JP7222115B2 - Multiplex communication device and work machine - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a multiplex communication device with two user modes and a work machine with the multiplex communication device.

2. Description of the Related Art Conventionally, there is a work robot that executes communication between an apparatus main body and a movable part by multiplex communication of a wired cable (for example, Patent Document 1, etc.). The working robot described in Patent Document 1 connects a multiplex communication device provided in the main body of the device and a multiplex communication device provided in the movable part with a LAN cable conforming to the Gigabit Ethernet (registered trademark) communication standard. Connected. The working robot multiplexes the position signals of the linear scale and the encoder provided on the movable portion and transmits the multiplexed signals to the main body of the device.

International Publication No. WO2018/150544 (Fig. 4)

In the working robot described above, the movable parts are replaced while the device is put into a non-operating state. Here, as technology advances, new movable parts are developed. The functions of the multiplex communication device included in the movable part are also improved and new functions are added. Old multiplex communication devices and new multiplex communication devices may support different functions, such as communication speeds. Similarly, the functions supported by the multiplex communication device on the apparatus main body side may be different from those of the multiplex communication device on the movable part. As a result, even if the movable part is replaced, there is a possibility that new and old multiplex communication devices will coexist and communication between the multiplex communication devices will not be carried out successfully.

The present disclosure has been made in view of the above problems, and aims to provide a multiplex communication device and a working machine that can activate a system according to the type of communication destination device.

In order to solve the above problems, the present specification provides a multiplex communication interface that performs multiplex communication with a communication destination device, a safe mode, a first user mode, and a second user mode different from the first user mode. and the safe mode program is read from the storage device and executed, and in the safe mode, the communication destination device is related to the communication destination device via the multiplex communication interface. Receiving model information, selecting a program for the first user mode or the second user mode based on the model information, reading and executing the program from the storage device, and reading multiplex communication via the multiplex communication interface. a processing unit that executes with the communication destination device based on the executed program of the first user mode or the second user mode , wherein the first user mode is at a first communication speed Disclosed is a multiplex communication device, wherein the second user mode is a mode for executing multiplex communication at a second communication speed higher than the first communication speed.

Further, the content of the present disclosure is not limited to the implementation of multiplex communication devices, and may be beneficially implemented as a work machine equipped with multiplex communication devices.

The multiplex communication device of the present disclosure can be activated in two user modes, a first user mode and a second user mode. The multiplex communication device receives model information from a communication destination device in the safe mode, activates the first user mode or the second user mode based on the received model information, and executes multiplex communication. As a result, a user mode suitable for the communication destination device can be selected and activated based on the model information.

It is a top view showing a schematic structure of a component mounting system of this embodiment. It is a perspective view which shows schematic structure of a component mounting machine and a loader. 1 is a block diagram of a multiplex communication system; FIG. FIG. 3 is a diagram showing configuration information stored in a storage device; FIG. 10 is a flow chart showing a processing procedure when an old-type FPGA is started. 10 is a flow chart showing a processing procedure when starting up the FPGA; It is a figure which shows an example of model information. It is a figure which shows the mode type of the board|substrate for new and old devices. FIG. 10 is a diagram showing each combination when the fixed part substrate is an old model, and the mode and communication speed when combined. FIG. 10 is a diagram showing each combination when the fixed part board is a new model, and the modes and communication speeds when combined.

An embodiment of the present disclosure will be described below with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of a component mounting system 10 of this embodiment. FIG. 2 is a perspective view showing a schematic configuration of the component mounting machine 20 and the loader 13. As shown in FIG. In the following description, the left-right direction in FIG. 1 is called the X direction, the up-down direction in FIG. will be named and explained.

As shown in FIG. 1, the component mounting system 10 includes a production line 11, a loader 13, and a host computer 15. The production line 11 has a plurality of component mounters 20 arranged in the X direction, and mounts electronic components (not shown) on the substrate 17 . The board 17 is, for example, transported from the component mounting machine 20 on the left side shown in FIG.

As shown in FIG. 2, the component mounting machine 20 has a base 21 and a module 22 . The base 21 has a substantially rectangular parallelepiped shape in the Y direction and is placed on the floor of a factory where the component mounting machine 20 is installed. The vertical position of the base 21 is adjusted, for example, so that the positions of the board transfer devices 23 of the adjacent modules 22 are aligned. The base 21 and the base 21 of the adjacent component mounting machine 20 are fixed to each other. The module 22 is a device for mounting electronic components on the substrate 17 and is placed on the base 21 . The module 22 can be pulled forward in the front-rear direction with respect to the base 21 and can be replaced with another module 22 .

