CN111367258B - Test mainboard and test system for automatic test of motion control card - Google Patents
Test mainboard and test system for automatic test of motion control card Download PDFInfo
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- CN111367258B CN111367258B CN202010158821.3A CN202010158821A CN111367258B CN 111367258 B CN111367258 B CN 111367258B CN 202010158821 A CN202010158821 A CN 202010158821A CN 111367258 B CN111367258 B CN 111367258B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The invention provides a test mainboard and a test system for automatically testing a motion control card, wherein the test mainboard comprises a microcontroller, a relay and an encoder module; the microcontroller is configured to: when the relay is connected with the motion control card and the microcontroller, control information generated by the motion control card is sent to the upper computer through the relay, so that the upper computer can verify whether the control information is matched with a control instruction; controlling the relay to connect the motion control card and the motor assembly such that: the motion control card can send the control information to the motor component through the relay; if the encoder module receives encoder information returned by the motor assembly, the encoder information is sent to the upper computer, so that the upper computer can verify whether the encoder information is matched with the control information and/or the control instruction.
Description
Technical Field
The invention relates to the field of control of servo motors, in particular to a test mainboard and a test system for automatically testing a motion control card.
Background
A motion control card is understood to be a construction for controlling a motor assembly to perform a desired action, such as may be used for controlling a drive in the motor assembly. The motion control card can cooperate with the computer host to complete all the details of motion control (including the output of pulse and direction signals, the processing of automatic speed raising and lowering, the detection of signals such as origin and limit, etc.).
Before the motion control card is put into use, the function of the motion control card needs to be tested, and in the prior art, the function is usually realized by adopting a manual test mode.
Disclosure of Invention
The invention provides a test mainboard and a test system for automatically testing a motion control card, which aim to solve the problems of long test time consumption, low production efficiency, easy generation of misoperation and the like.
According to a first aspect of the present invention, there is provided a test motherboard for automatic test of a motion control card, comprising a microcontroller, a relay and an encoder module; the relay is respectively and directly or indirectly connected with the microcontroller, the motion control card and the motor assembly, and the microcontroller is directly or indirectly connected with an upper computer;
the microcontroller is configured to:
when the relay is connected with the motion control card and the microcontroller, control information generated by the motion control card is sent to the upper computer through the relay, so that the upper computer can verify whether the control information is matched with a control instruction; the control information is generated by the motion control card according to a control instruction;
controlling the relay to connect the motion control card and the motor assembly such that: the motion control card can send the control information to the motor component through the relay;
if the encoder module receives encoder information returned by the motor assembly, the encoder information is sent to the upper computer, so that the upper computer can verify whether the encoder information is matched with the control information and/or the control instruction, and the encoder information is generated after the motor assembly executes corresponding actions according to the control information.
Optionally, the microcontroller is further configured to:
when the relay is connected with the motion control card and the microcontroller, the relay receives N trigger signals sent by the motion control card, and judges whether the functions of the motion control card for generating and receiving the N trigger signals are sound or not according to the N trigger signals to generate judgment result information; wherein N is an integer greater than or equal to 1;
and sending the judgment result information to the upper computer.
Optionally, the upper computer is further configured to:
if the function is sound and the control information is matched with the control instruction, then: sending indication information to the microcontroller;
when the microcontroller controls the relay to connect the motion control card and the motor assembly, the microcontroller is specifically configured to:
and responding to the indication information, controlling the relay to switch on the motion control card and the motor assembly.
Optionally, the trigger signal includes at least one of:
a servo drive enable signal of the motor assembly;
a zero speed clamping signal of the motor assembly.
Optionally, the test main board further includes a first shaft opening and a second shaft opening; the relay is provided with at least one first type contact, at least one second type contact and at least one third type contact; the first shaft port is connected between the motion control card and the first type of contact, the second shaft port is connected between a driver of the motor assembly and the second type of contact, and the microcontroller is connected with a third type of contact of the relay;
the relay can enable the motion control card to be connected with the microcontroller through connecting the corresponding first type contact and the third type contact, and the relay can enable the motion control card to be connected with the motor assembly through connecting the corresponding first type contact and the second type contact.
Optionally, the first type of contact is a common contact, the second type of contact is a normally closed contact, and the third type of contact is a normally open contact.
