JP2006339537A - Work system for circuit substrate - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To raise a convenience for using a work program in a work system for a circuit substrate. <P>SOLUTION: Six operations for carrying out a program check concerning an electronic parts mounting machine and six nodes for stopping the electronic parts mounting machine corresponding to the six operations are set, and an existence of a shutdown in the nodes is set with respect to each of block data in one electronic part of a mounting program. While an operator selecting a block; the operator displays a node shutdown instruction attached screen 212, checks a node for stopping the electronic parts mounting machine, and adds a node shutdown instruction to the block data. Consequently, when the electronic parts mounting machine mounts electronic parts in a tentative way, the electronic parts mounting machine automatically stops in a node to which a shutdown instruction is added, and the operator can check an operating state by viewing and correct the mounting program by looking at a picture obtained by an image pick-up of an imaging device. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a circuit board working machine that performs work on each of a plurality of predetermined working parts of a circuit board that constitutes an electronic circuit by mounting electronic components, and controls the working machine according to a work program. The present invention relates to a circuit board working system including a control device.

  Patent Document 1 listed below describes a technique for examining the validity of a work program for an electronic component mounting system that is a type of a circuit board work system. An electronic component mounting system includes an electronic component mounting machine and a control device that controls the electronic component mounting machine according to a work program. In the electronic component mounting machine, an electronic component taken out from a component supply device by a suction nozzle is mounted on a circuit board. It is previously placed on the component recognition station and imaged by the imaging device. Based on the image obtained as a result, the control device determines whether the orientation of the electronic component is suitable for mounting. If the direction is inappropriate, the electronic component mounting machine is temporarily stopped and the electronic component supply direction data in the mounting program is corrected to match the actual supply direction data. In other words, the mounting program is automatically corrected.

Patent Document 2 below describes that the operation of the electronic component mounting machine is automatically stopped during the mounting operation of the electronic component in the electronic component mounting system. During the mounting operation of the electronic component, the operation of the mounting device is automatically stopped when the image of the electronic component sucked by the suction nozzle and imaged by the imaging device is inappropriate. If the operation is stopped, the operator determines whether or not the electronic component held by the suction nozzle is suitable for mounting, and if it is suitable, instructs the mounting so that the electronic device that can be mounted It can be avoided that the parts are wasted.
JP 2002-190698 A JP 2001-308600 A

  Under the circumstances described above, the present invention has been made to improve the usability of a work program in a circuit board work system including a circuit board work machine and a control device.

An object of the present invention is to provide a circuit board working machine for performing work on each of a plurality of predetermined work parts of a circuit board constituting an electronic circuit by mounting electronic components, and a work program for the circuit board working machine. In the circuit board working system including the control device controlled according to the above, the circuit board working machine includes: (1) a board support device that supports the circuit board; and (2) a circuit board that is supported by the board support device. A work head that performs work on the substrate, and (3) a relative movement device that relatively moves the work head and the substrate support device, and the control device includes: (a) the work head and the work head A node stop command adding unit capable of adding to the work program a node stop command for automatically stopping the substrate support device at two or more nodes selected from a plurality of nodes of the relative movement; and (b) the pair circuit Base An automatic operation for causing a work machine to sequentially execute a plurality of blocks of the work program and automatically stopping the counter circuit board work machine at the node when any of the execution blocks is a block to which the node stop command is added. This is solved by providing a stop portion.
The two or more nodes include, for example, one of the start and end of relative movement based on the block and one intermediate point, or two intermediate points.

Thus, if the control device includes the stop command adding unit and the automatic stop unit, the usability of the circuit board working system is improved. For example, it becomes easy to check or edit the validity of the work program. When a new work program is created or a part of the work program is changed, each block of the new work program and two or more nodes selected from multiple nodes of relative movement based on the changed block are stopped. If the command is added, the counter circuit board working machine can be automatically stopped at a plurality of desired nodes, and whether or not the state of the counter circuit board working machine at the nodes is as intended is visually checked. Can be inspected. Alternatively, it is possible to cause the imaging device to capture the stop state and use the image obtained as a result to check whether the stop state is as intended. Furthermore, editing work such as changing a part of the work program can be performed as necessary.
The circuit board working machine can increase the productivity as the operating speed is increased. In this case, for example, even if the operator tries to visually check the operating state while the working machine is operating. It is too fast and difficult, and a work machine pause operation unit is provided, and the circuit board work machine is stopped by operating the pause operation unit in the desired operation state to check the operation state. It is difficult to operate the pause operation unit so that the working machine is stopped in a desired operating state. On the other hand, according to the present invention, by adding a node stop command to the work program, the circuit board work machine can be reliably stopped at a place where the stop is required during the operation. The node is a portion that can be stopped if the relative movement between the work head and the substrate support device is stopped. For example, the node is set for a plurality of locations where it is desirable to inspect the work program. The circuit board working machine is automatically stopped at these nodes, so that the operator can easily inspect or edit the program.

Aspects of the Invention

  In the following, the invention that is claimed to be claimable in the present application (hereinafter referred to as “claimable invention”. The claimable invention is at least the “present invention” to the invention described in the claims. Some aspects of the present invention, including subordinate concept inventions of the present invention, superordinate concepts of the present invention, or inventions of different concepts) will be illustrated and described. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiments, etc., and as long as the interpretation is followed, another aspect is added to the form of each section. In addition, an aspect in which constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention.

  In each of the following paragraphs, (2) corresponds to claim 1, (15) corresponds to claim 2, and (3) or (3) and (15) are combined. Claim 3 combined with paragraph (5) or (5) and (15) is combined with claim 4 with combination of (7) and (8) or (7) The combination of paragraphs (8) and (15) is in claim 5, and the combination of paragraphs (12) or (12) and (15) is in claim 6, or in paragraph (13) or A combination of the items (13) and (15) corresponds to claim 7 respectively.

