WO2023173692A1 - 工件台的分级控制方法、系统、设备及存储介质 - Google Patents

工件台的分级控制方法、系统、设备及存储介质 Download PDF

Info

Publication number
WO2023173692A1
WO2023173692A1 PCT/CN2022/116111 CN2022116111W WO2023173692A1 WO 2023173692 A1 WO2023173692 A1 WO 2023173692A1 CN 2022116111 W CN2022116111 W CN 2022116111W WO 2023173692 A1 WO2023173692 A1 WO 2023173692A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece table
fault
level
workpiece
determined
Prior art date
Application number
PCT/CN2022/116111
Other languages
English (en)
French (fr)
Inventor
高四强
刘大江
Original Assignee
北京华卓精科科技股份有限公司
北京优微精密测控技术研究有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京华卓精科科技股份有限公司, 北京优微精密测控技术研究有限公司 filed Critical 北京华卓精科科技股份有限公司
Publication of WO2023173692A1 publication Critical patent/WO2023173692A1/zh

Links

Images

Classifications

    • 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
    • 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
    • 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
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition

Definitions

  • the present application relates to the field of signal control technology, and in particular to a hierarchical control method, system, equipment and storage medium configured as a workpiece stage.
  • the common fault protection of the workpiece table only includes over-current protection.
  • the threshold value of the current protection is set in the program. Once a large change in the current is detected and exceeds the set threshold, the workpiece table is directly controlled through the program. The power output sets it to zero, thus protecting the actuator of the workpiece table from damage.
  • the relevant technology does not have over-temperature protection, water shortage protection, smoke protection, or over-limit protection. Therefore, when the above faults occur, the workpiece table cannot respond promptly and effectively, which will eventually cause the actuator of the workpiece table to be damaged or even damaged. It is broken. At the same time, directly cutting off the power output is sometimes a very dangerous operation and can even cause secondary injuries. It cannot effectively control the safety of the workpiece table and ensure the safe operation of the workpiece table.
  • the technical problem to be solved by the embodiments of this application is to provide a hierarchical control method, system, equipment and storage medium configured as a workpiece stage.
  • embodiments of the present application provide a hierarchical control method configured as a workpiece stage, including:
  • the workpiece table is controlled to stop running based on the first-level control strategy
  • the workpiece table is controlled to stop running based on the secondary control strategy.
  • controlling the workpiece table to stop running based on the first-level control strategy includes:
  • controlling the workpiece table to stop running based on the secondary control strategy includes:
  • the workpiece table is controlled to move to the target position, and the operation of cutting off the power output of the workpiece table is performed.
  • controlling the workpiece stage to move to a target position includes:
  • the method further includes:
  • a servo interruption control signal is sent to the workpiece stage, so that the workpiece stage performs servo interruption according to the servo interruption control signal.
  • the fault code information is parsed to obtain parsing results, including:
  • the fault level of the workpiece table is divided.
  • the fault level of the workpiece table is divided, including:
  • the fault code information includes at least one of a temperature alarm signal or a water flow alarm signal, classify the fault level of the workpiece table into a first-level fault;
  • the fault code information includes at least one of a smoke alarm signal or an over-limit alarm signal
  • the fault level of the workpiece table is classified as a secondary fault.
  • embodiments of the present application also provide a hierarchical control system for workpiece tables, which system includes:
  • the acquisition unit is configured to acquire fault code information of the workpiece table
  • An analysis unit configured to analyze the fault code information and obtain an analysis result
  • a first-level control strategy execution unit configured to control the workpiece table to stop running based on the first-level control strategy when it is determined that the fault level of the workpiece table is a first-level fault according to the analysis result
  • the secondary control strategy execution unit is configured to control the workpiece platform to stop running based on the secondary control strategy when it is determined that the fault level of the workpiece platform is a secondary fault according to the analysis result.
  • embodiments of the present application also provide an electronic device, which includes: at least one processor, a memory, at least one network interface, and a user interface;
  • the at least one processor, memory, at least one network interface and user interface are coupled together through a bus system;
  • the processor is configured to execute the above steps of the hierarchical control method of the workpiece stage by calling a program or instruction stored in the memory.
  • embodiments of the present application also provide a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the above-mentioned hierarchical control method of the workpiece table is implemented. step.
  • the hierarchical control method, system, equipment and storage medium configured as a workpiece stage provided by the embodiments of the present application have at least the following beneficial effects:
  • This application obtains the fault code information of the workpiece table, analyzes the fault code information, and obtains the analysis result; when the fault level of the workpiece table is determined to be a first-level fault according to the analysis results, the workpiece table is controlled to stop running based on the first-level control strategy; when When the fault level of the workpiece table is determined to be a secondary fault according to the analysis results, the workpiece table is controlled to stop running based on the secondary control strategy.
