JP2012114326A - Component mounter and motor control method in the component mounter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component mounter and a motor control method in the component mounter which can attain compatibility of both surely preventing overload state and maintaining/improving operation efficiency.SOLUTION: In a motor control method of a component mounter, drive parameters 34 that regulates loaded condition of the motor to drive a head movement mechanism for moving a mounting head are individually set for each of a plurality of mounting turns as a mounting-turn specific parameter 37 corresponding to a work operation pattern of the mounting turn in such a manner that a load factor of the motor is not more than a preset reference load factor based on a rated load of the motor for each mounting turn which reciprocates the mounting head between a component supply part and a substrate. Thereby, even when workload for each of the mounting turns is greatly varied, compatibility of both surely preventing overload state and maintaining/improving operation efficiency can be attained.

Description

  The present invention relates to a component mounting apparatus that takes out a component from the component supply unit by reciprocating a mounting head having a suction nozzle between the component supply unit and the substrate, and transfers and mounts the component on the substrate. The present invention relates to a motor control method in a component mounting apparatus that controls a motor that drives a mechanism and a head moving mechanism.

  In a component mounting apparatus that mounts electronic components on a substrate, a component mounting operation is performed by reciprocating a mounting head including a suction nozzle between the component supply unit and the substrate. This component mounting operation is performed by moving the suction nozzle up and down by the nozzle lifting mechanism and horizontally moving the mounting head by the head moving mechanism, and operation control of the suction nozzle and mounting head drives the nozzle lifting mechanism and head moving mechanism. This is done by controlling the servo motor. In this motor control, a drive command is output to a driver that drives each motor based on sequence data indicating the mounting point position of the substrate and the mounting operation order specified by the mounting operation program.

  In order to execute such motor-driven component mounting operation with high efficiency, it is desirable to move the suction nozzle and mounting head at a higher speed. However, since the rated load is specified for the motor used to drive each mechanism, there is a limit to the load that is constantly allowed in the work operation, and if the driving state exceeding this limit is continued, the motor due to overload This causes malfunctions such as overheating. For this reason, conventionally, a drive device used in a component mounting apparatus is known which has a function of monitoring a load state of a motor and controlling so as not to cause an overload state (see, for example, Patent Document 1). ).

  In the prior art example shown in this patent document, an effective torque indicating a load state is detected, and when the detected value continuously exceeds a predetermined upper limit value, the rotation speed is set to a predetermined value in order to reduce the load. Prevents overload by reducing to deceleration speed. When the effective torque drops below the safe value defined as the lower limit value, the initial rotational speed is restored again.

Japanese Patent Laid-Open No. 2003-25896

  However, in the above-described prior art example, there is a problem that the operation efficiency cannot always be effectively maintained due to the condition setting for returning to the initial rotational speed. That is, in the above-described prior art example, the rotational speed is not restored until the effective torque falls below the lower limit value defined as the safe value. The state is not always realized with a high probability, and there is a limit to the effect of maintaining the operation efficiency. In addition, component mounting work for a single board is usually performed by repeatedly performing a mounting turn in which the mounting head makes one reciprocation between the component supply unit and the board a plurality of times. The load may vary greatly, and if the safety value level is set uniformly to prevent overload, the load factor will decrease excessively in the mounting turn where the work load is low, resulting in a decrease in overall operating efficiency. There are challenges. Thus, in the prior art including the prior art examples, there is a problem that it is difficult to achieve both reliable prevention of an overload state and maintenance and improvement of operation efficiency.

  Therefore, an object of the present invention is to provide a component mounting apparatus and a motor control method in the component mounting apparatus that can achieve both reliable prevention of an overload state and maintenance and improvement of operation efficiency.

  The component mounting apparatus of the present invention supplies a component by the suction nozzle by reciprocating a mounting head having a suction nozzle that is moved up and down by a nozzle lifting mechanism between the component supply unit and the substrate by a head moving mechanism. A component mounting apparatus that performs a component mounting operation of taking out from a section and transporting and mounting it on a substrate, wherein the mounting control section controls the nozzle lifting mechanism and the head moving mechanism, and a plurality of driving the nozzle lifting mechanism and the head moving mechanism. A motor, and a driver having a load detection unit that drives the plurality of motors and detects a load state of the plurality of motors in a driving state in time series and outputs a load factor with respect to a rated load of each motor. And the mounting control unit is configured by combining the rotational speed and rotational acceleration of the motor, and A parameter command unit that outputs a drive parameter that defines a rate to the driver, and the load factor becomes the rated load of the motor for each mounting turn in which the mounting head makes a round trip between the component supply unit and the board. A drive parameter setting processing unit for individually setting the drive parameters corresponding to the work operation pattern in the mounting turn individually for each of the plurality of mounting turns so as not to exceed a reference load factor set in advance based on It was.