Optionally, the encoder module includes a differential-to-single-ended unit;
the differential-to-single-ended unit is used for:
acquiring three pairs of differential signals for recording the encoder information;
converting the three pairs of differential signals into three-phase signals;
and sending the three-phase signal to the microcontroller or sending the three-phase signal to the microcontroller through an isolation unit.
Optionally, the test motherboard for automatic test of the motion control card further comprises an analog-to-digital conversion module, and the analog-to-digital conversion module is connected between the microcontroller and the relay;
the analog-to-digital conversion module is used for:
acquiring an analog control signal for recording the control information;
converting the analog control signal into a digital control signal for recording the control information;
sending the digital control signal to the microcontroller.
Optionally, the test mainboard for automatic test of the motion control card further comprises a USB module, and the microcontroller is connected with the upper computer through the USB module.
According to a second aspect of the present invention, there is provided a test system for automatic test of a motion control card, comprising the test motherboard and the upper computer related to the first aspect and its optional aspect.
According to the test mainboard and the test system for automatically testing the motion control card, the relay is controlled by the microcontroller, so that the control information generated by the motion control card can be sent to the upper computer when the relay is connected with the motion control card and the microcontroller, a basis is provided for verification between the control information and a control instruction, meanwhile, the relay can also be connected with the motion control card and the motor assembly, and further, the motion control card can send the control information to the motor assembly. Therefore, the signal transmission channel required by each testing link can be realized by using the relay in the testing process, manual operation and control and processing are not required after the testing is started, the testing time is effectively saved, the testing efficiency is improved, meanwhile, the generation of misoperation can be avoided, and the stability is better.
In addition, based on the scheme of the invention, the method can be used for testing any motion control card which can be accessed to the test mainboard, and the corresponding loading tool can be replaced, so that the method also has better universality.
Meanwhile, according to the scheme of the invention, as the test result is generated by the upper computer, the centralized storage of the data (such as local storage of the upper computer or uploading to the cloud for storage) can be facilitated, and further, the method and the device also have the positive effects of convenience in tracing and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first schematic diagram illustrating an embodiment of a test system for automatic testing of a motion control card;
FIG. 2 is a second schematic diagram of an embodiment of a test system for automatic testing of a motion control card according to the present invention;
FIG. 3 is a first diagram illustrating a partial structure of a test motherboard for automatic testing of a motion control card according to an embodiment of the present invention;
FIG. 4 is a block diagram of an analog-to-digital conversion module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an isolation unit of the analog-to-digital conversion module according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another isolation unit of the analog-to-digital conversion module according to an embodiment of the present invention;
FIG. 7 is a second schematic view of a partial structure of a test motherboard for automatic test of a motion control card according to an embodiment of the present invention;
FIG. 8 is a third schematic view of a partial configuration of a test motherboard for automatic testing of a motion control card according to an embodiment of the present invention;
FIG. 9 is a block diagram of a USB module according to an embodiment of the present invention.
Description of reference numerals:
1-testing a main board;
101-a relay;
102-a microcontroller;
103-an encoder module;
1031-a differential-to-single-ended unit;
1032-an isolation unit;
1033-an isolation unit;
104-a first shaft port;
105-a second port;
106-analog-to-digital conversion module;
107-input-output module;
108-a USB module;
1081-USB-a-S-RA connector;
1082-an electrostatic protection circuit;
1083-power switch unit;
109-input assist module;
110-output auxiliary module;
2-an upper computer;
3-a motor assembly;
4-motion control card.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a first schematic configuration diagram of a test system for automatic testing of a motion control card according to an embodiment of the present invention.
Referring to fig. 1, the present embodiment provides a test motherboard 1 for automatic testing of a motion control card, which includes a microcontroller 102, a relay 101, and an encoder module 103; the relay 101 is respectively connected with the microcontroller 102, the motion control card 4 and the motor component 3 directly or indirectly, and the microcontroller 102 is connected with the upper computer 2 directly or indirectly.
The motion control card may be any structure capable of completing at least one detail of motion control, and may be any motion control card according to a control manner of controlling the motor assembly 3, which may be a motion control card for controlling the motor assembly 3 by sending an analog signal of an analog quantity (for example, a motion control card in a speed control manner and a motion control card in a torque control manner), or may be a motion control card for controlling the motor assembly 3 by sending a pulse signal (for example, a motion control card in a position control manner). It is clear that the description of the present embodiment is not departed from no matter what control method is adopted.
