CN116501010A - Bus type servo system testing method, device, equipment and storage medium - Google Patents

Abstract

The invention discloses a test method, device, equipment and storage medium of a bus type servo system. The method includes: obtaining the test type and test parameters input by the user through the target interaction interface, and determining the target to be called according to the test type and test parameters Test program; generate corresponding control instructions based on the target test program, and send the control instructions to the target bus servo system; receive the operating data fed back by the target bus servo system; verify the target bus servo through the preset verification program and operating data Whether the operating status of the system is normal; output the operating data and verification results to the target interactive interface for display. Therefore, this embodiment can automatically test the target bus-type servo system after the user inputs the test parameters, and display the verification results through the target interactive interface, which can facilitate testers to quickly verify, locate and solve problems, reducing the need for bus-type servo systems. The cost of the system test has improved the test efficiency.

Description

Test method, device, equipment and storage medium of bus type servo system

technical field

The invention relates to the technical field of electronic digital data processing, in particular to a bus type servo system test method, device, equipment and storage medium.

Background technique

EtherCAT (Ethernet Control Automation Technology) bus-type servo system is a fast communication speed, good synchronization performance, and good control stability. It has outstanding advantages in industrial motion control and CNC (numerical control machine tools). EtherCAT bus Type servo system is widely used in the field of industrial automation control. Therefore, in order to ensure the control performance and positioning performance of the EtherCAT bus servo system, it is often necessary to test the EtherCAT bus servo system.

In the existing servo system testing technology, it is necessary to formulate tooling for a certain function and performance of the servo system and perform manual testing, but automatic testing cannot be done, because the servo system has many functions, high testing requirements, many testing items, and the testing process. It is complicated and time-consuming, which is not conducive to locating and troubleshooting problems. Therefore, there is an urgent need for an automatic bus-type servo system test method and device to reduce labor costs and time costs and improve test efficiency.

The above content is only used to assist in understanding the technical solution of the present invention, and does not mean that the above content is admitted as prior art.

Contents of the invention

The main purpose of the present invention is to provide a bus-type servo system test method, device, equipment and storage medium, aiming to solve the technical problem of high cost and low efficiency of existing test methods. To achieve the above object, the present invention provides a test method for a bus-type servo system. The method comprises the steps of:

Obtain the test type and test parameters input by the user through the target interactive interface, and determine the target test program to be called according to the test type and test parameters;

generating corresponding control instructions based on the target test program, and sending the control instructions to the target bus-type servo system;

receiving operating data fed back by the target bus-type servo system, the operating data including data when the target bus-type servo system executes the control instruction and enters a corresponding operating state;

Verifying whether the operating state of the target bus servo system is normal through a preset verification program and the operating data;

Outputting the running data and verification results to the target interactive interface for display.

Optionally, the test type includes a functional test;

The step of generating corresponding control instructions based on the target test program, and sending the control instructions to the target bus servo system includes:

generating corresponding motion control instructions based on the target test program;

Send the motion control command to the object dictionary corresponding to the motion function of the target bus-type servo system through the PDO communication frame, and detect that the ESI device description file of the target bus-type servo system is different from the target network topology under different ESM state machines Whether the device description file of the device is consistent;

If yes, perform master-slave PDO data exchange with the target bus-type servo system according to the DC synchronous clock cycle, so that the target bus-type servo system selects the corresponding functional test item in the corresponding motion mode based on the motion control command carry out testing;

The step of receiving the operation data fed back by the target bus servo system includes:

The PDO running data fed back by the target bus servo system is received according to the DC synchronous clock cycle.

Optionally, the test type includes a positioning accuracy test;

The step of generating corresponding control instructions based on the target test program, and sending the control instructions to the target bus servo system includes:

generating corresponding precision control instructions based on the target test program;

Send the precision control command to the target bus-type servo system through the EtherCAT data I/O link, so that the target bus-type servo system obtains the preset positioning times and the preset movement threshold based on the precision control command, and based on The preset number of times of positioning and the preset movement threshold are automatically repeated for positioning tests;

The step of receiving the operation data fed back by the target bus servo system includes:

Receive the position before and after each positioning fed back by the target bus type servo system through the EtherCAT data I/O link;

The step of verifying whether the operation state of the target bus servo system is normal through the preset verification program and the operation data includes:

Calling the preset verification program to determine the movement value of each positioning test according to the position before and after the positioning, and comparing the movement value with the preset movement threshold input by the target interactive interface;

Based on the comparison results, it is verified whether the positioning accuracy test of the target bus-type servo system is normal.

Optionally, the test type includes a continuous limit test;

The step of generating corresponding control instructions based on the target test program, and sending the control instructions to the target bus servo system includes:

Generate a corresponding collision limit control instruction based on the target test program;

Send the collision limit control command to the target bus-type servo system through the EtherCAT data I/O link, so that the target bus-type servo system obtains the preset number of collisions and the command position according to the collision limit control command, and based on The preset number of impacts and the command position are automatically repeated for continuous impact limit testing;

The step of receiving the operation data fed back by the target bus servo system includes:

Receiving the actual motor position of the target bus type servo system feedback for each continuous collision limit test through the EtherCAT data I/O link;

The step of verifying whether the operation state of the target bus servo system is normal through the preset verification program and the operation data includes:

calling the preset verification program to calculate the actual deviation value between the actual motion position of the motor and the command position input by the target interactive interface, and comparing the actual deviation value with the preset deviation value input by the target interactive interface ;

Based on the comparison results, it is verified whether the continuous collision limit test of the target bus servo system is normal.