  The motor control method in the component mounting apparatus according to the present invention includes: a mounting head including a suction nozzle that is lifted and lowered by a nozzle lifting mechanism; and a reciprocating movement between the component supply unit and the substrate by the head moving mechanism. A component control apparatus for controlling a plurality of motors for driving a nozzle lifting mechanism and a head moving mechanism in a component mounting apparatus for performing a component mounting operation for removing a component from a component supply unit and transferring and mounting the component on a substrate. A parameter commanding step for outputting a driving parameter for defining the load factor to a driver for driving each motor, the driving unit being configured by combining rotational speed and rotational acceleration for the plurality of motors; and the plurality of motors in a driving state. The load status of each motor is detected by detecting the load status of each motor in time series. And a load detection step for outputting a load factor for the load, and further, prior to the parameter command step, the load factor is calculated for each mounting turn in which the mounting head makes a round trip between the component supply unit and the substrate. A drive parameter setting processing step for individually setting the drive parameters corresponding to the work operation pattern in the mounting turn so as not to exceed a reference load factor set in advance based on the rated load. Perform in advance.

  According to the present invention, the load factor of the motor does not exceed a reference load factor set in advance based on the rated load of the motor for each mounting turn in which the mounting head makes one reciprocation between the component supply unit and the board. In addition, even when the work load for each mounting turn varies greatly by setting the driving parameters for defining the load factor corresponding to the work operation pattern in the mounting turn individually for each of the plurality of mounting turns. Thus, it is possible to achieve both the reliable prevention of an overload state and the maintenance and improvement of operation efficiency.

The top view of the component mounting apparatus of one embodiment of this invention Sectional drawing of the component mounting apparatus of one embodiment of this invention The block diagram which shows the structure of the control system of the component mounting apparatus of one embodiment of this invention The block diagram which shows the structure of the control apparatus of the component mounting apparatus of one embodiment of this invention The figure which shows the structure of the drive parameter used for the motor control in the component mounting apparatus of one embodiment of this invention The flowchart which shows the motor control processing in the component mounting apparatus of one embodiment of this invention The flowchart which shows the control of speed and acceleration by monitoring the load factor in the motor control method of one embodiment of the present invention The graph which shows the time-dependent fluctuation | variation of the load factor in the motor control method of one embodiment of this invention The graph which shows the time-dependent fluctuation | variation of the load factor in the motor control method of one embodiment of this invention Operation explanatory diagram of the mounting head for each mounting turn in the component mounting apparatus of one embodiment of the present invention The graph which shows the speed pattern of one mounting turn in the motor control method of one embodiment of this invention

  Next, embodiments of the present invention will be described with reference to the drawings. First, the structure of the component mounting apparatus 1 will be described with reference to FIGS. In FIG. 1, a substrate transport mechanism 2 is disposed in the X direction (substrate transport direction) on the upper surface of a base 1a. The substrate transport mechanism 2 transports a substrate 3 to be mounted and is described below. Position at the mounting work position by the mounting mechanism. Component supply units 4 are disposed on both sides of the substrate transport mechanism 2.

  As shown in FIG. 2, the component supply unit 4 is configured such that a carriage 6 on which a plurality of tape feeders 5 are mounted in parallel is detachable from the apparatus main body. The tape feeder 5 has a function of supplying an electronic component to be mounted to a take-out position by the mounting head 10 of a component mounting mechanism configured as described below. That is, a supply reel 16 is set in which a carrier tape 15 holding an electronic component to be mounted is wound and stored in the carriage 6, and the carrier tape 15 drawn from the supply reel 16 is drawn into the tape feeder 5, and the tape feeder 5, the carrier tape 15 is pitch-fed to supply the electronic components held on the carrier tape 15.

  A Y-axis moving table 7 driven by a servo motor is arranged in the Y direction at one end of the base 1a in the X direction, and two X-axis moving tables 8 are arranged in the Y direction on the Y-axis moving table 7. It is connected movably. A mounting head 10 is mounted on each X-axis moving table 8 so as to be movable in the X direction by a servo drive mechanism. The mounting head 10 is a multiple head including a plurality of unit transfer heads 11, and suction nozzles 11 a (see FIG. 2) are exchangeably attached to the lower ends of the unit transfer heads 11.

  The mounting head 10 incorporates a nozzle lifting mechanism 11b (see FIG. 3) for raising and lowering the suction nozzle 11a in each unit transfer head 11 and a θ-axis drive mechanism 11d (see FIG. 3) for rotating the suction nozzle 11a around the nozzle axis. In addition, each unit transfer head 11 can individually extract components from the component supply unit 4 and mount components on the substrate 3. That is, the mounting head 10 shown in the present embodiment includes a plurality of suction nozzles 11a, and a plurality of component mountings on the substrate 3 are performed in a mounting turn in which the mounting head 10 reciprocates once between the component supply unit 4 and the substrate 3. The component mounting work is executed for the point 3a (see FIG. 10).