  • the faults of the workpiece table are divided into different fault levels. Different levels of faults correspond to different fault handling methods. Try not to do anything when the workpiece table fails. Protect the workpiece table in case of dangerous operations and make it stop safely, effectively control the workpiece table safely and ensure the safe operation of the workpiece table.
  • Figure 1 is a schematic flow chart of a hierarchical control method for workpiece tables provided by this application;
  • Figure 2 is a schematic flow chart of the workpiece stage initialization provided by this application.
  • Figure 3 is a schematic structural diagram of a hierarchical control system for workpiece tables provided by this application.
  • Figure 4 is a schematic structural diagram of an electronic device of the present application.
  • embodiments of the present application provide a hierarchical control method for workpiece tables, including the following steps:
  • the workpiece table is controlled to stop running based on the first-level control strategy.
  • the workpiece table is controlled to stop running based on the first-level control strategy, including:
  • the operation of directly cutting off the power output of the workpiece table is performed.
  • the workpiece table is controlled to stop running based on the secondary control strategy.
  • the workpiece table is controlled to stop running based on the secondary control strategy, including:
  • the workpiece table is controlled to move to the target position and the power output of the workpiece table is cut off.
  • This application detects the fault code information of the workpiece table in real time and uploads the fault code information to the host computer, and divides the faults of the workpiece table into different fault levels. Different levels of faults correspond to different fault handling methods, and try to solve the problem when the workpiece table fails. Protect the workpiece table and make it stop safely without performing dangerous operations, effectively control the workpiece table safely and ensure the safe operation of the workpiece table.
  • controlling the workpiece stage to move to a target position includes:
  • the workpiece table is switched to BF mode
  • the method also includes:
  • the workpiece table When the workpiece table is powered on, it first performs a self-check and analyzes the received fault code information of the workpiece table. If there is a fault on the workpiece table, an alarm message will be issued immediately, prompting the operator to check the corresponding fault module and handle it until the fault on the workpiece table is detected and eliminated. Only then can the workpiece table be controlled and operated.
  • the workpiece table During the initialization stage of the workpiece table, first read the fault code information uploaded through the data acquisition system. If the workpiece table fails, the workpiece table will not be controlled and the fault information will be printed. For example, the fault message is "The data acquisition system issued a fault alarm, please check before proceeding.” "Run"; when the fault is eliminated, the control program for the workpiece table can continue to be executed.
  • the servo interruption control signal is sent to the workpiece stage, so that the workpiece stage performs servo interruption according to the servo interruption control signal.
  • step S203 determines whether there is a fault on the workpiece table according to the analysis result.
  • step S204 is executed; when a fault occurs on the workpiece table, step S205 is executed.
  • faults such as overtemperature of the actuator and abnormal water flow often occur, especially during the verification stage when the product is still unstable.
  • Possible faults on the workpiece table are divided into two different levels. Fault classification processing can more effectively control the safety of the workpiece table and ensure the safe operation of the workpiece table.
  • the workpiece table when the workpiece table is initialized, after completing the initialization task, it enters the servo interrupt for servo control.
  • the servo interrupt process it is first determined whether the fault code information reported from the PLC controller is received.
  • the workpiece is further analyzed. Check whether the station is malfunctioning. For example, when the fault code is 0x0, it is considered that the workpiece table is faultless and servo control can be performed normally; but once the fault code is detected not to be 0x0, it is considered that the workpiece table is faulty and troubleshooting is required.
  • the embodiment of this application divides fault processing into two fault levels. Faults of different fault levels are handled in different ways. For example, if the fault code is: 0xF/0x7/0x3/0x1, the workpiece table is considered to be faulty, and the fault level is further processed. It is judged that the first-level fault is: 0xF/0x7, and the second-level fault is: 0x3/0x1.
  • the first-level fault processing method is: directly cut off the power output of the workpiece table;
  • the second-level fault processing method is: first do not respond to the host computer instructions, and then determine whether the speed of the motor driving 6DOF of the workpiece table reaches the speed threshold (for example, speed The threshold can be set to zero), until the speed of the motor driving 6DOF drops to zero, switch the workpiece table to BF mode, and control the workpiece table to run along the Z-axis direction of the base coordinate system of the workpiece table and slowly fall, and finally cut off the workpiece
  • the power output of the table causes the workpiece table to stop.
  • the fault level of the workpiece table is divided, including:
  • the fault level of the workpiece table is classified as a first-level fault
  • the fault level of the workpiece table is classified as a secondary fault.
  • the embodiment of this application detects the fault of the workpiece table in real time and uploads the fault code; the workpiece table starts a self-check. Once the workpiece table has a fault, the workpiece table cannot be operated; the faults of the workpiece table are classified into levels, and the fault handling methods of different levels are different. Level 2 In case of a fault, the workpiece table can be controlled to slowly fall first, and in case of a first-level fault, the power output can be cut off directly.