Optionally, the test type includes a stability test;

The step of generating corresponding control instructions based on the target test program, and sending the control instructions to the target bus servo system includes:

generating corresponding stability control instructions based on the target test program;

Send the stability control command to the target bus-type servo system through the SDO communication frame or PDO communication frame, and modify the preset startup parameters and preset process parameters of the target bus-type servo system, so that the target bus-type servo system The servo system performs corresponding stability test items according to the stability control instruction;

The step of receiving the operation data fed back by the target bus servo system includes:

When it is detected that the target bus-type servo system is stably in the OP mode, the stable test data of the target bus-type servo system during the stability test process is received through the EtherCAT data I/O link;

The step of verifying whether the operation state of the target bus servo system is normal through the preset verification program and the operation data includes:

When the stable test data is the motor-enabled on-off time and the number of on-off times, call the preset verification program to compare the motor-enabled on-off time and the number of on-off times with the preset on-off indicators input by the target interactive interface Carry out a comparison, and verify whether the stability of the motor running state of the target bus type servo system is normal based on the comparison result;

When the stable test data is the current mailbox communication data, call the preset verification program to make the target bus-type servo system enter the preset ESM state; read the current ESM state of the target bus-type servo system, and verify the Whether the current ESM state matches the preset ESM state, to determine whether the target bus servo system correctly enters the target ESM state; when it is detected that the current ESM state matches the preset ESM state, call the preset The verification program compares the current mailbox communication data with the preset mailbox communication data input by the target interactive interface, and verifies whether the stability of the ESM mailbox communication state of the target bus-type servo system is normal based on the comparison result.

Optionally, after receiving the PDO operation data fed back by the target bus-type servo system according to the DC synchronous clock cycle, the method further includes:

Receive the manual test instruction input by the user through the target interactive interface, and send the manual test instruction to the object dictionary of the target bus-type servo system through the SDO communication frame or COE-online communication frame, so that the The startup parameters of the target bus-type servo system are read and written;

Receive the operation data fed back by the target bus-type servo system, the operation data includes the operation data of the corresponding manual test items performed by the target bus-type servo system when executing the manual test instruction, and the manual test items include: COE-online test and ESI file object dictionary test;

Outputting the operation data to the target interactive interface for display.

Optionally, before acquiring the test parameters input by the user through the target interactive interface, and determining the test type based on the test parameters, it also includes:

Configure the network configuration between the target interactive interface and the target bus servo system based on the preset topology structure.

In addition, in order to achieve the above purpose, the present invention also proposes a bus-type servo system test device, the bus-type servo system test device includes:

An acquisition module, which acquires the test type and test parameters input by the user through the target interactive interface, and determines the target test program to be called according to the test type and test parameters;

A sending module, configured to generate corresponding control instructions based on the target test program, and send the control instructions to the target bus-type servo system;

A receiving module, configured to receive operating data fed back by the target bus-type servo system, where the operating data includes data when the target bus-type servo system executes the control instruction and enters a corresponding operating state;

A verification module, configured to verify whether the operating state of the target bus servo system is normal through a preset verification program and the operating data;

A display module, configured to output the operation data and verification results to the target interactive interface for display.

In addition, in order to achieve the above object, the present invention also proposes a bus-type servo system testing device, which includes: a memory, a processor, and a bus-type servo system that is stored in the memory and can run on the processor. A test program, the bus-type servo system test program is configured to implement the steps of the above-mentioned bus-type servo system test method.

In addition, in order to achieve the above object, the present invention also proposes a storage medium, on which a bus-type servo system test program is stored, and when the bus-type servo system test program is executed by a processor, the above-mentioned bus The steps of the servo system test method.

The invention discloses a bus type servo system test method, device, equipment and storage medium. The method includes: acquiring the test type and test parameters input by the user through the target interaction interface, and determining the target to be called according to the test type and test parameters Test program; generate corresponding control instructions based on the target test program, and send the control instructions to the target bus-type servo system; receive the operation data fed back by the target bus-type servo system, and the operation data includes the target bus-type servo system to execute control commands and enter Data in the corresponding operating state; verify whether the operating state of the target bus servo system is normal through the preset verification program and operating data; output the operating data and verification results to the target interactive interface for display. After receiving the test type and test parameters input by the target interactive interface, the present invention can automatically call the corresponding target test program and make the target bus-type servo system automatically perform corresponding tests according to the target test program, and then automatically upload according to the target bus-type servo system The operating data and preset verification program verify whether the current operating status of the target bus servo system is normal, and finally send the operating data and verification results of the target bus servo system to the target interactive interface for display. Therefore, the present invention can automatically perform the test of the target bus servo system after the user inputs the test parameters, and automatically display the verification results through the target interactive interface, which is convenient for testers to quickly verify problems, locate problems and solve problems, reducing the need for The manpower cost and time cost during the test of the bus type servo system have improved the test efficiency.

Description of drawings

Fig. 1 is the structural representation of the bus-type servo system test equipment of the hardware operating environment that scheme of the embodiment of the present invention relates to;

Fig. 2 is a schematic flow chart of the first embodiment of the bus-type servo system testing method of the present invention;

FIG. 3 is a structural schematic diagram of a preset topology in the first embodiment of the bus-type servo system test method of the present invention;

FIG. 4 is a schematic flow chart of the functional test in the second embodiment of the bus-type servo system test method of the present invention;

Fig. 5 is a schematic flow chart of the positioning accuracy test in the second embodiment of the bus type servo system test method of the present invention;

Fig. 6 is a schematic flow chart of the continuous collision limit test in the second embodiment of the bus type servo system test method of the present invention;

Fig. 7 is a schematic flow chart of the third embodiment of the bus type servo system testing method of the present invention;

Fig. 8 is a structural block diagram of the first embodiment of the bus type servo system testing device of the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of a bus-type servo system testing device for a hardware operating environment involved in the solution of an embodiment of the present invention.

As shown in FIG. 1 , the bus-type servo system test equipment may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wireless-Fidelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the structure shown in Figure 1 does not constitute a limitation on the bus-type servo system test equipment, and may include more or less components than shown in the figure, or combine certain components, or different components layout.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a bus-type servo system test program.

In the bus-type servo system test equipment shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processing in the bus-type servo system test equipment of the present invention The processor 1001 and the memory 1005 can be set in the bus-type servo system test equipment, and the bus-type servo system test equipment calls the bus-type servo system test program stored in the memory 1005 through the processor 1001, and executes the bus-type servo system test program provided by the embodiment of the present invention. Type servo system test method.

An embodiment of the present invention provides a test method for a bus-type servo system. Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a first embodiment of the test method for a bus-type servo system according to the present invention.

