WO2021168928A1 - Bus-type servo motor network startup method, apparatus and device, and storage medium - Google Patents

Bus-type servo motor network startup method, apparatus and device, and storage medium Download PDF

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Publication number
WO2021168928A1
WO2021168928A1 PCT/CN2020/079692 CN2020079692W WO2021168928A1 WO 2021168928 A1 WO2021168928 A1 WO 2021168928A1 CN 2020079692 W CN2020079692 W CN 2020079692W WO 2021168928 A1 WO2021168928 A1 WO 2021168928A1
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Prior art keywords
target
protocol stack
bus
servo motor
startup
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PCT/CN2020/079692
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French (fr)
Chinese (zh)
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陈建权
王猛
黄晓扬
张源源
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浙江禾川科技股份有限公司
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Priority to SG11202100573X priority Critical patent/SG11202100573XA/en
Publication of WO2021168928A1 publication Critical patent/WO2021168928A1/en

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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
    • 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
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

Definitions

  • the present invention relates to the field of automation control technology, and in particular to a method, device, equipment and computer-readable storage medium for starting a bus-type servo motor network.
  • the servo axis is basically not used independently, but used in conjunction with the upper controller.
  • a controller In the early pulse control mode, a controller is generally adapted to fewer servo drives.
  • Profinet bus is a common bus with excellent price comparison in factory automation control.
  • each control system corresponds to more servo axes.
  • the characteristic of the high-speed bus servo is that it can use the advantages of the high-speed bus to interact with a large amount of data with the upper control system to ensure the startup and normal operation of the network.
  • the present invention provides the following technical solutions:
  • a method for starting a bus-type servo motor network including:
  • the currently activated servo protocol stack is determined as the target servo protocol stack
  • the target parameter channel is used to send the target startup parameter to the target bus-type servo motor, so that the target bus-type servo motor performs a network startup operation based on the target startup parameter.
  • the method further includes:
  • the target startup parameter is adjusted.
  • the method further includes:
  • determining whether the target servo protocol stack is started normally includes:
  • a bus type servo motor network starting device including:
  • the protocol stack determination module is used to determine the currently activated servo protocol stack as the target servo protocol stack when it is detected that the servo protocol stack is activated;
  • the startup parameter acquisition module is used to acquire the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
  • the parameter channel acquisition module is used to parse the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
  • the network startup module is configured to send the target startup parameter to the target bus-type servo motor by using the target parameter channel, so that the target bus-type servo motor performs a network startup operation based on the target startup parameter.
  • the feedback information receiving module is configured to receive the parameter response feedback information returned by the target bus-type servo motor after the target start-up parameter is sent to the target bus-type servo motor by using the target parameter channel;
  • the first judgment module is configured to judge whether the target startup parameter needs to be adjusted according to the parameter response feedback information
  • the parameter adjustment module is configured to perform an adjustment operation on the target startup parameter when it is determined that the target startup parameter needs to be adjusted according to the parameter response feedback information.
  • the second judgment module is used for judging the target servo protocol stack before obtaining the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack after the currently activated servo protocol stack is determined as the target servo protocol stack Whether to start normally;
  • the abnormal error reporting module is used to perform a servo protocol stack startup exception error reporting operation when it is determined that the target servo protocol stack is abnormally started.
  • a bus type servo motor network starting device including:
  • Memory used to store computer programs
  • a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, realizes the steps of the method for starting a bus-type servo motor network as described above.
  • the currently activated servo protocol stack is determined as the target servo protocol stack; the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained ; Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs based on the target startup parameters Network start operation.
  • the corresponding target parameter channel is used to directly send the startup parameters to the target bus-type servo motor.
  • the starting speed of the bus-type servo motor network is greatly accelerated, and the production efficiency is improved.
  • the embodiment of the present invention also provides a bus-type servo motor network starting device, equipment, and computer-readable storage medium corresponding to the above-mentioned bus-type servo motor network starting method, which have the above technical effects, and will not be repeated here.
  • Fig. 1 is an implementation flowchart of a method for starting a bus-type servo motor network in an embodiment of the present invention
  • Fig. 4 is a structural block diagram of a bus-type servo motor network starting device in an embodiment of the present invention.
  • Fig. 1 is an implementation flowchart of a method for starting a bus-type servo motor network in an embodiment of the present invention. The method may include the following steps:
  • the servo protocol stacks between each bus-type servo motor and the upper controller can be set separately in advance.
  • the upper controller can detect in real time whether the servo protocol stack is activated. When the servo protocol stack is detected, the host controller needs to The bus-type servo motor corresponding to the servo protocol stack is controlled. In this case, the currently activated servo protocol stack can be determined as the target servo protocol stack.
  • the startup parameters of the bus-type servo motors corresponding to each servo protocol stack can be stored in advance, and the corresponding relationship between each servo protocol stack and each startup parameter can be stored in advance. After the target servo protocol stack is determined, the corresponding target servo protocol stack can be obtained The target start parameter of the target bus-type servo motor.
  • the GSD (Ground Sampling Distance) file that is deployed with the parameter channel used by the host controller to send the startup parameters to each bus-type servo motor and the corresponding relationship between each servo protocol stack and the parameter channel can be set in advance.
  • the target servo protocol is determined
  • stacking the target parameter channel corresponding to the target servo protocol stack is obtained by analyzing the preset GSD file.
  • S104 Use the target parameter channel to send the target start parameter to the target bus-type servo motor, so that the target bus-type servo motor performs a network start operation based on the target start parameter.
  • the target parameter channel can be used to send the target starting parameters to the target Bus-type servo motor, so that the target bus-type servo motor performs starting operations based on the target starting parameters.
  • the host controller can automatically send the startup parameters to the bus-type servo motor, which greatly accelerates the network startup speed of the bus-type servo motor, and improves the production efficiency. Dadi saves labor costs.