  • the embodiment of this application divides the possible faults of the workpiece table into different levels, sets different fault handling methods according to the different fault levels, and tries to protect the workpiece table without performing dangerous operations when a fault occurs, so that it can shut down safely. In some non-emergency situations, the workpiece table can be controlled to stop slowly and then cut off the power output, instead of cutting off the power output uniformly and directly, which can improve the safety of the workpiece table control.
  • the embodiment of the present application also provides a hierarchical control system for the workpiece table, which system includes:
  • the acquisition unit 31 is configured to acquire fault code information of the workpiece table
  • the analysis unit 32 is configured to analyze the fault code information and obtain the analysis result
  • the first-level control strategy execution unit 33 is configured to control the workpiece table to stop running based on the first-level control strategy when it is determined according to the analysis result that the fault level of the workpiece table is a first-level fault;
  • the secondary control strategy execution unit 34 is configured to control the workpiece platform to stop operating based on the secondary control strategy when it is determined according to the analysis result that the fault level of the workpiece platform is a secondary fault.
  • embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps of the hierarchical control method of the workpiece table are implemented. Examples include:
  • the workpiece table is controlled to stop running based on the first-level control strategy
  • the workpiece table is controlled to stop running based on the secondary control strategy.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by another embodiment of the present application.
  • the electronic device 400 shown in FIG. 4 includes: at least one processor 401, a memory 402, at least one network interface 404 and other user interfaces 403.
  • the various components in electronic device 400 are coupled together through bus system 405 .
  • bus system 405 is configured to enable connected communications between these components.
  • the bus system 405 also includes a power bus, a control bus and a status signal bus.
  • various buses are labeled as bus system 405 in FIG. 4 .
  • the user interface 403 may include a display, a keyboard or a clicking device (eg, a mouse, a trackball, a touch pad, a touch screen, etc.).
  • a clicking device eg, a mouse, a trackball, a touch pad, a touch screen, etc.
  • the memory 402 in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories.
  • the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (ProgrammableROM, PROM), erasable programmable read-only memory (ErasablePROM, EPROM), electrically erasable read-only memory (EPROM), Programming read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • the volatile memory may be Random Access Memory (RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM Double data rate synchronous dynamic random access memory
  • DoubleDataRate SDRAM DDRSDRAM
  • Enhanced SDRAM ESDRAM
  • SynchlinkDRAM SLDRAM
  • DirectRambusRAM Direct memory bus random access memory Access memory
  • the memory 402 described herein is intended to include, but is not limited to, these and any other suitable types of memory.
  • memory 402 stores the following elements, executable units or data structures, or subsets thereof, or extensions thereof: operating system 4021 and application programs 4022.
  • the operating system 4021 includes various system programs, such as framework layer, core library layer, driver layer, etc., which are configured to implement various basic services and process hardware-based tasks.
  • Application program 4022 includes various application programs, such as media player (MediaPlayer), browser (Browser), etc., and is configured to implement various application services.
  • the program that implements the method of the embodiment of the present application may be included in the application program 4022.
  • the processor 401 by calling the program or instructions stored in the memory 402, specifically, the program or instructions stored in the application program 4022, the processor 401 is configured to execute the method steps provided by each method embodiment, for example, including :
  • the workpiece table is controlled to stop running based on the first-level control strategy
  • the workpiece table is controlled to stop running based on the secondary control strategy.
  • the methods disclosed in the above embodiments of the present application can be configured in the processor 401 or implemented by the processor 401.
  • the processor 401 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 401 .
  • the above-mentioned processor 401 can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates. or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor.
  • the software unit can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory 402.
  • the processor 401 reads the information in the memory 402 and completes the steps of the above method in combination with its hardware.
  • the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof.
  • the processing unit can be implemented in one or more application specific integrated circuits (Application Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing, DSP), digital signal processing device (DSP Device, DSPD), programmable logic device (Programmable Logic Device, PLD) ), Field-Programmable Gate Array (FPGA), general-purpose processor, controller, microcontroller, microprocessor, other electronic units configured to perform the functions described in this application, or combinations thereof.
  • ASIC Application Specific Integrated Circuits
  • DSP Digital Signal Processing
  • DSP Device digital signal processing device
  • PLD programmable logic device
  • FPGA Field-Programmable Gate Array
  • controller microcontroller
  • microprocessor other electronic units configured to perform the functions described in this application, or combinations thereof.
  • the techniques described herein may be implemented by means of units that perform the functions described herein.
  • Software code may be stored in memory and executed by a processor.
  • the memory can be implemented in the processor or external to the processor.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