In this embodiment, the test method of the bus type servo system includes the following steps:

Step S10: Obtain the test type and test parameters input by the user through the target interactive interface, and determine the target test program to be called according to the test type and test parameters;

It should be noted that in the field of industrial control, the EtherCAT bus-type servo system is usually used as the slave station, and the EtherCAT bus-type motion controller is used as the master station, and the slave station and the master station are used for testing. Therefore, the executive body of the method of this embodiment can be the EtherCAT bus type motion controller (or EtherCAT master station) connected with the EtherCAT bus type servo system (or EtherCAT slave station) to be tested, that is, the above-mentioned target bus type servo system. Here, the above-mentioned EtherCAT bus-type motion controller (controller for short) is used to describe the test method of the bus-type servo system provided by this embodiment and the following embodiments in detail.

It should be understood that the above-mentioned target interaction interface can be a human-computer interaction interface connected to the controller, and the target interaction interface can input the test parameters related to the test process of the target bus servo system into the controller, and at the same time, the target The interactive interface can also obtain and display the data uploaded by the controller. The target interaction interface may include a switch button for automatic testing and manual testing, and may also display parameters related to automatic testing and manual testing.

It can be understood that each test item in this embodiment has been integrated into the process interface of the automatic test. When the automatic test is performed, the target interactive interface only displays the data that the user needs to read and write, the test result and its reason prompt, and the relevant functions have been completed. Integrate into the pre-configured preset program library inside the controller. Specifically, it can be defined in the target interaction interface: first obtain the user's test type (that is, the target test function), then input the test parameters, and then call the corresponding test module program , so that the subsequent generation of command data can be sent to the slave station. Therefore, the controller only needs to obtain the test type and test parameters input by the user through the target interactive interface, and determine the target test program to be called from the internal pre-configured preset program library according to the test type and test parameters to perform subsequent tests.

It should be noted that before the formal test, the network configuration configuration of the target interface, controller and target bus type servo system can be performed first, that is, to determine the relationship between the target interface and the controller, the controller and the target bus type Communication logic and control logic between servo systems.

Therefore, further, in this embodiment, before step S10, it also includes:

Step S00 : configuring the network configuration with the target interactive interface and the target bus-type servo system based on the preset topology structure.

It can be understood that the target interaction interface in this embodiment can also be manually tested, so the target interaction interface in the above preset topology structure can also include a manual test process. For ease of understanding, take FIG. 3 as an example for illustration. 3 is a schematic structural diagram of the preset topology in the first embodiment of the bus-type servo system test method of the present invention. As shown in FIG. 3 , the target interaction interface can include manual testing and automatic testing. Connected with corresponding test items (such as basic functions, each operation mode, positioning accuracy test and continuous limit test), the test process of the test items can be automatically performed based on the parameters input by the target interactive interface during automatic testing.

Step S20: Generate corresponding control instructions based on the target test program, and send the control instructions to the target bus-type servo system;

It should be noted that after the controller determines the test items to be tested according to the position information of the input test parameters in the target interface, and determines the corresponding target test program, it can generate control instructions corresponding to the target test program and send them to the target bus-type servo system .

Step S30: receiving operating data fed back by the target bus-type servo system, the operating data including data when the target bus-type servo system executes the control instruction and enters a corresponding operating state;

Step S40: verifying whether the operation status of the target bus servo system is normal through the preset verification program and the operation data;

Step S50: Outputting the operation data and verification results to the target interactive interface for display.

It should be noted that the corresponding running program is also integrated inside the target bus servo system, and after receiving the control command issued by the controller, it will automatically call the running program corresponding to the control command, and enter the program according to the steps of the running program. The corresponding operating status is tested. During and after the test, the target bus-type servo system will upload corresponding operation data to the controller, and the operation data may include process data or status data of the target bus-type servo system during the entire operation process.

It should be understood that the controller can read and verify the information of the target bus servo system by obtaining the service data object SDO (Service Data Object) or object dictionary of the target bus servo system, wherein the object dictionary can be a configuration list , each EtherCAT slave station and each EtherCAT master station has an object dictionary, and the object dictionary can configure how the EtherCAT slave station or EtherCAT master station performs data operations. In addition, after the controller receives the operation data uploaded by the target bus-type servo system, it can verify whether the current operation data is normal based on the internally integrated preset verification program. The preset verification program can include the target operation data corresponding to each test item. Therefore, the preset verification program can judge whether the operating status of the target bus servo system is normal by comparing the target operating data with the current operating data, and then upload the verification results together with the operating data uploaded by the target bus servo system to the target interactive interface It is displayed to facilitate testers to quickly verify problems, locate problems and solve problems.

In a specific implementation, the controller can first obtain the test type and test parameters input by the user through the target interactive interface, and then call the corresponding target test program based on the test parameters and test type, and then the controller can generate corresponding control instructions based on the target test program Send it to the target bus-type servo system. After receiving the control command, the target bus-type servo system will call the corresponding operating program according to the control command, and enter the corresponding operating state according to the steps of the operating program for testing. Finally, the controller can verify whether the running status of the current target bus-type servo system is normal based on the preset verification program and the process data or status data uploaded during the entire operation of the target bus-type servo system, and compare the verification results with the target bus-type servo system The process data or status data during the entire operation process is uploaded to the target interactive interface for display.

This embodiment is based on the preset topology configuration, the network configuration between the target interactive interface and the target bus-type servo system; obtain the test type and test parameters input by the user through the target interactive interface, and determine the type of test to be called according to the test type and test parameters The target test program; generate corresponding control instructions based on the target test program, and send the control instructions to the target bus-type servo system; receive the operation data fed back by the target bus-type servo system, and the operation data includes the execution of control commands by the target bus-type servo system And enter the data in the corresponding operating state; verify whether the operating state of the target bus servo system is normal through the preset verification program and operating data; output the operating data and verification results to the target interactive interface for display. This embodiment can automatically call the corresponding target test program after receiving the test type and test parameters input by the target interactive interface, and make the target bus-type servo system automatically perform the corresponding test according to the target test program, and then automatically perform the corresponding test according to the target bus-type servo system. The uploaded operating data and the preset verification program verify whether the operating status of the current target bus-type servo system is normal, and finally the operating data and verification results of the target bus-type servo system are sent to the target interactive interface for display. Therefore, this embodiment can automatically perform the test of the target bus servo system after the user inputs the test type and test parameters, and automatically display the verification results through the target interactive interface, which is convenient for testers to quickly verify, locate and solve problems , reducing the manpower cost and time cost during the test of the bus type servo system, and improving the test efficiency.