  • the bus-type servo motor responds to the target startup parameters before running, and will not operate during operation, so that the execution efficiency of the host controller and the bus-type servo motor will not be affected.
  • the currently activated servo protocol stack is determined as the target servo protocol stack; the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained ; Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs based on the target startup parameters Start operation.
  • the corresponding target parameter channel is used to directly send the startup parameters to the target bus-type servo motor.
  • the starting speed of the bus-type servo motor network is greatly accelerated, and the production efficiency is improved.
  • the embodiment of the present invention also provides a corresponding improvement solution.
  • the same steps or corresponding steps as those in the first embodiment can be referred to each other, and the corresponding beneficial effects can also be referred to each other, which will not be repeated in the following improved embodiments.
  • the target servo protocol stack After the target servo protocol stack is determined, it can be judged whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration, so as to determine whether the target servo protocol stack starts normally according to the virtual configuration and the real configuration of the network.
  • the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration, it means that the target servo protocol stack is in a normal startup state, and step S204 is executed.
  • the virtual configuration of the network where the target servo protocol stack is located is inconsistent with the real configuration, it means The target servo protocol stack is in an abnormal start state, and step S203 is executed.
  • the servo in addition to judging the starting state of the servo protocol stack based on the consistency of the virtual configuration and the real configuration of the network, the servo can also be determined based on whether other judgment conditions that can indicate the starting state of the servo protocol stack are satisfied or not.
  • the startup state of the protocol stack is not limited in the embodiment of the present invention.
  • the virtual configuration of the network where the target servo protocol stack is located is inconsistent with the real configuration, it means that the target servo protocol stack is in an abnormal startup state, and the servo protocol stack startup exception error operation is performed, thereby prompting relevant personnel to perform maintenance operations in time.
  • S205 Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack.
  • the target bus-type servo motor After using the target parameter channel to send the target startup parameters to the target bus-type servo motor, the target bus-type servo motor will identify the target startup parameters, such as identifying the length of the parameter, the effective method of the parameter, and whether the parameter is correct or not.
  • the parameter response feedback information is generated according to the recognition result, and the parameter response feedback information is returned to the upper controller, and the upper controller receives the parameter response feedback information returned by the target bus-type servo motor.
  • step S208 Determine whether the target startup parameter needs to be adjusted according to the parameter response feedback information, if yes, execute step S209, if not, no processing is performed.
  • the parameter response feedback information After receiving the parameter response feedback information returned by the target bus-type servo motor, the parameter response feedback information can be used to determine whether the target startup parameter needs to be adjusted.
  • the target startup parameters are normal, and no processing is required.
  • the target start parameters are adjusted, such as the length of the parameters, the effective mode of the parameters, etc., so that the start parameters meet the corresponding start conditions and ensure the correctness of the servo motor start up.
  • the embodiment of the present invention also provides a bus-type servo motor network starting device.
  • the bus-type servo motor network starting device described below and the above-described bus-type servo motor network starting method can correspond to each other. Reference.
  • FIG. 3 is a structural block diagram of a bus-type servo motor network starting device in an embodiment of the present invention, and the device may include:
  • the protocol stack determining module 31 is configured to determine the currently activated servo protocol stack as the target servo protocol stack when it is detected that the servo protocol stack is activated;
  • the startup parameter acquisition module 32 is used to acquire the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
  • the parameter channel acquisition module 33 is used to analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
  • the network start module 34 is used to send the target start parameters to the target bus-type servo motor by using the target parameter channel, so that the target bus-type servo motor performs a network start operation based on the target start parameters.
  • the corresponding target parameter channel is used to directly send the startup parameters to the target bus-type servo motor.
  • the starting speed of the bus-type servo motor network is greatly accelerated, and the production efficiency is improved.
  • the device may further include:
  • the feedback information receiving module is used to receive the parameter response feedback information returned by the target bus-type servo motor after sending the target start-up parameters to the target bus-type servo motor by using the target parameter channel;
  • the device may further include:
  • the second judgment module is used for judging whether the target servo protocol stack is normally started before obtaining the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack after determining the currently started servo protocol stack as the target servo protocol stack;
  • the startup parameter acquisition module 32 is specifically a module that acquires the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack when it is determined that the target servo protocol stack is normally started;
  • the abnormal error reporting module is used to report the abnormal startup of the servo protocol stack when the target servo protocol stack is determined to be abnormal.
  • the second judgment module is specifically a module for judging whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
  • FIG. 4 is a schematic diagram of the bus-type servo motor network starting device provided by the present invention.
  • the device may include:
  • the memory 41 is used to store computer programs
  • the processor 42 is configured to execute the computer program stored in the aforementioned memory 41 and can implement the following steps:
  • the currently activated servo protocol stack is determined as the target servo protocol stack; the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained; the preset GSD file is analyzed, Obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs network startup operations based on the target startup parameters.
  • the present invention also provides a computer-readable storage medium on which a computer program is stored.
  • a computer program is stored on a computer-readable storage medium.
  • the currently activated servo protocol stack is determined as the target servo protocol stack; the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained; the preset GSD file is analyzed, Obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs network startup operations based on the target startup parameters.
  • the computer-readable storage medium may include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc., which can store program codes Medium.

Abstract

Provided is a bus-type servo motor network startup method, comprising the following steps: upon detecting the presence of a servo protocol stack startup, determining the servo protocol stack of the current startup as a target servo protocol stack (S101); obtaining a target startup parameter of a target bus-type servo motor corresponding to the target servo protocol stack (S102); parsing a preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack (S103); and using the target parameter channel to send the target startup parameter to the target bus-type servo motor, causing the target bus-type servo motor to perform a startup operation on the basis of the target startup parameter (S104). By employing the described technical solution, the bus-type servo motor network startup speed is greatly increased, and the production efficiency is improved. Further disclosed are a bus-type servo motor network startup apparatus, device, and storage medium, which achieve corresponding technical effects.