  By driving the Y-axis moving table 7 and the X-axis moving table 8, the mounting head 10 moves horizontally between the respective component supply units 4 and the substrate 3 held by the substrate transport mechanism 2, and is picked up by the suction nozzle 11a. The electronic component is sucked and held and taken out and mounted on the substrate 3. Therefore, the Y-axis moving table 7 and the X-axis moving table 8 constitute a head moving mechanism 9 that horizontally moves the mounting head 10 between the component supply unit 4 and the substrate 3. Each mounting head 10 is provided with a substrate recognition camera 12 that is located on the lower surface side of the X-axis moving table 8 and moves integrally with the mounting head 10. The board recognition camera 12 moves integrally with the mounting head 10 above the board 3, and the board 3 is imaged by the board recognition camera 12 to recognize the position of the board 3.

  A component recognition camera 13 and a nozzle storage unit 14 are disposed between each component supply unit 4 and the substrate transport mechanism 2. When the mounting head 10 holding the electronic component moves above the component recognition camera 13, the component recognition camera 13 images these electronic components, and recognizes the imaging result to hold the mounting head 10. Identification and position recognition of the electronic component in the state are performed. A plurality of suction nozzles 11a are stored in the nozzle storage portion 14 in accordance with the type of electronic component to be mounted. When the mounting head 10 accesses the nozzle housing portion 14 to perform the nozzle replacement operation, the suction nozzle 11a can be replaced in each unit transfer head 11 of the mounting head 10 according to the type of electronic component.

  Next, with reference to FIGS. 3 to 5, various data used for motor control for executing the configuration of the control system and component mounting work will be described. In FIG. 3, the control device 20 has a processing operation function and a data storage function, and controls each part described below to cause the component mounting apparatus 1 to execute a component mounting operation. That is, the control device 20 controls the mounting head 10 which is an assembly of the head moving mechanism 9, the nozzle lifting / lowering mechanism 11 b, and the unit transfer head 11, thereby taking out the components from the component supply unit 4 and positioning and holding them on the substrate transport mechanism 2. The component mounting operation of transferring and mounting on the substrate 3 is executed. At this time, the component suction mechanism 24 is controlled to control the component suction holding and component separation by the suction nozzle 11a.

  When the control device 20 controls the substrate transport mechanism 2, the substrate 3 is carried in, positioned, and unloaded, and by controlling the component supply unit 4, the component is supplied to the take-out position by the mounting head 10. The recognition processing unit 25 performs recognition processing of the imaging results of the substrate recognition camera 12 and the component recognition camera 13, thereby recognizing the position of the substrate 3 and detecting the position of the component held by the mounting head 10. Then, the control device 20 performs the component mounting operation on the board 3 by the mounting head 10 in consideration of these recognition results.

  Next, the Y-axis drive mechanism 7a, the X-axis drive mechanism 8a, and the Z-axis drive built in the unit transfer head 11 are respectively incorporated in the Y-axis movement table 7 and the X-axis movement table 8 constituting the head movement mechanism 9. A control system for the mechanism 11c and the θ-axis drive mechanism 11d will be described. Each of these drive mechanisms is a servo drive system using a servo motor, and includes an X-axis driver 21X, a Y-axis driver 21Y, a Z-axis driver 21Z, and a θ-axis driver 21θ for driving the servo motor. Each of the X-axis driver 21X, the Y-axis driver 21Y, the Z-axis driver 21Z, and the θ-axis driver 21θ has functions of a drive current output unit 21a, a load detection unit 21b, and a pulse processing unit 21c.

  By outputting a drive current from the drive current output unit 21a of each driver 21, the X-axis motor 22X, the Y-axis motor 22Y, the Z-axis motor 22Z, and the θ-axis motor 22θ are rotationally driven. At this time, the load detection unit 21b calculates the effective value by detecting the load state in the driving state of each motor, that is, the driving current of the motor in time series, and the ratio of the effective value to the rated load (rated current value). The load factor represented by is output. The pulse processing unit 21c includes an X-axis encoder 22X, a Y-axis encoder 23Y, a Z-axis encoder 23Z, and a θ-axis provided along with the X-axis motor 22X, the Y-axis motor 22Y, the Z-axis motor 22Z, and the θ-axis motor 22θ. Pulse processing is performed in which a pulse output from the encoder 23θ is received and fed back to the NC circuit of the servo control system. The NC circuit of the servo control system may be included in the function of the driver 21 shown here, or a servo controller provided separately from the driver 21 may have the function.

  As shown in FIG. 4, the control device 20 includes a mounting control unit 26 and a storage unit 31. First, data contents stored in the storage unit 31, that is, the mounting operation program 32, the mounting data 33, the drive parameter 34, and the reference load factor data 35 will be described. The mounting operation program 32 is an operation program for causing the mounting control unit 26 to control each unit of the component mounting apparatus 1 to execute a component mounting operation. The mounting data 33 is data for executing the above-described component mounting operation for each board type, that is, data on a component mounting position, a mounted component type, a component mounting sequence, and the like on each board.

  The drive parameter 34 is a parameter that is configured by combining the rotational speed and rotational acceleration of the motor and defines the load factor. The reference load factor data 35 is data on a load factor serving as a reference indicating the allowable upper limit of the load state in the normal use state in each motor, and is indicated by a ratio with respect to the rated load. The reference load factor is set empirically from the viewpoint of appropriately controlling the load state of the servo drive system. In the present embodiment, the range of the reference load factor is (85% to 90%).

