet synchronous motors are driven by appropriate controls that make the speed and power control of the synchronous motors. For analysis, troubleshooting and optimization of electrical drives, it is advantageous to display the data of the control of the electric drive over time. Data may be measured data, such as the actual current or the actual position of the electrical drive, variables derived therefrom, such as the rotational speed, the control deviation, the manipulated variable, the controlled variable of the electric drive, or any other values or parameters of the controller.

From the document DE 10 2009 024 101 A a method for evaluating status data of a machine tool is known, wherein status data are stored in an action recorder in the machine tool and are transferred from the action recorder into a log memory of a data processing unit independent of the action recorder. Thus, the state data are first stored in real time in the action recorder and then evaluated later and independently of operation of the machine tool by the data processing unit. An evaluation of the data in real time is therefore not possible and is also considered difficult.

For electric drives, however, their high dynamics require an improved representation [MW ₁ ] in order to analyze the drives during operation, to troubleshoot and optimize them.

Against this background, the object of the present invention is to provide a system for a more detailed detection of one or more electric drives [MW ₂ ].

3. Content of the invention

The above object is achieved by a system for monitoring at least one electric drive according to claim 1.

In particular, the system for monitoring at least one electric drive has at least one controller for the electric drives, wherein the controller has a bus interface, in particular a fieldbus interface, for connection to a bus for transmitting process data for controlling the drive, a computing unit, a memory and has a data interface for transmitting oscilloscope data. The system also includes a multichannel oscilloscope for displaying the oscilloscope data, as well as a data connection that connects to the controller's data interface and connects it to the multichannel oscilloscope. The controller is set up to transmit data packets with the oscilloscope data from the respective memory via the data interface and the data connection to the multichannel oscilloscope in a first data stream. The arithmetic unit of the controller is set up to continuously and independently initiate transmission of data packets for generating the data stream.

By using a separate data interface different from the bus or fieldbus interface, and by using a separate data link from the controller's data interface to the multichannel oscilloscope, a stream of oscilloscope data can be transferred from the controller to the multichannel oscilloscope , without the bus, in particular the fieldbus, or the bus interface of the controller is charged. On the one hand, real-time data analysis or evaluation of the control data with the multichannel oscilloscope is possible on the other hand, the bus and the bus interface are unrestrictedly available for normal data transmission for operation of the control. As a result, data analysis and evaluation do not distort the control process.

In addition, via the separate data interface of the controller, a data transmission at a much higher data rate than the bus clock allows. This also enables the output of oscilloscope data in the form of a continuous data stream, which is generated by the arithmetic unit of the controller, by the arithmetic unit continuously and independently initiating a transmission of data packets of the oscilloscope data. This results in a continuous output of the data in the data stream. The controller automatically outputs the current values of the desired data without, for example, having to retrieve the data each time. The output can be made according to specific criteria or timed.

With multiple controllers in the system, the respective controllers can simultaneously output their data in multiple streams to the network oscilloscope, so that the data is inter-related are comparable. Here, no consideration must be taken to the clock of the bus.

In the multichannel oscilloscope, the received data stream is evaluated and the contained data of the multiple channels are graphically displayed, stored, correlated or otherwise analyzed. Thus, several electric drives can be monitored simultaneously and in real time, for example in order to analyze and optimize their interaction.

Preferably, the arithmetic unit is set up to initiate the transmission of the data packets of the data stream based on a predefined size of a data packet and a set of the oscilloscope data to be transmitted. The data to be transmitted are preferably buffered in the memory of the controller. When the arithmetic unit detects that the amount of oscilloscope data to be transmitted reaches the predefined size of a data packet, it initiates a transmission of the corresponding data packet.

Preferably, the computing unit is further configured to initiate transmission of the data packets of the data stream based on a time cycle when the amount of oscilloscope data within the time cycle is less than or equal to a predefined size of the data packet. In this case, the arithmetic unit does not wait until the quantity of oscilloscope data to be transmitted reaches the predefined size of a data packet, but initiates sending of a data packet when a timer expires. This ensures that the oscilloscope data is transmitted to the multichannel oscilloscope in short cycles even with small amounts of data. This allows the oscilloscope data to be displayed promptly, virtually in real time.