Referring to Fig. 4, Fig. 4 is a schematic flow chart of the functional test in the second embodiment of the bus-type servo system testing method of the present invention, based on the embodiment shown in Fig. 2 above, the second embodiment of the bus-type servo system testing method of the present invention is proposed .

It can be understood that, in this embodiment, what is to be tested may be the function or performance of the target bus servo system, and the test type of the target bus servo system may include functional testing.

Further, as shown in FIG. 4, in this embodiment, step S20 includes:

Step S201: Generate corresponding motion control instructions based on the target test program;

Step S202: Send the motion control command to the object dictionary corresponding to the motion function of the target bus-type servo system through the PDO communication frame, and detect that the ESI device description file of the target bus-type servo system is different from the Whether the device description file of the target network topology device is consistent;

Step S203: If yes, perform master-slave PDO data exchange with the target bus-type servo system according to the DC synchronous clock cycle, so that the target bus-type servo system selects the corresponding motion control command in the corresponding motion mode based on the motion control command Functional test items are tested;

It should be noted that the controller (or EtherCAT master station) and the target bus servo system can communicate through the EtherCAT data I/O link, so the controller can issue motion control commands through the EtherCAT data I/O link To the target bus-type servo system and receive the operation data uploaded by the target bus-type servo system.

It should be understood that the aforementioned DC synchronous clock period may be a communication period between the controller and the target bus-type servo system. The synchronous mode during EtherCAT bus communication can be DC (distributed clock) mode, also can be SM (SyncManager, synchronization manager) synchronous mode, in the present embodiment controller then can carry out master-slave station PDO (PDO) according to DC synchronous clock cycle Process Data Object) data exchange, where the master station is the controller, and the slave station is the target bus-type servo system. When the communication period between the controller and the target bus-type servo system is set to DC synchronous clock cycle, the target bus-type servo system Process data processing of the system is triggered by hardware interrupts based on distributed clocks and system time.

It is easy to understand that communication data such as SDO communication frames, PDO communication frames or COE-online communication frames can be transmitted in the EtherCAT data I/O link, and SDO, PDO, and COE-online are also stored data for the operation of the EtherCAT bus-type servo system. In addition, different test modules in this embodiment may use different test means to transmit different types of communication data through different communication I/O channels. In this embodiment, the motion function test can perform data transmission between the controller and the target bus-type servo system through the PDO data I/O channel, that is, the PDO data exchange between the above-mentioned master and slave stations.

It can be understood that the function test of the target bus servo system can be performed in various motion modes, for example: periodic synchronous position mode, periodic synchronous speed mode or periodic synchronous torque mode. Therefore, when the target bus servo system receives the motion control command, it will determine the motion mode to be performed according to the motion control command, and select the corresponding functional test item for testing in the determined motion mode.

It should be noted that the above-mentioned target network topology device may be a bus-type servo system connected to the controller configured in the above-mentioned preset topology structure, so this embodiment can detect the ESI device description file of the target bus-type servo system in different Verify whether the PDO data I/O link established between the controller and the target bus-type servo system is correct by checking whether the device description file of the ESM state machine is consistent with that of the target network topology device. If so, the master-slave station PDO data exchange can be carried out with the target bus-type servo system according to the DC synchronous clock cycle, so that the target bus-type servo system can select the corresponding functional test item for testing in the corresponding motion mode based on the motion control command; if not , then re-establish the PDO data I/O link between the controller and the target bus servo system. Specifically, in practical applications, the above verification process may also be: when the ESM status issued by the controller to the target bus-type servo system is INT, check whether the ESI file of the target bus-type servo system is legal; When the ESM status is Pre-OP, check whether the device of the target bus-type servo system is consistent with the above-mentioned target network topology device. If the verification is consistent, send the ESM status of Safe-OP to the target bus-type servo system to formally establish the controller Mailbox communication with the target bus-type servo system, and in this communication state, PDO data is transmitted between the controller and the target bus-type servo system.

Further, step S30 includes:

Step S30': receiving the PDO operation data fed back by the target bus servo system according to the DC synchronous clock cycle;

It should be noted that, in this embodiment, the controller can perform data comparison according to the PDO operation data fed back by the target bus-type servo system to verify whether the operation state of the function test is normal, and then compare the PDO operation data corresponding to the motion function test and the verification result Output to the above-mentioned target interactive interface for display.

It can be understood that the test method of the bus-type servo system can be not only the automatic process test mentioned above, but also manual test. Specifically, the user can execute the non-motion function module of the manual test during the motion function test process of the automatic process test through the SDO communication frame I/O channel between the controller and the target bus type servo system, for example, when the automatic process test process When the test type is functional test, the probe function can also be tested at the same time through manual testing.

Further, after step S30', it also includes:

Step S31: Receive the manual test instruction input by the user through the target interactive interface, and send the manual test instruction to the object dictionary of the target bus servo system through the SDO communication frame or the COE-online communication frame, to Perform read and write tests on the startup parameters of the target bus-type servo system;

Step S32: Receive the operation data fed back by the target bus-type servo system, the operation data includes the operation data of the corresponding manual test items performed by the target bus-type servo system when executing the manual test instruction, the manual test Projects include: COE-online test and ESI file object dictionary test;

Step S33: Outputting the operation data to the target interactive interface for display.

It should be noted that when performing a manual test, the user needs to input a manual test command through the target interactive interface, and then the controller sends the manual test command to the target bus-type servo system, so that the target bus-type servo system performs a corresponding test according to the manual test command. operation and feedback the corresponding operation data. The controller then outputs the operation data to the target interactive interface for display, so that the user can obtain the result of the manual test based on the display data. In addition, in this embodiment, when performing a manual test project, the controller can be carried out through the SDO data I/O channel. Data transfer to and from the target bus-type servo system.

It should be understood that the above COE-online test process can be that the controller sends SDO communication frames to the target bus-type servo system for testing through the EtherCAT link. The COE-online test can obtain all object dictionaries of the target bus-type servo system. Therefore, it is beneficial to develop new functions for the target bus-type servo system and verify whether there are loopholes in the ESI device description file; and the above-mentioned ESI file object dictionary test of the target bus-type servo system can be performed according to the COE-online I/O channel. Between the data transmission and corresponding test.