(1) A counter circuit board working machine that performs work on each of a plurality of predetermined work parts of a circuit board that constitutes an electronic circuit by mounting electronic components, and the counter circuit board working machine according to a work program A circuit board working system including a control device for controlling,
The control device is
A stop command adding unit capable of adding a stop command to any block of the plurality of blocks of the work program;
When the counter circuit board working machine is caused to sequentially execute the plurality of blocks of the work program, and any of the execution blocks is a block to which the stop command is added, the counter circuit board working machine is A circuit board working system comprising: an automatic stop unit that automatically stops in a state corresponding to at least one operation.
The circuit board working system includes, for example, an electronic component mounting system that mounts electronic components on a plurality of parts of a circuit board, and an adhesive application system that applies an adhesive in spots on a plurality of parts of the circuit board. Further, one block of the work program can be, for example, a part for mounting one electronic component or a part for applying an adhesive to a part of the work program.
In the circuit board working system described in this section, the circuit board working machine can be automatically stopped only for a desired block among all the blocks, as compared with the case of stopping all the blocks. For example, it is possible to quickly inspect or edit a work program. The number of locations where one block is automatically stopped may be one or more. When the number of locations to be stopped is singular, it may be one at the beginning or the end of the operation of one block, or one location in the middle. When the number of locations to be stopped is plural, at least one location is in the middle of operation.
(2) The circuit board working machine is
A substrate support device for supporting a circuit board;
A work head for working on the circuit board supported by the board support device;
A relative movement device that relatively moves the work head and the substrate support device, and the stop command adding unit selects the work head and the substrate support device from a plurality of nodes of their relative movement. The circuit board working system according to (1), further comprising a node stop command adding unit that can add a node stop command as the stop command to be automatically stopped by two or more to the work program.
(3) A selection unit that selects whether the control device causes the circuit board work machine to perform a selective operation included in the work program, and an operation addition unit that adds the selective operation to the work program. And the nodal stop command adding unit can add the nodal stop command to the selective operation as well.
An example of the selective operation is an operation that is preferably executed by the circuit board working system when the work program is tested, but is preferably not executed when the electronic circuit is produced. Although it is effective to test whether the work program is appropriate, there are operations that cause a reduction in work efficiency if performed during the production of electronic circuits. Making it possible to add a node and a node stop command to the selective operation is effective in facilitating the test while avoiding a decrease in production efficiency. Therefore, when the control device includes a selection unit, for example, it is selected that the work program is suitable for the test, and the operation that is desirably not executed at the time of production of the electronic circuit is not executed. Further, when the control device includes an operation adding unit, for example, the work program is made suitable for production of an electronic circuit, and an operation that is desirably executed at the time of the test is added.
(4) Item (1) to Item (3), wherein the control device includes a restart command operation unit operated by an operator in order to restart the operation of the counter circuit board working machine stopped by the automatic stop unit. The circuit board working system according to any one of the above.
For example, it is determined whether or not the stop state is as intended, or the work program is changed as necessary, and then the restart command operation unit is operated to operate the circuit board work machine. Can be continued. It becomes easy to check the validity of multiple blocks of a work program.
(5) The control device includes a state change operation unit that is operated by an operator to change the automatic stop unit between a state in which an automatic stop function is achieved and a state in which the automatic stop function is not performed. The circuit board working system according to any one of the above.
By the operation of the state change operation unit, the control device can be selectively operated in a mode including automatic stop and a mode not including the automatic stop.
The state change operation unit is, for example, an operation unit that changes between a state in which an automatic stop function is performed and a state in which the automatic stop function is not performed depending on whether or not a stop command is added, or is not executed in a mode in which automatic stop is performed by adding a stop command. By setting the mode, the operation unit is changed to a state where the automatic stop function is achieved and a state where the automatic stop function is not achieved.
The state change operation unit may be operated before the operation of the anti-circuit board working machine is started by executing the work program, or may be operated at the end, at the start, or during the execution of one block. Good. Further, when the circuit board work machine is stopped based on the addition of the stop command for inspection or editing of the work program, the state change operation unit changes the state to the state in which the automatic stop unit does not perform the automatic stop function. As a result, it is possible to prevent the circuit board working machine from being automatically stopped during the actual work, but during the actual work, for example, when the set condition is satisfied, the circuit board working machine is automatically stopped. When the operator operates the state change operation unit in the automatic stop state so that the automatic stop unit performs the automatic stop function so that the inspection can be performed, or the produced electronic circuit is defective For example, the state changing operation unit may be operated according to the judgment of the operator so that the automatic stop unit performs the automatic stop function. The above setting conditions include, for example, that a set amount of work has been performed, that at least one of an electronic component suction error, mounting error, and imaging result image processing error has occurred a set number of times (including one) or more. is there.
(6) A one-block execution command operation unit operated by an operator so that the control device sequentially executes each of the plurality of blocks of the work program and stops the counter circuit board working machine for each block. The counter circuit board working system according to any one of (1) to (5).
If a control unit having an automatic stop function is further provided with a one-block execution command operation unit, it becomes more convenient.
For example, when all the operations of one block are completed, the operator can visually check the circuit board working machine and the circuit board on which the work has been performed, and the mounting program can be inspected or edited.
(7) The counter circuit board working system according to any one of (1) to (6), wherein the control device includes a display screen and an input device and includes an editing unit that edits the work program.
Editing the work program is facilitated by automatically stopping the circuit board working machine.
(8) The counter circuit board working machine includes at least one imaging device that images at least a part of the counter circuit board working machine, and the control device stops the counter circuit board working machine by the automatic stop unit. The counter circuit board working system according to (7), further comprising: a captured image display control unit configured to display an image captured by the at least one imaging device in the state of being displayed on the display screen.
In many cases, it is easier to determine whether or not the automatically stopped state is as intended. A typical example is where the location of the problem is difficult to see, but the image is enlarged and displayed, or the image obtained by imaging is supplementary to assist in the judgment. Judgment can also be facilitated by adding an image.
(9) The control device includes, on the display screen, a block in which the counter circuit board working machine is automatically stopped according to the added stop command among the plurality of blocks of the work program. The circuit board working system according to (7) or (8), further comprising a program display control unit that displays the data of the plurality of blocks in a state in which the automatically stopped blocks can be distinguished from the other blocks. .
For example, the operator can easily recognize a block on which the circuit board working machine is automatically stopped.
(10) The control device may include a support data display control unit that displays support data for supporting data input by an operator from the input device on the display screen. The described circuit board working system.
The data of multiple nodes included in one block described in (13) below and the parts data that is the data of electronic components corresponding to the automatic stop of the counter circuit board working machine described in (16) are supported. It is an example of data.
(11) The control device according to any one of (7) to (10), wherein the editing unit is integrally provided with a counter circuit board working machine control unit that controls the counter circuit board working machine. Anti-circuit board working system.
The counter circuit board work machine control unit and the editing unit can be configured by separate computers, but they can also be configured by a single computer. In the former case, the usability is improved, and in the latter case, the apparatus cost can be reduced.
(12) The control device according to (2) or (3), wherein the control device includes a block corresponding stop command adding unit capable of adding a block corresponding stop command to the work program in units of the plurality of blocks. Circuit board working system.
A block corresponding stop command can be added to an arbitrary block of the plurality of blocks. For example, when testing the work program, the control device can automatically search for the block corresponding stop command, and the circuit board work machine can be tested for only the block to which the block corresponding stop command is added. . In addition, when editing a work program, the block to which this block-corresponding stop command is added is displayed on the display screen in a mode different from the block to which no block is added, and the operator can add a node stop command or It is also possible to easily recognize a block to be tested. Furthermore, when editing a work program, if the editing work for a block to which a block correspondence stop command is added is completed, the control device automatically skips to the block to which the next block correspondence stop command is added. You can also The same applies when a node stop command is added.
As described above, a node stop command can be added by the operator to a block to which a block corresponding stop command has been added in advance, or conversely, a block response can be made in response to the node stop command being added by the operator. It is also possible to add a stop command.
The features described in each of the above items (4) to (11) can be applied to this item and the next item.
(13) The control device includes a support data display control unit that displays a display screen, an input device, and support data for supporting data input by an operator from the input device, and the support data display control unit includes the display screen. A node display unit for displaying the plurality of nodes included in each of the plurality of blocks, and the node stop command adding unit is configured such that any of the plurality of nodes displayed on the node display unit is The circuit board working system according to (2), (3), or (12), which adds the node stop command corresponding to the specified node when specified by the input device.
By displaying the nodes on the node display section, the operator can easily specify the nodes for stopping the circuit board working machine.
In a mode in which this item is subordinate to item (12), the node display unit displays the block corresponding to the block corresponding stop command on the display screen in response to the addition of the block corresponding stop command by the block corresponding stop command adding unit. It is desirable to display a plurality of nodes included.
(14) a substrate support device for supporting the circuit board by the counter circuit board working machine;
A component supply device for supplying electronic components to be mounted on a circuit board supported by the substrate support device;
An electronic component mounting machine comprising: a mounting device that receives an electronic component from the component supply device and mounts the electronic component on a circuit board supported by the substrate support device. Anti-circuit board working system.
In the electronic component mounting machine, since the mounting cycle time of the electronic component to the circuit board is short and the working speed is particularly fast, the effect of automatic stop by adding a stop command can be enjoyed effectively.
(15) The relative movement device is
A parallel relative movement device for relatively moving the working head and the substrate support device in a direction parallel to the circuit board supported by the substrate support device;
A head lifting device that lifts and lowers the working head, and the working head has a suction nozzle that sucks an electronic component at a lower end; and
The circuit board working machine is
A component supply device for supplying electronic components to be mounted on a circuit board supported by the substrate support device;
A component imaging device for imaging an electronic component sucked by the suction nozzle;
A mark imaging device for imaging a reference mark of a circuit board supported by the substrate support device, the suction nozzle descends to the component supply device and sucks an electronic component, and the component imaging device is sucked The electronic component is imaged, and the suction nozzle is lowered to the circuit board supported by the substrate support device to mount the electronic component on the circuit board,
The node stop command adding unit is (a) after the mark imaging device images the electronic component supplied by the component supply device and immediately after imaging the supply component that is still facing the electronic component. (C) Immediately before adsorption at a position just before the adsorption nozzle descends and contacts the electronic component, (d) The adsorption nozzle (E) Immediately after picking up the picked-up electronic component picked up by the picked-up image pickup device and still facing the picked-up image pickup device (e) f) After the mark imaging device has imaged the component mounting location of the circuit board and immediately after imaging the mounting location still facing the component mounting location, (g) the electronic component adsorbed by the suction nozzle on the circuit substrate Underwear that begins to descend to wear Previously, (h) Immediately before mounting when the suction nozzle is lowered and the electronic component sucked on it is in contact with the circuit board, (i) The suction nozzle is lifted by mounting the electronic component on the circuit board. (J) two or more of the nodes after imaging the electronic component mounted on the circuit board and immediately after imaging the mounted component that is still facing the electronic component. The circuit board working system according to item (2) or (3), wherein a node stop command as the stop command can be added to the circuit board.
The mark imaged by the mark imaging device includes a specific part used as a reference mark, such as a part of a circuit pattern on a circuit board. The features described in each of the items (4) to (13) can be applied to this item.
(16) The control device includes a support data display control unit that displays a display screen, an input device, and support data for supporting data input by an operator from the input device on the display screen, and the support data is the automatic stop. The counter circuit board working system according to item (14) or (15), including part data which is data of electronic components corresponding to automatic stop of the counter circuit board working machine by a unit.

  Hereinafter, embodiments of the claimable invention will be described in detail with reference to the drawings. In addition to the following examples, the claimable invention can be practiced in various modifications based on the knowledge of those skilled in the art, including the aspects described in the above [Aspect of the Invention] section. .

  FIG. 1 shows an electronic component mounting system collective machine including a plurality of electronic component mounting systems 10 as one embodiment of the claimable invention. Each of the plurality of electronic component mounting systems 10 includes an electronic component mounting machine 12 as a counter circuit board working machine and a control device 14 (see FIG. 4), as shown typically in FIG. The modularized system is modularized, and each is similarly attached to the base 16 to constitute an electronic component mounting system collective machine. The electronic component mounting system 10 is configured in the same manner as the systems described in Japanese Patent Application Laid-Open Nos. 2004-172500 and 2004-221518, and is simply illustrated and described.

  In this embodiment, as shown in FIG. 1, the electronic component mounting machine 12 includes a mounting machine body 20, a component supply device 22, a pair of substrate support devices 24, a pair of substrate transport devices 26, a mounting device 28, and components. An imaging device 30, a mark imaging device 32 (see FIG. 3), and the like are provided. The pair of substrate transfer devices 26 are provided on the mounting machine main body 20, and carry the circuit board 38 into the substrate support device 24 and unload it from the substrate support device 24. Each of the pair of board support devices 24 includes, for example, a plurality of support pins (not shown), supports the circuit board 38 from below, includes a clamp member, and holds the circuit board 38. The component supply device 22 is provided on one side with respect to the substrate transfer device 26 of the mounting machine body 20 and includes, for example, a plurality of feeders 40 as component supply tools. Each of these feeders 40 includes a component feeding device, feeds a large number of electronic components in a row, positions them one by one at a component supply position, and supplies electronic components to be mounted on the circuit board 38. The component imaging device 30 includes a CCD camera 44 in this embodiment, and is provided upward with a fixed position at a portion between the pair of substrate transport devices 26 and the component supply device 22 of the mounting machine body 20. .