Preferably, the multichannel oscilloscope is configured to start the data stream by sending a start signal to the controller and to stop the data stream by sending a stop or pause signal to the controller. The controller is set up to initiate the transmission of data packets of the data stream continuously and independently upon receipt of the start signal and to stop the data stream after receipt of the stop or pause signal. By the start signal, the output of the data stream is started by the controller until the output of the data stream by the controller is stopped or interrupted due to a received stop or pause signal. In particular, after the data output has been started to output the oscilloscope data, no repeated requests to the controller are necessary.

Preferably, the controller is set up to add a time stamp to at least one data packet of the data stream in addition to the oscilloscope data. By means of the time stamp, an exact time assignment of the oscilloscope data is possible. In particular, oscilloscope data can be analyzed at a later point in time, correlated with one another and compared with each other.

The data packet is preferably compatible with a connectionless network protocol, in particular with the User Datagram Protocol (UDP). This simple protocol saves unnecessary data overhead and maximizes oscilloscope data throughput for real-time display of oscilloscope data.

The memory preferably has a buffer area for buffering the oscilloscope data, and the arithmetic unit is set up to continue to initiate transmission of the data packet based on a size of the buffer area. The sending of a data packet of the data stream can also be initiated in a simple manner by monitoring the fill level of a buffer area in the memory and, at a certain fill level, by sending a data packet containing the buffered data. The size of the staging area may be adjustable by the multi-channel oscilloscope by sending a corresponding signal to the controller. Preferably, the size of the staging area is 2.5 times the UDP packet.

Preferably, the multi-channel oscilloscope is configured to send a first parameter signal to the controller for selecting at least a first value size and a second value size, wherein the controller is configured to continuously send oscilloscope data for the first value size and the second value size in the data stream and wherein the multichannel oscilloscope is arranged to output the oscilloscope data of the first value size in a first channel and the oscilloscope data of the second value size to a second channel. The data stream may contain several different value sizes of one or more controllers in a data packet. The value sizes can include all parameters, variables, signal and measured values present on a controller. Preferably, the controller sends a plurality of value sizes in a common data packet with a common timestamp concerning the several value sizes. Thus, multiple value sizes of a common time, can be compared with each other exactly.

The oscilloscope data preferably have at least measured values of the control, in particular an actual current or an actual position and / or values derived therefrom, in particular the rotational speed, the control deviation and / or the manipulated variable of an electric drive. The value variables of the control can in particular include the mentioned parameters.

Preferably, the multi-channel oscilloscope is set up to send a setting signal to the controller for setting a sampling rate of the measured values. This allows the multichannel oscilloscope to easily set the sampling rate of the controller without the need for any other programming or parameterization.

Preferably, the system further comprises a first controller and a second controller and a network node that receives the oscilloscope data of the first controller and the oscilloscope data of the second controller and forwards in a common data stream to the multi-channel oscilloscope, wherein the Multichannel oscilloscope is set up to receive and simultaneously display the oscilloscope data of the first controller and the oscilloscope data of the second controller. The multichannel oscilloscope can also receive and correlate oscilloscope data from multiple controllers. This allows, for example, two different drives to synchronize exactly to each other.

Preferably, the multi-channel oscilloscope is set up to perform a time synchronization of the received oscilloscope data of the first and second control based on at least a first time stamp in the oscilloscope data of the first controller and a second time stamp in the oscilloscope data of the second controller.

Preferably, the data interface is a service interface of the respective controller, and preferably it is a service interface that operates according to the Ethernet standard. In this way, a possibly existing hardware interface of the controller for outputting a data stream can be used.

Preferably, each timing synchronization controller uses either the Precision Time Protocol (PTP) of the network node or a time signal sent by the multichannel oscilloscope or a time signal sent by the fieldbus.

• a. Erfassen von Daten des Antriebs durch eine Steuerung des Antriebs;
• b. Erzeugen eines Datenstroms für Oszilloskop-Daten aus den Daten des Antriebs durch die Steuerung, wobei die Steuerung fortlaufend und selbständig ein Senden von Datenpaketen initiiert;
• c. kontinuierliches Ausgeben des Datenstroms von einer Datenschnittstelle der Steuerung; und
• d. Empfangen des Datenstroms und Darstellen der Oszilloskop-Daten durch ein Mehrkanal-Oszilloskop.

Also described is a method for monitoring at least one electric drive, the method comprising the following steps:

• a. Acquiring data of the drive by a controller of the drive;
• b. Generating a data stream for oscilloscope data from the data of the drive by the controller, wherein the controller continuously and independently initiates a transmission of data packets;
• c. continuously outputting the data stream from a data interface of the controller; and
• d. Receive the data stream and present the oscilloscope data through a multichannel oscilloscope.