一种工件台的分级控制方法、系统、设备及存储介质，方法包括：获取工件台的故障码信息；对故障码信息进行解析，得到解析结果；当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行；当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行；通过实时检测工件台的故障码信息并上传到上位机，将工件台的故障划分为不同的故障等级并对应不同故障处理方式，尽量在工件台发生故障时不做危险操作的情况下保护工件台。

Description

工件台的分级控制方法、系统、设备及存储介质
相关申请的交叉引用
本申请要求享有于2022年03月17日提交的中国专利申请CN202210263857.7的优先权，上述申请的全部内容通过引用并入本文中。
技术领域
本申请涉及信号控制技术领域，特别是涉及一种配置成工件台的分级控制方法、系统、设备及存储介质。
背景技术
目前，常见的工件台的故障保护仅包含过流保护,在程序中设定电流保护的阈值,一旦检测到电流发生较大的变化且超过设定的阈值时,则直接通过程序控制工件台的动力输出使其置为零,从而保护工件台的执行机构不受到损伤。
在实现相关技术方案的过程中，发现相关技术存在如下技术问题：
相关技术不具备过温保护、缺水保护、烟雾保护、超限位保护,因此在发生上述故障的时候工件台不能及时有效的做出相应的处理,最终会导致工件台的执行机构受到损伤甚至坏掉，与此同时,直接切断动力输出有些时候是非常危险的操作，甚至能造成二次伤害，不能有效的对工件台进行安全控制和保证工件台的运行安全。
申请内容
本申请实施例要解决的技术问题是提供一种配置成工件台的分级控制方法、系统、设备及存储介质。
为了解决上述技术问题，本申请实施例提供如下技术方案：
一方面，本申请实施例提供一种配置成工件台的分级控制方法，包括：
获取工件台的故障码信息；
对所述故障码信息进行解析，得到解析结果；
当根据所述解析结果确定所述工件台的故障等级为一级故障时，基于一级控制策略控制所述工件台停止运行；
当根据所述解析结果确定所述工件台的故障等级为二级故障时，基于二级控制策略控制所述工件台停止运行。
在一些实施例中，当根据所述解析结果确定所述工件台的故障等级为一级故障时，基于一级控制策略控制所述工件台停止运行，包括：
当根据所述解析结果确定所述工件台的故障等级为一级故障时，执行直接切断所述工件台的动力输出的操作。
在一些实施例中，所述当根据所述解析结果确定所述工件台的故障等级为二级故障时，基于二级控制策略控制所述工件台停止运行，包括：
当根据所述解析结果确定所述工件台的故障等级为二级故障，控制所述工件台运行至目标位置，并执行切断所述工件台的动力输出的操作。
在一些实施例中，控制所述工件台运行至目标位置，包括：
向所述工件台的电机驱动发送速度控制信号；
当所述电机驱动根据所述速度控制信号将速度调整到速度阈值以下时，将所述工件台切换至BF模式；
控制所述工件台的基坐标系的Z轴方向运行；
当所述工件台运行至目标位置时，执行切断所述工件台的动力输出的操作。
在一些实施例中，所述方法还包括：
对所述工件台进行初始化；
初始化完成后，通过向所述工件台发送伺服中断控制信号，以使所述工件台根据所述伺服中断控制信号进行伺服中断。
在一些实施例中，对所述故障码信息进行解析，得到解析结果，包括：
在所述工件台进行伺服中断过程中，当根据所述解析结果确定所述工件台无故障发生时，继续执行对所述工件台的伺服中断操作；
当根据所述解析结果确定所述工件台发生故障时，对所述工件台的故障等 级进行划分。
在一些实施例中，当根据所述解析结果确定所述工件台发生故障时，对所述工件台的故障等级进行划分，包括：
当根据所述解析结果确定所述故障码信息包括温度报警信号或水流量报警信号中至少之一时，将所述工件台的故障等级划分为一级故障；
当根据所述解析结果确定所述故障码信息包括烟雾报警信号或超限位报警信号中至少之一时，将所述工件台的故障等级划分为二级故障。
另一方面，本申请实施例还提供一种工件台的分级控制系统，所述系统包括：
获取单元，配置成获取工件台的故障码信息；
解析单元，配置成对所述故障码信息进行解析，得到解析结果；
一级控制策略执行单元，配置成当根据所述解析结果确定所述工件台的故障等级为一级故障时，基于一级控制策略控制所述工件台停止运行；以及
二级控制策略执行单元，配置成当根据所述解析结果确定所述工件台的故障等级为二级故障时，基于二级控制策略控制所述工件台停止运行。
再一方面，本申请实施例还提供一种电子设备，所述电子设备包括：至少一个处理器、存储器、至少一个网络接口和用户接口；
所述至少一个处理器、存储器、至少一个网络接口和用户接口通过总线系统耦合在一起；
所述处理器通过调用所述存储器存储的程序或指令，配置成执行上述的工件台的分级控制方法的步骤。
又一方面，本申请实施例还提供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上述的工件台的分级控制方法的步骤。
与现有技术相比，本申请实施例提供的一种配置成工件台的分级控制方法、系统、设备及存储介质至少具有以下有益效果：
本申请通过获取工件台的故障码信息，对故障码信息进行解析，得到解析结 果；当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行；当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行。通过实时检测工件台的故障码信息并上传故障码信息到上位机，将工件台的故障划分为不同的故障等级,不同等级的故障对应不同的故障处理方式，尽量在工件台发生故障时不做危险操作的情况下保护工件台，使其安全停机，有效的对工件台进行安全控制和保证了工件台的运行安全。
下面结合附图对本申请作进一步说明。
附图说明
图1为本申请提供的一种工件台的分级控制方法的流程示意图；
图2为本申请提供的工件台初始化的流程示意图；
图3为本申请提供的一种工件台的分级控制系统的结构示意图；