In one embodiment, the present embodiment may be implemented mainly for a motion control card using a speed control method.
The motor assembly 3 may be understood as including a motor, a driver for driving the motor, and an encoder for detecting at least one of information such as a rotational position, a rotational angle, and a rotational speed of the motor, where the driver may be, for example, a servo driver, and the encoder may be a photoelectric encoder or a magnetoelectric encoder, and no matter what kind of motor, driver, and encoder is used, the description of the embodiment is not departed from.
The microcontroller 102 may be understood as any control device with data processing capability, which may also be characterized as an mcu (microcontroller unit).
In this embodiment, the microcontroller 102 is configured to:
when the relay 101 is connected with the motion control card 4 and the microcontroller 102, control information generated by the motion control card 4 is sent to the upper computer 2 through the relay 101, so that the upper computer 2 can verify whether the control information is matched with a control instruction;
controlling the relay 101 to connect the motion control card 4 and the motor assembly 3, so that: the motion control card 4 can send the control information to the motor assembly 3 via the relay 101.
The control information therein is understood to be generated by the motion control card according to the control command, and is used to describe the following: in order to implement the motion directed by the control command, the motion control card 4 is directed to the control details of the motor assembly 3, which may also be understood as information that the motor assembly 3 receives and may then perform the corresponding action accordingly.
The control command can be understood as any command that causes the motion control card 4 to generate control information. In another example, the control instruction may be directly sent to the motion control card 4 by the upper computer or other PC host, which may be implemented by a circuit in the test motherboard 1, or may be implemented by a wired or wireless communication manner that is not implemented by the test motherboard 1, and in yet another example, the control instruction may also be sent to the motion control card 4 by the relay 101. In any way, as long as the motion control card can obtain the control instruction, the description of the embodiment is not departed.
In a specific implementation process, if the motion control card is a motion control card adopting a speed control mode, the control information may be, for example, speed information, in one example, the control instruction may also record a target speed, and then, by comparing the speed information with the target speed (for example, whether the speed information is the same as the target speed or whether a difference between the speed information and the target speed is smaller than a threshold), it may be verified whether the speed information and the target speed are matched, in another example, the control instruction may also record at least one of information of a number of turns, time, and the like of the motor, and further, after the target speed is calculated, by comparing the speed information with the target speed (for example, whether the speed information is the same as the target speed or whether the difference between the speed information and the target speed is smaller than the threshold), it may also be verified whether the speed information is matched by.
It is clear that, regardless of the control information and the control instruction, and regardless of the logic of the verification, as long as the verification is performed, the description of the present embodiment is not deviated from.
Therefore, in the embodiment, the signal transmission path (for example, reporting of control information between the motion control card and the upper computer and issuing of control information between the motion control card and the motor assembly) required by each test link can be realized by using the relay, and after the test is started, manual operation and handling are not required to be involved, so that the test time consumption is effectively saved, the test efficiency is improved, meanwhile, the generation of misoperation can be avoided, and the stability is better.
In addition, based on the scheme of the embodiment, the method can be used for testing any motion control card which can be accessed to the test mainboard, and the corresponding loading tool can be replaced, so that the embodiment also has better universality.
Fig. 2 is a second schematic structural diagram of a test system for automatic testing of a motion control card according to an embodiment of the present invention.
In one embodiment, referring to fig. 2, the test motherboard 1 further includes a first shaft opening 104 and a second shaft opening 105; the relay 101 has at least one contact of a first type, at least one contact of a second type and at least one contact of a third type.
The first type of contact may be a contact of the relay connected to the first port, which may be a single contact or a plurality of contacts, and the connection states of all the first type of contacts connected to the same motion control card through the first port may be synchronous, for example, the first type of contacts are connected to the second type of contacts together and connected to the third type of contacts together, for example, the first type of contacts are triggered to be disconnected from other contacts together, and further, the first port 104 is connected between the motion control card 4 and the first type of contacts.