Description

总线型伺服电机网络启动方法、装置、设备及存储介质Bus type servo motor network starting method, device, equipment and storage medium
本申请要求于2020年02月28日提交至中国专利局、申请号为202010130057.9、发明名称为“总线型伺服电机网络启动方法、装置、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed to the Chinese Patent Office on February 28, 2020, the application number is 202010130057.9, and the invention title is "Bus-type servo motor network startup method, device, equipment and storage medium", all of which The content is incorporated in this application by reference.
技术领域Technical field
本发明涉及自动化控制技术领域，特别是涉及一种总线型伺服电机网络启动方法、装置、设备及计算机可读存储介质。The present invention relates to the field of automation control technology, and in particular to a method, device, equipment and computer-readable storage medium for starting a bus-type servo motor network.
背景技术Background technique
在自动化行业中，伺服轴基本上不会独立使用，而是配合着上位控制器去使用。早期的脉冲控制方式一般一台控制器适配的伺服驱动器较少。Profinet总线是工厂自动化控制中常见的一款比价优秀的总线。一般使用总线时，每个控制系统会对应比较多的伺服轴。高速总线伺服的特点就是可以利用高速总线的优势与上位控制系统交互大量数据，保证网络的启动与正常运行。In the automation industry, the servo axis is basically not used independently, but used in conjunction with the upper controller. In the early pulse control mode, a controller is generally adapted to fewer servo drives. Profinet bus is a common bus with excellent price comparison in factory automation control. Generally, when using a bus, each control system corresponds to more servo axes. The characteristic of the high-speed bus servo is that it can use the advantages of the high-speed bus to interact with a large amount of data with the upper control system to ensure the startup and normal operation of the network.
现阶段，总线协议解决的是过程中数据交互，但伺服运行前的准备参数仍然没有全部传送，而是在设备调试阶段人工设定。每台伺服都需要手动输入启动参数是一个十分浪费时间的事情，严重影响了生产效率。At this stage, the bus protocol solves the data interaction in the process, but the preparation parameters before the servo operation are still not all transmitted, but are manually set during the equipment debugging stage. It is a very time-consuming thing that each servo needs to manually input the start parameters, which seriously affects the production efficiency.
综上所述，如何有效地解决现有的手动输入伺服电机的启动参数的方式，浪费时间，影响生产效率等问题，是目前本领域技术人员急需解决的问题。In summary, how to effectively solve the problems of the existing manual input of the start parameters of the servo motor, which wastes time and affects production efficiency, is a problem that is urgently needed to be solved by those skilled in the art.
发明内容Summary of the invention
本发明的目的是提供一种总线型伺服电机网络启动方法，该方法较大地加快了总线型伺服电机网络启动速度，提升了生产效率；本发明的另一目的是提供一种总线型伺服电机网络启动装置、设备及计算机可读存储介质。The purpose of the present invention is to provide a bus-type servo motor network startup method, which greatly accelerates the bus-type servo motor network startup speed and improves production efficiency; another object of the present invention is to provide a bus-type servo motor network Start-up device, equipment, and computer-readable storage medium.
为解决上述技术问题，本发明提供如下技术方案：In order to solve the above technical problems, the present invention provides the following technical solutions:
一种总线型伺服电机网络启动方法，包括：A method for starting a bus-type servo motor network, including:
当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；When it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack;
获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；Acquiring the target starting parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
对预置的GSD文件进行解析，得到与所述目标伺服协议栈对应的目标参数通道；Parse the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机，以使所述目标总线型伺服电机基于所述目标启动参数进行网络启动操作。The target parameter channel is used to send the target startup parameter to the target bus-type servo motor, so that the target bus-type servo motor performs a network startup operation based on the target startup parameter.
在本发明的一种具体实施方式中，在利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机之后，还包括：In a specific embodiment of the present invention, after sending the target startup parameters to the target bus-type servo motor by using the target parameter channel, the method further includes:
接收所述目标总线型伺服电机返回的参数响应反馈信息；Receiving parameter response feedback information returned by the target bus-type servo motor;
根据所述参数响应反馈信息判断是否需要调整所述目标启动参数；Judging whether the target startup parameter needs to be adjusted according to the parameter response feedback information;
若是，则对所述目标启动参数进行调整操作。If it is, the target startup parameter is adjusted.
在本发明的一种具体实施方式中，在将当前启动的伺服协议栈确定为目标伺服协议栈之后，获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数之前，还包括：In a specific embodiment of the present invention, after the currently activated servo protocol stack is determined as the target servo protocol stack, before obtaining the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack, the method further includes:
判断所述目标伺服协议栈是否正常启动；Judging whether the target servo protocol stack is started normally;
若是，则执行所述获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数的步骤；If yes, execute the step of obtaining the target starting parameters of the target bus-type servo motor corresponding to the target servo protocol stack;
若否，则进行伺服协议栈启动异常报错操作。If not, then perform the servo protocol stack startup exception error report operation.
在本发明的一种具体实施方式中，判断所述目标伺服协议栈是否正常启动，包括：In a specific implementation of the present invention, determining whether the target servo protocol stack is started normally includes:
判断所述目标伺服协议栈所在网络的虚拟组态与真实组态是否一致。It is determined whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
一种总线型伺服电机网络启动装置，包括：A bus type servo motor network starting device, including:
协议栈确定模块，用于当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；The protocol stack determination module is used to determine the currently activated servo protocol stack as the target servo protocol stack when it is detected that the servo protocol stack is activated;
启动参数获取模块，用于获取所述目标伺服协议栈对应的目标总线型 伺服电机的目标启动参数；The startup parameter acquisition module is used to acquire the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
参数通道获取模块，用于对预置的GSD文件进行解析，得到与所述目标伺服协议栈对应的目标参数通道；The parameter channel acquisition module is used to parse the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
网络启动模块，用于利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机，以使所述目标总线型伺服电机基于所述目标启动参数进行网络启动操作。The network startup module is configured to send the target startup parameter to the target bus-type servo motor by using the target parameter channel, so that the target bus-type servo motor performs a network startup operation based on the target startup parameter.