  As shown in FIGS. 2 and 3, the mounting device 28 includes a mounting head unit 50 and a head horizontal direction moving device 52. As shown in FIG. 2, the mounting head unit 50 includes a unit main body 56, at least one mounting head 60 that is a working head, a head turning device 62, a head lifting device 64, and a head rotating device 66. The mounting head unit 50 shown in FIG. 2 includes three or more mounting heads 60. These mounting heads 60 are arranged at equal angular intervals on a circumference around the axis of the head holding body 68 and parallel to the axis of the head holding body 68, and are movable in the axial direction and have their own axis. The nozzle holder 70 is provided at the lower end portion, and the suction nozzle 72 as a component holder is held.

  The head holding body 68 is held by the unit main body 56 so as to be rotatable around a vertical rotation axis, and is rotated in both forward and reverse directions by the head turning device 62. The head turning device 62 is driven by a servo motor 74 with an encoder, which is a kind of electric rotary motor, and the head holding body 68 is rotated, whereby three or more mounting heads 60 are rotated around the axis of the head holding body 68. And sequentially moved to the component suction / mounting position. The head lifting / lowering device 64 is provided at a position corresponding to the component suction / mounting position of the unit main body 56. The head elevating device 64 elevates and lowers the mounting head 60 moved to the component suction / mounting position using a servo motor 76 with an encoder as a drive source. The unit main body 56 is further provided with the head rotating device 66. The head rotating device 66 uses a servo motor 78 with an encoder as a drive source, and rotates the mounting head 60 about its axis. The head rotating device 66 is configured to rotate all of the three or more mounting heads 60 all at once.

  In this embodiment, the head horizontal direction moving device 52 includes an X-axis direction moving device 90 that moves the mounting head unit 50 in the X-axis direction and a Y-axis direction moving device that moves in the Y-axis direction, as shown in FIG. 92. The X-axis direction is a direction parallel to the substrate transport direction and is horizontal, and the Y-axis direction is a direction orthogonal to the X-axis direction in a horizontal plane that is a plane parallel to the circuit board 38 supported by the substrate support device 24. It is. The Y-axis direction moving device 92 includes a Y-axis moving member 94 and a Y-axis moving member driving device 98 that moves the Y-axis moving member 94 in the Y-axis direction using a servo motor 96 with an encoder as a drive source. The X-axis direction moving device 90 is provided on the Y-axis moving member 94, and uses the X-axis moving member 100 and a servo motor 102 with an encoder (see FIG. 4) as drive sources, and the X-axis moving member 100 is moved in the X-axis direction. And an X-axis moving member driving device 104 to be moved. The X-axis direction moving device 90 is a two-stage linear moving device, and although not shown in detail, two sets of the X-axis moving member 100 and the X-axis moving member driving device 104 are provided, and one X-axis moving device is provided. The mounting head unit 50 is detachably mounted on the other X-axis moving member 100 that is moved on the member 100, and the mounting head 60 is in a horizontal direction that is parallel to the circuit board 38 supported by the board support device 24. Moved in the direction.

  The mark imaging device 32 is also mounted on the other X-axis moving member 100 and is moved in the horizontal direction by the head horizontal direction moving device 52 together with the mounting head unit 50. The mark imaging device 32 includes a CCD camera 120 and is provided facing downward to capture a reference mark or the like provided on the circuit board 38. The CCD camera 120 and the CCD camera 44 are plane imaging cameras in this embodiment.

  As shown in FIGS. 1 and 4, the control device 14 includes an electronic component mounting machine control unit 140 and a program editing unit 142. The electronic component placement machine control unit 140 includes a control computer 144 provided in the placement machine body 20. As shown in FIG. 1, the control computer 144 is provided in each of the plurality of electronic component mounting machines 12, and includes a CPU 150, a ROM 152, a RAM 154, and a bus 155 for connecting them, as shown in FIG. The input device 158 and the image processing computer 160 are connected to the connected input / output unit 156, the component supply device 22 and the like are connected via the drive circuit 164, and the display screen 168 is connected via the control circuit 166. Has been. The RAM 154 stores component mounting data including data related to mounting (referred to as component mounting related data) such as mounting positions of electronic components and data related to electronic components and suction (referred to as part data). The ROM 152 stores a component mounting execution program shown in the flowcharts of FIGS. 8 and 9. In this embodiment, the mounting program, which is a kind of work program, consists of a combination of these component mounting execution programs and component mounting data.

  As shown in FIG. 4, the program editing unit 142 includes an editing computer 172, an input device 174, and a display screen 176. Although not shown, the editing computer 172 includes a CPU and the like, like the control computer 144, to which an input device 174 is connected and a display device 177 having a display screen 176 is connected via a control circuit (not shown). Has been. The input device 174 includes, for example, a keyboard 178 and a mouse 180 which is a kind of pointing device. The editing computer 172 is provided in common to the plurality of electronic component mounting machines 12 and is connected to each of the control computers 144 provided in the electronic component mounting machines 12 by communication means such as a communication cable 182, and to the control computer 144. Data and the like are exchanged with the editing computer 172. The component mounting data is also stored in the RAM of the editing computer 172, and the ROM stores an editing program for editing the mounting program, a stop command addition program for adding a stop command, and the like. In the present embodiment, the program editing unit 142 is shared by a plurality of electronic component mounting systems 10, a part for editing a mounting program for the one electronic component mounting machine 12, and the electronic components of one electronic component mounting system 10. The component mounting machine control unit 140 constitutes the control device 14 of the electronic component mounting system 10.

  The electronic component mounting operation on the circuit board 38 in the electronic component mounting machine 12 is performed by the control computer 144 executing a component mounting execution program based on the component mounting data and controlling the electronic component mounting machine 12. The plurality of electronic component mounting systems 10 operate in parallel during the production of an electronic circuit, and mount electronic components at locations assigned to each of a plurality of component mounting locations on one circuit board 38. The circuit board 38 constitutes an electronic circuit together with the electronic component by mounting the electronic component.

  In the list display unit 200 of the display screen 176, as shown in a part of an example in FIG. 5, component mounting data for a plurality of blocks is displayed in a state of a component mounting data list. Each block of the mounting program is a combination of component mounting data necessary for mounting one electronic component and the component mounting execution program. The component mounting data includes, for example, a component name, an X coordinate value of a component mounting location, and It includes data such as Y-coordinate values, mounting orientation, position of feeder 40 for supplying electronic components, mounting order, etc., and is created for each of a large number of electronic components mounted on circuit board 38 and arranged in order of mounting. It is displayed on the display unit 200. The component mounting data for one block is referred to as block data.

  The data display unit 202 of the display screen 176 displays data corresponding to the operator's selection among the component mounting data. For example, the part data of the electronic component corresponding to the designated block is specified by the designation of the block by the operation of the mouse 180 and the instruction to display the part data (the display of “Part” displayed on the display screen 176 is selected by the mouse 180). Is displayed on the data display unit 202 of the display screen 176. The part data includes, for example, data such as a part number, dimensions, and electric capacity. Further, sequence data (data including the X coordinate value and the Y coordinate value of the component mounting location) is displayed on the data display unit 202 according to the operator's selection. The display screen 176 includes an icon display unit 204 and an image display unit 206 in addition to the list display unit 200 and the data display unit 202.

  The mounting program is created in advance and stored in the control computer 144. Immediately after creation, the mounting of the electronic component to the circuit board 38 is experimentally performed according to the mounting program, and the created mounting program is appropriate. It is checked whether there is any. The program test is performed by operating the electronic component mounting machine 12 and automatically stopping the electronic component mounting machine 12 so that the operator can check the suitability of the mounting program or change the mounting program based on the operating state.

  Therefore, in this embodiment, the electronic component mounting machine 12 can be automatically stopped in a state corresponding to a plurality of, for example, six operations. Of these six operations, two are production-time execution operations, which are work-time execution operations that are also performed during the production of electronic circuits (not when testing, mounting of actual electronic components to the circuit board 38). Specifically, the suction nozzle 72 picks up the electronic component, and the post-suction rise that rises to the rising end position and the post-pickup component imaging in which the electronic component picked up by the suction nozzle 72 is imaged by the component imaging device 30. The four operations are selective operations that are desirably performed by the electronic component mounting machine 12 at the time of the program test, but preferably not performed at the time of production of the electronic circuit. Prior to picking up the image, the mark image pickup device 32 picks up the image of the supplied component before picking up the electronic component held by the feeder 40, and picks up the suction nozzle 72 to a position just before contacting the electronic component when picking up the electronic component. Prior to lowering the position, and before the suction nozzle 72 mounts the electronic component on the component mounting location of the circuit board 38, the mark imaging device 32 images the mounting location before mounting, and the component mounting location is mounted on the component mounting location. This is the post-mounting component imaging in which the mark imaging device 32 images the electronic component. The position immediately before the suction is a position through which the suction nozzle 72 passes even during production, but since it cannot be stopped during production, the position immediately before the suction is assumed to be included in the selective operation.