The method achieves the advantages mentioned above in relation to the system according to the invention, in particular with regard to the protection of the bus, the high possible data rate and the advantageous continuous output of the oscilloscope data by the control in a data stream. In doing so, the controller itself initiates transmission of data packets to provide the data stream. In this case, the bus communication is preferably separated from the communication of the oscilloscope data, so that both parallel communication paths do not influence each other. Furthermore, by exploiting the bandwidth of the data interface, the data rate for the data can be very high. Accordingly, the data or value variables of the control on the multichannel oscilloscope are present in quasi real time and can thus be directly displayed and evaluated.

• e1. Initiieren des Sendens der Datenpakete des Datenstroms basierend auf einer vordefinierten Größe eines Datenpakets und einer Menge der zu übertragenden Oszilloskop-Daten; und/oder
• e2. Initiieren des Sendens der Datenpakete des Datenstroms basierend auf einem Zeitzyklus, wenn die Menge der Oszilloskop-Daten innerhalb des Zeitzyklus kleiner oder gleich einer vordefinierten Größe des Datenpakets ist.

Preferably, the method further comprises the following steps:

• e1. Initiating transmission of the data packets of the data stream based on a predefined size of a data packet and a set of the oscilloscope data to be transmitted; and or
• e2. Initiating transmission of the data packets of the data stream based on a time cycle if the amount of oscilloscope data within the time cycle is less than or equal to a predefined size of the data packet.

Thus, the transmission of one of the data packets can be started when a certain amount of data to be sent has accumulated and / or when a certain time has elapsed after the last data packet was sent. On the one hand, this achieves a good ratio of data to be transferred to overhead data and, on the other hand, ensures data up-to-dateness.

• f. Zwischenspeichern der zu übertragenden Oszilloskop-Daten einer Steuerung in einem Zwischenspeicherbereich; und
• g. Senden eines Datenpakets wenn der Zwischenspeicherbereich zu einem gewissen Grad oder vollständig mit zu übertragenden Oszilloskop-Daten gefüllt ist.

Preferably, the method further comprises the following steps:

• f. Buffering the oscilloscope data to be transmitted to a controller in a buffer area; and
• G. Sending a data packet when the staging area is filled to some extent or completely with oscilloscope data to be transmitted.

The buffer memory area of a controller becomes the oscilloscope data to be transmitted cached until a certain amount of oscilloscope data has accumulated, so that a transfer as a data packet is worthwhile.

• h1. Starten des Datenstroms durch die Steuerung nach Empfang eines Startsignals von dem Mehrkanal-Oszilloskop; und/oder
• h2. Stoppen des Datenstroms durch die Steuerung nach Empfang eines Stopp- oder Pausesignals von dem Mehrkanal-Oszilloskop.

Preferably, the method further comprises the following steps:

• h1. Starting the data stream by the controller upon receipt of a start signal from the multi-channel oscilloscope; and or
• h2. Stopping the data stream by the controller after receiving a stop or pause signal from the multichannel oscilloscope.

The multichannel oscilloscope can send start, stop and pause signals to the controller to control continuous and autonomous transmission of the appropriate data stream to the multichannel oscilloscope. Also, the start-stop pause control signal allows multiple controllers to be simultaneously controlled so that a first controller and a second controller send the first data packets with oscilloscope data almost simultaneously.

• e. Auswählen von bestimmten Daten der Steuerung und/oder des Antriebs mittels des Mehrkanal-Oszilloskops;
• f. Senden eines Parametersignals zur Auswahl der bestimmten Daten durch das Mehrkanal-Oszilloskop an die jeweilige Steuerung; und
• g. Starten der kontinuierlichen Ausgabe des Datenstroms der ausgewählten Daten durch die Steuerung an das Mehrkanal-Oszilloskop.

Preferably, the method further comprises the following steps:

• e. Selecting specific data of the controller and / or the drive using the multichannel oscilloscope;
• f. Sending a parameter signal for selecting the particular data by the multi-channel oscilloscope to the respective controller; and
• G. Starting the continuous output of the data stream of the selected data through the controller to the multi-channel oscilloscope.

The desired data required for monitoring can be easily selected for each of the controllers by means of the multichannel oscilloscope. In this case, the multi-channel oscilloscope sends a parameter signal for selecting the specific data or value variables to the respective controller, whereupon the controller continuously outputs a data stream with the selected data or value variables.