The second type of contact, which may be a contact of the relay 101 connected to the second port 105, may be one contact, or may be a plurality of contacts, and the connection state of all the second type of contacts connected to the same motor assembly 3 via the second port may be synchronous, for example, connected to the first type of contact together, or triggered to be disconnected from other contacts together, and further, the second port 105 is connected between the driver of the motor assembly 3 and the second type of contact,
the third type of contact may be a contact of the relay 101 connected to the microcontroller 102, which may be a single contact or a plurality of contacts, and the connection state of the third type of contacts may be synchronized, for example, the third type of contacts are connected to the first type of contacts together, and the microcontroller 102 is further connected to the third type of contacts of the relay 101.
In addition, the shaft port and the relay 101, and the relay 101 and the microcontroller 102 may be directly connected or indirectly connected.
In the embodiment shown in fig. 2, the relay 101 is capable of switching the motion control card 4 on to the microcontroller 102 by switching on the corresponding first type of contact and the third type of contact, and the relay 101 is also capable of switching the motion control card 4 on to the motor assembly 3 by switching on the corresponding first type of contact and the second type of contact.
The first type of contact may be a common contact CON, the second type of contact may be a normally closed contact NC, and the third type of contact may be a normally open contact NO.
Referring to fig. 2, in one embodiment, the signal transmitted by the relay 101 may not be limited to the signal (e.g., analog control signal DA) recording the control information, but may also include a trigger signal.
The trigger signal may, for example, include at least one of: a servo drive enable signal SON of the motor assembly; the zero speed clamping signal 0S of the motor assembly (which can be understood as a signal capable of suppressing the servo null shift) may further include an alarm signal ALM and an alarm clear signal CLR.
Furthermore, during the testing process, the following embodiments may also verify the above-mentioned trigger signal to verify whether the function of the motion control card receiving and sending such trigger signal is sound.
In one embodiment, the microcontroller is further configured to:
when the relay 101 connects the motion control card 4 and the microcontroller 102, the relay 101 receives N trigger signals (which may be at least one of the trigger signals exemplified above) sent by the motion control card 4, and determines whether the functions of the motion control card generating and receiving the N trigger signals are sound, and generates determination result information; wherein N is an integer greater than or equal to 1;
and sending the judgment result information to the upper computer.
No matter what logic is adopted to feed back the verification result of the trigger signal to the upper computer, the description of the embodiment is not deviated.
Through the scheme, the upper computer can timely obtain the verification result of the trigger signal.
In addition, the N trigger signals may be all the trigger signals listed above, or may be some of the trigger signals, and further, the generation and emission functions of all the trigger signals may be verified, or only some of the trigger signals may be verified.
In a further aspect, it may be determined whether the control information of the motion control card needs to be sent to the motor assembly 3 based on the verification result of the trigger signal and the matching verification result of the control information and the control instruction. For example: the microcontroller 102 is further configured to:
if the function (i.e., the function that generates and issues N trigger signals) is sound and the control information matches the control instruction, then: sending an indication to the microcontroller 102;
when the microcontroller 102 controls the relay to connect the motion control card and the motor assembly, it is specifically configured to:
and responding to the indication information, controlling the relay 101 to switch on the motion control card 4 and the motor assembly 3.
In another embodiment, the trigger instruction may not be verified, and further, the microcontroller 102 may be configured to: if the control information is matched with the control instruction, then: an indication is sent to the microcontroller 102.
Fig. 3 is a first partial schematic view of a test motherboard for automatic test of a motion control card according to an embodiment of the present invention.
Referring to fig. 3, the test main board 1 further includes an analog-to-digital conversion module 6, and the analog-to-digital conversion module 6 is connected between the microcontroller 102 and the relay 101.
The analog-to-digital conversion module 106 is configured to:
acquiring an analog control signal (i.e., the DA signal mentioned above) for recording the control information;
converting the analog control signal into a digital control signal for recording the control information, which may for example be characterized as an AD signal;
the digital control signal (e.g., AD signal) is sent to the microcontroller 102, which may be isolated.
Further, in the microcontroller 102, the specific DA signal size, i.e., the control information, can be read for the digital signal.
In a specific example, if the measurement range of the DA signal is-10V to 10V, then: the analog-to-digital converted AD signal may be a 14-bit serial digital signal, which may be characterized as AD _ SDATA. In addition to the serial digital signal AD _ SDATA, a digital BUSY signal AD _ BUSY can be generated after analog-to-digital conversion.
