基于EtherCAT的伺服驱动器的一致性测试研究

Study on Conformance Test of Servo Driver Based on EtherCAT

随着实时以太网的推广,基于实时以太网标准协议的产品开发和应用越来越多,产品协议实现的一致性测试问题逐渐成为研究的重点。文章以基于EtherCAT的伺服驱动器为研究对象,根据一致性测试国际标准ISO/IEC9646,重点分析研究对象的应用层协议SoE的协议实现,确定四组一致性测试内容。在此基础上,阐述了树状结构的抽象测试集和XML语言描述的可执行测试例设计,提出了一致性测试系统的设计方案,并以测试例说明一致性测试系统的测试流程。

With the promotion of real-time Ethernet, the number of product development and application based on real-time Ethernet becomes more and more, the conformance test of product has become a focus of research. In this paper, the research object is servo driver based on EtherCAT, according to the standard of protocol conformance test in ISO/IEC9646, analyzes protocol implementation of application layer protocol SoE in servo driver and determines the content of conformance test. On this basis, this paper expresses tree structure of abstract test suit and describes executable test case with XML, designs the solution of conformance testing system. Besides, explains the eonformanee testing process with an example.