Further preferred embodiments will become apparent from the dependent claims.

4. Brief description of the drawings

In the following, the present invention will be described in detail with reference to the accompanying drawings. Showing:

1 a graphical overview of a system for simultaneous monitoring of multiple electric drives;

2 an exemplary graphical representation of multiple data channels on a multi-channel oscilloscope of the system 1 ; and

3 a graphical representation of a data stream and a start and a stop or pause signal.

5. Description of preferred embodiments

In the following, preferred embodiments of the invention will be described in detail with reference to the figures.

1 shows a system 1 for monitoring electrical drives 11 . 21 . 31 , In the example shown, with the system 1 at the same time three electric drives 11 . 21 . 31 be monitored. However, the system can 1 even just an electric drive 11 . 21 . 31 or a different number of electrical drives 11 . 21 . 31 exhibit. The drives 11 . 21 . 31 For example, they can be part of a multi-axis system consisting of three drives 11 . 21 . 31 be mechanically related or cooperate with each other, for example, coupled together axes of a machine tool or a plant. The drives 11 . 21 . 31 can have different electric motors, such as synchronous motors.

The system 1 includes according to the three drives 11 . 21 . 31 , for each drive a separate control, ie three controls 10 . 20 . 30 , a network node 50 , a multichannel oscilloscope 60 , a bus 40 , in particular a fieldbus 40 , as well as each controller a data connection 14 . 24 and 34 from each of the controllers 10 . 20 . 30 to the common network node 50 , About the data connections 14 . 24 . 34 oscilloscope data OD is transmitted.

Each of the electric drives 10 . 20 . 30 is via an associated electrical control 10 . 20 . 30 controlled to control the electric drive, for example, in terms of speed, torque, power, etc. The controls 10 . 20 . 30 are with regard to the regulation of electric motors 11 . 21 . 31 of conventional design and can each have a bus interface 18 . 28 . 38 by means of a bus 40 be controlled by a higher-level control. The bus 40 in particular, a fieldbus 40 For example, be any EtherCAT bus or a PROFInet bus. About the bus 40 Process data PD are transmitted.

For simultaneous monitoring of the electrical drives 10 . 20 . 30 assigns each of the controls 10 . 20 . 30 one from the bus interface 18 . 28 . 38 separate data interface 13 . 23 . 33 up, over the oscilloscope data OD of the respective controller 10 . 20 . 30 over the data connections 14 . 24 . 34 to the multichannel oscilloscope 60 be transmitted. The oscilloscope data OD can be any value of the control 10 . 20 . 30 include, in particular, the parameters, variables, signal and measurement values present at the respective controller 10 . 20 . 30 available.

How out 1 It can be seen here is the data communication of the process data PD via the bus 40 to the controls 10 . 20 . 30 not affected, because the data transfer through the separate data connections 14 . 24 . 34 he follows.

Each of the controls 10 . 20 . 30 is set up in a data stream 70 data packets 72 outputting the oscilloscope data OD. The controller reads this 10 . 20 . 30 the desired oscilloscope data OD from the memory 15 . 25 . 35 which may be, in particular, a volatile or non-volatile RAM memory, the respective controller 10 . 20 . 30 and outputs it via the respective data interface 13 . 23 . 33 out. The data stream 70 can, as in 3 shown schematically, from individual data packets 72 exist, which are output serially one after the other. The individual data packages 72 include the oscilloscope data OD as payload and optionally a timestamp TS associated with the oscilloscope data OD. This allows the oscilloscope data OD to be assigned and compared at a later point in time at its measurement or readout times. In addition, the data packets may contain further control information, for example an identification number (ID) of the data packet or the controller.

Optional, especially with multiple controllers 10 . 20 . 30 , the network node 50 be interposed for data transmission. The network node 50 thus receives the individual data streams 70 the multiple controllers 10 . 20 . 30 , and multiplexes their data packets 72 to a new, shared data stream 70 together.

The network node 50 may have a network switch supporting, for example, the Precision Time Protocol (PTP). Also the controls 10 . 20 . 30 can support the Precision Time Protocol. According to the Precision Time Protocol, those of the controllers 10 . 20 . 30 via the data interfaces 13 . 23 . 33 and the data connections 14 . 24 . 34 received data or data synchronized in time and also compensates for a delay in the communication. The network node 50 is with a multichannel oscilloscope 60 data-related, and passes the data packets containing the data to the multichannel oscilloscope 60 further. The network node 50 can be designed as a separate device. Alternatively, the network node 50 in a housing with a controller 10 . 20 . 30 or formed in a housing with the oscilloscope.