The module 22 includes a substrate transfer device 23 , a feeder table 24 , a mounting head 25 and a head moving mechanism 27 . The substrate transfer device 23 is provided inside the module 22 and transfers the substrate 17 in the X direction. The feeder table 24 is provided on the front surface of the module 22 and is an L-shaped table when viewed from the side. The feeder table 24 has a plurality of slots (not shown) arranged in the X direction. A feeder 29 for supplying electronic components is attached to each slot of the feeder table 24 . The feeder 29 is, for example, a tape feeder that supplies electronic components from a tape containing electronic components at a predetermined pitch. Note that, as shown in FIG. 1, a touch panel 26 is provided on the upper cover of the module 22 for inputting operations to the component mounting machine 20 . FIG. 2 shows a state in which the upper cover and the touch panel 26 are removed.

The mounting head 25 has a holding member (not shown) that holds electronic components supplied from the feeder 29 . As the holding member, for example, a suction nozzle that receives negative pressure to hold the electronic component, a chuck that grips and holds the electronic component, or the like can be employed. The mounting head 25 has, for example, a plurality of servomotors 75 (see FIG. 3) as drive sources for changing the overall position of the plurality of holding members and the positions of individual holding members. The holding member rotates around an axis extending in the Z direction, for example, when driven by a servomotor 75 . The mounting head 25 mounts the electronic component held by the holding member on the board 17 .

Also, the head moving mechanism 27 moves the mounting head 25 to any position in the X direction and the Y direction in the upper portion of the module 22 . Specifically, the head moving mechanism 27 includes an X-axis slide mechanism 27A that moves the mounting head 25 in the X direction, and a Y-axis slide mechanism 27B that moves the mounting head 25 in the Y direction. The X-axis slide mechanism 27A is attached to the Y-axis slide mechanism 27B.

The X-axis slide mechanism 27A also includes, for example, a slave 61 (see FIG. 3) connected to an industrial network. The industrial network here is, for example, EtherCAT (registered trademark). The industrial network of the present disclosure is not limited to EtherCAT (registered trademark), and other networks (communication standards) such as MECHATROLINK (registered trademark)-III and Profinet (registered trademark) can be employed. The slave 61 is connected to various elements such as relays and sensors provided in the X-axis slide mechanism 27A, and receives signals input/output from the various elements based on control data received from the apparatus main body 41 (see FIG. 3). process.

The Y-axis slide mechanism 27B has a linear motor (not shown) as a drive source. The X-axis slide mechanism 27A moves to any position in the Y direction based on the drive of the linear motor of the Y-axis slide mechanism 27B. The X-axis slide mechanism 27A also has a linear motor 77 (see FIG. 3) as a drive source. The mounting head 25 is attached to the X-axis slide mechanism 27A and moves to any position in the X direction based on the drive of the linear motor 77 of the X-axis slide mechanism 27A. Accordingly, the mounting head 25 moves to any position in the X and Y directions within the module 22 as the X-axis slide mechanism 27A and the Y-axis slide mechanism 27B are driven.

Further, the mounting head 25 is attached to the X-axis slide mechanism 27A via a connector, and can be attached and detached with one touch, and can be changed to a mounting head 25 having different performance and functions. Therefore, the mounting head 25 of this embodiment can be attached to and detached from the component mounting machine 20 (an example of a work machine). A mark camera 69 (see FIG. 3) for photographing the substrate 17 is fixed to the X-axis slide mechanism 27A while facing downward. The mark camera 69 can take an image of an arbitrary position on the substrate 17 from above as the head moving mechanism 27 moves. The image data captured by the mark camera 69 is transmitted from the X-axis slide mechanism 27A to the device main body 41 by multiplex communication, which will be described later, and image-processed in the image processing board 87 (see FIG. 3) of the device main body 41. FIG. The image processing board 87 acquires information (marks, etc.) on the board 17, mounting position errors, etc. by image processing.

The mounting head 25 also includes a slave 62 (see FIG. 3) connected to the industrial network described above. Various elements such as relays and sensors provided in the mounting head 25 are connected to the slave 62 . The slave 62 processes signals input and output from various elements based on control data received from the device main body 41 (see FIG. 3). Also, the mounting head 25 is provided with a parts camera 71 that captures an image of the electronic component held by the holding member. Image data captured by the parts camera 71 is transmitted from the mounting head 25 to the device main body 41 by multiplex communication, and image-processed in the image processing board 87 (see FIG. 3) of the device main body 41 . The image processing board 87 acquires the error of the holding position of the electronic component in the holding member by image processing.

Further, as shown in FIG. 2 , an upper guide rail 31 , a lower guide rail 33 , a rack gear 35 and a non-contact feeding coil 37 are provided on the front surface of the base 21 . The upper guide rail 31 is a rail with a U-shaped cross section extending in the X direction, and the opening faces downward. The lower guide rail 33 is a rail extending in the X direction and having an L-shaped cross section, and has a vertical surface attached to the front surface of the base 21 and a horizontal surface extending forward. The rack gear 35 is provided at the lower portion of the lower guide rail 33, extends in the X direction, and has a front surface with a plurality of vertical grooves. The upper guide rail 31 , lower guide rail 33 and rack gear 35 of the base 21 can be detachably connected to the upper guide rail 31 , lower guide rail 33 and rack gear 35 of the adjacent base 21 . Therefore, the component mounting system 10 can increase or decrease the number of component mounting machines 20 arranged in the production line 11 . The contactless power feeding coil 37 is a coil provided on the upper portion of the upper guide rail 31 and arranged along the X direction, and supplies power to the loader 13 .