  As described above, the drive parameter 34 is a parameter that defines the load factor of the motor during driving, and is basically defined by the effective value of the drive current value. The load factor of the motor that drives the working mechanism such as the head moving mechanism 9 is the highest in the load value when the current value corresponding to the rated torque of the motor, that is, the state where the drive is continued for a long time while maintaining the rated current value, In actual operation, this corresponds to the operation of continuing the acceleration state at the maximum acceleration. However, in actual work operation, the acceleration is continued until the preset moving speed is reached, and after that, the acceleration is zero and the speed is maintained while moving to the arrival point, and the acceleration is decelerated by the reverse acceleration and stopped. The operation mode is repeatedly executed. The load factor of the motor in such an operation mode generally increases as a large acceleration is continued for a long time, and as a result, the speed of the moving object becomes higher.

  Therefore, any of speed alone, acceleration alone, or a combination of speed and acceleration may be used as the drive parameter 34 that defines the load factor of the motor when setting the operating conditions. In other words, in setting the operating conditions for actual work movements that have restrictions on the operating time, it is inevitably necessary to increase the acceleration to achieve high-speed movement, and naturally if driving at a high acceleration. The moving speed is high. For this reason, in the present embodiment, a combination of rotational speed and rotational acceleration is used as a drive parameter that is an element that defines the load state of the motor. In other words, when operating conditions are set with constant rotational acceleration, the rotational speed is the drive parameter that defines the motor load factor. When the rotational speed is constant, rotational acceleration defines the motor load factor. It becomes a drive parameter. Of course, both the rotational speed and the rotational acceleration may be varied.

  Next, the control processing function of the mounting control unit 26 will be described. First, the mounting control unit 26 controls a mechanical unit such as the nozzle lifting mechanism 11b and the head moving mechanism 9 to execute a component mounting operation. Further, the mounting control unit 26 includes functional units such as a drive parameter setting processing unit 27, a parameter command unit 28, a load reduction processing unit 29a, a load recovery processing unit 29b, and a drive condition setting processing unit 30. The drive parameter setting processing unit 27 performs a process for setting the drive parameter 34 described above.

  Here, as the drive parameter 34, as shown in FIG. 5, two types of an overall operation parameter 36 and a mounting turn-specific parameter 37 are set in advance, and are appropriately used according to circumstances. As a method for setting the drive parameter 34, a numerical calculation method may be used in which a rotational speed / rotational acceleration is numerically obtained from a mounting operation program, and a load calculation is performed based on these numerical values. Thus, when the component mounting mechanism is caused to perform the running-in operation, the actual load factor is detected by the load detection unit 21b of each driver, and an appropriate drive parameter 34 is set with reference to the actual load factor. Good.

  The overall operation parameter 36 is the same from the start to the end of the component mounting operation for each of the X-axis motor 22X, the Y-axis motor 22Y, the Z-axis motor 22Z, and the θ-axis motor 22θ that drives the component mounting operation by the component mounting apparatus 1. This is a drive parameter when the reference value 36a is used. That is, the X-axis motor 22X, the Y-axis motor 22Y, the Z-axis motor 22Z, and the θ-axis motor 22θ are driven using constant drive parameters of px, py, pz, and pθ throughout the entire operation period. The reduction rate 36b and the recovery rate 36c are numerical values used when the drive parameter 34 needs to be reduced or recovered in order to maintain an appropriate load rate in the process of monitoring the load rate during operation execution. Similarly, each of the X axis motor 22X, the Y axis motor 22Y, the Z axis motor 22Z, and the θ axis motor 22θ is set in advance.

  Next, the mounting turn-specific parameter 37 is a driving parameter used when a different value is set individually for each mounting turn in which the mounting head 10 reciprocates once between the component supply unit 4 and the substrate 3. That is, here, the drive parameter setting processing unit 27 stores the load factor for each mounting turn in the storage unit 31 as a reference load factor preset based on the rated load of the motor, that is, as reference load factor data 35. In order not to exceed the reference load factor, a process is performed in which drive parameters corresponding to the work operation pattern in the mounting turn are individually set in advance for each of the mounting turns. As a result, the mounting turn-specific parameter 37 shown in FIG. For each of the numbers shown in FIG. 38, an individual value 37a is set for each of the X-axis motor 22X, the Y-axis motor 22Y, the Z-axis motor 22Z, and the θ-axis motor 22θ.

  Here, the significance of setting different driving parameters for each mounting turn will be described with reference to FIGS. In FIG. 10A, a plurality of component mounting points 3a for mounting electronic components on the substrate 3 by the mounting head 10 are close to each other in one mounting turn, and a turn-specific mounting region R1 indicating the distribution range of the component mounting points 3a is shown. The narrow case is shown. In this case, the mounting head 10 picks up a plurality (four in this case) of electronic components from the tape feeder 5 of the component supply unit 4 and then moves above the component recognition camera 13 in the X direction at a predetermined scanning speed. Then, the electronic component held on the mounting head 10 is imaged. After that, the mounting head 10 moves onto the substrate 3 held by the substrate transport mechanism 2, and continuously mounts electronic components on a plurality (four in this case) of component mounting points 3a.