It can be understood that the controller can also perform a verification test on the performance of the target bus-type servo system, so as to verify the positioning performance of the target bus-type servo system. Therefore, the above test types may include positioning accuracy testing, as shown in FIG. 5 , which is a schematic flowchart of positioning accuracy testing in the second embodiment of the bus type servo system testing method of the present invention.

Further, in this embodiment, step S20 includes:

Step S201': Generate a corresponding precision control instruction based on the target test program;

Step S202': Send the precision control command to the target bus-type servo system through the EtherCAT data I/O link, so that the target bus-type servo system can obtain preset positioning times and preset movements based on the precision control command Threshold, and based on the preset positioning times and the preset movement threshold to automatically repeat the positioning test;

It should be noted that when testing the positioning accuracy, the target bus-type servo system can obtain the number of preset positioning times and the preset movement threshold from the precision control instructions issued by the controller, and automatically perform the preset positioning times based on the preset Set the movement threshold to prevail.

Correspondingly, step S30 includes:

Step S30": receiving the position before and after each positioning fed back by the target bus-type servo system through the EtherCAT data I/O link;

Further, in this embodiment, step S40 includes:

Step S401: call the preset verification program to determine the movement value of each positioning test according to the position before and after the positioning, and compare the movement value with the preset movement threshold input in the target interactive interface;

Step S402: Verifying whether the positioning accuracy test of the target bus servo system is normal based on the comparison result.

It should be noted that the controller can obtain the position before and after the movement of each positioning uploaded by the target bus-type servo system through the above-mentioned EtherCAT data I/O link to determine the movement value of each positioning, and verify whether the positioning accuracy test of the target bus-type servo system is The normal method can be to obtain the average movement value based on each movement value, and then compare whether the difference between the average movement value and the preset movement threshold is less than the preset positioning difference, and if it is less, the verification result is the positioning of the target bus servo system The accuracy test is normal, otherwise, the verification result is that the positioning accuracy test is abnormal; the method to verify whether the positioning accuracy test of the target bus servo system is normal is to judge whether the difference between the movement value of each positioning and the preset movement threshold is satisfied If it is less than the preset positioning difference, if the number of times satisfied is less than the preset positioning deviation times, the verification result is that the positioning accuracy test of the target bus servo system is normal, otherwise, the verification result is that the positioning accuracy test is not normal.

Further, the above-mentioned test types may include a continuous limit limit test, as shown in FIG. 6 , which is a schematic flow chart of the continuous limit limit test in the second embodiment of the bus type servo system test method of the present invention.

Further, in this embodiment, step S20 includes:

Step S201": Generate a corresponding collision limit control command based on the target test program;

Step S202": Send the collision limit control command to the target bus-type servo system through the EtherCAT data I/O link, so that the target bus-type servo system can obtain the preset number of collisions and instructions according to the collision limit control command position, and based on the preset number of impacts and the command position to automatically repeat the continuous impact limit test;

It should be noted that during the continuous collision limit test, the target bus-type servo system can obtain the preset number of collisions and the command position of the motor connected to the target bus-type servo system from the precision control command issued by the controller, and automatically The motor is controlled to move according to the command position with a preset number of collisions, and the motor can be a peripheral device of the target bus servo system.

Correspondingly, step S30"': receiving the actual motor position fed back by the target bus-type servo system for each continuous limit limit test through the EtherCAT data I/O link;

Further, in this embodiment, step S40 includes:

Step S401': call the preset verification program to calculate the actual deviation value between the actual movement position of the motor and the command position input by the target interactive interface, and compare the actual deviation value with the preset value input by the target interactive interface Compare the deviation value;

Step S402': Based on the comparison result, verify whether the continuous limit test of the target bus servo system is normal.

It should be noted that the controller can obtain the actual motion position of the motor for each continuous limit test uploaded by the target bus-type servo system through the above-mentioned EtherCAT data I/O link, and verify whether the continuous limit test of the target bus-type servo system is normal The method may be to obtain the average actual deviation value based on the actual deviation value between the actual movement position of the motor each time and the command position input by the target interactive interface, and then compare whether the difference between the average actual deviation value and the preset deviation value is less than the preset value. Set the collision limit difference, if it is less than, the verification result is that the continuous collision limit test of the target bus servo system is normal, otherwise, the verification result is that the continuous collision limit test is abnormal; verify whether the continuous collision limit test of the target bus servo system is normal The method may also be to judge whether the difference between the actual deviation value of each collision limit and the preset movement threshold is less than the preset positioning difference, and if the number of times satisfied is less than the preset collision limit deviation times, the verification result is the target bus type The continuous limit test of the servo system is normal, otherwise, the verification result is that the continuous limit test is abnormal.