  For each of these six operations, a node is set, that is, a point where the relative movement between the mounting head 60, the component supply device 22, the substrate support device 24, and the component imaging device 30 is stopped. In the present embodiment, since the mounting head 60 is moved with respect to the component supply device 22, the board support device 24, and the component imaging device 30, the node is set in the middle of the movement path of the mounting head 60. . The moving path includes a path that passes even during production and a path that passes only during the program test. In this embodiment, the six nodes are immediately after imaging of the supply parts before suction, when the position immediately before suction is lowered, and when the suction is raised. Then, immediately after picking up the picked-up component after picking up, immediately after picking up the mounting part before mounting, and immediately after picking up the mounting component after mounting. The electronic component mounting machine 12 is not stopped at all six nodes, but is stopped when a stop command is added. In this embodiment, the program test and the electronic circuit production are performed by executing the same component mounting execution program. Therefore, the component mounting execution program includes two production-time execution operations and four selective operations, and the selective operation is not executed during production.

  The addition of the stop command will be described. The node stop command is added by the editing computer 172 by the operator. At the time of addition, as shown in FIG. 5, the operator displays the component mounting data list on the list display unit 200 of the display screen 176. Further, if necessary, the part data is displayed on the support data display unit 206 to be a reference for adding a stop command.

  In the component mounting data list, the node stop setting data is added in advance to the block to be subjected to the program test, whereby the node stop setting mark 210 is displayed together with the block data as shown in FIG. The node stop setting data is added, for example, when creating component mounting data, and is added to block data of electronic components that are highly likely to cause suction or mounting errors, or block data of electronic components that are mounted for the first time. When the mounted part list data is created by changing a part of an existing one, the node stop setting mark 210 may be added to the changed or added block. In addition, when other component mounting data is created using existing component mounting data, node stop setting data may already be added to the existing component mounting data. The electronic component to which the node stop setting data is added may be determined by the operator by referring to the part data, or may be determined in advance depending on the type of the component.

  The operator adds a stop command to the node of the block where the node stop setting mark 210 is displayed. The node stop command is added, for example, by the operator operating the mouse 180 to move the cursor and selecting the node 180 by operating the button of the mouse 180 in accordance with the block where the node stop setting mark 210 is displayed. For example, as shown in FIG. 6 (a), at least one of the character and the background is displayed in a different color from the other blocks, or the selected block is displayed as shown in FIG. It is displayed in a different state from other blocks, such as being underlined. Here, it is assumed that the background color is different from other blocks. In this state, the operator further operates the button of the mouse 180 (for example, when the mouse 180 has two buttons on the left and right, the right button is pressed), and although not shown, an operation menu is displayed on the display screen 176. And select “Add node stop command” from the list. Thereby, as shown in FIG. 6B, a nodal stop command addition screen 212 is displayed on the list display unit 200. The node stop command addition screen 212 displays the six nodes and check boxes for each of the nodes. The operator operates the mouse 180 to check the nodes for stopping the electronic component mounting machine 12. Check the box. The operator, after checking the check boxes for all nodes for stopping the electronic component mounting machine 12, selects OK, instructs execution thereof, and closes the node stop command addition screen 212. The data of the node whose check box is checked, that is, the data of the stop command addition node is data specifying the block to which the node stop command is added, for example, the mounting order of the electronic components mounted by the block Are stored in a node stop command addition data memory provided in the RAM of the editing computer 172, and a node stop command is added to the block. When the node stop command addition screen 212 is opened again for the block to which the node stop command is added, the check box of the node to which the stop command is added is checked and displayed.

  The selection of the block to which the node stop command is to be added is not performed by the operator operating the mouse 180 as described above, but when the node stop command is added for one block, the editing computer 172 or the control is selected. The computer 144 may automatically search for the next node stop setting data and select the block to which the searched node stop setting data is added as the block to which the node stop command is to be added next.

  In addition to the above, for example, the node stop command addition icon 214 (see FIG. 5) displayed on the icon display unit 204 is selected after selecting a block to which the node stop command is added. However, it can also be performed by displaying the nodal stop command addition screen 212. Alternatively, as shown in FIG. 7, a check box corresponding to each of a plurality of nodes is displayed in the empty space for each of a large number of blocks on the list display unit 200, and a stop command is issued to the nodes when the operator puts a check. Can also be added. For example, the check boxes are displayed side by side from left to right in the order of execution of the six nodes. The content of the node may be displayed by a character or a pattern for each check box.

  Further, the node stop setting mark 210 may be displayed on the display screen 176 by adding a stop command to the node and adding a node stop command to the block. In this case, the operator looks at the component mounting data list displayed on the list display unit 200 and selects an electronic component block that is considered to require a program test by operating the mouse 180. After that, the stop command is added to the node in the same manner as when the stop command is added to the block to which the node stop setting mark 210 is added in advance, and after the addition is completed, the node stops according to the node stop command addition data. A node stop setting mark 210 is displayed for the block to which the command is added.

  The editing computer 172 sets “stop for each block”, “designated node stop”, and “invalidation of stop command”. “Block-by-block stop” is a mode in which the electronic component mounting machine 12 is stopped every time one block of the electronic component is mounted, regardless of whether or not a stop command is added to the node. It is. It can be considered that the electronic component mounting machine 12 is stopped at the start of the operation for one block. “Specified node stop” is a mode in which, when a stop command is added to a node, the electronic component mounting machine 12 is stopped at a specified node to which the stop command is added and stop is specified. “Stop command invalidation” is a mode in which even if a stop command is added to a node, the command is ignored and the electronic component mounting machine 12 is not stopped. When the stop command invalidation mode is set, the selective operation is performed. Will not be done. The production operation in this embodiment is performed in the stop command invalidation mode.

  The operator sets these modes by operating the block-by-block stop icon 216, the designated node stop icon 218 and the stop command invalidation icon 220 displayed on the icon display unit 204 of the display screen 176. For example, when the block-by-block stop icon 216 is selected with the mouse 180, a screen for selecting setting and release of the block-by-block stop mode is displayed on the display screen 176, and the block-by-block stop mode is set or released according to the display. . The block-by-block stop mode may be set by operating (selecting) the block-by-block stop icon 216 once and may be canceled by operating again. If the designated node stop icon 218 is selected, the designated node stop mode is set, and if the stop command invalidation icon 220 is selected, the stop command invalidation mode is set. The RAM of the editing computer 172 is provided with a stop flag for each block and a specified node stop flag. When the stop icon for each block 216 is selected and execution of the stop mode for each block is instructed, the stop flag for each block is set to ON. Is done. If execution of the designated node stop is instructed, the designated node stop flag is set to ON, and if execution of stop command invalidation is instructed, the designated node stop flag is reset to OFF. The setting of the designated node stop mode is release of the stop command invalidation mode, and the setting of the stop command invalidation mode is release of the designated node stop mode. These block stop, designated node stop, and stop command invalidation modes may be set or canceled before the start of the program test or during the test. The component mounting execution program is executed in the block-by-block stop mode, the designated node stop mode, or the stop command invalidation mode based on the state of the flag.

  After adding the node stop command and setting the stop mode for each block, a program test is performed. In this case, the component mounting data list is displayed on the list display unit 200 of the display screen 176 of the editing computer 172 as shown in FIG. Then, a program test is started by an instruction to select and execute the start icon 224 by the operation of the mouse 180 of the operator, a component mounting execution program is executed based on the component mounting data, and the electronic component is experimentally applied to the circuit board 38. Installed.

  The program test will be described based on the flowchart of the component mounting execution program shown in FIGS. The mounting head unit 50 shown in FIG. 1 includes a plurality of mounting heads 60. After all of the mounting heads 60 adsorb the electronic components, they move to the circuit board 38 to mount the electronic components. Here, for simplicity of explanation, the flowchart is changed and shown as if mounting is performed by one mounting head 60, and automatic stop of the electronic component mounting machine 12 based on addition of a stop command will be described. In the following, stop mode for each block and designated node stop mode are set, and each node immediately after imaging of the supplied part before suction, immediately after imaging of the suction part after suction, immediately after imaging of the mounting part before mounting, and immediately after imaging of the mounted part after mounting is stopped. A case where a command is added will be described as an example. The program test may be performed assuming that the mounting head unit 50 has one mounting head 60. Instead of causing the electronic components to be attracted and mounted on all of the plurality of mounting heads 60, only one of the plurality of mounting heads 60 performs from the suction to mounting of the electronic components. Although it is the same that the electronic components are test-mounted on the circuit board 38 according to the mounting order set by the component mounting data, the electronic components are sucked and mounted one by one.

  The component mounting execution program is executed by the control computer 144, and is started when the start icon 224 is selected by the mouse 180 in the editing computer 172 and the start of the program test is instructed. A plurality of reference marks provided on the circuit board 38 are imaged by the mark imaging device in a state where the circuit board 38 is supported by the substrate support device 24, and positions in the X-axis and Y-axis directions for each of the plurality of component mounting positions. An error is calculated. A rotational position error may be calculated. In addition, the component display data list is displayed on the list display unit 200 of the display screen 176, and the block currently being executed is displayed with an underline to distinguish it from other blocks and to which a node stop command is added. The node stop setting mark 210 is displayed for the operator so that the operator can know whether the block being executed is a block to which a node stop command is added. It should be noted that a check mark that is an execution display mark, for example, a check mark, instead of the underline display, may be displayed for the block currently being executed. The check mark may not be displayed when the execution is completed, may be displayed even after the execution is completed, and check marks other than the earliest check mark may indicate the end of the execution.