The loader 13 is a device that automatically replenishes and collects the feeder 29 for the component mounting machine 20 , and has a gripper (not shown) that clamps the feeder 29 . The loader 13 is provided with upper rollers (not shown) inserted into the upper guide rails 31 and lower rollers (not shown) inserted into the lower guide rails 33 . Moreover, the loader 13 is provided with a motor as a drive source. A gear meshing with the rack gear 35 is attached to the output shaft of the motor. The loader 13 includes a power receiving coil that receives power from the contactless power feeding coil 37 of the component mounter 20 . The loader 13 supplies the electric power received from the contactless power feeding coil 37 to the motor. Thus, the loader 13 can move in the X direction (horizontal direction) by rotating the gear with the motor. Moreover, the loader 13 can rotate the rollers in the upper guide rail 31 and the lower guide rail 33 and move in the X direction while maintaining the position in the vertical direction and the front-rear direction.

The host computer 15 shown in FIG. 1 is a device for centrally managing the component mounting system 10 . For example, the component mounting machine 20 of the production line 11 starts the electronic component mounting operation based on the management of the host computer 15 . The component mounting machine 20 mounts electronic components using a mounting head 25 while conveying the board 17 . Host computer 15 also monitors the number of electronic components remaining in feeder 29 . For example, when the host computer 15 determines that the feeder 29 needs to be replenished, it displays on the screen an instruction to set the feeder 29 containing the part type requiring replenishment to the loader 13 . The user confirms the screen and sets the feeder 29 to the loader 13 . When the host computer 15 detects that the desired feeder 29 has been set in the loader 13, it instructs the loader 13 to start replenishment work. The loader 13 moves to the front of the component mounter 20 that has received the instruction, and mounts the feeder 29 set by the user in the slot of the feeder table 24 by gripping the feeder 29 with the grip portion. Thereby, a new feeder 29 is supplied to the component mounting machine 20 . In addition, the loader 13 holds the feeder 29 that has run out of components with the gripping portions, pulls it out from the feeder table 24, and collects it. In this way, the loader 13 can automatically supply a new feeder 29 and recover a feeder 29 that has run out of parts.

Next, a multiplex communication system provided in the component mounting machine 20 will be described. FIG. 3 is a block diagram showing the configuration of a multiplex communication system applied to the component mounting machine 20. As shown in FIG. As shown in FIG. 2, the component mounting machine 20 includes an apparatus main body 41 and a fixing board 45 inside the module 22 . The device main body 41 and the fixed substrate 45 are provided inside the module 22 below the substrate transfer device 23 . As shown in FIG. 3, in the component mounting machine 20 of the present embodiment, a fixed part substrate 45 fixed inside the module 22 and a movable part (the X-axis slide mechanism 27A and the mounting head 25) that moves inside the module 22 are arranged. Data transmission between is performed by optical communication (multiplex communication) via optical fiber cables 81 and 82 .

The device main body 41 has a servo amplifier 83 , a device control main board 85 and an image processing board 87 . Further, the fixed part board 45 has an FPGA (Field Programmable Gate Array) 91, a storage device 92, transmission-side photoelectric converters 93A and 94A, and reception-side photoelectric converters 93B and 94B. The X-axis slide mechanism 27A also has an X-axis substrate 95, a slave 61, a mark camera 69, a linear motor 77, and a linear scale 78. The mounting head 25 also has a head substrate 97 , a slave 62 , a parts camera 71 , a servomotor 75 and an encoder 76 .

In the component mounting machine 20 of the present embodiment, various data of devices possessed by the mounting head 25 and the X-axis slide mechanism 27A are transmitted and received by multiplex optical communication. The various data referred to here are, for example, linear scale signals of the linear scale 78 of the X-axis slide mechanism 27A and encoder signals of the encoder 76 of the mounting head 25 . Various data are image data of the mark camera 69 and the parts camera 71, for example. The various data are control data for the slave 61 of the X-axis slide mechanism 27A and the slave 62 of the mounting head 25. FIG. The data to be multiplexed is not limited to these data, and various data transmitted and received by the component mounting machine 20 can be used.

The FPGA 91 of the fixed part board 45 multiplexes the data input from the servo amplifier 83 of the device body part 41, the device control main board 85, and the image processing board 87. FIG. The FPGA 91 constructs a logic circuit that reads configuration information from the storage device 92 and performs multiplexing processing, for example, at startup. The FPGA 91 multiplexes input data by, for example, time division multiplexing (TDM). The FPGA 91, for example, multiplexes various data input from the servo amplifier 83 or the like according to a certain time (time slot) assigned to the input port, and transmits the multiplexed data to the transmission side photoelectric converters 93A and 94A. to the X-axis slide mechanism 27A and the mounting head 25 via.