The temporal synchronization of the oscilloscope data OD can also be based on a reference signal, for example one from the multichannel oscilloscope 60 Sent time signal or one from the bus 40 sent time signal to go out. The absolute time is not required for this purpose.

In the multichannel oscilloscope 60 can the received data of the controllers 10 . 20 . 30 be represented together, compared, stored or otherwise analyzed.

Each of the controller 10 . 20 . 30 each has a bus interface 18 . 28 . 38 , a memory access module 16 . 26 . 36 a memory 15 . 25 . 35 as well as one data interface each 13 . 23 . 33 on. Furthermore, each control includes 10 . 20 . 30 one computing unit each 12 . 22 . 32 which may be preferably implemented as an FPGA, for controlling or regulating the respective electrical drive connected to the control 11 . 21 . 31 ,

The for controlling the electric drive 11 . 21 . 31 required control data are in the arithmetic unit 12 . 22 . 32 calculated and advantageously via a DMA controller 16 . 26 . 36 in the store 15 . 25 . 35 stored. In the storage room 15 . 25 . 35 You can also find input data over the bus 40 and any measurements made by the respective controller 10 . 20 . 30 were measured. All this data or data of the respective controller 10 . 20 . 30 can via the DMA controller 16 . 26 . 36 from the respective memories 15 . 25 . 35 read out and the corresponding data interface 13 . 23 . 33 in the form of the data stream 70 to be provided. Thus, the controllers deliver 10 . 20 . 30 automatically and continuously the corresponding oscilloscope data OD via the data interfaces 13 . 23 . 33 to the multichannel oscilloscope 60 , The computing units 14 . 24 . 34 are each arranged to generate the data stream 70 sending a data packet 72 to initiate.

About the multichannel oscilloscope 60 For example, the user can select those oscilloscope data OD, ie those value values, for example data, parameters and variables, which the respective controller 10 . 20 . 30 as a data stream 70 the multichannel oscilloscope 60 should make available. This can be done, for example, by simply selecting the value size designation in a list of all for the respective control 10 . 20 . 30 available value sizes happen. Once selected, the multichannel oscilloscope will share 60 over the network node 50 the respective control 10 . 20 . 30 by sending a parameter signal with the appropriate selection of value sizes. The control 10 . 20 . 30 starts the data transfer of the appropriately selected oscilloscope data OD after it from the multichannel oscilloscope 60 a start signal 74 had received. The multichannel oscilloscope 60 can also be a stop or pause signal 76 to the controller 10 . 20 . 30 send, so that this the data stream 70 stops or stops for a short time.

The controls 10 . 20 . 30 are set up to stream the data 70 continuously and autonomously initiate so that the oscilloscope data OD are continuously output. Here are the arithmetic units 12 . 22 . 32 set up to send the data packets 72 based on a predefined size of a data packet 72 and initiate a set of the oscilloscope data OD to be transmitted. When the amount of oscilloscope data OD to be transmitted for a particular data packet 72 a certain size, for example the size of the data packet or a part of it, becomes the data packet 72 sent. In particular, the arithmetic unit 12 . 22 . 32 set up, sending a data packet 72 based on the size of a buffer space reserved for this purpose 19 . 29 . 39 of the memory 15 . 25 . 39 to initiate. Is the cache area 19 . 29 . 39 to some extent or completely filled with the transmitted oscilloscope data OD, becomes a data packet 72 sent. About the size of the cache area 19 . 29 . 39 can thus also the size of the data packets 72 be set.

Alternatively or additionally, the data packet 72 also be timed based on a time cycle, in particular if the amount of oscilloscope data OD within the time cycle is less than or equal to the predefined size of the data packet 72 is. This will ensure a timely dispatch of the data packets, even with a small amount of data 72 Even if they are not completely filled, they have not yet reached the predefined size.

The data packets 72 are preferably compatible with a connectionless network protocol, in particular with the User Datagram Protocol (UDP).

The data interface 13 . 23 . 33 can each have a service interface, in particular an Ethernet service interface, the respective control 10 . 20 . 30 be. This allows the hardware already existing interface for data transmission to the multi-channel oscilloscope 60 be used. Accordingly, no new additional interface must be provided on the hardware side.