This embodiment generates the corresponding motion control command based on the target test program; sends the motion control command to the object dictionary corresponding to the motion function of the target bus-type servo system through the PDO communication frame, and detects that the ESI device description file of the target bus-type servo system is in Whether the device description file of the target network topology device is consistent under different ESM state machines; if so, perform master-slave PDO data exchange with the target bus-type servo system according to the DC synchronous clock cycle, so that the target bus-type servo system is based on motion control The instruction selects the corresponding functional test item to test under the corresponding motion mode; receives the PDO operation data fed back by the target bus type servo system according to the DC synchronous clock cycle; secondly, the present embodiment also generates corresponding precision control instructions based on the target test program; through The EtherCAT data I/O link sends the precision control command to the target bus-type servo system, so that the target bus-type servo system can obtain the preset positioning times and preset movement threshold based on the precision control commands, and automatically repeat based on the preset positioning times Positioning test; receive the position before and after each positioning fed back by the target bus servo system through the EtherCAT data I/O link; call the preset verification program to determine the movement value of each positioning test according to the position before and after positioning, and interact the movement value with the target The input preset moving threshold is compared; based on the comparison results, it is verified whether the positioning accuracy test of the target bus type servo system is normal; in addition, the present embodiment also generates corresponding collision limit control instructions based on the target test program; through the EtherCAT data I/O link Send the collision limit control command to the target bus servo system, so that the target bus servo system can obtain the preset number of collisions and the command position according to the collision limit control command, and automatically repeat the continuous collision limit based on the preset collision number and command position Test; through the EtherCAT data I/O link to receive the target bus servo system feedback the actual motor position for each continuous limit test; call the preset verification program to calculate the actual position between the actual position of the motor and the command position input by the target interface Deviation value, and compare the actual deviation value with the preset deviation value input by the target interface; based on the comparison result, verify whether the continuous collision limit test of the target bus servo system is normal. In addition, this embodiment can also receive the manual test instruction input by the user through the target interactive interface, and send the manual test instruction to the object dictionary of the target bus-type servo system through the SDO communication frame, so as to control the target bus-type servo system. The start-up parameters of the system are read and written; the operation data fed back by the target bus-type servo system is received. The operation data includes the operation data of the corresponding manual test items performed by the target bus-type servo system when executing manual test instructions. The manual test items include: COE -online test and ESI file object dictionary test; output the operation data to the target interactive interface for display. In this embodiment, the corresponding test type can be automatically determined through the test parameters input by the user, and then the target test program can be determined according to the determined test type, so that the target bus servo system can automatically perform the corresponding function test or performance test according to the determined target test program. Simultaneously, this embodiment can also execute the non-motion function modules of the manual test part during the automatic process test process, that is, carry out COE- Online test or ESI file object dictionary test is beneficial to the development of new functions for the target bus-type servo system and to verify whether there are loopholes in the ESI device description file. Therefore, this embodiment can simplify the steps of the whole test process, not only reduce the work of the testers, but also shorten the test time and improve the test efficiency.

Referring to Fig. 7, Fig. 7 is a schematic flow chart of the third embodiment of the bus-type servo system test method of the present invention, based on the embodiment shown in Fig. 2 above, the third embodiment of the bus-type servo system test method of the present invention is proposed, Fig. 7 Take the embodiment proposed based on the embodiment shown in FIG. 1 as an example.

Further, in addition to testing the function and performance of the target bus-type servo system, the controller can also test the control stability of the motor connected to the target bus-type servo system during operation, and the mailbox communication of the target bus-type servo system. Stability or stability of the state machine. Therefore, as an implementable manner, step S20 in this implementation includes:

Step S201": Generate a corresponding stability control command based on the target test program;

Step S202": Send the stability control command to the target bus-type servo system through the SDO communication frame or PDO communication frame, and modify the preset startup parameters and preset process parameters of the target bus-type servo system, so that the The target bus type servo system performs corresponding stability test items according to the stability control instruction;

It should be noted that the above-mentioned stability test items can be the enable state stability test of the motor connected to the target bus-type servo system, the stability test of the motion of the motor (such as positioning accuracy test, continuous collision limit test), and the target bus-type servo system. The stability test of the mailbox communication under different ESM state machines or the stability test of the CIA301 state machine of the system, among which, the stability test of the control aspect of the motor and the stability test of the ESM mailbox communication of the target bus servo system are the main Test items, so this embodiment mainly tests the control stability of the motor by measuring the enable on-off time and the number of on-off times of the motor, and tests the mailbox of the target bus-type servo system by obtaining the current mailbox communication data of the target bus-type servo system Communication stability. The controller will generate stability control commands based on the specific types of stability test items. For example, when testing the ESM mailbox communication of the target bus servo system, the controller can call the preset program to issue INT, Pre-OP, Safe-OP and OP in sequence The four ESM target states can also judge whether the target bus-type servo system enters the target ESM state correctly by reading the current state of the target bus-type servo system.

Correspondingly, step S30"": when it is detected that the target bus-type servo system is stably in the OP mode, receive the stability test of the target bus-type servo system during the stability test through the EtherCAT data I/O link data;

It should be noted that the above stability test data may include: the on-off time and on-off times of the motor, and the mailbox communication data in the current ESM state. Specifically, the controller (or EtherCAT master station) can generate corresponding stability control commands based on the specific types of stability test items, and then send the stability control commands to the target bus-type servo system through SDO communication frames or PDO communication frames to modify The preset startup parameters and preset process parameters of the target bus-type servo system, and make the target bus-type servo system control the motor into the corresponding running state for running state stability test or make the target bus-type servo system enter the corresponding mailbox communication state for ESM Whether the stability of the communication state is normal and stable, and finally the controller can monitor the stability test data fed back by the target bus-type servo system to determine whether the running state of the target bus-type servo system or the stability of the ESM communication state is normal or not. Among them, The preset start parameters and preset process parameters are preset start parameters and process parameters of the target bus servo system.

Therefore, further, in this embodiment, step S40 includes:

Step S401": When the stable test data is the motor enable on-off time and the number of on-off times, call the preset verification program to compare the motor enable on-off time and on-off times with the preset values input in the target interactive interface. Set the on-off index to compare, and verify whether the motor running state stability of the target bus type servo system is normal based on the comparison result;

Step S402"1: When the stable test data is the current mailbox communication data, call the preset verification program to make the target bus servo system enter the preset ESM state;

S402"2: Read the current ESM state of the target bus-type servo system, and verify whether the current ESM state matches the preset ESM state, so as to determine whether the target bus-type servo system enters the target ESM state correctly ;

S402"3: When it is detected that the current ESM state matches the preset ESM state, call a preset verification program to compare the current mailbox communication data with the preset mailbox communication data input by the target interactive interface, Based on the comparison results, it is verified whether the communication state stability of the ESM mailbox of the target bus-type servo system is normal.

It should be noted that the controller will receive the motor enable on-off time and on-off times during the stability test uploaded by the target bus servo system, and compare the received on-off time and on-off times with the preset on-off indicators For comparison, the verification results, motor enable on-off time and on-off times are uploaded to the target interactive interface for display. For example, if the controller finds that a certain stability test item is unstable, the target interactive interface will display "a certain test Failed, and its reasons", for example: during the test, the enable status of the target bus servo system is unstable, causing the motor to be disabled. able.