  FIG. 11 (a) shows the rotational speed pattern of the motor of each axis of X, Y, θ, Z (here, a plurality of axes from Z1 to Zn) at this time. In FIG. 11A, the Z-axis speed pattern indicated by the broken line frame A is for moving the suction nozzles 11 a of the plurality of unit transfer heads 11 up and down for the plurality of tape feeders 5 in the component supply unit 4. A Z-axis speed pattern is shown. After the lifting and lowering of the suction nozzle 11a by the Z-axis is completed, the mounting head 10 moves above the component recognition camera 13 to recognize the held electronic component. In this speed pattern, time T1 is required from the start of the operation to the completion of the movement. The speed pattern of the X axis indicated by the broken line frame B indicates the speed pattern when the mounting head 10 after taking out the electronic component moves in the X direction above the component recognition camera 13 at a constant scanning speed. This scanning operation takes time T2. In this scanning operation, it is necessary to maintain the scanning operation at a predetermined speed for image acquisition, and it always takes a predetermined time T2.

  Thereafter, the mounting head 10 moves onto the substrate 3 positioned by the substrate transport mechanism 2 and sequentially mounts the electronic components held at the plurality of component mounting points 3a. The X-axis, Y-axis, and θ-axis speed patterns indicated by the broken line frame C indicate the position correction operation during component mounting by the suction nozzle 11a. The Z-axis speed pattern indicated by the broken line frame D indicates the substrate 3 Fig. 5 shows a Z-axis driving operation for raising and lowering the suction nozzle 11a. The component mounting operation by the mounting head 10 requires time T3 from the end of the scanning operation.

  Since the speed pattern shown in FIG. 11A is a speed pattern corresponding to the case where the turn-by-turn mounting region R1 indicating the distribution range of the component mounting points 3a is narrow as shown in FIG. 10A, This is an operation pattern in which acceleration / deceleration is repeated at a high frequency within a short time, in other words, an operation pattern in which the drive parameter needs to be set to a large value. For this reason, depending on the setting of the drive parameter, there is a possibility of causing an overload state in which the load factor exceeds the reference load factor on the X axis. In such a case, in order to prevent the occurrence of an overload condition in advance, a drive parameter is set such that a speed pattern as shown in FIG.

  In FIG. 11B, the X-axis velocity patterns set at times T1 and T3 in FIG. 11A are executed at times T1 * and T3 * longer than the times T1 and T3, respectively. A speed pattern is set, and X-axis drive parameters corresponding to the speed pattern are set. Here, the time T2 cannot be changed for the reason described above, and is always set to a fixed time T2. For this reason, the drive parameter reduction rate at times T1 and T3 and the drive parameter reduction rate at time T2 are set to different values.

  In other words, in the above-described example, the load reduction processing unit 29a is an operation in which specific operation characteristics are desired, such as the X-axis motor 22X that performs scanning motion for imaging by the component recognition camera 13 among a plurality of motors. For the motor that performs the operation, load reduction processing is performed using different reduction rates that are individually set in advance according to the operation characteristics. At this time, it is desirable to set drive parameters for the Y-axis and θ-axis so that a speed pattern in which the operation is synchronized with the X-axis is realized.

  FIG. 10B shows a case where a turn-specific mounting region R2 indicating a distribution range of component mounting points 3a for mounting electronic components on the substrate 3 by the mounting head 10 in one mounting turn is wide. In this case, acceleration / deceleration is not frequently repeated within a short period of time, and the load factor is not so high even if the X-axis, Y-axis, and θ-axis drive parameters are set to relatively large values. There is no risk of overloading. Therefore, in such a case, a speed pattern as shown in FIG. 11A may be applied. In this way, for each of the plurality of mounting turns, the drive parameters defined by the rotational speed and rotational acceleration of the motors of the respective axes are set according to the work operation pattern such as the size of the distribution range of the component mounting points 3a. As a result, even when the work load for each mounting turn varies greatly, it is possible to prevent an overload state and maintain the operation efficiency as much as possible.

  The parameter command unit 28 reads the drive parameters 34 set as described above from the storage unit 31 and outputs them to the X-axis driver 21X, the Y-axis driver 21Y, the Z-axis driver 21Z, and the θ-axis driver 21θ. Do. As a result, the X-axis driver 21X, the Y-axis driver 21Y, the Z-axis driver 21Z, and the θ-axis driver 21θ are controlled based on the instructed drive parameter 34. The X-axis motor 22X, Y-axis motor 22Y, Z-axis motor 22Z, and θ-axis motor 22θ are driven, respectively.