With the present system 1 or the present method can thus in real time any selectable data or parameters or variables of the controls 10 . 20 . 30 in real time and synchronized to a multi-channel oscilloscope 60 be transmitted, which allows a multi-channel representation, storage and evaluation of the transmitted data and data. Thus, the operator can easily obtain real-time data from one or more electric drives 11 . 21 . 31 read out and compare with each other. This makes troubleshooting and optimization of complex electromechanical systems possible, as it was previously not possible. By using the data interfaces 13 . 23 . 33 and the individual data connections 14 . 24 . 34 to the network nodes 50 can be very large amounts of data in the data streams 70 be transmitted, as it is necessary for a temporally high-resolution representation. For example, it is possible to have ten data channels from different controllers 10 . 20 . 30 with a 32-bit data width per measured value and a recording frequency of 16 kHz, which corresponds to a data rate of 640 Kbytes / s. This makes it possible to analyze the data even from highly dynamic electric drives with very high temporal resolution. The transmission of the measured data can also take place in a TCP-IP packet, in which, for example, more than 300 data samples, in particular 350 data samples of the data can be transmitted in one packet.

Possible measurement data can be, for example, the actual current, the actual position and derived values, eg. As the speed, the deviation, the manipulated variable, the controlled variable, etc. of the respective electric drive 11 . 21 . 31 , be.

The multichannel oscilloscope 60 also a setting signal for setting a sampling rate of the measured values to the respective control 10 . 20 . 30 send.

The multichannel oscilloscope 60 can represent data from multiple channels in temporal relation as shown in 2 is shown as an example, so that the operator can directly compare measured values or data. In the example of the representation 21 of the multichannel oscilloscope 60 of the 2 , are comparable data of different controllers 10 . 20 . 30 , ie of three channels, timed to each other in curves 17 . 27 . 37 shown and can be compared. Furthermore, the multichannel oscilloscope 60 also represent the data multidimensionally. It also offers different evaluation options to measure, for example, time or amplitude differences and perform statistical evaluations.

• a. Erfassen von Daten des Antriebs 11, 21, 31 durch die Steuerung 10, 20, 30 des Antriebs 11, 21, 31;
• b. Erzeugen eines Datenstroms 70 für die Oszilloskop-Daten OD aus den Daten des Antriebs 11, 21, 31 durch die Steuerung 10, 20, 30, wobei die Steuerung 10, 20, 30 fortlaufend und selbständig ein Senden von Datenpaketen initiiert;
• c. kontinuierliches Ausgeben des Datenstroms 70 von der Datenschnittstelle 13, 23, 33 der Steuerung 10, 20, 30; und
• d. Empfangen des Datenstroms 70 und Darstellen der Oszilloskop-Daten OD durch das Mehrkanal-Oszilloskop 60.

This can be done with the system 1 a method for monitoring at least one electric drive 10 . 20 . 30 be executed, the method comprising the following steps:

• a. Capture data from the drive 11 . 21 . 31 through the controller 10 . 20 . 30 of the drive 11 . 21 . 31 ;
• b. Generating a data stream 70 for the oscilloscope data OD from the data of the drive 11 . 21 . 31 through the controller 10 . 20 . 30 , where the controller 10 . 20 . 30 continuously and independently initiates a transmission of data packets;
• c. continuous output of the data stream 70 from the data interface 13 . 23 . 33 the controller 10 . 20 . 30 ; and
• d. Receive the data stream 70 and displaying the oscilloscope data OD through the multi-channel oscilloscope 60 ,

• e1. Initiieren des Sendens der Datenpakete 72 des Datenstroms 70 basierend auf einer vordefinierten Größe eines Datenpakets 72 und einer Menge der zu übertragenden Oszilloskop-Daten OD; und/oder
• e2. Initiieren des Sendens der Datenpakete 72 des Datenstroms 70 basierend auf einem Zeitzyklus, wenn die Menge der Oszilloskop-Daten OD innerhalb des Zeitzyklus kleiner oder gleich einer vordefinierten Größe des Datenpakets 72 ist.

Preferably, the method further comprises the following steps:

• e1. Initiate the sending of the data packets 72 of the data stream 70 based on a predefined size of a data packet 72 and a set of the oscilloscope data OD to be transmitted; and or
• e2. Initiate the sending of the data packets 72 of the data stream 70 based on a time cycle, if the amount of oscilloscope data OD within the time cycle is less than or equal to a predefined size of the data packet 72 is.

