Failure diagnostic system and failure diagnostic method of motor encoder
A failure diagnostic system of a motor encoder is disclosed and includes a motor, an encoder, a servo driver, and a safety module. The servo driver controls the motor through a current command. The safety module continuously obtains a feedback position of the motor through the encoder. When the safety module determines based on the feedback position that the current state of the motor is consistent with a pre-determined disturbance condition, the safety module requests the servo driver to output an additional current command to disturb the motor. Next, the safety module determines whether the encoder is failure based on a variation of following feedback position.
1. A failure diagnostic system of a motor encoder, the system comprising:
a motor, comprising an encoder correspondingly generating a position information according to a rotation of the motor;
a servo driver, connected with the motor; and
a safety module, connected with the encoder and the servo driver, and configured to read the position information to obtain a feedback position of the motor and determine whether a state of the motor is consistent with a disturbance condition or an alarming condition according to the feedback position,
wherein the safety module is configured to request the servo driver to transmit an additional current command to the motor when the state of the motor is determined to be consistent with the disturbance condition, and
the safety module is configured to request the servo driver to output an abnormal alarming signal when the state of the motor is determined to be consistent with the alarming condition;
wherein the safety module is configured to determine that the motor is consistent with the disturbance condition when a position of the motor is determined to be fixed and a fixed time is determined to be continued for a first time span based on the feedback position, and determine that the motor is consistent with the alarming condition when the position of the motor is determined to be fixed and the fixed time is determined to be continued for a second time span based on the feedback position, wherein the second time span is greater than the first time span and is at least partially overlapped with the first time span.
2. The failure diagnostic system according to claim 1 , wherein the servo driver comprises a disturbance flag and an alarming flag, and the safety module is configured to set the disturbance flag to be activated to make the servo driver transmit the additional current command to the motor and set the alarming flag to be activated to make the servo driver output the abnormal alarming signal.
3. The failure diagnostic system according to claim 2 , wherein the safety module is configured to set the disturbance flag and the alarming flag to be deactivated when the position of the motor is determined to be changed based on the feedback position.
4. The failure diagnostic system according to claim 2 , wherein the servo driver comprises an additional current command state, the servo driver is configured to read the additional current command state when the disturbance flag is activated, and transmit the additional current command when the additional current command state is a first value and cancel the additional current command when the additional current command state is a second value.
5. The failure diagnostic system according to claim 4 , wherein the servo driver is configured to set the additional current command state to be the second value after the additional current command is transmitted, and set the additional current command state to be the first value after the additional current command is canceled.
6. The failure diagnostic system according to claim 4 , wherein the servo driver is configured to set the disturbance flag to be deactivated after the additional current command is transmitted or canceled.
7. The failure diagnostic system according to claim 1 , wherein the additional current command is about 5% of a rated current.
8. A failure diagnostic method of a motor encoder, the method comprising:
a) reading an encoder of a motor to obtain a feedback position of the motor;
b) determining whether a state of the motor is consistent with a disturbance condition or an alarming condition according to the feedback position, wherein the state of the motor is determined to be consistent with the disturbance condition when a position of the motor is determined to be fixed and a fixed time is determined to be continued for a first time span based on the feedback position and determined to be consistent with the alarming condition when the position of the motor is determined to be fixed and the fixed time is determined to be continued for a second time span based on the feedback position, wherein the second time span is greater than the first time span and is at least partially overlapped with the first time span;
c) when the state of the motor is consistent with the disturbance condition, requesting a servo driver to output an additional current command to the motor; and
d) when the state of the motor is consistent with the alarming condition, requesting the servo driver to output an abnormal alarming signal.
9. The failure diagnostic method according to claim 8 , wherein the b) further comprises:
B11) comparing the feedback position and a former feedback position to determine whether the position of the motor is fixed;
b12) controlling a counter to count when the position of the motor is determined to be fixed; and
b13) determining that the motor is consistent with the disturbance condition when a counting of the counter reaches the first time span.
10. The failure diagnostic method according to claim 9 , wherein the b) further comprises:
b14) determining that the motor is consistent with the alarming condition when the counting of the counter reaches the second time span.
11. The failure diagnostic method according to claim 9 , wherein the c) further comprises: when the motor is consistent with the disturbance condition, setting a disturbance flag in the servo driver to be activated to make the servo driver transmit the additional current command to the motor based on the disturbance flag; and
the d) further comprises: when the motor is consistent with the alarm in condition, setting an alarming flag in the servo driver to be activated to make the servo driver output the abnormal alarming signal based on the alarming flag.
12. The failure diagnostic method according to claim 11 , further comprising:
e) controlling the counter to zero when the position of the motor is determined to be changed; and
f) setting the disturbance flag and the alarming flag to be deactivated when the position of the motor is determined to be changed.
13. The failure diagnostic method according to claim 11 , further comprising:
g) reading, by the servo driver, an additional current command state when the disturbance flag is activated;
h) transmitting the additional current command when the additional current command state is a first value, and setting the additional current command state to be a second value;
i) canceling the additional current command when the additional current command state is the second value, and setting the additional current command state to be the first value; and
j) setting the disturbance flag to be deactivated after the h) or the i).
14. The failure diagnostic method according to claim 13 , wherein the g) further comprises:
g1) determining, by the servo driver, whether the motor operates on a position mode when the disturbance flag is activated; and
g2) reading the additional current command state when the motor operates on the position mode.