FIG. 4 is a block diagram of an analog-to-digital conversion module according to an embodiment of the present invention; FIG. 5 is a schematic diagram of an isolation unit of the analog-to-digital conversion module according to an embodiment of the present invention; fig. 6 is a schematic diagram of another isolation unit of the analog-to-digital conversion module according to an embodiment of the present invention.
Referring to fig. 4, the analog-to-digital conversion module 106 may include a reference signal generation module 1062 and an analog-to-digital conversion unit 1061;
the reference signal generation module 1062 is configured to generate a reference signal;
the analog-to-digital conversion unit 1061 is configured to obtain an analog control signal (i.e. the DA signal mentioned above), and convert the analog control signal into a digital control signal of the control information according to the reference signal.
Specifically, referring to fig. 5, the analog-to-digital conversion module 106 may further include an isolation unit 1063, and the serial digital signal AD _ SDATA and the digital BUSY signal AD _ BUSY in the digital control signal may be isolated by the isolation unit 1063 and transmitted to the microcontroller 102.
Specifically, referring to fig. 6, the analog-to-digital conversion module 106 may further include an isolation unit 1064, and the clock signal ARM _ SCLK and the start conversion signal ARM _ CONVST sent by the microcontroller 102 may be isolated by the isolation unit 1064 and then transmitted to the analog-to-digital conversion unit 1061.
In this embodiment, the microcontroller 102 is further configured to:
if the encoder module 103 receives encoder information returned by the motor component 3, the encoder information is sent to the upper computer 2, so that the upper computer can verify whether the encoder information is matched with the control information and/or the control instruction.
The encoder information may be generated after the motor assembly 3 executes a corresponding action according to the control information, and may be acquired and fed back after the encoder in the motor assembly 3 detects the motor.
In a specific implementation, the encoded information may be described, for example, by using three pairs of differential signals, which may include, for example: the encoder comprises an A + signal, an A-signal, a B + signal, a B-signal, a Z + signal and a Z-signal, wherein each pair of signals specifically records each phase information of three-phase information in the encoded information detected by the encoder.
It can be seen that based on the above scheme, the process of testing can be divided into two steps:
firstly, measuring whether a signal (such as an analog control signal DA) which is output by a motion control card and is used for recording control information and each trigger signal are correct and effective; and the second step is to measure whether the ABZ three-phase signals fed back by the motor encoder are received and correct.
Meanwhile, the test results of the two steps are obtained by the upper computer, so that centralized storage of data (such as local storage of the upper computer or uploading to a cloud for storage) can be facilitated, and further, the method can have positive effects of facilitating tracing and the like.
Fig. 7 is a second schematic view of a partial structure of a test motherboard for automatic test of a motion control card according to an embodiment of the present invention.
Referring to fig. 7, the encoder module 103 includes a differential-to-single-ended unit 1031;
the differential-to-single-ended unit 1031 is configured to:
obtaining three pairs of differential signals (which may be, for example, the a + signal, a-signal, B + signal, B-signal, Z + signal, and Z-signal referred to above) that are used to record the encoder information; specifically, the information may be received from the first shaft port, or may be received from the second shaft port;
converting the three pairs of differential signals into three-phase signals; wherein, each phase signal in the three-phase signal can correspondingly record a phase information;
the three-phase signals are sent to the microcontroller 102 or sent to the microcontroller 102 via isolation units (e.g., isolation unit 1032 and isolation unit 1033).
It can be seen that the signal processed by the encoder block 103 can be divided into three phases ABZ, where the phase AB is the pulse output signal, the phase Z is the number of turns, and the phase AB differs by 90 °, depending on whether a leads or lags B to determine the direction of rotation.
Based on the encoder module 103, the upper computer can determine whether the current position of the motor deviates from the control command according to the transmitted signal.
Based on the above-described embodiments, the following description is directed to a process of automatic testing in specific examples, which may facilitate understanding of the above embodiments:
after the measurement is started, because the relay 101 is not controlled, the normally closed contact NC and the common contact CON are closed, the signal of the first shaft port 104 is connected with the microcontroller 102 of the test motherboard, at this time, the upper computer 2 can control the motion control card 4 to send out DA signals and OS, SON and other signals with different voltages, wherein the DA signals are converted into AD signals by the analog-to-digital conversion module 106 and then input into the microcontroller 102 of the test motherboard, the microcontroller 102 can identify and record specific numerical values, the SON, OS and other signals are trigger signals, and the microcontroller 102 needs to judge whether the signals are triggered effectively, that is, whether the corresponding functions are healthy.
