JP2839359B2 - Motor control method for electronic component supply device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a motor control method for an electronic component supply device,
More specifically, the present invention relates to motor control means for moving a table on which electronic component feeders are arranged side by side on a movable table at a high speed.

(Prior Art) As a high-speed mounting machine for mounting electronic components on a substrate at a high speed, a rotary head type electronic component mounting machine is widely used.
The electronic component supply device of the rotary head type electronic component mounting machine is configured by mounting a table on which a feeder such as a tape feeder or a tube feeder is arranged on a moving table, and the table is mounted on a moving table such as a feed screw or a nut. The sheet is moved at a high speed in the lateral direction by a feeding unit, and a predetermined feeder is stopped at a take-up position of a nozzle of the transfer head.

FIG. 4 shows a conventional motor control method for driving the above-mentioned feeding means. The amount of movement of the table is an integral multiple of the pitch of the feeder and is given in advance by the mounting program. In the drawing, a solid line S1, a broken line S2, and a chain line S3 indicate movement amounts when the movement amounts are one pitch, two pitches, and three pitches, respectively. In this prior art, as shown in FIG. 1B, the motor speed (speed command voltage) is increased linearly up to half of the movement amount, and then decreased linearly.

(Problems to be Solved by the Invention) The above-described conventional means has an advantage that the speed control of the motor is simple, but the acceleration (torque) changes abruptly at the speed conversion point t (see FIG. 3C). ), The table vibrates due to the impact, and there are problems that the electronic components stored in the feeder are turned upside down or stand up.

In order to solve such a problem, the motor may be controlled by a gentle curve such as a cam curve so that a rapid change in acceleration does not occur.

Therefore, an object of the present invention is to provide means for controlling a motor with a gentle speed curve.

(Means for Solving the Problems) The present invention provides a moving table, a table in which a plurality of electronic component feeders are arranged side by side at a predetermined pitch, and the table is placed on the moving table by an integral multiple of the pitch. Move to
In an electronic component supply device including a feed unit that stops an electronic component of a predetermined feeder at a take-up position of a nozzle of a transfer head, and a motor that drives the feed unit,
A moving amount curve of the table is set in advance for each moving amount of the table, and the moving amount curve is subdivided in time, and the moving amount curve is registered in the storage unit as speed data or position data of the table for each moving amount. The speed of the motor is controlled by retrieving the data in the storage unit corresponding to the commanded movement amount.

(Operation) In the above configuration, the motor can be driven with a predetermined gentle speed curve by retrieving the data in the storage unit corresponding to the commanded moving amount of the table.

Example Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view of a rotary head type electronic component mounting machine. A rotary head 1 includes a plurality of transfer heads 2 along a circumferential direction. Reference numeral 3 denotes a nozzle for sucking an electronic component. An electronic component supply device 4 is provided on the back surface of the rotary head 1. Reference numeral 5 denotes a moving table on which a table 6 is placed. This table 6
, A number of feeders 7 for electronic components P such as a table feeder and a tube feeder are juxtaposed. The table 6 moves laterally along a feed screw 8 provided on the moving table 5. Reference numeral 9 denotes a servomotor for driving the feed screw 8. Reference numeral 11 denotes an XY table provided on the front side of the rotary head 1, and reference numeral 12 denotes a substrate positioned on the XY table 11.

When the motor 9 is driven, the table 6 moves in the horizontal direction, and stops the feeder 7 equipped with the desired electronic component P at the take-up position A of the nozzle 3. The indexed rotation of the rotary head 1 causes the picked-up electronic component P to be transferred and mounted on the substrate 12.

FIG. 3A is a movement amount curve of the table 6 and shows position data of the table 6. Here, the pitch d of the feeder 7 is constant, and the moving amount of the table 6 for moving the desired electronic component P to the take-up position A is an integral multiple of the pitch d. In the figure, solid line S1, broken line
S2 and chain line S3 have a movement amount of 1 pitch, 2 pitch,
This is the case of three pitches.

FIG. 3B is a speed curve of the motor 9 for obtaining the movement amounts S1, S2, S3, and FIG. 3C is an acceleration curve. By controlling the servo motor 9 with the cam curve, the speed curve and the acceleration curve are gentle curves, and the vibration of the table 6 can be suppressed. The speed of the motor 9 is a function of a speed command voltage for the motor 9, and
Each speed curve is time-divided as t1-tna, t1-tnb, t1-tnc. Thus, the voltage value to be applied to the driver 17 (described later) for each subdivided time is determined.

FIG. 2 is a block diagram of the control means. M1, M2 ...
Mn is a storage unit, and the movement amounts S1, S2
... The command voltage data of the speed or the position subdivided with respect to time is registered. 15 is a selection means, 16 is a speed command calculator, 17 is a driver of the motor 9 having a speed control function including a power amplifier, 18 is an encoder for detecting the rotation speed of the motor 9, 19 is a driver for the rotation speed of the motor 9. The speed detecting means 20 feeds back the current position of the table 6 driven by the motor 9 to the speed command calculating section 16.

In the above configuration, when the moving amount of the table 6 is input to the selecting means 15, the data in the storage unit corresponding to the moving amount is called. Here, when the data of the storage units M1 to Mn is the position data of the table 6, a position command value is directly created from the data of the storage units M1 to Mn. A speed command voltage is generated from a value obtained by subtracting the position signal of the position detecting means 20 from the position command value. Then, the speed command voltage is applied to the driver 17, and the motor 9 rotates at a desired speed. In addition, the storage units M1 to
When the data of Mn is speed data, the data of the storage units M1 to Mn are passed through an integrator to generate a position designation value, and other processes are the same as those of the position data. As described above, according to the present means, the motor 9 can be controlled by the optimum speed curve for each moving amount of the table 6.

(Effects of the Invention) As described above, according to the present invention, the motor can be driven with the optimum speed curve, and the vibration of the table can be suppressed as much as possible. In addition, in this method, speed or position data is registered in the storage unit in advance for each table movement amount, and only data in the storage unit is selected according to the table movement amount. The motor can be controlled at high speed without any need.

[Brief description of the drawings]

1 shows an embodiment of the present invention. FIG. 1 is a plan view of an electronic component mounter, FIG. 2 is a block diagram of a control means,
FIG. 3 is a graph showing the amount of movement, speed and acceleration, and FIG. 4 is a graph showing conventional means. 2 Transfer head 3 Nozzle 4 Electronic component supply device 5 Moving table 6 Table 7 Feeder 8 Feeding means 9 Motor M1 to Mn Storage unit

Claims (1)

(57) [Claims] 1. A moving table, a table on which a plurality of electronic component feeders are arranged side by side at a predetermined pitch, and moving the table on the moving table in an integer multiple of the pitch.
An electronic component supply device comprising: a feed unit that stops an electronic component of a predetermined feeder at a take-up position of a nozzle of a transfer head; and a motor that drives the feed unit. In addition to setting in advance for each amount, this movement amount curve is subdivided in time,
This movement amount curve is registered in the storage unit as speed data or position data of a table for each movement amount, and the speed of the motor is controlled by calling data in the storage unit corresponding to the commanded movement amount. A motor control method for an electronic component supply device.