  The load reduction processing unit 29a monitors the load factor of the motor detected by the load detection unit 21b of the X-axis driver 21X, the Y-axis driver 21Y, the Z-axis driver 21Z, and the θ-axis driver 21θ. On the other hand, as shown in event F1 in FIG. 8, when the load factor exceeds a preset reference load factor based on the rated load of the motor, the load factor is reduced by a preset reduction rate Δp1 ( A load reduction process for changing the drive parameter 34 output from the parameter command unit 28 is performed so as to decrease at Δpx1, Δpy1, Δpz1, Δpθ1,). That is, when the load reduction processing unit 29a reads the reduction rate 36b (Δpx1, Δpy1, Δpz1, Δpθ1) from the storage unit 31 and instructs the parameter command unit 28, the drive parameter 34 and the reference value output from the parameter command unit 28 are obtained. 36a is reduced by a reduction corresponding to the reduction rate 36b.

  Note that, when the mounting turn-specific parameter 37 is applied as the driving parameter 34, a load reduction process different from the above may be performed as an aspect of the load reduction process. First, during execution of a component mounting operation for a plurality of mounting turns, a change in a work operation pattern, for example, a component breakage for a specific tape feeder 5 in advance, such as event F3 shown in FIG. When a change in the mounting order due to the inability to execute the set mounting operation sequence occurs, a corresponding process as shown in FIG. That is, the drive parameter 34 set for the mounting turn is changed to the drive parameter (MIN.) Corresponding to the lowest load factor among the drive parameters 34 set for each mounting turn for the board 3. Perform load reduction processing. This handling process means that the drive parameter 34 is set as safe as possible so that the load factor does not exceed the reference load factor (MAX.).

  Of course, as shown in FIG. 9B, after the event F3 shown in FIG. 9 occurs in any mounting turn, the load reduction processing, load recovery processing, and drive condition setting processing described in FIG. 8 are performed. By executing, the actual load factor may be as close to the reference load factor as possible. Further, in the process of sequentially performing the work on the mounting turns 1, 2, 3,..., The load reduction process, the load recovery process, and the drive condition setting as described in FIG. Processing may be executed.

  In the process of continuously executing the component mounting work for a predetermined number of boards, a predetermined number of mounting turns, and the like according to the work execution conditions set in advance with the load factor reduced, If the load factor detected by the load detector 21b does not exceed the reference load factor defined in the reference load factor data 35, the recovery factor Δp2 (Δpx2, Δpy2, preset load factor) A load factor recovery process is performed in which the drive parameter 34 is changed so as to increase stepwise by Δpz2, Δpθ2). That is, when the load recovery processing unit 29b reads the recovery rate 36c (Δpx2, Δpy2, Δpz2, Δpθ2) from the storage unit 31 and instructs the parameter command unit 28, the drive parameter 34 output from the parameter command unit 28 is It increases by a recovery amount corresponding to the recovery rate 36c with respect to the reference value 36a. This load recovery process is repeated until the load factor reaches the load factor specified in the reference load factor data 35.

  Furthermore, various variations are possible for the mode of the load recovery processing by the load recovery processing unit 29b. For example, in the process of continuously executing component mounting work according to preset work execution conditions in a state where the load factor is reduced after executing the above-described load reduction processing, a mounting turn whose work operation pattern is not changed is set as a work target. In this case, the drive parameter applied to the mounting turn is changed to the driving parameter before change that is set in advance, that is, the driving parameter originally set to be applied to the mounting turn, to restore the load factor. You may make it make it.

  In the process of repeatedly executing the load recovery process described above, the drive condition setting processing unit 30 causes the load factor to exceed the reference load factor again as shown in event F2 in FIG. 8 by increasing the drive parameter. If so, a drive condition determination process is performed in which the drive parameter 34 immediately before the last load factor recovery process is executed is set as a determined drive parameter. That is, thereafter, the mounting control unit 26 continues to execute the component mounting work in accordance with the determined drive parameter set in this way. As a result, the component mounting operation can be performed under an operating condition in which the load factor does not exceed the reference load factor and the operation efficiency is as high as possible.

  Next, an actual example of motor control processing in the component mounting apparatus 1 will be described with reference to the drawings in accordance with the flow of FIGS. The processing shown in FIGS. 6 and 7 is also applied to the case where the entire operation parameter 36 is used as the drive parameter 34, that is, the same drive parameter is fixedly used through component mounting work in which a plurality of mounting turns are continuously executed. Further, the present invention is also applied to the case where the mounting turn-specific parameter 37 is used as the driving parameter 34, that is, when different driving parameters are used as necessary for each mounting turn.

  First, in FIG. 6, prior to the drive parameter command by the parameter command unit 28, the drive parameter 34 is set by the processing function of the drive parameter setting processing unit 27 (ST1). Here, when the same drive parameter 34 is used in a fixed manner throughout the component mounting operation, the entire operation parameter 36 shown in FIG. 5 is set and stored in the storage unit 31. When different driving parameters 34 are used for each mounting turn as necessary, driving parameters 34 corresponding to work operation patterns in the mounting turns are individually set for each of the plurality of mounting turns, and stored in the storage unit 31. It is stored as a parameter 37 for each mounting turn (ST1). That is, for each mounting turn in which the mounting head 10 reciprocates once between the component supply unit 4 and the board 3, the load factor does not exceed a preset reference load factor based on the rated load of the motor. The drive parameter 34 corresponding to the work operation pattern in the mounting turn is individually set for each of the plurality of mounting turns (drive parameter setting processing step). Thereafter, component mounting work by the component mounting apparatus 1 is started (ST2).