As shown in FIG. 4, the storage device 92 stores a safe mode program SP, a first user mode program UP1, and a second user mode program UP2 as configuration information. As will be described later, the storage device 105 of the X-axis slide mechanism 27A and the storage device 115 of the mounting head 25 similarly store the safe mode program SP, the first user mode program UP1, and the second user mode program UP2. there is For this reason, in the following explanation, when the configuration information of each device is distinguished and explained, as shown in FIG. The mounting head 25) will be distinguished from each other by attaching lower-case letters. Also, when referring to each configuration information generically, the safe mode program SP and the last lowercase alphabet are omitted.

The FPGA 91 has a safe mode in which the safe mode program SPa is read from the storage device 92 and constructs a logic circuit, and a user mode in which a logic circuit is constructed by reading the first user mode program UP1a or the second user mode program UP2a. . For example, the FPGA 91 transitions to the safe mode in the initial stage after the component mounting machine 20 is powered on and activated. Next, the FPGA 91 shifts from the safe mode to the user mode, multiplexes data input from each device (servo amplifier 83, etc.) in the user mode, separates multiplexed data received from the X-axis slide mechanism 27A, etc. to run. In addition, in the safe mode, the FPGA 91 of the present embodiment receives model information from an opposing communication destination device (for example, the X-axis board 95 of the X-axis slide mechanism 27A), and based on the received model information, performs the first user mode. Execution of the program UP1a or the second user mode program UP2a is selected. Details of processing such as reception of model information will be described later.

Also, the X-axis substrate 95 of the X-axis slide mechanism 27A has a transmission-side photoelectric converter 101A, a reception-side photoelectric converter 101B, an FPGA 103, and a storage device 105. FIG. As shown in FIG. 3, the X-axis substrate 95 of the X-axis slide mechanism 27A and the head substrate 97 of the mounting head 25 have the same configuration as the fixing portion substrate 45. As shown in FIG. Therefore, in the description of the X-axis substrate 95 and the head substrate 97, the description of the same configuration as that of the fixed portion substrate 45 will be omitted as appropriate. The transmission-side photoelectric converter 93A and the reception-side photoelectric converter 93B of the fixed part substrate 45 are connected to the transmission-side photoelectric converter 101A and the reception-side photoelectric converter 101B of the X-axis slide mechanism 27A via an optical fiber cable 81. there is The FPGA 103 multiplexes image data from the mark camera 69, linear scale signals from the linear scale 78, control data from the slave 61, and the like. The storage device 105 of the X-axis board 95 stores a safe mode program SPb, a first user mode program UP1b, and a second user mode program UP2b, like the storage device 92 of the fixed part board 45 described above. FPGA 103 constructs a logic circuit based on the configuration information stored in storage device 92 .

Similarly, the head substrate 97 of the mounting head 25 has a transmission-side photoelectric converter 111A, a reception-side photoelectric converter 111B, an FPGA 113, and a storage device 115. FIG. The transmitting side photoelectric converter 94A and the receiving side photoelectric converter 94B of the fixed part board 45 are connected to the transmitting side photoelectric converter 111A and the receiving side photoelectric converter 111B of the mounting head 25 via the optical fiber cable 82 . The FPGA 113 multiplexes image data from the parts camera 71 of the mounting head 25, encoder signals from the encoder 76, control data from the slave 62, and the like. The storage device 115 of the mounting head 25 stores a safe mode program SPc, a first user mode program UP1c, and a second user mode program UP2c, similarly to the storage device 92 of the fixed part substrate 45 described above. FPGA 113 constructs a logic circuit based on the configuration information stored in storage device 115 .

Note that the FPGAs 91, 103, and 113 are examples of processing units of the present disclosure. The processing units of the present disclosure are not limited to FPGAs, and may be other programmable logic devices such as programmable logic devices (PLDs) and composite programmable logic devices (CPLDs). Moreover, the processing unit is not limited to a programmable logic device, and may be, for example, an application specific integrated circuit (ASIC) specialized for processing communication data. Further, the processing unit may execute the multiplexing process or the like by executing a program on the CPU and performing software processing. Also, the processing unit may have a configuration in which a programmable logic device, an ASIC, and software processing are combined.

Storage devices 92, 105, and 115 are non-volatile memories such as EEPROMs, for example. Note that the storage devices 92, 105, and 115 are not limited to non-volatile memories, and may be volatile memories such as SRAMs. Further, the storage device in the present disclosure is not limited to memory, and may be other storage device such as hard disk, or a combination of RAM, ROM, and hard disk.