• f. Zwischenspeichern der zu übertragenden Oszilloskop-Daten OD einer Steuerung 10, 20, 30 in einem Zwischenspeicherbereich 19, 29, 39; und
• g. Senden eines Datenpakets 72 wenn der Zwischenspeicherbereich 19, 29, 39 zu einem gewissen Grad oder vollständig mit zu übertragenden Oszilloskop-Daten OD gefüllt ist.

Preferably, the method further comprises the following steps:

• f. Caching the oscilloscope data OD to be transmitted to a controller 10 . 20 . 30 in a cache area 19 . 29 . 39 ; and
• G. Sending a data packet 72 if the cache area 19 . 29 . 39 to some extent or completely filled with oscilloscope data OD to be transmitted.

• h1. Starten des Datenstroms durch die Steuerung 10, 20, 30 nach Empfang eines Startsignals 74 von dem Mehrkanal-Oszilloskop 60; und/oder
• h2. Stoppen des Datenstroms durch die Steuerung 10, 20, 30 nach Empfang eines Stopp- oder Pausesignals 76 von dem Mehrkanal-Oszilloskop 60.

Preferably, the method further comprises the following steps:

• h1. Starting the data stream through the controller 10 . 20 . 30 after receiving a start signal 74 from the multichannel oscilloscope 60 ; and or
• h2. Stopping the data stream through the controller 10 . 20 . 30 upon receipt of a stop or pause signal 76 from the multichannel oscilloscope 60 ,

• i. Auswählen von bestimmten Daten bzw. Wertgrößen der Steuerung 10, 20, 30 und/oder des Antriebs 11, 21, 31 mittels des Mehrkanal-Oszilloskops 60;
• j. Senden des Parametersignals zur Auswahl der bestimmten Daten durch das Mehrkanal-Oszilloskop 60 an die jeweilige Steuerung 10, 20, 30.

Preferably, the method further comprises the following steps:

• i. Select specific data or values of the controller 10 . 20 . 30 and / or the drive 11 . 21 . 31 using the multichannel oscilloscope 60 ;
• j. Sending the parameter signal to select the specific data through the multichannel oscilloscope 60 to the respective controller 10 . 20 . 30 ,

Overall, with the system 1 and the present method measured values or data of multiple controllers 10 . 20 . 30 be continuously output in data streams and centrally by the multichannel oscilloscope 60 linked together and evaluated.

LIST OF REFERENCE NUMBERS

1

system

10, 20, 30

control

11, 21, 31

electric drive

12, 22, 32

computer unit

13, 23, 33

Data Interface

14, 24, 34

Data Connection

15, 25, 35

Storage

16, 26, 36

Memory access module / DMA

17, 27, 37

channel

18, 28, 38

Bus Interface / Fieldbus

19, 29, 39

Staging area

40

Bus / fieldbus

50

Network nodes

60

Multi-channel oscilloscope

62

Representation of the multichannel oscilloscope

70

data stream

72

data packet

74

start signal

76

Stop or pause signal

PD

process data

OD

Oscilloscope data

TS

time stamp

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• DE 102009024101 A [0003]

Claims (13)