  In step 1 of the component placement execution program (hereinafter abbreviated as S1. The same applies to other steps), it is determined whether or not the block-by-block stop mode is set. This determination is made based on whether or not the block-by-block stop flag is set to ON in the editing computer 172. Here, since the execution of block-by-block stop is set, the determination result of S1 is YES and S2. Is executed, and the electronic component mounting machine 12 is stopped. At the start of the program test, the electronic component mounting machine 12 is stopped in a state where the X-axis and Y-axis moving members 100 and 94 of the head horizontal direction moving device 52 are located at the origin position, and the head lifting device 64 is initially set. The head horizontal direction moving device 52 and the head lifting device are in a state in which the mounting head 60 starts to be lifted and the mounting of one electronic component is completed after the start of the program test. 64 is stopped when the last operation of one block is completed. The operation end state will be described later. And S3 is performed and it is determined whether the start of the electronic component mounting machine 12 was instructed. This start is a re-start, and the determination in S3 is performed depending on whether or not the start is instructed by the editing computer 172. The determination result in S3 is NO until the operator gives an instruction to start, and the electronic component mounting machine 12 remains stopped. Therefore, for example, the operator can inspect the mounting state by looking at the electronic components mounted on the circuit board 38. If the operator instructs the start, the determination result in S3 is YES and S4 is executed.

  In S4, it is determined whether or not the designated node stop mode is set. This determination is made based on whether or not the designated node stop flag is set to ON in the editing computer 172. Here, since the designated node stop mode is set and the designated node stop flag is set, the determination result in S4 is YES, S5 is executed, and the mark is set before the suction nozzle 72 picks up the electronic component. It is determined whether or not to pick up an electronic component by the imaging device 32 and check the component suction position and the like. This determination is made based on whether or not a stop command is added to the node that is immediately after the pre-suction supply component imaging for the block that is currently being tested, and is added to the node stop command addition data stored in the editing computer 172. Based on. Here, since a stop command is added immediately after imaging of the supplied component before suction, the determination result in S5 is YES, S6 is executed, the component mounting data is read, and the mark imaging device 32 supplies the component of the feeder 40. The electronic component moved to the position and positioned at the component supply position is imaged. The imaging of the electronic component before suction is a selective operation, and is performed only when a stop command is added to the node, and is performed only during a program test.

  The mark imaging device 32 is moved to the component supply position of the feeder 40 that supplies the electronic component corresponding to the block currently being executed. Based on the position of the component supply feeder 40 set for the electronic component, the mark imaging device 32 is moved to the component supply position. This component supply position is a component suction position where the suction nozzle 72 sucks an electronic component. Here, the mark imaging device 32 is moved to that position, stopped, and positioned at the component supply position of the feeder 40. An image of an electronic component that is present After imaging, S7 is executed, the head horizontal direction moving device 52 and the head lifting device 64 are stopped, and the electronic component mounting machine 12 is stopped. The electronic component mounting machine 12 is prevented from performing the next operation, and the electronic component mounting machine 12 is in a state in which the mark imaging device 32 has captured the electronic component and is still facing the electronic component. Can be stopped. Subsequently, S8 is executed, and it is determined whether or not the operator has instructed the editing computer 172 to start the electronic component mounting machine 12. This start is a restart, and S8 is repeatedly executed until the start is instructed.

  The electronic component mounting machine 12 is stopped until the start is instructed, and the operator can check the operating state by looking at the electronic component mounting machine 12 during that time. Further, the image of the electronic component obtained by imaging is sent from the control computer 144 to the editing computer 172 and displayed on the image display unit 206 as shown in FIG. The image display unit 206 also displays a component suction position in an overlapping manner. The component suction position is a position set in the mounting program, and the operator looks at the image, and the deviation between the center of the electronic component and the component suction position is large. Specifically, the mouse 180 is operated and the cursor is moved to select and move the shape indicating the component suction position displayed on the image display unit 206, and the center thereof is made to coincide with the center of the image of the electronic component. If necessary, the operator causes the data display unit 202 to display the electronic component part data. As described above, by specifying the block where the mounting program test is performed and selecting “Part” on the display screen, the part data of the electronic component for which the block data has been created is displayed. Therefore, the operator does not have to search for part data every time correction is necessary, and correction can be performed quickly. Note that the position suitable for sucking the electronic component is not necessarily the center of the electronic component, and it is desirable for the operator to correct the position of picking up the component by aligning the center of the shape indicating the position of picking up the component with the position suitable for picking up the electronic component. . For example, when the electronic component is held by the component holding tape, the component housing recess is also imaged together with the electronic component and displayed on the image display unit 206. Therefore, the operator looks at the image of the component housing recess, for example, the component The figure indicating the suction position is moved, and the center thereof is aligned with the center of the component housing recess.

  In the editing computer 172, the correction amount of the component suction position is calculated based on the movement of the figure indicating the component suction position by the mouse operation, and is sent to the control computer 144, where the coordinates of the component suction position of the part data are corrected. The The mark imaging device 32 and the mounting head 60 are provided on the X-axis moving member 100 with high positional accuracy, and the deviation between the image of the electronic component obtained by imaging of the mark imaging device 32 and the component suction position is the mounting. This is a deviation between the head 60 and the component supply position, and a correction amount of the movement position of the mounting head 60 at the time of component suction is obtained based on the imaging of the electronic component. The corrected coordinates are used when the electronic circuit is produced. Note that the component suction position stored in the editing computer 172 is also corrected, and the component suction position is corrected and displayed on the data display unit 202. The correction amount may be input by the operator using the keyboard 178. Further, the coordinates of the component suction position corrected in the editing computer 172 may be sent to the control computer 144 and stored in place of the coordinates before correction.

  Since the mark imaging device 32 has a small field of view and the electronic components are large and cannot be imaged all at once, as shown in the image display unit 206 in FIG. Two spaced corners (portions centered on a portion indicated by a thick two-dot chain line) are each imaged. For example, the part data includes data instructing that the electronic imaging of the electronic component by the mark imaging device 32 is performed at two locations, and 2 based on the instruction and data such as the shape, dimension, and component supply position of the electronic component. An imaging location of the location is set, and imaging by the mark imaging device 32 is performed. An image representing the electronic component is displayed on the image display unit 206 based on the image obtained by imaging at two locations and the shape of the electronic component included in the part data, and the component suction position is corrected by the operator's mouse operation. Is done.

  Further, when the component supply device 22 does not have the feeder 40, the operator can suck the electronic component onto the suction nozzle 72 by hand while the mounting head 60 is moved to the component suction position.

  When the correction is completed and the operator instructs the start, the determination result in S8 is YES, S9 is executed, and the mounting head 60 is moved to the component supply position or the component suction position. When the correction amount is acquired for the component suction position based on the imaging of the electronic component, the mounting head 60 is moved to the component suction position corrected based on the correction amount. After the movement, S10 to S14 are executed to determine whether or not the designated node stop is set (S10) and whether or not the suction nozzle 72 is lowered to the position immediately before the suction (S11). Whether the suction nozzle 72 is lowered or stopped is determined by whether or not a stop command is added to the node at the position immediately before the suction position is lowered (S11). It is lowered to the previous position and stopped. Here, the execution of the designated node stop is set, but no stop command is added to the node at the position immediately before the adsorption, so that the determination result of S10 is YES and the determination result of S11 is NO, and S12 To S14 are bypassed and S15 is executed.

  In S15, the mounting head 60 is lowered, and the suction nozzle 72 sucks the electronic component and is lifted to the rising end position after the suction. When S12 is executed and the suction nozzle 72 is lowered to a position immediately before suction and stopped, in S15, the suction nozzle 72 is lowered from the position immediately before suction and sucks an electronic component, and S12 is not executed. In other words, the suction nozzle 72 is lowered from the rising end position to the lower end position or the suction position without being stopped at the position immediately before the suction, and sucks the electronic component.

  Next, S16 to S19 are executed, and it is determined whether or not the designated node stop is set (S16) and whether or not the operation state is checked in the state where the suction nozzle 72 is raised to the rising end position (S17). The determination in S17 is made based on whether or not a stop command is added to a node after the suction rise. Since the designated node stop is set, the determination result in S16 is YES. If a stop command is added to the node, the electronic component mounting machine 12 is stopped in a state where the suction nozzle 72 is raised to the rising end position. However, since the stop command is not added here, the determination in S17 is made. The result is NO, S18 and S19 are bypassed, and S20 is executed. Therefore, after the mounting head 60 or the suction nozzle 72 is raised to the rising end position, the electronic component mounting machine 12 is not stopped, S20 is executed, and the mounting head 60 is moved to the component imaging device 30. The electronic component sucked by the suction nozzle 72 is imaged. Based on the image data obtained by imaging the electronic component, the holding position error of the electronic component by the suction nozzle 72 is calculated. The holding position error includes a parallel movement position error (difference between an actual position and a position where the electronic circuit component is to be attracted relative to the circuit board in the relative movement direction) and the X-axis and Y-axis directions. Each position error and rotational position error about an axis perpendicular to the electronic component is included.

  After the imaging, S21 to S24 are executed, and it is determined whether or not the designated node stop is set (S21) and whether or not the operation state is inspected immediately after the imaging of the component (S22). The determination in S22 is made based on whether or not a stop command is added to the node that is immediately after the picked-up suction component imaging. The determination result of S21 is YES, and here, a stop command is added to the node that is immediately after the picked-up suction component imaging, and the determination result of S22 is also YES, and S23 and S24 are executed. Therefore, after the electronic component is imaged by the mark imaging device 30, the operation of the electronic component mounting machine 12 is stopped while still facing the mark imaging device 30. The adsorption state and the like can be visually observed.