The optical fiber cables 81 and 82 have enhanced flexibility by adjusting the arrangement and thickness of the optical fiber lines in the cables, for example. As a result, even when the optical fiber cables 81 and 82 are bent due to the movement of the mounting head 25 and the X-axis slide mechanism 27A, data can be transmitted stably without damaging the optical fiber lines. Note that the communication connecting the fixed part board 45, the mounting head 25, and the X-axis slide mechanism 27A is not limited to optical communication using the optical fiber cables 81 and 82, and conforms to the Gigabit Ethernet (registered trademark) communication standard, for example. Communication using a LAN cable may also be used. Further, the communication for connecting the fixed part substrate 45, the mounting head 25 and the like is not limited to wired communication, and may be optical wireless communication using a laser or the like.

The transmission-side photoelectric converter 93A of the fixed part board 45 converts the multiplexed data multiplexed by the FPGA 91 into an optical signal, and transmits the optical signal to the reception-side photoelectric converter 101B of the X-axis board 95 via the optical fiber cable 81. . The reception-side photoelectric converter 101B converts the optical signal received from the transmission-side photoelectric converter 93A into a photocurrent of an electric signal, and outputs the electric signal to the FPGA 103 . The FPGA 103 of this embodiment has an AD conversion circuit and the like, and converts analog photocurrent into a digital signal for processing.

The FPGA 103 also performs demultiplexing of the converted digital signal, ie, multiplexed data, and separates the data multiplexed into the multiplexed data. The FPGA 103 outputs various separated data to corresponding devices. As a result, multiplex communication (optical communication) in which various data are multiplexed is performed between the fixed part substrate 45 and the X-axis slide mechanism 27A. Similarly, the FPGA 103 multiplexes the image data of the mark camera 69 and the like, and transmits the multiplexed data to the reception side photoelectric converter 93B of the fixed part substrate 45 via the transmission side photoelectric converter 101A. The FPGA 91 demultiplexes the multiplexed data and outputs the separated various data to the image processing board 87 of the apparatus main body 41 or the like.

Further, the fixed part substrate 45 performs multiplex optical communication with the mounting head 25 in the same manner as the X-axis slide mechanism 27A. The transmitting side photoelectric converter 94A and the receiving side photoelectric converter 94B of the fixed part board 45 are connected to the transmitting side photoelectric converter 111A and the receiving side photoelectric converter 111B of the head board 97 via the optical fiber cable 82 . The FPGA 91 of the fixed part board 45 performs multiplex communication with the FPGA 113 of the head board 97 via the optical fiber cable 82 . The multiplex communication lines of the optical fiber cables 81 and 82 are, for example, 5 Gbps or 10 Gbps full-duplex communication.

The device main body 41 of this embodiment controls the X-axis slide mechanism 27A and the mounting head 25 by the multiple optical communication described above. The servo amplifier 83 of the apparatus main body 41 executes initialization processing for the linear scale 78 of the X-axis slide mechanism 27A, linear scale signal acquisition processing, and the like. The linear scale 78 transmits a linear scale signal indicating the slide position of the X-axis slide mechanism 27A to the servo amplifier 83 via multiplex communication. The servo amplifier 83 is connected to the linear motor 77 of the X-axis slide mechanism 27A via a power line (not shown), and changes the power supplied to the linear motor 77 based on the linear scale signal of the linear scale 78. , the feedback control for the linear motor 77 is executed. The device control main board 85 controls the servo amplifier 83 based on the production program and the like received from the host computer 15 . As a result, the X-axis slide mechanism 27A moves to the X-direction position based on the production program.

Similarly, the servo amplifier 83 performs initialization processing for the encoder 76 of the mounting head 25, acquisition processing of encoder signals, and the like. The encoder 76 transmits an encoder signal indicating the rotational position of the servo motor 75 to the servo amplifier 83 via multiplex communication. The servomotor 75 functions as a drive source or the like for driving the holding member of the mounting head 25, as described above. The servo amplifier 83 is connected to the servo motor 75 of the mounting head 25 via a power line (not shown), and performs feedback control of the servo motor 75 based on the encoder signal of the encoder 76 . Thereby, the mounting head 25 rotates and moves the holding member up and down based on the production program.

Further, the device control main board 85 of the device main body 41 can control the X-axis slide mechanism 27A and the relays, sensors, etc. provided in the mounting head 25 via the industrial network described above. The device control main board 85 functions as a master in the industrial network, and transmits control data to the slave 61 of the X-axis slide mechanism 27A and the slave 62 of the mounting head 25 via multiplex communication. The slaves 61 and 62 drive relays and sensors based on control data received from the device control main board 85 . Further, the slaves 61 and 62 write the values of signals obtained from relays and sensors in control data, and transmit the data to the device control main substrate 85 via multiplex communication. As a result, the device control main board 85 can control the relays and the like of each device.

Note that the configuration of the multiplex communication system shown in FIG. 3 is an example and can be changed as appropriate. For example, a linear scale signal attached to a linear motor (not shown) of the Y-axis slide mechanism 27B (see FIG. 2) may be transmitted by multiplex communication. Also, the signals of the relays of the Y-axis slide mechanism 27B may be transmitted by multiplex communication. Also, the data transmitted and received between the host computer 15 and the loader 13 may be transmitted by multiplex communication. Also, the fixed part board 45 may include slaves controlled by the device control main board 85 . Also, the slave 61 may be a circuit block (IP core, etc.) of the FPGA 103 , that is, a part of the FPGA 103 . Further, the component mounting machine 20 does not have to be equipped with equipment related to the industrial network (a circuit functioning as a master of the device control main board 85, the slaves 61 and 62, etc.).