  Next, the drive parameter 34 is read and output to the driver that drives each motor (ST3). That is, for each of the plurality of motors (X-axis motor 22X, Y-axis motor 22Y, Z-axis motor 22Z, θ-axis motor 22θ), the drive parameters 34 that are configured by combining the rotation speed and the rotation acceleration and define the load factor are It outputs to the driver which drives a motor (parameter command process). When the mounting turn-specific parameter 37 is used as the drive parameter 34, this parameter command process is performed for each component mounting operation for each mounting turn that is sequentially executed.

  Thereafter, the load state of each motor is detected and the load factor is output (ST3). That is, the load states of a plurality of motors (X-axis motor 22X, Y-axis motor 22Y, Z-axis motor 22Z, θ-axis motor 22θ) in the driving state are time-series by the load detection unit 21b of the driver 21 corresponding to the motor. And a load factor with respect to the rated load of each motor is output (load detection step). Thereafter, in order to prevent the load state from becoming overloaded, speed / acceleration control is performed by monitoring the load factor (ST5).

  FIG. 7 shows the details of the process executed in (ST5). That is, here, the load factor is monitored by the load detection unit 21b of the driver 21 corresponding to each motor, and the load factor is set in advance in at least one of the plurality of motors based on the rated load of the motor. It is determined whether (see FIG. 8) has been exceeded (ST11). Here, if YES, that is, if the reference load factor level is exceeded, as in the state indicated by event F3 in FIG. 8, the speed / acceleration of the motor, in other words, the drive parameter, by the load reduction processing unit 29a. 34 is reduced at a predetermined rate (refer to reduction rate Δp1... Reduction rate 36b shown in FIG. 5) (ST12). That is, here, a load reduction process for changing the drive parameter is performed so that the load factor decreases at a preset reduction rate (load reduction processing step).

  After that, (ST11) returns to continue monitoring the load factor. If (NO) in (ST11), that is, if the load factor is below the reference load level, it is determined that the drive state is normal. Continue working. In this state, it is determined whether or not a predetermined number of productions have been executed (ST13). If NO, the work operation is continued while executing (ST11). In (ST13), if the predetermined number of productions are completed and YES, that is, a state in which the load factor exceeds the reference load factor occurs in the process of continuously executing the component mounting work according to the preset work execution conditions. If not, the drive parameter 34 is changed so that the load recovery processing unit 29b increases the speed / acceleration of the motor at a predetermined rate (refer to the recovery rate Δp2... Recovery rate 36c shown in FIG. 5) (ST14). ).

  Thereafter, it is further determined whether or not the load factor has exceeded a preset reference load factor level based on the rated load of the motor (ST15). If “NO” here, that is, if the load factor is still below the reference load level, the process returns to (ST13), and the subsequent processing is repeated in the same manner. As a result, as shown in FIG. 8, the load factor once reduced increases a plurality of times (here, twice) at the recovery rate Δp2, and approaches the reference load factor level. That is, here, the load factor recovery process of changing the drive parameter by the load recovery processor 29b is repeatedly performed so that the load factor increases stepwise at a preset recovery factor Δp2 (load recovery processing step).

  In this load recovery process, a state in which the load factor exceeds the reference load factor level again occurs as shown in event F2 in FIG. 8 by further increasing the speed / acceleration of the motor or by some external condition. In this case, the drive parameter 34 that defines the speed / acceleration of the motor is returned to the level before the previous increase, that is, the level reduced by the recovery rate Δp2 from this state (ST16). Thereby, the load factor of the motor is set to a stable level that is as close as possible to the reference load factor level and that does not exceed the reference load factor level.

  Then, the setting state of the motor speed and acceleration in this state is stored as the determined speed and acceleration (ST18). That is, the drive condition setting processing unit 30 performs drive condition determination processing for setting the drive parameter immediately before executing the final load factor recovery processing as the determined drive parameter (drive condition setting processing step). Thereafter, the component mounting production operation is continuously executed using the determined drive parameters set in this way, and the production is terminated when the necessary number of productions are confirmed (ST18).

  As described above, in the motor control method in the component mounting apparatus shown in the present embodiment, when the load factor of the motor exceeds a reference load factor set in advance based on the rated load of the motor, the load In the process of performing the load reduction process to change the drive parameter so that the rate decreases at a preset reduction rate, and continuously executing the component mounting work according to the preset work execution condition in a state where the load factor is reduced When a state in which the load factor exceeds the reference load factor does not occur, the load factor recovery process for changing the drive parameter is repeatedly performed so that the load factor increases stepwise at a preset recovery factor. I am doing so. Further, for each of the plurality of mounting turns, drive parameters defined by the rotational speed and rotational acceleration of the motor of each axis are set according to the work operation pattern. This makes it possible to prevent overload conditions and maintain operating efficiency as much as possible even when the work load for each mounting turn varies widely, thereby reliably preventing overload conditions and maintaining and improving operating efficiency. Both can be achieved.