  Also in this case, as shown in FIG. 11, the captured image of the electronic component is displayed on the image display unit 206. Although not shown, the image display unit 206 displays an image processing result and component reference image data (a figure representing an electronic component defined by component mounting data) superimposed on the image of the electronic component. As an image processing result, for example, the type of electronic component sucked by the suction nozzle 72 is different from the type set in the mounting program, and the holding position error of the electronic component by the suction nozzle 72 is larger than the set amount. Is displayed. For example, when the types of electronic components are different, the operator changes the mounting program. The adsorbed electronic component is assumed to be correct, and the block data of the component mounting data is changed. The change is performed, for example, when the operator changes the data displayed on the list display unit 200 or the data display unit 202 using the input device 158. This change data is sent from the editing computer 172 to the control computer 144, and based on the change data, the part data of the component mounting data stored in the control computer 144 is changed.

  After the correction, if the operator instructs to start, the determination result in S24 is YES, and S25 to S29 are executed, whether or not the designated node stop is set (S25), and whether or not the operation state is checked before component mounting (S26) ) Is determined. The determination result in S25 is YES, and the determination in S26 is performed based on whether or not a stop command is added to a node that is immediately after imaging of a mounting part before mounting. However, since a stop command is added here, S26 The result of the determination is YES, S27 is executed, the mark imaging device 32 is moved to the component mounting location, stopped above it, images the component mounting location, and after imaging, the component still remains The electronic component mounting machine 12 is stopped in a state corresponding to the mounting location (S28). At the time of imaging, the mark imaging device 32 is moved to the component mounting position set for the electronic component.

  As shown in FIG. 12, the image of the component mounting location obtained by imaging by the mark imaging device 32 is displayed on the image display unit 206. As shown by a two-dot chain line in FIG. 12, the image display unit 206 is an image of an electronic component that is scheduled to be mounted, and a regular electronic component held by a regular suction nozzle is set. An image of the electronic component when it is mounted in a normal posture at the position is also temporarily displayed. The operator looks at this image and corrects the component mounting position if necessary. For example, the image of the electronic component displayed on the image display unit 206 is moved by operating the mouse 180, and the land provided at the component mounting location is aligned with the lead of the electronic component. Thus, the correction amount of the component mounting position of the suction nozzle 72 is calculated, sent to the control computer 144, and the coordinates of the component mounting position of the stored component mounting related data are corrected. When the electronic component is mounted, the corrected coordinates are used. The component mounting position stored in the editing computer 172 is also corrected.

  After the correction, if the operator instructs the start, the determination result in S29 is YES, S30 is executed, and the electronic component is mounted on the circuit board 38. Instead of the mark imaging device 32, the mounting head 60 is moved onto the component mounting location and lowered to mount the electronic component held by the suction nozzle 72 on the circuit board 38. At this time, the mounting head 60 is moved to the component mounting position corrected based on the imaging of the component mounting location. The movement position of the mounting head 60 also cancels each position error in the X-axis and Y-axis directions of the electronic component and each position error in the X-axis and Y-axis directions of the component mounting position obtained based on the imaging in S20. To be corrected. Further, the mounting head 60 is rotated about its own axis, and the rotational position error of the electronic component is corrected. When the mark imaging device 32 does not capture the component mounting location, after the component imaging by the component imaging device 30, the mounting head 60 is moved directly to the component mounting location to mount the electronic component, and after mounting. The mounting head 60 is raised to the raised end position. In this case, the holding position error of the electronic component and the position error of the component mounting location are corrected before the mounting head 60 moves from the component imaging device 30 to the component mounting location.

  After the mounting, S31 to S35 are executed, and it is determined whether or not the designated node stop is set (S31) and whether or not the operation state is checked after the parts are mounted (S32). The determination result in S31 is YES, and the determination in S32 is performed based on whether or not a stop command is added to the node that is immediately after the mounted component imaging. However, since a stop command is added here, S32 The determination result is YES, S33 is executed, the mark imaging device 32 is moved onto the component mounting location, and the electronic component mounted at the component mounting location is imaged. At this time, the mark imaging device 32 is moved to the component mounting position set by the mounting program. When the component mounting position is corrected based on the imaging of the component mounting location before mounting, the mark imaging device 32 is moved to the corrected component mounting position. After the imaging, S34 is executed, and the electronic component mounting machine 12 is stopped after the mark imaging device 32 images the electronic component mounted on the circuit board 38 and still facing the electronic component. . Therefore, the operator can inspect the mounting state.

  As shown in FIG. 13, the image of the electronic component and the component mounting location obtained by the imaging of the mark imaging device 32 is displayed on the image display unit 206. The operator looks at this image and corrects the component mounting position if necessary. In this case, the operator selects and moves the image of the electronic component by operating the mouse, and for example, aligns the position of the lead (electrode) of the electronic component and the land provided on the circuit board 38. Based on this amount of movement, a correction amount of the component mounting position is calculated and sent to the control computer 144 to correct the component mounting position coordinates of the component mounting related data. At the time of component mounting, the corrected coordinates are used. The component mounting related data stored in the editing computer 172 is also corrected.

  If the electronic component is large and cannot be imaged all at once by the mark imaging device 32, two parts separated on the diagonal of the electronic component are imaged in the same manner as the imaging of the electronic component before the component adsorption. The Then, the image obtained by imaging these two locations and the shape of the electronic component created based on the shape data of the electronic component are displayed on the image display unit 206, and the operator selects and moves the shape of the electronic component by operating the mouse. Then, the lead (electrode) of the electronic component and the land of the wiring pattern are overlapped to correct the component mounting position. Alternatively, the position where the image of the electrode of the electronic component and the image of the land overlap is searched by image processing, the positional deviation between them is acquired, and the component mounting position may be corrected based on this.

  If the start is instructed by the operator, the determination result in S35 is YES, S36 is executed, and it is determined whether or not the test has been completed for all blocks. This determination is NO until the test is completed for all blocks, and the execution of the program returns to S1. When the post-mounting inspection is executed, the imaging of the electronic component on which the mark imaging device 32 is mounted is finished, and the state of facing the electronic component is the end of the operation of one block of the electronic component mounting machine 12, When the inspection after mounting is not performed, the suction nozzle 72 mounts the electronic component on the circuit board 38 and is raised to the rising end position so as to face the electronic component. One block of the electronic component mounting machine 12 The operation ends in minutes. Here, since the post-mounting inspection is executed and the execution of the block-by-block stop mode is set, the electronic component mounting machine 12 is stopped in a state where the mark imaging device 32 has finished imaging the electronic component. When the start is instructed, the electronic component mounting machine 12 starts operating from the operation end position, the next block data is read, and mounting is performed on the circuit board 38 of the electronic component for which the block data has been created. However, if no node stop command is added to this block, the determination results of S5, S11, S17, S22, S26, and S32 are all NO, and the electronic component mounting machine 12 is stopped at the node. Without mounting, the electronic component is mounted on the circuit board 38. In addition, when a stop command is added for a node that is in the position immediately before the suction position is lowered, the suction nozzle 72 is stopped in a state where it is lowered to the position immediately before the suction, for example, between the suction nozzle 72 and the electronic component. An inspection is made as to whether or not there is a gap. When a stop command is added to a node after the suction rise, the suction nozzle 72 is stopped in a state where the electronic component sucks the electronic component and is raised to the rising end position. For example, the suction nozzle 72 removes the electronic component. Inspections such as adsorption are performed. The operation end position of the electronic component mounting machine 12 is also considered to be the operation start position of the next block. If the test is completed for all the blocks, the determination result in S36 is YES, and the execution of the routine ends.

  The above describes the case where execution of the designated node stop is instructed. However, when execution of stop command invalidation is set, the determination results of S4, S10, S16, S21, S25, and S31 are respectively obtained. No, the electronic component mounting machine 12 is not stopped at the node, and no selective operation is performed. Stop command invalidation may be set before the start of the program test or may be set after the start of the program test. In the latter case, the setting of the specified node stop is set after the setting of execution of the stop command invalidation. The presence / absence determination is NO. In some cases, execution of the specified node stop is set in a state where execution of stop command invalidation is set. In that case, after the setting of execution of the designated node stop, it is determined whether or not the designated node stop is set. If stop for each block is not set, the determination result in S1 is NO, S4 is executed, and after the mounting of the electronic components for one block is completed, the mounting of the electronic components of the next block is continued. Done.

  After completion of the program test, the production of electronic circuits is started. At the time of production, it is unnecessary to stop the electronic component mounting machine 12 at the node as in the test. Therefore, the operator sets, for example, a stop command invalidation mode. As a result, the determination results of S4, S10, S16, S21, S25, and S31 of the component mounting execution routine are all NO, and the electronic component mounting machine 12 does not move unnecessarily and does not stop at the nodes. Electronic components are received from the component supply device 22 and mounted on the circuit board 38. The four selective operations are executed when a node stop command is added. However, if the stop command invalidation mode is set, whether or not a node stop command is added is not asked. The two production operations are performed regardless of whether or not a node stop command is added, and are executed even when the stop command invalidation mode is set.

  As described above, when the electronic component placement machine 12 is not selectively operated by setting the stop command invalidation mode and does not stop at the nodes, all the added node stop commands can be left as they are. The program test can be performed with the stop command set. Alternatively, it is easy to perform a test by changing a part of the stop command setting for the same program and leaving the rest the same, or by adding another stop command. However, even if the stop command invalidation mode is not set, by deleting all node stop commands, it is possible to prevent the electronic component mounting machine 12 from selectively operating during production and not to stop at the nodes. is there. In this way, in this embodiment, since the same program is used for both test and production, the production program test is caused by a program creation error as in the case where the test program and the production program are created separately. There is no risk of mistakes.