Then, the microcontroller 102 may transmit the measured AD signal and the determination result (i.e., the determination result information) of the SON, OS, and other signals back to the upper computer through the USB module 108. And comparing and judging the PC host with the sent instruction, if the error is within the design range, triggering the triggering signals sent out simultaneously, and if the triggering signals not sent out are not triggered, judging that the part of the motion control card has no abnormal function, namely the part has a healthy function, otherwise, alarming and testing fail.
After the judgment is successful, the upper computer can send data (namely the indication information) to the test mainboard through the USB, once the test mainboard detects the data, the test mainboard controls all the relays to enable, and at the moment, the relays are switched from the closing of the normally closed contacts NC and the common contacts CON to the closing of the normally open contacts NO and the common contacts CON. After a period of time delay, the motion control card can control the driver of the motor component to move, so that the driver returns an ABC three-phase encoder signal, the ABC three-phase encoder signal is transmitted into the motion control card through the test main board and then uploaded to an upper computer, and the upper computer verifies whether the ABZ three-phase signal is correct or not.
During specific use, the test can be automatically completed by pressing the test key on the upper computer, and the efficiency is greatly improved. Meanwhile, after one-key test, the test data of each motion card can be recorded and uploaded, and the automatic test can effectively reduce the error probability.
Fig. 8 is a third schematic view of a partial structure of a test motherboard for automatic test of a motion control card according to an embodiment of the present invention.
Referring to fig. 8, the test motherboard 1 further includes a USB module 108, and the microcontroller 102 is connected to the upper computer 2 through the USB module 108.
The USB module can adopt a standard USB interface and protocol, is used for connecting the test mainboard with the upper computer and/or other hosts, receives the control instruction and simultaneously transmits test data back to the upper computer and/or other hosts.
In one embodiment, referring to fig. 8, the test motherboard 1 may include an input/output module 107, which may be an IO module, the first port mentioned above may be formed in the input/output module 107, and each contact of the relay 101 may be correspondingly connected to a corresponding position in the input/output module 107, so as to implement the function of the relay 101 mentioned above.
In the specific implementation process, referring to fig. 8, the test motherboard 1 may further include a first auxiliary module 109 and a second auxiliary module 110.
The first auxiliary module 109 can be used, for example, to transmit an alarm signal ALM between the relay 101 and the microcontroller 102.
The second auxiliary module 110 can be used for transmitting the servo drive enable signal SON, the zero speed clamp signal 0S and the alarm clear signal CLR between the relay 101 and the microcontroller 102, for example.
FIG. 9 is a block diagram of a USB module according to an embodiment of the present invention.
Referring to fig. 9, the USB module 108 may include: the USB-A-S-RA connector 1081, the electrostatic protection circuit 1082 and the power switch unit 1083, the power switch unit 1083 is connected with a power supply end of the USB-A-S-RA connector 1081, a DM/D-port of the USB-A-S-RA connector 1081 is connected with the microcontroller through the electrostatic protection circuit 1082, and a DP/D + port of the USB-A-S-RA connector 1081 is connected with the microcontroller through the electrostatic protection circuit 1082.
The embodiment also provides a test system for the automatic test of the motion control card, which comprises the test mainboard for the automatic test of the motion control card related to the above optional schemes and the upper computer.
In summary, in the test motherboard and the test system for automatically testing the motion control card provided by the invention, the microcontroller controls the relay, so that the control information generated by the motion control card can be sent to the upper computer when the relay is connected with the motion control card and the microcontroller, thereby providing a basis for verification between the control information and the control instruction, meanwhile, the relay can also be connected with the motion control card and the motor assembly, and further, the motion control card can send the control information to the motor assembly. Therefore, the signal transmission channel required by each testing link can be realized by using the relay in the testing process, manual operation and control and processing are not required after the testing is started, the testing time is effectively saved, the testing efficiency is improved, meanwhile, the generation of misoperation can be avoided, and the stability is better.