图4为本申请一种电子设备的结构示意图。
具体实施方式
如图1所示，一方面，本申请实施例提供了一种工件台的分级控制方法，包括以下步骤：
S101、获取工件台的故障码信息。
S102、对故障码信息进行解析，得到解析结果。
S103、当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行。
可选地，当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行，包括：
当根据解析结果确定工件台的故障等级为一级故障时，执行直接切断工件台的动力输出的操作。
S104、当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行。
可选地，当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行，包括：
当根据解析结果确定工件台的故障等级为二级故障，控制工件台运行至目标位置，并执行切断工件台的动力输出的操作。
本申请通过实时检测工件台的故障码信息并上传故障码信息到上位机，将工件台的故障划分为不同的故障等级,不同等级的故障对应不同的故障处理方式，尽量在工件台发生故障时不做危险操作的情况下保护工件台，使其安全停机，有效的对工件台进行安全控制和保证了工件台的运行安全。
在一些实施例中，控制工件台运行至目标位置，包括：
向工件台的电机驱动发送速度控制信号；
当电机驱动根据速度控制信号将速度调整到速度阈值以下时，将工件台切换至BF模式；
控制工件台的基坐标系的Z轴方向运行；
当工件台运行至目标位置时，执行切断工件台的动力输出的操作。
如图2所示，为本申请实施例提供的工件台初始化的流程示意图，在一些实施例中，该方法还包括：
S201、对工件台进行初始化。
工件台开机首先进行自检，解析接收到的工件台的故障码信息，如果工件台有故障则立即发出报警信息，提示操作人员去检查相应的故障模块并处理，直至检测到工件台的故障消除后才能进行工件台控制和操作。
在工件台初始化阶段先读取通过数据采集系统上传的故障码信息,如果工件 台故障则不进行工件台的控制并打印故障信息，例如故障信息为“数据采集系统发出故障报警,请检查后再运行”；当故障消除后可继续执行对工件台的控制程序。
S202、初始化完成后，通过向工件台发送伺服中断控制信号，以使工件台根据伺服中断控制信号进行伺服中断。
S203、在工件台进行伺服中断过程中，根据解析结果判断工件台是否有故障发生，当工件台无故障发生时，执行步骤S204；当工件台发生故障时，执行步骤S205。
S204、继续执行对工件台的伺服中断操作。
S205、对工件台的故障等级进行划分。
在工件台正常运行的过程中，经常会发生执行机构过温、水流量异常等故障，尤其在产品还不稳定的验证阶段。将工件台可能发生的故障分为两个不同的等级，故障分级处理可以更加有效的对工件台进行安全控制和保证了工件台的运行安全。
首先当工件台进行初始化，完成初始化任务后进入伺服中断进行伺服控制，在伺服中断过程中，先判断是否接收到从PLC控制器上报的故障码信息，当接收到故障码信息时，进一步分析工件台是否发生故障。例如，当故障码为0x0时，则认为工件台无故障可以正常进行伺服控制；而一旦检测到故障码不为0x0时，则认为工件台发生故障,需要进行故障处理。
本申请实施例将故障处理分为两个故障等级,不同故障等级的故障其处理方式不同，例如，若故障码为:0xF/0x7/0x3/0x1，则认为工件台故障，进一步对故障等级进行判断,一级故障为:0xF/0x7,二级故障为:0x3/0x1。而一级故障的处理方式为:直接切断工件台的动力输出；二级故障的处理方式为:先不响应上位机指令,接着判断工件台的电机驱动6DOF的速度是否达到速度阈值(例如，速度阈值可以设置为零)，直到电机驱动6DOF的速度下降到零之后,将工件台切换到BF模式，并控制工件台沿着工件台的基坐标系的Z轴方向运行慢慢落下,最后切断 工件台的动力输出，使工件台停机。
在一些实施例中，当根据解析结果确定工件台发生故障时，对工件台的故障等级进行划分，包括：
当根据解析结果确定故障码信息包括温度报警信号或水流量报警信号中至少之一时，将工件台的故障等级划分为一级故障；
当根据解析结果确定故障码信息包括烟雾报警信号或超限位报警信号中至少之一时，将工件台的故障等级划分为二级故障。
本申请实施例通过实时检测工件台故障并上传故障码；工件台开机自检,一旦工件台有故障则不能操作工件台；将工件台的故障分等级,不同等级的故障处理方式不同，二级故障可以先控制工件台慢慢落下，一级故障可直接切断动力输出。本申请实施例将工件台可能发生的故障分为不同的等级,按照故障等级的不同设定不同的故障处理方式，尽量在发生故障时不做危险操作的情况下保护工件台，使其安全停机，有些非紧急情况可以控制工件台慢慢停下再切断动力输出,而不是统一的直接切断，可以提高工件台控制的安全性。
如图3所示，另一方面，本申请实施例还提供了一种工件台的分级控制系统，该系统包括：
获取单元31，配置成获取工件台的故障码信息；
解析单元32，配置成对故障码信息进行解析，得到解析结果；
一级控制策略执行单元33，配置成当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行；以及
二级控制策略执行单元34，配置成当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行。
又一方面，本申请实施例还提供了一种计算机可读存储介质，该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实现上述的工件台 的分级控制方法的步骤，例如包括：
获取工件台的故障码信息；
对故障码信息进行解析，得到解析结果；
当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行；
当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行。