It should be understood that when testing the stability of the mailbox communication of the target bus-type servo system, it is mainly to test whether the mailbox communication of the target bus-type servo system is stable under different ESM state machines. Correspondingly, the above preset ESM state can be Yes: Any one or more of ESM states such as INT, Pre-OP, Safe-OP, or OP, which can be the target ESM state of the target bus servo system preset by the user to be tested for mailbox communication stability. This embodiment can call the preset verification program to modify the ESM state of the target bus-type servo system, respectively make the target bus-type servo system enter the four ESM states of INT, Pre-OP, Safe-OP or OP, and read and compare the target bus at the same time The current ESM state of the type servo system, thereby judging whether the target bus type servo system correctly enters the target ESM (that is, in the above-mentioned preset ESM state) state, so that the target bus type servo system enters the preset ESM state. Comparing the current mailbox communication data with the preset mailbox communication number, based on the comparison results, verify whether the ESM state machine of the target bus-type servo system enters the target communication state correctly, and then verify the stability of the ESM mailbox communication state of the target bus-type servo system Is it normal.

It can be understood that common mailbox communication methods include: COE-Online, SDO (Service Data Object), PDO (Process Data Object), so mailbox stability test items in this embodiment can include: COE-Online communication test items, SDO communication Test items and PDO communication test items.

It should be noted that the test process of the COE-Online communication test item can be to test the communication interface of the ESI offline file, which needs to use the software interface provided by the test program in the above preset program library to perform the mailbox communication test; SDO communication test The test process of the item can be that the program of the above-mentioned preset program library uses modular data to modify all the startup parameters of the target bus-type servo system and verify the function of the target bus-type servo system; the test process of the PDO communication test item can be passed The program inside the above-mentioned preset program library verifies the function corresponding to the process parameter according to the DC synchronous clock cycle in the EtherCAT I/O mapping channel inside the program.

It should be understood that after the controller determines the current mailbox test item to be tested according to the test parameters and test types input by the user, it controls the target bus-type servo system to enter the corresponding test process, and then the target bus-type servo system uses the corresponding current The mailbox operation data is fed back to the controller, so that the controller compares the current mailbox communication data with the preset mailbox communication data by calling the preset verification program, and verifies whether the stability test of the target bus servo system is normal based on the comparison result. It can be understood that, in this embodiment, in addition to testing the motion stability of the motor and the mailbox communication stability of the target bus servo system, the stability of the state machine (such as CIA301) can also be tested.

In this embodiment, the corresponding stability control command is generated based on the target test program; the stability control command is sent to the target bus-type servo system through the SDO communication frame or the PDO communication frame, and the preset startup of the target bus-type servo system is modified parameters and preset process parameters, so that the target bus-type servo system performs a corresponding stability test item according to the stability control command; when it is detected that the target bus-type servo system is stably in OP mode, the EtherCAT data The I/O link receives the stability test data of the target bus type servo system in the stability test process; when the stability test data is the motor enable on-off time and the number of on-off times, call the preset verification program to enable the motor Compare the on-off time and on-off times with the preset on-off indicators input in the target interactive interface, and verify whether the motor running state stability of the target bus servo system is normal based on the comparison results; when the stability test data is the current mailbox communication data, Call the preset verification program to make the target bus servo system enter the preset ESM state; read the current ESM state of the target bus servo system, and verify whether the current ESM state matches the preset ESM state to determine whether the target bus servo system is Correctly enter the target ESM state; when it is detected that the current ESM state matches the preset ESM state, call the preset verification program to compare the current mailbox communication data with the preset mailbox communication data entered in the target interactive interface, and verify the target based on the comparison result Whether the stability of the ESM mailbox communication status of the bus-type servo system is normal. This embodiment can automatically determine the corresponding stability test item through the test parameters input by the user, and then determine the target test program according to the determined stability test item, so that the target bus type servo system automatically performs the corresponding stability test according to the determined target test program, In this way, testers can quickly discover, locate and solve unstable factors in the test process, so as to ensure that the target bus servo system can be tested stably, thereby improving the accuracy and uniformity of test results.

In addition, the embodiment of the present invention also proposes a storage medium, on which a bus-type servo system test program is stored, and when the bus-type servo system test program is executed by a processor, the above-mentioned bus-type servo system is realized. The steps of the test method.

Referring to FIG. 8 , FIG. 8 is a structural block diagram of the first embodiment of the bus type servo system testing device of the present invention.

As shown in Figure 8, the bus type servo system testing device proposed by the embodiment of the present invention includes:

The obtaining module 801 is used to obtain the test type and test parameters input by the user through the target interactive interface, and determine the target test program to be called according to the test type and test parameters;

A sending module 802, configured to generate corresponding control instructions based on the target test program, and send the control instructions to the target bus-type servo system;

The receiving module 803 is configured to receive the operating data fed back by the target bus-type servo system, where the operating data includes data when the target bus-type servo system executes the control instruction and enters a corresponding operating state;

A verification module 804, configured to verify whether the operating state of the target bus servo system is normal through a preset verification program and the operating data;

A display module 805, configured to output the running data and verification results to the target interactive interface for display.

This embodiment obtains the test type and test parameters input by the user through the target interactive interface, and determines the target test program to be called according to the test type and test parameters; generates corresponding control instructions based on the target test program, and sends the control commands to Target bus-type servo system; receive the operating data fed back by the target bus-type servo system, the operating data includes the data when the target bus-type servo system executes the control command and enters the corresponding operating state; verifies the target bus-type through the preset verification program and operating data Whether the operating status of the servo system is normal; output the operating data and verification results to the target interactive interface for display. This embodiment can automatically call the corresponding target test program after receiving the test type and test parameters input by the target interactive interface, and make the target bus-type servo system automatically perform the corresponding test according to the target test program, and then automatically perform the corresponding test according to the target bus-type servo system. The uploaded operating data and the preset verification program verify whether the operating status of the current target bus-type servo system is normal, and finally the operating data and verification results of the target bus-type servo system are sent to the target interactive interface for display. Therefore, this embodiment can automatically test the target bus-type servo system after the user inputs the test type and test parameters, and automatically display the verification results through the target interactive interface, which is convenient for testers to quickly verify, locate and solve problems , reducing the manpower cost and time cost during the test of the bus type servo system, and improving the test efficiency.