  INDUSTRIAL APPLICABILITY The component mounting apparatus and the motor control method in the component mounting apparatus according to the present invention have an effect that it is possible to achieve both the reliable prevention of an overload state and the maintenance and improvement of the operation efficiency. This is useful in the field of component mounting in which a component is taken out from the component supply unit by reciprocating between the supply unit and the substrate, and transferred and mounted on the substrate.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Board | substrate conveyance mechanism 3 Board | substrate 4 Component supply part 5 Tape feeder 9 Head moving mechanism 10 Mounting head 11 Unit transfer head 11a Adsorption nozzle

Claims (8)

A mounting head equipped with a suction nozzle that moves up and down by a nozzle lifting mechanism is reciprocated between a component supply unit and a substrate by a head moving mechanism, whereby the component is taken out from the component supply unit by the suction nozzle and transferred to the substrate A component mounting apparatus for performing component mounting work,
A mounting control unit for controlling the nozzle lifting mechanism and the head moving mechanism;
A plurality of motors for driving the nozzle lifting mechanism and the head moving mechanism;
A driver having a load detection unit that drives the plurality of motors and detects a load state of the plurality of motors in a driving state in time series and outputs a load ratio with respect to a rated load of each motor;
Further, the mounting control unit
A parameter command unit configured to output to the driver a drive parameter configured to combine the rotational speed and rotational acceleration of the motor and define the load factor;
For each mounting turn in which the mounting head makes one reciprocation between the component supply unit and the board, the load factor does not exceed a reference load factor set in advance based on the rated load of the motor. A component mounting apparatus, comprising: a drive parameter setting processing unit that individually sets in advance each of the plurality of mounting turns the driving parameter corresponding to the work operation pattern.   When the work operation pattern is changed in any mounting turn during execution of the component mounting operation, the drive parameter set for the mounting turn is set for each mounting turn for the board. The component mounting apparatus according to claim 1, further comprising a load reduction processing unit that performs a load reduction process of changing the drive parameter to a drive parameter corresponding to the lowest load factor among the drive parameters being used.   The load factor is monitored, and when the work operation pattern is changed in any of the mounting turns during execution of the component mounting operation, the load factor becomes the rated load of the motor in at least one of the plurality of motors. A load reduction processing unit for performing a load reduction process for changing the drive parameter so that the load factor is reduced at a preset reduction ratio if a reference load factor preset based on the reference is exceeded. The component mounting apparatus according to claim 1, wherein:   In the process of continuously executing the component mounting work in accordance with the work execution conditions set in advance in a state where the load factor is reduced, if the mounting turn in which the work operation pattern is not changed is a work target, the mounting is performed. 4. The component according to claim 2, further comprising a load recovery processing unit configured to recover a load factor by changing a drive parameter applied to a turn to a drive parameter before change set in advance. 5. Mounting device. A mounting head equipped with a suction nozzle that moves up and down by a nozzle lifting mechanism is reciprocated between a component supply unit and a substrate by a head moving mechanism, whereby the component is taken out from the component supply unit by the suction nozzle and transferred to the substrate In a component mounting apparatus that performs a component mounting operation, a motor control method in a component mounting apparatus that controls a plurality of motors that drive the nozzle lifting mechanism and the head moving mechanism,
A parameter commanding step for outputting a driving parameter that is configured by combining rotational speed and rotational acceleration and that defines the load factor to a driver that drives each motor for the plurality of motors;
A load detection step of detecting a load state of the plurality of motors in a driving state in time series and outputting a load factor with respect to a rated load of each motor,
Further, prior to the parameter command step, the load factor is set to a reference load factor set in advance based on the rated load of the motor for each mounting turn in which the mounting head makes one round trip between the component supply unit and the board. A motor in a component mounting apparatus, wherein a drive parameter setting processing step for setting the drive parameters corresponding to the work operation pattern in the mounting turn individually for each of a plurality of mounting turns is performed in advance so as not to exceed Control method.   When the work operation pattern is changed in any mounting turn during execution of the component mounting operation, the drive parameter set for the mounting turn is set for each mounting turn for the board. 6. The motor control method for a component mounting apparatus according to claim 5, further comprising a load reduction process step of performing a load reduction process for changing to a drive parameter corresponding to the lowest load factor among the drive parameters being used.   The load factor is monitored, and when the work operation pattern is changed in any of the mounting turns during execution of the component mounting operation, the load factor becomes the rated load of the motor in at least one of the plurality of motors. A load reduction processing step of performing a load reduction process of changing the drive parameter so that the load factor decreases at a preset reduction ratio if a preset reference load factor is exceeded. The motor control method in the component mounting apparatus according to claim 5.   In the process of continuously executing the component mounting work in accordance with the work execution conditions set in advance in a state where the load factor is reduced, if the mounting turn in which the work operation pattern is not changed is a work target, the mounting is performed. 8. The component mounting according to claim 6, further comprising a load recovery processing step of recovering a load factor by changing a drive parameter applied to a turn to a drive parameter before change set in advance. Motor control method in apparatus.

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