With the configuration described above, the device control main board 85 controls the component mounting machine 20 based on the production program received from the host computer 15 . The device control main board 85 is, for example, a processing circuit mainly composed of a CPU, and executes processing based on a production program. The device control main board 85 receives the data collected by the industrial network, the linear scale signal of the linear scale 78, the encoder signal of the encoder 76, etc. via multiplex communication. Further, the device control main board 85 inputs the result (error of holding position, etc.) of processing the image data captured by the mark camera 69 or the parts camera 71 by the image processing board 87 . The device control main board 85 determines the next control contents (the type of electronic component to be mounted, the mounting position, etc.) based on these data. The device control main board 85 controls various devices according to the determined control contents.

(Processing at startup)
Next, the contents of processing when the FPGAs 91, 103, and 113 are activated will be described. Here, the component mounting machine 20 of this embodiment includes FPGAs 91, 103, and 113 for multiplexing on the fixed part board 45, the X-axis board 95, and the head board 97, respectively. For such multiplex communication devices, devices with faster communication speeds are being developed for various reasons, such as speeding up communication and increasing the amount of data to be transmitted and received.

For example, as shown in FIG. 8, it is assumed that old and new boards (FPGA) are mixed in one manufacturing site. In the example shown in FIG. 8, it is assumed that there are two types of boards, an old type (low speed: low) and a new type (high speed: high). As shown in FIG. 8, for example, the new type fixed part board 45, the X-axis board 95, and the head board 97 (hereinafter sometimes referred to as the new type board) are the respective boards provided in the component mounting machine 20 of the present embodiment. corresponds to As shown by NOs 4 to 6 in FIG. 8, the new board is capable of multiplex communication at 5 Gbps in the safe mode (startup mode 1 in FIG. 8). Also, the new board is capable of multiplex communication at 5 Gbps in the first user mode (activation mode 2a in FIG. 8). In addition, the new board is capable of high-speed multiplex communication at 10 Gbps in the second user mode (startup mode 2b in FIG. 8) compared to the first user mode.

On the other hand, as shown in NOs. 1 to 3 in FIG. 8, for example, the old type fixed part board 45, the X axis board 95, and the head board 97 (hereinafter sometimes referred to as the old type board) are in safe mode ( In activation mode 1), 5 Gbps multiplex communication is possible. Further, the old-type board has, for example, only one user mode (hereinafter sometimes referred to as old user mode), and in the old user mode, 5 Gbps multiplex communication is possible. The old user mode is a mode corresponding to the first user mode. For example, the storage device of the old board (the device corresponding to the storage device 92) stores only configuration information corresponding to the safe mode program SP and the first user mode program UP1, and stores the second user mode program UP2. not The old-type board executes the safe mode program SP at startup to shift to the safe mode, and then executes reconfiguration with the first user mode program UP1 to shift to the old user mode. In other words, the new board of the present embodiment has a faster second user mode in addition to the old user mode (first user mode) supported by the old board. Therefore, as shown in start-up mode 2a of Nos. 1 to 3 in FIG. 8, the old board does not have a mode leading to the second user mode.

For example, if there is a device such as the mounting head 25 that can be attached to and detached from the component mounting machine 20, the user can replace the old type mounting head 25 with a slow communication speed or the new type mounting head 25 with a fast communication speed with the old type. There are cases where it is desired to use both the component mounting machine 20 and the new component mounting machine 20 . By using the old and new mounting heads 25 with the old and new component mounting machines 20, the communication destination device (for example, the fixed part board 45 for the mounting head 25) becomes the old type board or the new type board. Become. Therefore, the FPGAs 91, 103, and 113 of the present embodiment determine whether the communication destination device is new or old based on the model information in the safe mode at startup, and select the first user mode (low speed mode) or the second user mode (high speed mode). switch.

In addition to the mounting head 25, the component mounting machine 20 may have a configuration in which the X-axis substrate 95, the fixing portion substrate 45, or the devices (X-axis slide mechanism 27A, module 22) having them are detachable (exchangeable). good. That is, in addition to the head substrate 97, the X-axis substrate 95 and the fixed portion substrate 45 may be replaced with new and old. Further, the component mounting machine 20 may have a configuration in which the fixing part board 45, the X-axis board 95, and the head board 97 can be connected to the fixing part board 45, the X-axis board 95, and the head board 97 of another component mounting machine 20. . That is, by connecting the new type component mounting machine 20 and the old type component mounting machine 20, the new and old boards of communication destinations may be interchanged. Further, in the component mounting machine 20, at least one device among the module 22 (fixing part board 45), the X-axis board 95 (X-axis slide mechanism 27A), and the mounting head 25 (head board 97) is detachable. A configuration may be used, and a configuration in which not all the devices are detachable may be used. Even if all devices cannot be attached or detached at the user level, old and new devices may be assembled when the component mounting machine 20 is manufactured or repaired. If it is possible to switch the user mode, which will be described later, it is possible to assemble without worrying about whether the device is new or old. That is, assembly work becomes easier. Also, the FPGAs 91, 103, 113 may have three or more user modes. For example, the FPGAs 91, 103, and 113 may have three modes of low speed (5 Gbps), medium speed (10 Gbps), and high speed (20 Gbps) in accordance with speeding up of communication.