图4是本申请另一个实施例提供的电子设备的结构示意图。图4所示的电子设备400包括：至少一个处理器401、存储器402、至少一个网络接口404和其他用户接口403。电子设备400中的各个组件通过总线系统405耦合在一起。可理解，总线系统405配置成实现这些组件之间的连接通信。总线系统405除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图4中将各种总线都标为总线系统405。
其中，用户接口403可以包括显示器、键盘或者点击设备(例如，鼠标，轨迹球(trackball)、触感板或者触摸屏等。
可以理解，本申请实施例中的存储器402可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-OnlyMemory，ROM)、可编程只读存储器(ProgrammableROM，PROM)、可擦除可编程只读存储器(ErasablePROM，EPROM)、电可擦除可编程只读存储器(ElectricallyEPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(RandomAccessMemory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(StaticRAM，SRAM)、动态随机存取存储器(DynamicRAM，DRAM)、同步动态随机存取存储器(SynchronousDRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(DoubleDataRate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(SynchlinkDRAM， SLDRAM)和直接内存总线随机存取存储器(DirectRambusRAM，DRRAM)。本文描述的存储器402旨在包括但不限于这些和任意其它适合类型的存储器。
在一些实施方式中，存储器402存储了如下的元素，可执行单元或者数据结构，或者他们的子集，或者他们的扩展集：操作系统4021和应用程序4022。
其中，操作系统4021，包含各种系统程序，例如框架层、核心库层、驱动层等，配置成实现各种基础业务以及处理基于硬件的任务。应用程序4022，包含各种应用程序，例如媒体播放器(MediaPlayer)、浏览器(Browser)等，配置成实现各种应用业务。实现本申请实施例方法的程序可以包含在应用程序4022中。
在本申请实施例中，通过调用存储器402存储的程序或指令，具体的，可以是应用程序4022中存储的程序或指令，处理器401配置成执行各方法实施例所提供的方法步骤，例如包括：
获取工件台的故障码信息；
对故障码信息进行解析，得到解析结果；
当根据解析结果确定工件台的故障等级为一级故障时，基于一级控制策略控制工件台停止运行；
当根据解析结果确定工件台的故障等级为二级故障时，基于二级控制策略控制工件台停止运行。
上述本申请实施例揭示的方法可以配置成处理器401中，或者由处理器401实现。处理器401可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器401中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器401可以是通用处理器、数字信号处理器(DigitalSignalProcessor，DSP)、专用集成电路(ApplicationSpecific IntegratedCircuit，ASIC)、现成可编程门阵列(FieldProgrammableGateArray，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的 步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件单元组合执行完成。软件单元可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器402，处理器401读取存储器402中的信息，结合其硬件完成上述方法的步骤。
可以理解的是，本文描述的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现，处理单元可以实现在一个或多个专用集成电路(ApplicationSpecificIntegratedCircuits，ASIC)、数字信号处理器(DigitalSignalProcessing，DSP)、数字信号处理设备(DSPDevice，DSPD)、可编程逻辑设备(ProgrammableLogicDevice，PLD)、现场可编程门阵列(Field-ProgrammableGateArray，FPGA)、通用处理器、控制器、微控制器、微处理器、配置成执行本申请所述功能的其它电子单元或其组合中。
对于软件实现，可通过执行本文所述功能的单元来实现本文所述的技术。软件代码可存储在存储器中并通过处理器执行。存储器可以在处理器中或在处理器外部实现。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本申请时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置或系统实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所描述的装置及系统实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅 用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述的实施例仅仅是对本申请的优选实施方式进行描述，并非对本申请的范围进行限定，在不脱离本申请设计精神的前提下，本领域普通技术人员对本申请的技术方案作出的各种变形和改进，均应落入本申请权利要求书确定的保护范围内。