在本发明的一种具体实施方式中，还包括：In a specific embodiment of the present invention, it further includes:
反馈信息接收模块，用于在利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机之后，接收所述目标总线型伺服电机返回的参数响应反馈信息；The feedback information receiving module is configured to receive the parameter response feedback information returned by the target bus-type servo motor after the target start-up parameter is sent to the target bus-type servo motor by using the target parameter channel;
第一判断模块，用于根据所述参数响应反馈信息判断是否需要调整所述目标启动参数；The first judgment module is configured to judge whether the target startup parameter needs to be adjusted according to the parameter response feedback information;
参数调整模块，用于当根据所述参数响应反馈信息确定需要调整所述目标启动参数时，对所述目标启动参数进行调整操作。The parameter adjustment module is configured to perform an adjustment operation on the target startup parameter when it is determined that the target startup parameter needs to be adjusted according to the parameter response feedback information.
在本发明的一种具体实施方式中，还包括：In a specific embodiment of the present invention, it further includes:
第二判断模块，用于在将当前启动的伺服协议栈确定为目标伺服协议栈之后，获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数之前，判断所述目标伺服协议栈是否正常启动；The second judgment module is used for judging the target servo protocol stack before obtaining the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack after the currently activated servo protocol stack is determined as the target servo protocol stack Whether to start normally;
所述启动参数获取模块具体为当确定所述目标伺服协议栈正常启动时，获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数的模块；The startup parameter acquisition module is specifically a module that acquires the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack when it is determined that the target servo protocol stack is normally started;
异常报错模块，用于当确定所述目标伺服协议栈启动异常时，进行伺服协议栈启动异常报错操作。The abnormal error reporting module is used to perform a servo protocol stack startup exception error reporting operation when it is determined that the target servo protocol stack is abnormally started.
在本发明的一种具体实施方式中，所述第二判断模块具体为判断所述目标伺服协议栈所在网络的虚拟组态与真实组态是否一致的模块。In a specific implementation of the present invention, the second judgment module is specifically a module for judging whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
一种总线型伺服电机网络启动设备，包括：A bus type servo motor network starting device, including:
存储器，用于存储计算机程序；Memory, used to store computer programs;
处理器，用于执行所述计算机程序时实现如前所述总线型伺服电机网络启动方法的步骤。The processor is used to implement the steps of the aforementioned bus-type servo motor network startup method when the computer program is executed.
一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机 程序，所述计算机程序被处理器执行时实现如前所述总线型伺服电机网络启动方法的步骤。A computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, realizes the steps of the method for starting a bus-type servo motor network as described above.
应用本发明实施例所提供的方法，当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道；利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行网络启动操作。通过预先设置部署有各伺服协议栈与各参数通道之间的对应关系的GSD文件，当存在伺服协议栈启动时，直接利用相应的目标参数通道将启动参数发送给目标总线型伺服电机。相较于现有的手动输入总线型伺服电机网络启动参数的方式，较大地加快了总线型伺服电机网络启动速度，提升了生产效率。Using the method provided by the embodiment of the present invention, when it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack; the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained ; Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs based on the target startup parameters Network start operation. By presetting and deploying the GSD file with the corresponding relationship between each servo protocol stack and each parameter channel, when there is a servo protocol stack startup, the corresponding target parameter channel is used to directly send the startup parameters to the target bus-type servo motor. Compared with the existing method of manually inputting the starting parameters of the bus-type servo motor network, the starting speed of the bus-type servo motor network is greatly accelerated, and the production efficiency is improved.
相应的，本发明实施例还提供了与上述总线型伺服电机网络启动方法相对应的总线型伺服电机网络启动装置、设备和计算机可读存储介质，具有上述技术效果，在此不再赘述。Correspondingly, the embodiment of the present invention also provides a bus-type servo motor network starting device, equipment, and computer-readable storage medium corresponding to the above-mentioned bus-type servo motor network starting method, which have the above technical effects, and will not be repeated here.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.
图1为本发明实施例中总线型伺服电机网络启动方法的一种实施流程图；Fig. 1 is an implementation flowchart of a method for starting a bus-type servo motor network in an embodiment of the present invention;
图2为本发明实施例中总线型伺服电机网络启动方法的另一种实施流程图；Figure 2 is another implementation flow chart of the bus-type servo motor network startup method in the embodiment of the present invention;
图3为本发明实施例中一种总线型伺服电机网络启动装置的结构框图；3 is a structural block diagram of a bus-type servo motor network starting device in an embodiment of the present invention;
图4为本发明实施例中一种总线型伺服电机网络启动设备的结构框 图。Fig. 4 is a structural block diagram of a bus-type servo motor network starting device in an embodiment of the present invention.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施方式对本发明作进一步的详细说明。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
实施例一：Example one:
参见图1，图1为本发明实施例中总线型伺服电机网络启动方法的一种实施流程图，该方法可以包括以下步骤：Referring to Fig. 1, Fig. 1 is an implementation flowchart of a method for starting a bus-type servo motor network in an embodiment of the present invention. The method may include the following steps:
S101：当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈。S101: When it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack.
可以预先分别设置各总线型伺服电机与上位控制器之间的伺服协议栈，上位控制器可以实时检测是否存在伺服协议栈启动，当检测到存在伺服协议栈启动时，说明上位控制器需要对该伺服协议栈对应的总线型伺服电机进行控制，在这种情况下，可以将当前启动的伺服协议栈确定为目标伺服协议栈。The servo protocol stacks between each bus-type servo motor and the upper controller can be set separately in advance. The upper controller can detect in real time whether the servo protocol stack is activated. When the servo protocol stack is detected, the host controller needs to The bus-type servo motor corresponding to the servo protocol stack is controlled. In this case, the currently activated servo protocol stack can be determined as the target servo protocol stack.