FIG. 5 shows the details of processing executed by the FPGAs 91, 103, and 113 of the old board, that is, the FPGAs 91, 103, and 113 provided only with a low-speed user mode of 5 Gbps when started. The contents of the processing when the old-type FPGAs 91, 103, and 113 are activated are the same processing. Therefore, in the following description, the FPGA 91 of the fixed part substrate 45 will be mainly described as an example, and the description of the other FPGAs 103 and 113 will be omitted.

First, in S11 of FIG. 5, for example, when the component mounting machine 20 is powered on and power is supplied to the fixed board 45, the old FPGA 91 reads the safe mode program SPa from the storage device 92 and executes it. Build a logic circuit and boot into safe mode. The FPGA 91 constructs a multiprocessing logic circuit and the like based on the safe mode program SPa. The FPGA 91 executes 5 Gbps multiplex communication with a communication destination device.

Next, the FPGA 91 exchanges model information with the communication destination device via multiplex communication (S13). FIG. 7 shows an example of model information. In the example shown in FIG. 8 , there are four types of communication destination devices for the fixed part board 45 : an old type X-axis board 95 , a new type X-axis board 95 , an old type head board 97 , and a new type head board 97 . Therefore, as shown in FIG. 7, for example, 2-bit information can be set as model information in order to identify four types of substrates.

Also, the old type FPGA 91 has only one user mode (old user mode), unlike the new type FPGA 91 to be described later. In other words, there is no need to select a user mode based on model information, and model information is unnecessary. Therefore, in S13, the old-type FPGA 91 does not need to receive the model information from the communication destination device while transmitting its own model information to the communication destination device.

Moreover, in S13, the FPGA 91 may receive model information and execute control based on the model information. As shown in FIG. 3, the fixed part board 45 connects the transmission side photoelectric converter 93A and the reception side photoelectric converter 93B that connect the optical fiber cable 81 of the X-axis slide mechanism 27A, and the optical fiber cable 82 of the mounting head 25. It has a transmitting side photoelectric converter 94A and a receiving side photoelectric converter 94B to be connected. Therefore, when the user connects the optical fiber cables 81 and 82 to the fixed part substrate 45, there is a possibility that the photoelectric converter to be connected is mistaken.

Therefore, in S13, the FPGA 91 may receive model information from the communication destination device and determine whether the relationship between the received model information and the received interface (photoelectric converter) is correct. For example, the FPGA 91 may issue a warning in S13 when the optical fiber cable 82 (mounting head 25) is connected to the transmission-side photoelectric converter 93A. This makes it possible to notify the user of the connection error.

In the safe mode, the FPGA 91 may exchange model information by non-multiplex communication via the optical fiber cables 81 and 82 without executing multiplex communication. You can exchange information.

After exchanging the model information in S13, the FPGA 91 executes a process of activating the old user mode (S15). The FPGA 91, for example, reads out the first user mode program UP1a from the storage device 92, executes reconfiguration of the logic circuit, and activates the old user mode. The FPGA 91 executes 5 Gbps multiplex communication with a communication destination device.

Next, the FPGA 91 exchanges model information again with the communication destination device (S17). As a result, the model information can be checked again not only in the safe mode but also in the user mode. As in S13, the FPGA 91 may transmit only the model information in S17, or may receive the model information and determine whether the optical fiber cables 81 and 82 are connected. Note that the FPGA 91 may execute only one of S13 or S15, or may execute connection determination in only one of S13 or S15.

FPGA91 will complete|finish the process shown in FIG. 5, if S17 is performed. Thereby, the FPGA 91 can activate the old user mode, execute multiplex communication by 5 Gps, and transmit/receive data related to the mounting work.

Note that the FPGA 91 may verify the configuration information of the user mode in the safe mode. For example, the old storage device 92 stores only the first user mode program UP1a as user mode configuration information. In S11, the FPGA 91 executes the safe mode program SPa to build a logic circuit and the like, and then builds an old user mode logic circuit (such as a multiprocessing logic circuit) based on the first user mode program UP1a. It may be determined whether or not the logic circuit can be constructed normally. The FPGA 91 checks whether there are any errors in the data of the first user mode program UP1a, and whether there are any errors in the connection and processing results of the logic circuit constructed by the first user mode program UP1a, and constructs the logic circuit. It is determined whether or not the process can be performed normally. If the FPGA 91 determines that it can be constructed normally, it may execute S13 and subsequent steps, and shift from the safe mode to the old user mode. Moreover, FPGA91 may notify a warning, when an error etc. are found by verification. As a result, the user can be prompted to confirm the first user mode program UP1a. Further, verification of the first user mode program UP1a and the second user mode program UP2a may be executed in the safe mode (S21 in FIG. 6) executed by the later-described new type FPGA 91. FIG.