As is clear from the above description, in this embodiment, the portion of the editing computer 172 that adds the node stop setting data for any block of the component mounting data in accordance with the operation by the operator is the block corresponding stop command adding unit. According to the addition, the part for displaying the node stop setting mark 210 on the display screen 176 constitutes a program display control unit, and the part for displaying the node stop command addition screen 212 on the display screen 176 constitutes a node display part. The part for storing the node stop command additional data in the contact stop command additional data memory based on the input of the check to the check box constitutes the node stop command additional unit. Further, the part of the editing computer 172 that displays the block selected by the operator's mouse operation in a state that the block is selected, the part that displays the operation menu by the mouse operation, and the node stop command addition screen by the selection of the operation menu A portion for displaying 212 constitutes a state change operation unit together with a mouse 180 and a cursor that can be moved in the display screen 176 by a mouse operation. Further, the portion where the designated node stop icon 218 and the stop command invalidation icon 220 are displayed on the display screen 176 constitutes another state change operation unit together with the mouse 180 and the cursor, and the portion where the start icon 224 is displayed. The restart command operation unit is configured with the mouse 180 and the cursor, and the portion where the stop icon for each block is displayed configures the one block execution command operation unit with the mouse 180 and the cursor that can be moved in the display screen 176 by the mouse operation. Yes. The portion of the display screen 176 where the stop command invalidation icon 220 is displayed, the mouse 180 and the cursor are also a node stop command invalidation unit. In addition, the part for displaying the images obtained by the imaging devices 30 and 32 of the editing computer 172 on the image display unit 206 constitutes the captured image display control unit, and the part for displaying the part data and the like on the data display unit 204. The support data display control unit is configured together with the node display unit, and the part displaying “Part” on the list display unit 200 and the display screen 176 is displayed on the data display unit 202 together with the mouse 180 and the cursor. A part data display operation unit operated by an operator is configured, and a part for displaying the part data of the electronic component of the specified block on the data display unit 202 based on the designation of the block and the selection of “Part” is part data. A display control unit is configured. In addition to the node data and the node list displayed on the node stop command addition screen 212, it can be considered that the shape representing the component suction position displayed on the image display unit 206 and the image processing result are also a kind of support data. Furthermore, the block data and the node stop command additional data of the control computer 144 are read out, and S4-7, S9-S13, S15-S18, S20-S23, S25-S28, S30-S34 are read based on the data and setting mode. The part to be executed constitutes an automatic stop part, and the part to execute S4, S10, S25, S31 or S5, S11, S26, S32 constitutes a selection part, and S4, S10, S16, S21, S25, S31 or S5 , S11, S17, S22, S26, and S32 constitute a node stop execution selection unit that is an automatic stop execution selection unit that selects whether or not the electronic component mounting machine 12 is automatically stopped at a node. . Further, the portion of the editing computer 172 that displays the underline for the block that is currently executed constitutes the current execution block identification display unit, and the correction amount of the component pick-up position and the component mounting position of the editing computer 172 and the control computer 144 is indicated. The parts for correcting the component suction position and the component mounting position based on this constitute a data correction unit. The input device 174 for aligning the image obtained by imaging and the reference figure and the portion for calculating the position correction amount of the editing computer 172 constitute a data correction unit or data change unit, and constitute an editing unit. You can also think that The component suction position and the component mounting position may be corrected by the editing computer 172, sent to the control computer 144, stored, and used. The data correcting unit is considered to constitute a part of the editing unit.
It should be noted that some cursor movements by the operation of the mouse 180 and selections and instructions by the button operation of the mouse 180 can also be performed by key operations on the keyboard 178. In this case, the keyboard 178 also includes the above-described various operation units. Constitute. Further, the display screen 176 may be used as a touch panel to have a pointing device function and may function as an input device.
In addition, the data indicating whether or not the block-by-block stop mode, the designated node stop mode, and the stop command invalidation mode are set, and the node stop command additional data are sent from the editing computer 172 to the control computer 144 and stored in advance, and the parts are mounted. It may be used during program execution.

  As shown in FIG. 14, the electronic component mounting machine can also be stopped based on four stop commands: designated node stop, block-by-block stop, node-by-node stop, and jump. In the present embodiment, these four stop commands are issued by the operator operating the stop command operation unit every time the electronic component mounting machine stops, whereby the electronic component mounting machine starts or restarts and is set. Stop according to the stop command. According to the stop command, the electronic component mounting machine starts to operate, and the extent to which the electronic component mounting machine operates and stops is instructed. The stop command is also an operation start command or an operation restart command. A start command operation unit or a restart command operation unit may be provided separately from the stop command operation unit, and an operation start command or an operation restart command may be issued separately from the stop command. In this case, the stop command is a command that instructs only how far the electronic component mounting machine operates and stops.

  Hereinafter, four stop commands will be described with reference to FIG. In FIG. 14, nodes 1 to 6 represent the six nodes in the embodiment. The addition of the node stop command is performed in the same manner as in the above embodiment. A black circle indicates that a stop command is added to a node and that the stop command is valid, and a white circle indicates that a stop command is added to a node but is invalid. If the added stop command is valid, the electronic component mounting machine is stopped at the node where the stop command is valid, but if the stop command is invalidated, the electronic component mounting machine stops its operation. If the command additional node is reached, it is not stopped, and if the node is set for selective operation, the selective operation is not performed. As in the above-described embodiment, the electronic component mounting machine is stopped at the node so that the inspection of the operating state and the program change are performed.

  The node stop command invalidation setting is performed by, for example, displaying all the stop command additional nodes of all blocks to which the stop command is added on the stop command additional node display screen, and the operator selects the input device based on the display. The operation is performed by setting invalidation of the stop command individually for each node, or setting invalidation for all the nodes at once. For example, an operation menu including invalidation of the node stop command is displayed on the display screen by the mouse operation of the operator, and if the node stop command invalidation is selected from among them, the stop command additional node display screen is displayed and all The stop command additional node is displayed. A check box is displayed together with these stop command addition nodes, and when the operator checks, node stop command invalidation data is stored in association with the stop command addition nodes, and invalidation is set. The invalidation of all nodes at once is performed, for example, by the operator specifying all the nodes at once and instructing the check box to be checked in that state. Alternatively, without displaying the stop command addition nodes on the display screen, the operator may be able to instruct invalidation of all the stop command addition nodes by the input device. A stop command additional node that is not stored with invalidation data is a stop command valid node. The node stop command invalidation data may be stored in the node stop command additional data memory together with the stop command additional node data, or may be stored in a different invalidation data memory. Even if the node stop command invalidation is set, the stop command additional node data remains as it is.For example, if it is necessary to stop when executing the program test, the invalidation is canceled and validated. The electronic component mounting machine can be stopped at the additional node.

  During the program test, the designated node stop, block-by-block, node-by-node stop, and jump icons are displayed on the display screen, and each time the electronic component mounting machine stops, the operator can select one of these icons with an input device such as a mouse. Select one of them to instruct execution and issue a stop command. The designated node stop is a stop command addition node that appears first after the operation of the electronic component mounting machine is started, and is a stop at the specified node for which the stop is specified, and the electronic component mounting machine performs the operation corresponding to the specified node. After execution, it is stopped. At the time of stop, a new stop command is issued by the operator, the electronic component mounting machine resumes operation, and is stopped according to the stop command. Even if a stop command is added to a node, if it is invalidated, the node is ignored and the electronic component mounting machine cannot be stopped. Since the electronic component mounting machine is operated without being stopped until the stop command effective node, it is not stopped when the mounting of the electronic component based on one block data is completed, and the electronic component mounting machine based on the next block data is not stopped. Continue wearing. Therefore, if the designated node stop is commanded, the electronic component mounting machine will stop until the mounting of the electronic component based on the last block data if there is no block to which a valid node stop command is added after the start of operation. It will work at once without any problems.

  The block-by-block stop is a block-by-block stop of the electronic component mounting machine, and is a stop at the beginning of the next block to be executed. The beginning of a block is, for example, the end of an operation based on a previously executed block. In this case, when the block is stopped at the beginning, the electronic component mounting machine finishes mounting the electronic component based on one block data, and the electronic component mounted on the circuit board is transferred to the component supply device based on the next block data. It stops at the position where the operation to go to starts. When the effective stop command is added to the sixth node of the block and the electronic component after mounting is imaged, the mark imaging device finishes imaging and is mounted If the position is opposite to the electronic component, the stop command is not added to the sixth node, and if it is added, it is invalidated and the electronic component is not imaged after mounting The suction nozzle is raised after mounting the electronic component and is in a position facing the electronic component. When the mounting of the electronic component of the block started or restarted by the command is completed by the stop command for each block, the electronic component mounting machine is stopped at the component extraction start position. If there is a stop command effective node between the start of operation by the output of the stop command for each block and the end of the operation for one block, the electronic component mounting machine is stopped at that node. Even if there is a stop command addition node, the electronic component mounting machine cannot be stopped if the node stop command is invalidated.

  The node-by-node stop is a stop at the next node after the operation of the electronic component mounting machine is started, regardless of whether or not a stop command is added and whether or not the node stop command is invalidated. The node-by-node stop command is issued regardless of whether the electronic component mounting machine is stopped at the beginning or start of the block or at a node in the middle of the block, and the electronic component mounting machine operates for one operation. Stopped at each node. The node in the middle of the block is here the node between the part extraction start positions that are the first for each of the two consecutive blocks. With the stop command for each node, the electronic component mounting machine can be stopped at a node to which no node stop command is added, for example, the operator forgets to add the node stop command.