Claims (10)

  1. 一种工件台的分级控制方法，其特征在于，包括：
    获取工件台的故障码信息；
    对所述故障码信息进行解析，得到解析结果；
    当根据所述解析结果确定所述工件台的故障等级为一级故障时，基于一级控制策略控制所述工件台停止运行；
    当根据所述解析结果确定所述工件台的故障等级为二级故障时，基于二级控制策略控制所述工件台停止运行。
  2. 根据权利要求1所述的工件台的分级控制方法，其特征在于，当根据所述解析结果确定所述工件台的故障等级为一级故障时，基于一级控制策略控制所述工件台停止运行，包括：
    当根据所述解析结果确定所述工件台的故障等级为一级故障时，执行直接切断所述工件台的动力输出的操作。
  3. 根据权利要求1所述的工件台的分级控制方法，其特征在于，所述当根据所述解析结果确定所述工件台的故障等级为二级故障时，基于二级控制策略控制所述工件台停止运行，包括：
    当根据所述解析结果确定所述工件台的故障等级为二级故障，控制所述工件台运行至目标位置，并执行切断所述工件台的动力输出的操作。
  4. 根据权利要求3所述的工件台的分级控制方法，其特征在于，控制所述工件台运行至目标位置，包括：
    向所述工件台的电机驱动发送速度控制信号；
    当所述电机驱动根据所述速度控制信号将速度调整到速度阈值以下时，将所述工件台切换至BF模式；
    控制所述工件台的基坐标系的Z轴方向运行；
    当所述工件台运行至目标位置时，执行切断所述工件台的动力输出的操作。
  5. 根据权利要求1至4任一项所述的工件台的分级控制方法，其特征在于，所述方法还包括：
    对所述工件台进行初始化；
    初始化完成后，通过向所述工件台发送伺服中断控制信号，以使所述工件台根据所述伺服中断控制信号进行伺服中断。
  6. 根据权利要求5所述的工件台的分级控制方法，其特征在于，对所述故障码信息进行解析，得到解析结果，包括：
    在所述工件台进行伺服中断过程中，当根据所述解析结果确定所述工件台无故障发生时，继续执行对所述工件台的伺服中断操作；
    当根据所述解析结果确定所述工件台发生故障时，对所述工件台的故障等级进行划分。
  7. 根据权利要求6所述的工件台的分级控制方法，其特征在于，当根据所述解析结果确定所述工件台发生故障时，对所述工件台的故障等级进行划分，包括：
    当根据所述解析结果确定所述故障码信息包括温度报警信号或水流量报警信号中至少之一时，将所述工件台的故障等级划分为一级故障；
    当根据所述解析结果确定所述故障码信息包括烟雾报警信号或超限位报警信号中至少之一时，将所述工件台的故障等级划分为二级故障。
  8. 一种工件台的分级控制系统，其特征在于，所述系统包括：
    获取单元，配置成获取工件台的故障码信息；
    解析单元，配置成对所述故障码信息进行解析，得到解析结果；
    一级控制策略执行单元，配置成当根据所述解析结果确定所述工件台的故 障等级为一级故障时，基于一级控制策略控制所述工件台停止运行；以及
    二级控制策略执行单元，配置成当根据所述解析结果确定所述工件台的故障等级为二级故障时，基于二级控制策略控制所述工件台停止运行。
  9. 一种电子设备，其特征在于，所述电子设备包括：至少一个处理器、存储器、至少一个网络接口和用户接口；
    所述至少一个处理器、存储器、至少一个网络接口和用户接口通过总线系统耦合在一起；
    所述处理器通过调用所述存储器存储的程序或指令，配置成执行如权利要求1至7中任意一项所述的工件台的分级控制方法的步骤。
  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7中任一项所述的工件台的分级控制方法的步骤。
PCT/CN2022/116111 2022-03-17 2022-08-31 工件台的分级控制方法、系统、设备及存储介质 WO2023173692A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210263857.7 2022-03-17
CN202210263857.7A CN116841216A (zh) 2022-03-17 2022-03-17 工件台的分级控制方法、系统、设备及存储介质