In addition, based on the scheme of the invention, the method can be used for testing any motion control card which can be accessed to the test mainboard, and the corresponding loading tool can be replaced, so that the method also has better universality.
Meanwhile, according to the scheme of the invention, as the test result is generated by the upper computer, the centralized storage of the data (such as local storage of the upper computer or uploading to the cloud for storage) can be facilitated, and further, the method and the device also have the positive effects of convenience in tracing and the like.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A test mainboard for automatically testing a motion control card is characterized by comprising a microcontroller, a relay and an encoder module; the relay is respectively and directly or indirectly connected with the microcontroller, the motion control card and the motor assembly, and the microcontroller is directly or indirectly connected with an upper computer;
the microcontroller is configured to:
when the relay is connected with the motion control card and the microcontroller, control information generated by the motion control card is sent to the upper computer through the relay, so that the upper computer can verify whether the control information is matched with a control instruction; the control information is generated by the motion control card according to a control instruction;
controlling the relay to connect the motion control card and the motor assembly such that: the motion control card can send the control information to the motor component through the relay;
if the encoder module receives encoder information returned by the motor assembly, the encoder information is sent to the upper computer, so that the upper computer can verify whether the encoder information is matched with the control information and/or the control instruction, and the encoder information is generated after the motor assembly executes corresponding actions according to the control information.
2. The test motherboard for automatic testing of motion control cards according to claim 1, wherein said microcontroller is further configured to:
when the relay is connected with the motion control card and the microcontroller, the relay receives N trigger signals sent by the motion control card, and judges whether the functions of the motion control card for generating and receiving the N trigger signals are sound or not according to the N trigger signals to generate judgment result information; wherein N is an integer greater than or equal to 1;
and sending the judgment result information to the upper computer.
3. The test mainboard of motion control card automatic test of claim 2, characterized in that, the host computer is still used for:
if the function is sound and the control information is matched with the control instruction, then: sending indication information to the microcontroller;
when the microcontroller controls the relay to connect the motion control card and the motor assembly, the microcontroller is specifically configured to:
and responding to the indication information, controlling the relay to switch on the motion control card and the motor assembly.
4. The test motherboard for automatic testing of motion control cards according to claim 2, wherein said trigger signal comprises at least one of:
a servo drive enable signal of the motor assembly;
a zero speed clamping signal of the motor assembly.
5. The test motherboard for automatic testing of motion control cards according to any of claims 1 to 4, further comprising a first shaft port and a second shaft port; the relay is provided with at least one first type contact, at least one second type contact and at least one third type contact; the first shaft port is connected between the motion control card and the first type of contact, the second shaft port is connected between a driver of the motor assembly and the second type of contact, and the microcontroller is connected with a third type of contact of the relay;
the relay can enable the motion control card to be connected with the microcontroller through connecting the corresponding first type contact and the corresponding third type contact, and the relay can enable the motion control card to be connected with the motor assembly through connecting the corresponding first type contact and the corresponding second type contact.
6. The test motherboard for automatic testing of motion control cards according to claim 5, wherein said first type of contact is a common contact, said second type of contact is a normally closed contact, and said third type of contact is a normally open contact.
7. The test motherboard for automatic testing of motion control cards according to any of claims 1 to 4, wherein the encoder module comprises a differential-to-single-ended unit;
the differential-to-single-ended unit is used for:
acquiring three pairs of differential signals for recording the encoder information;
converting the three pairs of differential signals into three-phase signals;
and sending the three-phase signal to the microcontroller or sending the three-phase signal to the microcontroller through an isolation unit.
8. The test motherboard for automatic testing of motion control cards according to any of claims 1 to 4, further comprising an analog-to-digital conversion module, wherein the analog-to-digital conversion module is connected between the microcontroller and the relay;
the analog-to-digital conversion module is used for:
acquiring an analog control signal for recording the control information;
converting the analog control signal into a digital control signal for recording the control information;
sending the digital control signal to the microcontroller.
9. The test mainboard for automatic test of the motion control card according to any one of claims 1 to 4, further comprising a USB module, wherein the microcontroller is connected with the upper computer through the USB module.
10. A test system for automatic test of a motion control card, comprising the test motherboard for automatic test of a motion control card according to any one of claims 1 to 9 and the upper computer.
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