  The jump is a stop command in which the stop point of the electronic component mounting machine is the first part of the next block and the part extraction start position from the midway point of the block. Also in the case of jumping, the electronic component mounting machine is stopped if there is a stop command effective node after the operation starts, and cannot be stopped if it is invalidated even if there is a stop command additional node.

  Also in the present embodiment, the program test and the electronic circuit production are performed by executing the same component mounting execution program, and the component mounting execution program includes a production execution operation and a selective operation. Invalidation is set for all node stop commands at once. For this reason, the electronic component mounting machine starts production by the output of the designated node stop command, but the selective operation is not performed, and all blocks are executed without stopping in the middle.

  In this embodiment, the designated node stop icon, block-by-block stop icon, node-by-node stop icon, and jump icon on the display screen are displayed together with the cursor and mouse displayed on the display screen. The designated node stop command operation unit, machine block command operation unit, block-by-block stop command operation unit, node-by-node stop command operation unit, and jump command operation unit are configured to invalidate the stop command based on the operator's input device operation. The set part constitutes the nodal stop command invalidation part. The block stop command operation unit is also a one block execution command operation unit, and the node stop command invalidation unit is also a state change operation unit. Further, the parts for stopping the electronic component mounting machine based on the setting of the four stop commands of the control computer are respectively designated node stop control units, which are electronic component mounting machine stop control units, which are a kind of work machine stop control unit, for each block. A stop control unit, a node-by-node stop control unit, and a jump control unit are configured. Furthermore, the part that determines whether or not a stop command is added to the node corresponding to the selective operation of the control computer constitutes a selection unit, which operates the electronic component mounting machine according to the component mounting data, and the stop command is valid. The portion to be stopped at the node constitutes an automatic stop portion.

  In the embodiment shown in FIG. 14, “first of block” may be, for example, a state in which the electronic component mounting machine performs an operation corresponding to the first node and ends. In this case, the electronic component mounting machine immediately after performing the operation corresponding to the first node of the block (here, imaging of the electronic component supplied by the component supply device by the mark imaging device) in response to the stop command for each block. It will stop in the state of. The same applies to jump commands. “First of block” may be different for each block stop and jump command.

  The control and program editing of the electronic component mounting machine may be performed by a single computer, may be performed by a computer provided in the electronic component mounting machine, or may be performed by a computer provided separately from the electronic component mounting machine. It may be done. When a computer is provided separately from the electronic component mounting machine, it may be dedicated to each of the plurality of electronic component mounting systems, or may be shared.

  The program test may be performed during or after the mounting operation. Furthermore, when editing a program, data may be added. For example, the type and number of electronic components to be mounted are increased.

  Further, in the embodiment shown in FIGS. 1 to 13, the setting of the designated node stop mode and the stop command invalidation mode is set for all the blocks constituting the mounting program, but for each of the plurality of blocks. It may be set. For example, if one block is mounted even if the specified node stop mode is set to the standard state for one block and the stop command invalidation mode is set and the specified node stop mode is canceled, Then, the designated node stop mode is returned to the set state. Alternatively, the state in which the stop command invalidation mode is set may be the standard state. The same applies to the stop mode for each block.

  Further, in the embodiment shown in FIGS. 1 to 13, the execution of the block stop mode and the stop command invalidation mode is not essential, and at least one of them may be omitted. When the stop command invalidation mode is omitted, the electronic component mounting machine operates in the designated node stop mode, and it is not essential to set the designated node stop mode.

It is a perspective view which shows a part of electronic component mounting system assembly machine containing the electronic component mounting system which is one Example of claimable invention. It is a perspective view which shows the mounting head unit which comprises the said electronic component mounting machine. It is a perspective view which shows the head horizontal direction moving apparatus which comprises the electronic component mounting machine of the said electronic component mounting system. It is a block diagram which shows notionally the control apparatus of the said electronic component mounting system. It is a figure which shows the state by which the display screen of the program edit part of the said electronic component mounting system and the component mounting data list of the mounting program which controls mounting | wearing of the electronic component by the said electronic component mounting machine were displayed on the display screen of the editing computer. It is a figure explaining addition of the node stop command by the editing computer of the said control apparatus. It is a figure explaining another example of addition of the node stop command by the editing computer of the said control apparatus. It is a figure which shows a part of flowchart which shows the component mounting execution program memorize | stored in ROM of the control computer of the said control apparatus. It is a flowchart which shows the remaining part of the said component mounting execution program. It is a figure which shows the image of the electronic component before adsorption | suction obtained by imaging of the mark imaging device when the said component mounting execution program is performed and a program test is performed. It is a figure which shows the image of the electronic component after adsorption | suction obtained by imaging of the component imaging device, when the said component mounting execution program is performed and a program test is performed. It is a figure which shows the image of the component mounting location before component mounting obtained by imaging of the mark imaging device when the said component mounting execution program is performed and a program test is performed. It is a figure which shows the image of the electronic component after mounting | wearing obtained by imaging of the mark imaging device when the said component mounting execution program is performed, and a program test is performed, and a component mounting location. It is a figure explaining the stop of the electronic component mounting machine at the time of the program test in the electronic component mounting system which is another Example of claimable invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10: Electronic component mounting system 12: Electronic component mounting machine 14: Control apparatus 22: Component supply apparatus 24: Board | substrate support apparatus 28: Mounting apparatus 30: Component imaging apparatus 32: Board imaging apparatus 38: Circuit board 52: Head horizontal movement Device 60: Mounting head 64: Head lifting device 140: Electronic component mounting machine control unit 142: Program editing unit 174: Input device 176: Display screen 212: Node stop command addition screen

Claims (7)

A circuit board working machine that performs work on each of a plurality of predetermined work parts of a circuit board that constitutes an electronic circuit by mounting an electronic component, and a control that controls the circuit board working machine according to a work program A circuit board working system including a device,
The circuit board working machine is
A substrate support device for supporting a circuit board;
A work head for working on the circuit board supported by the board support device;
A relative movement device that relatively moves the working head and the substrate support device, and the control device comprises:
A node stop command adding unit capable of adding to the work program a node stop command for automatically stopping the work head and the substrate support device at two or more selected from a plurality of nodes of their relative movement;
When the counter circuit board working machine sequentially executes a plurality of blocks of the work program, and any of the execution blocks is a block to which the node stop command is added, the counter circuit board working machine is set at the node. An automatic circuit board working system comprising an automatic stop unit for automatically stopping the circuit board. The relative movement device comprises:
A parallel relative movement device for relatively moving the working head and the substrate support device in a direction parallel to the circuit board supported by the substrate support device;
A head lifting device that lifts and lowers the working head, and the working head has a suction nozzle that sucks an electronic component at a lower end; and
The circuit board working machine is
A component supply device for supplying electronic components to be mounted on a circuit board supported by the substrate support device;
A component imaging device for imaging an electronic component sucked by the suction nozzle;
A mark imaging device for imaging a reference mark of a circuit board supported by the substrate support device, the suction nozzle descends to the component supply device and sucks an electronic component, and the component imaging device is sucked The electronic component is imaged, and the suction nozzle is lowered to the circuit board supported by the substrate support device to mount the electronic component on the circuit board,
The node stop command adding unit is (a) after the mark imaging device images the electronic component supplied by the component supply device and immediately after imaging the supply component that is still facing the electronic component. (C) Immediately before adsorption at a position just before the adsorption nozzle descends and contacts the electronic component, (d) The adsorption nozzle (E) Immediately after picking up the picked-up electronic component picked up by the picked-up image pickup device and still facing the picked-up image pickup device (e) f) After the mark imaging device has imaged the component mounting location of the circuit board and immediately after imaging the mounting location still facing the component mounting location, (g) the electronic component adsorbed by the suction nozzle on the circuit substrate Underwear that begins to descend to wear Previously, (h) Immediately before mounting when the suction nozzle is lowered and the electronic component sucked on it is in contact with the circuit board, (i) The suction nozzle is lifted by mounting the electronic component on the circuit board. (J) two or more of the nodes after imaging the electronic component mounted on the circuit board and immediately after imaging the mounted component that is still facing the electronic component. 2. The circuit board working system according to claim 1, wherein a node stop command as the stop command can be added.   The control device includes at least a selection unit that selects whether to cause the circuit board work machine to perform a selective operation included in the work program, and an operation addition unit that adds the selective operation to the work program. The counter circuit board working system according to claim 1, wherein the nodal stop command adding unit includes the one, and the nodal stop command can be added to the selective operation.   The said control apparatus is provided with the state change operation part operated by the operator in order to change the said automatic stop part into the state which fulfill | performs an automatic stop function, and the state which does not fulfill. The circuit board working system according to claim 1.   The counter circuit board working machine includes at least one imaging device that images at least a part of the counter circuit board working machine, and the control device includes a display screen and an input device to edit the work program. And a captured image display control unit that displays on the display screen an image captured by the at least one imaging device in a state where the circuit board work machine is stopped by the automatic stop unit. The circuit board working system according to any one of claims 1 to 4.   The said control apparatus was provided with the block corresponding stop command addition part which can add a block corresponding stop command to the said work program in the unit of these several blocks, The Claim 1 thru | or 5 characterized by the above-mentioned. Anti-circuit board working system.   The control device includes a display screen, an input device, and a support data display control unit that displays support data for supporting data input by an operator from the input device, and the support data display control unit includes the support data display control unit on the display screen. A node display unit for displaying the plurality of nodes included in each of the plurality of blocks, and the node stop command adding unit is configured so that an arbitrary one of the plurality of nodes displayed on the node display unit is received by the input device; 7. The circuit board working system according to claim 1, wherein, when designated, the node stop command corresponding to the designated node is added.

Images