S102：获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数。S102: Obtain a target start parameter of the target bus-type servo motor corresponding to the target servo protocol stack.
可以预先存储各伺服协议栈对应的总线型伺服电机的启动参数，并预先存储各伺服协议栈与各启动参数之间的对应关系，在确定出目标伺服协议栈之后，可以获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数。The startup parameters of the bus-type servo motors corresponding to each servo protocol stack can be stored in advance, and the corresponding relationship between each servo protocol stack and each startup parameter can be stored in advance. After the target servo protocol stack is determined, the corresponding target servo protocol stack can be obtained The target start parameter of the target bus-type servo motor.
S103：对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道。S103: Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack.
可以预先设置部署有用于上位控制器向各总线型伺服电机发送启动参数的参数通道，以及各伺服协议栈与参数通道之间的对应关系的GSD(Ground Sampling Distance)文件，当确定出目标伺服协议栈时，通过对 预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道。通过根据使用工况，在每种情况下把启动参数预先规划好，通过把参数通道固定进GSD文件，可以做灵活的通道分配。充分利用了GSD文件标准化的GSD数据将通信扩大到操作员控制级，使用基于GSD的组态工具可将不同厂商生产的设备集成在同一总线系统中，既简单又是对用户友好的等优势。The GSD (Ground Sampling Distance) file that is deployed with the parameter channel used by the host controller to send the startup parameters to each bus-type servo motor and the corresponding relationship between each servo protocol stack and the parameter channel can be set in advance. When the target servo protocol is determined When stacking, the target parameter channel corresponding to the target servo protocol stack is obtained by analyzing the preset GSD file. By pre-planning the startup parameters in each case according to the operating conditions, and by fixing the parameter channels into the GSD file, flexible channel allocation can be done. Fully utilize the standardized GSD data of the GSD file to expand the communication to the operator control level, and use the GSD-based configuration tool to integrate the equipment produced by different manufacturers in the same bus system, which is simple and user-friendly.
S104：利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行网络启动操作。S104: Use the target parameter channel to send the target start parameter to the target bus-type servo motor, so that the target bus-type servo motor performs a network start operation based on the target start parameter.
在获取到目标伺服协议栈对应的目标总线型伺服电机的目标启动参数，并通过对GSD文件进行解析得到目标伺服协议栈对应的目标参数通道之后，可以利用目标参数通道将目标启动参数发送给目标总线型伺服电机，从而目标总线型伺服电机基于目标启动参数进行启动操作。通过设置上位机控制器与总线型伺服电机之间的参数通道，实现了上位控制器向总线型伺服电机自动发送启动参数，较大地加快了总线型伺服电机网络启动速度，提升了生产效率，较大地节省了人力成本。并且总线型伺服电机是在运行之前对目标启动参数进行了响应，在运行中不会进行操作，从而不影响上位控制器和总线型伺服电机的执行效率。After obtaining the target starting parameters of the target bus-type servo motor corresponding to the target servo protocol stack, and obtaining the target parameter channel corresponding to the target servo protocol stack by analyzing the GSD file, the target parameter channel can be used to send the target starting parameters to the target Bus-type servo motor, so that the target bus-type servo motor performs starting operations based on the target starting parameters. By setting the parameter channel between the host computer controller and the bus-type servo motor, the host controller can automatically send the startup parameters to the bus-type servo motor, which greatly accelerates the network startup speed of the bus-type servo motor, and improves the production efficiency. Dadi saves labor costs. In addition, the bus-type servo motor responds to the target startup parameters before running, and will not operate during operation, so that the execution efficiency of the host controller and the bus-type servo motor will not be affected.
应用本发明实施例所提供的方法，当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道；利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行启动操作。通过预先设置部署有各伺服协议栈与各参数通道之间的对应关系的GSD文件，当存在伺服协议栈启动时，直接利用相应的目标参数通道将启动参数发送给目标总线型伺服电机。相较于现有的手动输入总线型伺服电机网络启动参数的方式，较大地加快了总线型伺服电机网络启动速度，提升了生产效率。Using the method provided by the embodiment of the present invention, when it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack; the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained ; Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs based on the target startup parameters Start operation. By presetting and deploying the GSD file with the corresponding relationship between each servo protocol stack and each parameter channel, when there is a servo protocol stack startup, the corresponding target parameter channel is used to directly send the startup parameters to the target bus-type servo motor. Compared with the existing method of manually inputting the starting parameters of the bus-type servo motor network, the starting speed of the bus-type servo motor network is greatly accelerated, and the production efficiency is improved.
需要说明的是，基于上述实施例一，本发明实施例还提供了相应的改进方案。在后续实施例中涉及与上述实施例一中相同步骤或相应步骤之间 可相互参考，相应的有益效果也可相互参照，在下文的改进实施例中不再一一赘述。It should be noted that, based on the first embodiment described above, the embodiment of the present invention also provides a corresponding improvement solution. In the subsequent embodiments, the same steps or corresponding steps as those in the first embodiment can be referred to each other, and the corresponding beneficial effects can also be referred to each other, which will not be repeated in the following improved embodiments.
实施例二：Embodiment two:
S201：当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈。S201: When it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack.
S202：判断目标伺服协议栈所在网络的虚拟组态与真实组态是否一致，若否，则执行步骤S203，若是，则执行步骤S204。S202: Determine whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration, if not, execute step S203, and if yes, execute step S204.
