Comprehensive test method of joint servo system based on Ether CAT

ZHOU Jing, NI Jing, MENG Zhen, CHEN Xing, DONG Yun-Long
(School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China)

Abstract: Aiming at the service performance test of Industrial Robot Servo System (IRSS) under complex working conditions, referring to the existing relevant test standards，torque，fluctuation characteristics and speed adjustment coefficient in working characteristics test, response time and speed difference in response characteristics test and output power in environmental adaptability test of the IRSS were investigated and summarized. And the test method based on Ether CAT bus technology was proposed. The output rotation speed and the output electric current of IRSS were tested by load flange, hysteresis brake and triplex comprehensive test chamber. The results show that this method can effectively test the output current of IRSS under complex conditions. It can not only effectively and objectively indicate that the method can detect the service performance of IRSS, but also can guide the design and research of the industrial robots, and improve the service performance of robots.

Key words: industrial robot servo system（IRSS）; Ether CAT; complex conditions; service performance test