For other embodiments or specific implementations of the bus-type servo system testing device of the present invention, reference may be made to the above-mentioned method embodiments, which will not be repeated here.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. The bus type servo system test method is characterized by comprising the following steps:

acquiring test parameters input by a user through a target interactive interface, and determining a target test program to be called according to the test parameters;

generating a corresponding control instruction based on the target test program, and transmitting the control instruction to a target bus type servo system;

receiving operation data fed back by the target bus type servo system, wherein the operation data comprise data when the target bus type servo system executes the control instruction and enters a corresponding operation state;

verifying whether the running state of the target bus type servo system is normal or not through a preset verification program and the running data;

and outputting the operation data and the verification result to the target interactive interface for display.

2. The method for testing a bus type servo system according to claim 1, wherein the step of acquiring test parameters input by a user through a target interactive interface and determining a target test program to be called according to the test parameters comprises the steps of:

acquiring test parameters input by a user through a target interactive interface, and determining a corresponding test type according to the test parameters;

and determining a target test program to be called based on the test type.

3. The bus-type servo system test method as set forth in claim 2, wherein the test type includes a functional test;

the step of generating a corresponding control instruction based on the target test program and issuing the control instruction to a target bus type servo system comprises the following steps:

generating a corresponding motion control instruction based on the target test program;

the motion control instruction is issued to a target bus type servo system through a data I/O link, so that the target bus type servo system selects a corresponding functional test item for testing in a corresponding motion mode based on the motion control instruction;

the step of receiving the operation data fed back by the target bus type servo system comprises the following steps:

And receiving the operation data fed back by the target bus type servo system according to the synchronous clock period.

4. The bus-type servo system test method as set forth in claim 2, wherein the test type includes a positioning accuracy test;

the step of generating a corresponding control instruction based on the target test program and issuing the control instruction to a target bus type servo system comprises the following steps:

generating a corresponding precision control instruction based on the target test program;

the precision control instruction is issued to a target bus type servo system through a data I/O link, so that the target bus type servo system obtains preset positioning times and a preset movement threshold value based on the precision control instruction, and performs automatic repeated positioning test based on the preset positioning times and the preset movement threshold value;

the step of receiving the operation data fed back by the target bus type servo system, wherein the operation data comprises data when the target bus type servo system executes the control instruction and enters a corresponding operation state, and the step comprises the following steps:

receiving the positions before and after each positioning fed back by the target bus type servo system according to the synchronous clock period;

The step of verifying whether the operation state of the target bus type servo system is normal through a preset verification program and the operation data comprises the following steps:

calling a preset verification program, determining a movement value of each positioning test according to the positions before and after positioning, and comparing the movement value with a preset movement threshold value input by the target interactive interface;

and verifying whether the positioning accuracy test of the target bus type servo system is normal or not based on the comparison result.

5. The bus-type servo system test method as set forth in claim 2, wherein the test type includes a continuous hit limit test;

the step of generating a corresponding control instruction based on the target test program and issuing the control instruction to a target bus type servo system comprises the following steps:

generating a corresponding collision limit control instruction based on the target test program;

issuing the collision limit control instruction to a target bus type servo system through a data I/O link, so that the target bus type servo system obtains preset collision times and instruction positions according to the collision limit control instruction, and performing automatic repeated continuous collision limit test based on the preset collision times and the instruction positions;

The step of receiving the operation data fed back by the target bus type servo system, wherein the operation data comprises data when the target bus type servo system executes the control instruction and enters a corresponding operation state, and the step comprises the following steps:

receiving the actual motion position of the motor fed back by the target bus type servo system according to the synchronous clock period;

the step of verifying whether the operation state of the target bus type servo system is normal through a preset verification program and the operation data comprises the following steps:

invoking a preset verification program to calculate an actual deviation value between the actual motion position of the motor and the instruction position input by the target interactive interface, and comparing the actual deviation value with a preset deviation value input by the target interactive interface;

and verifying whether the continuous collision limit test of the target bus type servo system is normal or not based on the comparison result.

6. The bus-type servo system test method as set forth in claim 2, wherein the test type includes a stability test;

the step of generating a corresponding control instruction based on the target test program and issuing the control instruction to a target bus type servo system comprises the following steps:

Generating a corresponding stability control instruction based on the target test program;

the stability control instruction is issued to a target bus type servo system through a data I/O link, so that the target bus type servo system carries out corresponding stability test items according to the stability control instruction;

the step of receiving the operation data fed back by the target bus type servo system, wherein the operation data comprises data when the target bus type servo system executes the control instruction and enters a corresponding operation state, and the step comprises the following steps:

receiving the on-off time and the on-off times of the target bus type servo system in the stability test process according to the synchronous clock period;

the step of verifying whether the operation state of the target bus type servo system is normal or not through a preset verification program and the operation data comprises the following steps:

calling a preset verification program to compare the on-off time and the on-off times with preset on-off indexes input by the target interactive interface;

and verifying whether the stability test of the target bus type servo system is normal or not based on the comparison result.

7. The method for testing a bus type servo system according to any one of claims 1 to 6, wherein before obtaining the test parameters input by the user through the target interactive interface and determining the test type based on the test parameters, further comprises:

Based on the network configuration between the preset topological structure configuration and the target interactive interface and the target bus type servo system.

8. A bus type servo system testing device, characterized in that the bus type servo system testing device comprises:

the acquisition module is used for acquiring test parameters input by a user through a target interactive interface and determining a target test program to be called according to the test parameters;

the issuing module is used for generating a corresponding control instruction based on the target test program and issuing the control instruction to a target bus type servo system;

the receiving module is used for receiving the operation data fed back by the target bus type servo system, wherein the operation data comprises data when the target bus type servo system executes the control instruction and enters a corresponding operation state;

the verification module is used for verifying whether the running state of the target bus type servo system is normal or not through a preset verification program and the running data;

and the display module is used for outputting the operation data and the verification result to the target interactive interface for display.

9. A bus type servo system test apparatus, characterized in that the apparatus comprises: a memory, a processor and a bus-based servo test program stored on the memory and executable on the processor, the bus-based servo test program being configured to implement the steps of the bus-based servo test method of any one of claims 1 to 7.

10. A storage medium, wherein a bus-type servo test program is stored on the storage medium, and the bus-type servo test program, when executed by a processor, implements the steps of the bus-type servo test method according to any one of claims 1 to 7.