在确定出目标伺服协议栈之后，可以判断目标伺服协议栈所在网络的虚拟组态与真实组态是否一致，从而根据网络的虚拟组态与真实组态确定目标伺服协议栈是否正常启动，即当目标伺服协议栈所在网络的虚拟组态与真实组态一致时，说明目标伺服协议栈处于正常启动状态，执行步骤S204，当目标伺服协议栈所在网络的虚拟组态与真实组态不一致时，说明目标伺服协议栈处于非正常启动状态，执行步骤S203。After the target servo protocol stack is determined, it can be judged whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration, so as to determine whether the target servo protocol stack starts normally according to the virtual configuration and the real configuration of the network. When the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration, it means that the target servo protocol stack is in a normal startup state, and step S204 is executed. When the virtual configuration of the network where the target servo protocol stack is located is inconsistent with the real configuration, it means The target servo protocol stack is in an abnormal start state, and step S203 is executed.
需要说明的是，除根据网络的虚拟组态与真实组态的一致性判别伺服协议栈的启动状态之外，还可以根据其他能够表明伺服协议栈的启动状态的判别条件的满足与否确定伺服协议栈的启动状态，本发明实施例对此不做限定。It should be noted that, in addition to judging the starting state of the servo protocol stack based on the consistency of the virtual configuration and the real configuration of the network, the servo can also be determined based on whether other judgment conditions that can indicate the starting state of the servo protocol stack are satisfied or not. The startup state of the protocol stack is not limited in the embodiment of the present invention.
S203：进行伺服协议栈启动异常报错操作。S203: Perform an abnormal error report operation for starting the servo protocol stack.
当目标伺服协议栈所在网络的虚拟组态与真实组态不一致时，说明目标伺服协议栈处于非正常启动状态，进行伺服协议栈启动异常报错操作，从而提示相关人员及时进行维护操作。When the virtual configuration of the network where the target servo protocol stack is located is inconsistent with the real configuration, it means that the target servo protocol stack is in an abnormal startup state, and the servo protocol stack startup exception error operation is performed, thereby prompting relevant personnel to perform maintenance operations in time.
S204：获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数。S204: Obtain the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack.
S205：对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道。S205: Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack.
S206：利用目标参数通道将目标启动参数发送给目标总线型伺服电机。S206: Use the target parameter channel to send the target start parameter to the target bus-type servo motor.
S207：接收目标总线型伺服电机返回的参数响应反馈信息。S207: Receive the parameter response feedback information returned by the target bus-type servo motor.
在利用目标参数通道将目标启动参数发送给目标总线型伺服电机之后，目标总线型伺服电机会对目标启动参数进行识别，如对参数的长度、 参数的生效方式、参数的正确与否进行识别，获得识别结果，将根据识别结果生成参数响应反馈信息，并将参数响应反馈信息返回给上位控制器，上位控制器接收目标总线型伺服电机返回的参数响应反馈信息。After using the target parameter channel to send the target startup parameters to the target bus-type servo motor, the target bus-type servo motor will identify the target startup parameters, such as identifying the length of the parameter, the effective method of the parameter, and whether the parameter is correct or not. After the recognition result is obtained, the parameter response feedback information is generated according to the recognition result, and the parameter response feedback information is returned to the upper controller, and the upper controller receives the parameter response feedback information returned by the target bus-type servo motor.
S208：根据参数响应反馈信息判断是否需要调整目标启动参数，若是，则执行步骤S209，若否，则不做处理。S208: Determine whether the target startup parameter needs to be adjusted according to the parameter response feedback information, if yes, execute step S209, if not, no processing is performed.
在接收到目标总线型伺服电机返回的参数响应反馈信息之后，可以根据参数响应反馈信息判断是否需要调整目标启动参数，若是，则说明该目标启动参数有误，执行步骤S209，若否，则说明目标启动参数正常，不需要做任何处理。After receiving the parameter response feedback information returned by the target bus-type servo motor, the parameter response feedback information can be used to determine whether the target startup parameter needs to be adjusted. The target startup parameters are normal, and no processing is required.
S209：对目标启动参数进行调整操作。S209: Adjust the target startup parameter.
当根据参数响应反馈信息确定需要调整目标启动参数时，对目标启动参数进行调整操作，如对参数的长度、参数的生效方式等进行调整，使得启动参数满足相应的启动条件，保证伺服电机的正确启动。When it is determined that the target start parameters need to be adjusted according to the parameter response feedback information, the target start parameters are adjusted, such as the length of the parameters, the effective mode of the parameters, etc., so that the start parameters meet the corresponding start conditions and ensure the correctness of the servo motor start up.
相应于上面的方法实施例，本发明实施例还提供了一种总线型伺服电机网络启动装置，下文描述的总线型伺服电机网络启动装置与上文描述的总线型伺服电机网络启动方法可相互对应参照。Corresponding to the above method embodiment, the embodiment of the present invention also provides a bus-type servo motor network starting device. The bus-type servo motor network starting device described below and the above-described bus-type servo motor network starting method can correspond to each other. Reference.
参见图3，图3为本发明实施例中一种总线型伺服电机网络启动装置的结构框图，该装置可以包括：Refer to FIG. 3, which is a structural block diagram of a bus-type servo motor network starting device in an embodiment of the present invention, and the device may include:
协议栈确定模块31，用于当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；The protocol stack determining module 31 is configured to determine the currently activated servo protocol stack as the target servo protocol stack when it is detected that the servo protocol stack is activated;
启动参数获取模块32，用于获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；The startup parameter acquisition module 32 is used to acquire the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
参数通道获取模块33，用于对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道；The parameter channel acquisition module 33 is used to analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
网络启动模块34，用于利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行网络启动操作。The network start module 34 is used to send the target start parameters to the target bus-type servo motor by using the target parameter channel, so that the target bus-type servo motor performs a network start operation based on the target start parameters.