System ( 1 ) for monitoring at least one electric drive ( 11 . 21 . 31 ) comprising: a. at least one controller ( 10 . 20 . 30 ) for the electric drive ( 11 . 21 . 31 ), whereby the controller ( 10 . 20 . 30 ) a bus interface ( 18 . 28 . 38 ), in particular a fieldbus interface ( 18 . 28 . 38 ), to connect to a bus ( 40 ) for the transmission of process data (PD) to control the drive ( 11 . 21 . 31 ), a computing unit ( 12 . 22 . 32 ), a memory ( 15 . 25 . 35 ) and a data interface ( 13 . 23 . 33 ) for transmitting oscilloscope data (OD); b. a multichannel oscilloscope ( 60 ) for displaying oscilloscope data (OD); c. a data connection ( 14 . 24 . 34 ) connected to the data interface ( 13 . 23 . 33 ) of the controller ( 10 . 20 . 30 ) and connects them to the multichannel oscilloscope (OD); where d. the control ( 10 . 20 . 30 ) is set up in a first data stream ( 70 ) Data packets ( 72 ) with the oscilloscope data (OD) from the memory ( 15 . 25 . 35 ) via the data interface ( 13 . 23 . 33 ) and the data connection ( 14 . 24 . 34 ) to the multichannel oscilloscope ( 60 ) transferred to; and where e. the arithmetic unit ( 12 . 22 . 32 ) of the controller ( 10 . 20 . 30 ) is set up to generate the data stream ( 70 ) continuously and autonomously sending data packets ( 72 ) to initiate. The system of claim 1, wherein the arithmetic unit ( 12 . 22 . 32 ), sending the data packets ( 72 ) of the data stream ( 70 ) based on a predefined size of a data packet ( 72 ) and a set of the oscilloscope data (OD) to be transmitted. System according to claim 1 or 2, wherein the arithmetic unit ( 12 . 22 . 30 ) is further adapted to transmit the data packets ( 72 ) of the data stream ( 70 ), based on a time cycle, if the amount of oscilloscope data (OD) within the time cycle is less than or equal to a predefined size of the data packet ( 72 ). A system according to any one of claims 1 to 3, wherein the multichannel oscilloscope ( 60 ) by sending a start signal ( 74 ) to the controller ( 10 . 20 . 30 ) the data stream ( 70 ) and by sending a stop or pause signal ( 76 ) to the controller ( 10 . 20 . 30 ) the data stream ( 70 ) to stop; and where the controller ( 10 . 20 . 30 ) after receiving the start signal ( 74 ) the sending of data packets ( 72 ) of the data stream ( 70 ) continuously and autonomously and after receiving the stop or pause signal ( 76 ) the data stream ( 70 ) to stop. A system according to any one of claims 1 to 4, wherein the controller ( 10 . 20 . 30 ), at least one data packet ( 72 ) of the data stream ( 70 ) add a time stamp (TS) in addition to the oscilloscope data (OD). System according to one of claims 1 to 5, wherein the data packet ( 72 ) is compatible with a connectionless network protocol, in particular with the User Datagram Protocol (UDP). System according to one of claims 1 to 6, wherein the memory ( 15 . 25 . 35 ) a staging area ( 19 . 29 . 39 ) for buffering the oscilloscope data (OD) and wherein the arithmetic unit ( 12 . 22 . 32 ), sending the data packet ( 72 ) further based on a size of the staging area ( 19 . 29 . 39 ) to initiate. A system according to any one of claims 1 to 7, wherein the multichannel oscilloscope ( 60 ) is set, a first parameter signal for selecting at least a first value size and a second value size to the controller ( 10 . 20 . 30 ), the controller ( 10 . 20 . 30 ) continuously provides oscilloscope data (OD) for the first value size and the second value size in the data stream ( 70 ) and the multichannel oscilloscope is set up, the oscilloscope data (OD) of the first value size in a first channel ( 17 ) and the oscilloscope data (OD) of the second value size a second channel ( 27 ). System according to one of claims 1 to 8, wherein the oscilloscope data (OD) at least measured values of the controller ( 10 . 20 . 30 ), in particular an actual current or an actual position and / or values derived therefrom, in particular the rotational speed, the control deviation and / or the manipulated variable of an electric drive ( 11 . 21 . 31 ) exhibit. A system according to any one of claims 1 to 9, wherein the multichannel oscilloscope ( 60 ) is set to set a sampling rate of the measured values, a setting signal to the controller ( 10 . 20 . 30 ) to send. The system of any of claims 1 to 10, further comprising a first controller ( 10 ) and a second controller ( 20 ); and a network node ( 50 ), which contains the oscilloscope data (OD) of the first controller ( 10 ) and the Oscilloscope Data (OD) of the second controller ( 20 ) and in a common data stream ( 70 ) to the multichannel oscilloscope ( 60 ); where the multichannel oscilloscope ( 60 ) for receiving and simultaneously displaying the oscilloscope data (OD) of the first controller ( 10 ) and the oscilloscope data (OD) of the second controller ( 20 ) is set up. The system of claim 11, wherein the multichannel oscilloscope ( 60 ) for timing synchronization of the received oscilloscope data (OD) of the first and second controllers ( 10 . 20 ) based on at least a first time stamp (TS) in the oscilloscope data (OD) of the first controller (TS) 10 ) and a second time stamp (TS) in the oscilloscope data (OD) of the second controller ( 20 ) is set up. A system according to any one of claims 1 to 12, wherein each controller ( 10 . 20 ) for temporal synchronization either: a. the Precision Time Protocol of the network node ( 50 ) uses; or b. a multi-channel oscilloscope ( 60 ) uses transmitted time signal; or c. one from the fieldbus ( 40 ) uses transmitted time signal.

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