Publications (1)

Publication Number Publication Date
WO2023173692A1 true WO2023173692A1 (zh) 2023-09-21

Family

ID=88022200

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/116111 WO2023173692A1 (zh) 2022-03-17 2022-08-31 工件台的分级控制方法、系统、设备及存储介质

Country Status (2)

Country Link
CN (1) CN116841216A (zh)
WO (1) WO2023173692A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117509459A (zh) * 2023-11-06 2024-02-06 中联重科股份有限公司 用于电动汽车起重机的故障处理方法及电动汽车起重机

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118244686B (zh) * 2024-05-28 2024-08-20 杭州沃镭智能科技股份有限公司 一种基于fpga的故障检测、传输和处理方法及系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09222911A (ja) * 1996-02-16 1997-08-26 Makino Milling Mach Co Ltd Ｎｃ工作機械の故障診断方法および装置
CN105204436A (zh) * 2015-08-26 2015-12-30 山东省计算中心（国家超级计算济南中心） 基于分级预警的数控机床故障诊断方法
CN112798951A (zh) * 2020-12-25 2021-05-14 上海法雷奥汽车电器系统有限公司 一种故障处理方法、装置、电子设备及存储介质
CN113386570A (zh) * 2021-06-30 2021-09-14 东风汽车集团股份有限公司 基于纯电动汽车电池管理系统的故障处理方法及装置
CN113419487A (zh) * 2021-07-02 2021-09-21 南通市紫日机械有限公司 一种数控机床故障自动诊断系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09222911A (ja) * 1996-02-16 1997-08-26 Makino Milling Mach Co Ltd Ｎｃ工作機械の故障診断方法および装置
CN105204436A (zh) * 2015-08-26 2015-12-30 山东省计算中心（国家超级计算济南中心） 基于分级预警的数控机床故障诊断方法
CN112798951A (zh) * 2020-12-25 2021-05-14 上海法雷奥汽车电器系统有限公司 一种故障处理方法、装置、电子设备及存储介质
CN113386570A (zh) * 2021-06-30 2021-09-14 东风汽车集团股份有限公司 基于纯电动汽车电池管理系统的故障处理方法及装置
CN113419487A (zh) * 2021-07-02 2021-09-21 南通市紫日机械有限公司 一种数控机床故障自动诊断系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117509459A (zh) * 2023-11-06 2024-02-06 中联重科股份有限公司 用于电动汽车起重机的故障处理方法及电动汽车起重机

Also Published As

Publication number Publication date
CN116841216A (zh) 2023-10-03

Similar Documents

Publication Publication Date Title
WO2023173692A1 (zh) 工件台的分级控制方法、系统、设备及存储介质
US11144416B2 (en) Device fault processing method, apparatus, and system
US9608430B2 (en) Battery circuit fault protection in uninterruptable power sources
CN1964191A (zh) 负载驱动装置
KR20150009301A (ko) 인버터 시스템의 동작 제어 장치 및 방법
CN104636221A (zh) 一种计算机系统故障处理方法和装置
WO2021004109A1 (zh) 故障处理方法、装置、电子设备及存储介质
CN108872762A (zh) 电子设备漏电检测方法、装置、电子设备及存储介质
JP2003134797A (ja) パワーデバイスの駆動回路
CN116049249A (zh) 报错信息处理方法、装置、系统、设备和存储介质
JP6414440B2 (ja) スイッチング素子の駆動装置
US20140379162A1 (en) Server system and monitoring method
US9600357B2 (en) Error detection method of failsafe software
TW201441796A (zh) 電力分配方法、電力分配裝置、及其資訊處理系統
JP2010039987A (ja) 計算機システム、ハードウェア障害の処理方法及びプログラム
WO2022037332A1 (zh) 虚拟机的故障报警方法、装置、电子设备及计算机可读存储介质
CN113394963B (zh) 一种pfc电路检测方法和装置以及可读存储介质
CN109305117B (zh) 日志检测方法、装置、设备及计算机可读存储介质
TWM544730U (zh) 具有保護機制的電源裝置
JP2017005836A (ja) 電力変換装置
TW201525629A (zh) 產品加工防呆系統及方法
US11908529B2 (en) Data storage device having over-voltage detection and protection
CN113852396B (zh) 数据保护控制方法、装置和系统
CN216774738U (zh) 一种igbt过流检测保护电路、压缩机驱动电路、压缩机及空气调节装置
CN110474626B (zh) 一种基于数控车床伺服驱动器的igbt保护电路

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22931713

Country of ref document: EP

Kind code of ref document: A1