应用本发明实施例所提供的装置，当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；获取目标伺服协议栈对 应的目标总线型伺服电机的目标启动参数；对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道；利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行启动操作。通过预先设置部署有各伺服协议栈与各参数通道之间的对应关系的GSD文件，当存在伺服协议栈启动时，直接利用相应的目标参数通道将启动参数发送给目标总线型伺服电机。相较于现有的手动输入总线型伺服电机网络启动参数的方式，较大地加快了总线型伺服电机网络启动速度，提升了生产效率。Using the device provided by the embodiment of the present invention, when it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack; the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained ; Analyze the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs based on the target startup parameters Start operation. By presetting and deploying the GSD file with the corresponding relationship between each servo protocol stack and each parameter channel, when there is a servo protocol stack startup, the corresponding target parameter channel is used to directly send the startup parameters to the target bus-type servo motor. Compared with the existing method of manually inputting the starting parameters of the bus-type servo motor network, the starting speed of the bus-type servo motor network is greatly accelerated, and the production efficiency is improved.
在本发明的一种具体实施方式中，该装置还可以包括：In a specific implementation of the present invention, the device may further include:
反馈信息接收模块，用于在利用目标参数通道将目标启动参数发送给目标总线型伺服电机之后，接收目标总线型伺服电机返回的参数响应反馈信息；The feedback information receiving module is used to receive the parameter response feedback information returned by the target bus-type servo motor after sending the target start-up parameters to the target bus-type servo motor by using the target parameter channel;
第一判断模块，用于根据参数响应反馈信息判断是否需要调整目标启动参数；The first judgment module is used to judge whether the target start parameter needs to be adjusted according to the parameter response feedback information;
参数调整模块，用于当根据参数响应反馈信息确定需要调整目标启动参数时，对目标启动参数进行调整操作。The parameter adjustment module is used to adjust the target startup parameter when it is determined that the target startup parameter needs to be adjusted according to the parameter response feedback information.
在本发明的一种具体实施方式中，该装置还可以包括：In a specific implementation of the present invention, the device may further include:
第二判断模块，用于在将当前启动的伺服协议栈确定为目标伺服协议栈之后，获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数之前，判断目标伺服协议栈是否正常启动；The second judgment module is used for judging whether the target servo protocol stack is normally started before obtaining the target start parameters of the target bus-type servo motor corresponding to the target servo protocol stack after determining the currently started servo protocol stack as the target servo protocol stack;
启动参数获取模块32具体为当确定目标伺服协议栈正常启动时，获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数的模块；The startup parameter acquisition module 32 is specifically a module that acquires the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack when it is determined that the target servo protocol stack is normally started;
异常报错模块，用于当确定目标伺服协议栈启动异常时，进行伺服协议栈启动异常报错操作。The abnormal error reporting module is used to report the abnormal startup of the servo protocol stack when the target servo protocol stack is determined to be abnormal.
在本发明的一种具体实施方式中，第二判断模块具体为判断目标伺服协议栈所在网络的虚拟组态与真实组态是否一致的模块。In a specific implementation of the present invention, the second judgment module is specifically a module for judging whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
相应于上面的方法实施例，参见图4，图4为本发明所提供的总线型伺服电机网络启动设备的示意图，该设备可以包括：Corresponding to the above method embodiment, refer to FIG. 4, which is a schematic diagram of the bus-type servo motor network starting device provided by the present invention. The device may include:
存储器41，用于存储计算机程序；The memory 41 is used to store computer programs;
处理器42，用于执行上述存储器41存储的计算机程序时可实现如下步骤：The processor 42 is configured to execute the computer program stored in the aforementioned memory 41 and can implement the following steps:
当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道；利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行网络启动操作。When it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack; the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained; the preset GSD file is analyzed, Obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs network startup operations based on the target startup parameters.
对于本发明提供的设备的介绍请参照上述方法实施例，本发明在此不做赘述。For the introduction of the equipment provided by the present invention, please refer to the foregoing method embodiments, and the present invention will not be repeated here.
相应于上面的方法实施例，本发明还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时可实现如下步骤：Corresponding to the above method embodiments, the present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:
当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；获取目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；对预置的GSD文件进行解析，得到与目标伺服协议栈对应的目标参数通道；利用目标参数通道将目标启动参数发送给目标总线型伺服电机，以使目标总线型伺服电机基于目标启动参数进行网络启动操作。When it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack; the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack are obtained; the preset GSD file is analyzed, Obtain the target parameter channel corresponding to the target servo protocol stack; use the target parameter channel to send the target startup parameters to the target bus-type servo motor, so that the target bus-type servo motor performs network startup operations based on the target startup parameters.
该计算机可读存储介质可以包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The computer-readable storage medium may include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc., which can store program codes Medium.
对于本发明提供的计算机可读存储介质的介绍请参照上述方法实施例，本发明在此不做赘述。For the introduction of the computer-readable storage medium provided by the present invention, please refer to the foregoing method embodiments, and the present invention will not be repeated here.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似部分互相参见即可。对于实施例公开的装置、设备及计算机可读存储介质而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the device, equipment and computer-readable storage medium disclosed in the embodiment, since they correspond to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method part.
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的技术方案及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。Specific examples are used in this article to describe the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

  1. 一种总线型伺服电机网络启动方法，其特征在于，包括：A method for starting a bus-type servo motor network, which is characterized in that it includes:
    当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；When it is detected that the servo protocol stack is activated, the currently activated servo protocol stack is determined as the target servo protocol stack;
    获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；Acquiring the target starting parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
    对预置的GSD文件进行解析，得到与所述目标伺服协议栈对应的目标参数通道；Parse the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
    利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机，以使所述目标总线型伺服电机基于所述目标启动参数进行网络启动操作。The target parameter channel is used to send the target startup parameter to the target bus-type servo motor, so that the target bus-type servo motor performs a network startup operation based on the target startup parameter.
  2. 根据权利要求1所述的总线型伺服电机网络启动方法，其特征在于，在利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机之后，还包括：The bus-type servo motor network startup method according to claim 1, wherein after using the target parameter channel to send the target startup parameters to the target bus-type servo motor, the method further comprises:
    接收所述目标总线型伺服电机返回的参数响应反馈信息；Receiving parameter response feedback information returned by the target bus-type servo motor;
    根据所述参数响应反馈信息判断是否需要调整所述目标启动参数；Judging whether the target startup parameter needs to be adjusted according to the parameter response feedback information;
    若是，则对所述目标启动参数进行调整操作。If it is, the target startup parameter is adjusted.
  3. 根据权利要求1或2所述的总线型伺服电机网络启动方法，其特征在于，在将当前启动的伺服协议栈确定为目标伺服协议栈之后，获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数之前，还包括：The bus type servo motor network startup method according to claim 1 or 2, wherein after the currently activated servo protocol stack is determined as the target servo protocol stack, the target bus type servo corresponding to the target servo protocol stack is obtained. Before the target start parameters of the motor, it also includes:
    判断所述目标伺服协议栈是否正常启动；Judging whether the target servo protocol stack is started normally;
    若是，则执行所述获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数的步骤；If yes, execute the step of obtaining the target starting parameters of the target bus-type servo motor corresponding to the target servo protocol stack;
    若否，则进行伺服协议栈启动异常报错操作。If not, then perform the servo protocol stack startup exception error report operation.
  4. 根据权利要求3所述的总线型伺服电机网络启动方法，其特征在于，判断所述目标伺服协议栈是否正常启动，包括：The method for starting a bus-type servo motor network according to claim 3, wherein determining whether the target servo protocol stack is started normally includes:
    判断所述目标伺服协议栈所在网络的虚拟组态与真实组态是否一致。It is determined whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
  5. 一种总线型伺服电机网络启动装置，其特征在于，包括：A bus type servo motor network starting device, which is characterized in that it comprises:
    协议栈确定模块，用于当检测到存在伺服协议栈启动时，将当前启动的伺服协议栈确定为目标伺服协议栈；The protocol stack determination module is used to determine the currently activated servo protocol stack as the target servo protocol stack when it is detected that the servo protocol stack is activated;
    启动参数获取模块，用于获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数；A startup parameter acquisition module, configured to acquire the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack;
    参数通道获取模块，用于对预置的GSD文件进行解析，得到与所述目标伺服协议栈对应的目标参数通道；The parameter channel acquisition module is used to parse the preset GSD file to obtain the target parameter channel corresponding to the target servo protocol stack;
    网络启动模块，用于利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机，以使所述目标总线型伺服电机基于所述目标启动参数进行网络启动操作。The network startup module is configured to send the target startup parameter to the target bus-type servo motor by using the target parameter channel, so that the target bus-type servo motor performs a network startup operation based on the target startup parameter.
  6. 根据权利要求5所述的总线型伺服电机网络启动装置，其特征在于，还包括：The bus type servo motor network starting device according to claim 5, further comprising:
    反馈信息接收模块，用于在利用所述目标参数通道将所述目标启动参数发送给所述目标总线型伺服电机之后，接收所述目标总线型伺服电机返回的参数响应反馈信息；The feedback information receiving module is configured to receive the parameter response feedback information returned by the target bus-type servo motor after the target start-up parameter is sent to the target bus-type servo motor by using the target parameter channel;
    第一判断模块，用于根据所述参数响应反馈信息判断是否需要调整所述目标启动参数；The first judgment module is configured to judge whether the target startup parameter needs to be adjusted according to the parameter response feedback information;
    参数调整模块，用于当根据所述参数响应反馈信息确定需要调整所述目标启动参数时，对所述目标启动参数进行调整操作。The parameter adjustment module is configured to perform an adjustment operation on the target startup parameter when it is determined that the target startup parameter needs to be adjusted according to the parameter response feedback information.
  7. 根据权利要求5或6所述的总线型伺服电机网络启动装置，其特征在于，还包括：The bus type servo motor network starting device according to claim 5 or 6, characterized in that it further comprises:
    第二判断模块，用于在将当前启动的伺服协议栈确定为目标伺服协议栈之后，获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数之前，判断所述目标伺服协议栈是否正常启动；The second judgment module is used for judging the target servo protocol stack before obtaining the target startup parameters of the target bus-type servo motor corresponding to the target servo protocol stack after the currently activated servo protocol stack is determined as the target servo protocol stack Whether to start normally;
    所述启动参数获取模块具体为当确定所述目标伺服协议栈正常启动时，获取所述目标伺服协议栈对应的目标总线型伺服电机的目标启动参数的模块；The startup parameter acquisition module is specifically a module that acquires the target startup parameter of the target bus-type servo motor corresponding to the target servo protocol stack when it is determined that the target servo protocol stack is normally started;
    异常报错模块，用于当确定所述目标伺服协议栈启动异常时，进行伺服协议栈启动异常报错操作。The abnormal error reporting module is used to perform a servo protocol stack startup exception error reporting operation when it is determined that the target servo protocol stack is abnormally started.
  8. 根据权利要求7所述的总线型伺服电机网络启动装置，其特征在于，所述第二判断模块具体为判断所述目标伺服协议栈所在网络的虚拟组态与真实组态是否一致的模块。The bus-type servo motor network startup device according to claim 7, wherein the second judgment module is specifically a module for judging whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
  9. 一种总线型伺服电机网络启动设备，其特征在于，包括：A bus type servo motor network starting device, which is characterized in that it comprises:
    存储器，用于存储计算机程序；Memory, used to store computer programs;
    处理器，用于执行所述计算机程序时实现如权利要求1至4任一项所述总线型伺服电机网络启动方法的步骤。The processor is configured to implement the steps of the method for starting the bus-type servo motor network according to any one of claims 1 to 4 when executing the computer program.
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至4任一项所述总线型伺服电机网络启动方法的步骤。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the bus-type servo motor according to any one of claims 1 to 4 is realized Steps of the network startup method.
PCT/CN2020/079692 2020-02-28 2020-03-17 Bus-type servo motor network startup method, apparatus and device, and storage medium WO2021168928A1 (en)

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