Moreover, the FPGA 91 does not have to reconstruct all the logic circuits when shifting from the safe mode to the first user mode. For example, the FPGA 91 may reconfigure only a portion related to logic circuits (logic circuits required in user mode) that process linear scale signals, encoder signals, and the like.

Next, the FPGAs of the new board, that is, the FPGAs 91, 103, and 113 of this embodiment will be described. The contents of processing at the time of activation of the new type FPGAs 91, 103, and 113 are the same processing. Therefore, in the following description, the FPGA 91 will be described as an example. Further, the contents described with reference to FIG. 5 are omitted as appropriate. FIG. 6 shows the contents of processing when the new type FPGA 91 is activated.

First, in S21 of FIG. 6, when power is supplied to the fixed part board 45, the new type FPGA 91 reads the safe mode program SPa from the storage device 92, executes it, constructs a logic circuit, and shifts to the safe mode. The FPGA 91 executes 5 Gbps multiplex communication with a communication destination device.

Next, the FPGA 91 exchanges model information with the communication destination device (S23). In S23, the FPGA 91 may determine connection of the optical fiber cables 81 and 82 based on the received model information, as in S13 of FIG. In addition, when the model information is not requested from the communication destination device, the FPGA 91 does not have to transmit the model information in S23. For example, the FPGA 91 does not need to transmit the model information when the model information is not requested because the device to be communicated with is an old model.

Next, the FPGA 91 determines whether or not the communication destination device is an old model based on the model information received in S23 (S25). As shown in FIG. 7, for example, when the received model information is a bit value (00 or 10) indicating that the device is an old model, the FPGA 91 makes an affirmative determination in S25 (S25: YES), and proceeds to S27. Execute. On the other hand, when the received model information is a bit value (01 or 11) indicating a new model device, the FPGA 91 makes a negative determination in S25 (S25: NO), and executes S29.

In S27, the FPGA 91 executes processing for activating the first user mode. The FPGA 91 reads the first user mode program UP1a from the storage device 92, reconstructs the logic circuit, and activates the first user mode. The FPGA 91 executes 5 Gbps multiplex communication with a communication destination device.

On the other hand, in S29, the FPGA 91 executes processing for activating the second user mode. The FPGA 91 reads the second user mode program UP2a from the storage device 92, reconstructs the logic circuit, and activates the second user mode. In this case, the communication destination device (for example, the head substrate 97 of the mounting head 25 ) is a new model, and based on the model information received from the FPGA 91 , the mode is shifted to the second user mode. The FPGA 91 then performs 10 Gbps multiplex communication with the communication destination device. As a result, it is possible to select a user mode according to the communication destination device (according to whether the device is new or old) and execute multiplex communication at a communication speed corresponding to the new or old device.

Therefore, the FPGA 91 of the present embodiment executes the safe mode program SPa and shifts to the safe mode when the system of the component mounting machine 20 is started (S21). The FPGA 91 selects and executes the first user mode program UP1a or the second user mode program UP2a in the safe mode, thereby shifting from the safe mode to the selected user mode (S27, S29). According to this, when a part of the component mounting machine 20 (such as the mounting head 25) is replaced and a new FPGA 113 (head board 97) is connected, the FPGAs 91 and 113 are set in the user mode suitable for the communication destination device. can start.

After executing S27 or S29, the FPGA 91 exchanges model information again with the communication destination device (S31). As a result, the model information can be checked again not only in the safe mode but also in the user mode. The FPGA 91 may determine connection of the optical fiber cables 81 and 82 based on the received model information, as in S23. Note that the FPGA 91 may execute only one of S23 or S25, or may execute connection determination in only one of S23 or S25.

FPGA91 will complete|finish the process shown in FIG. 6, if S31 is performed. Thereby, the FPGA 91 can perform low-speed (5 Gbps) or high-speed (10 Gbps) multiplex communication to transmit and receive data related to the mounting work.

FIG. 9 shows each combination when the fixed part board 45 is of the old type, and the modes and communication speeds of the combinations. NO1 to NO4 in FIG. 9 indicate each combination in the safe mode. In this case, the old board executes S11 and S13 in FIG. 5 and starts up in the safe mode. The new board executes S21 and S23 in FIG. 6 and starts up in the safe mode. In safe mode, both the new model and the old model perform 5 Gbps multiplex communication.

NOs 5 and 6 in FIG. 9 show the case where the old type X-axis substrate 95 and the head substrate 97 are connected as the movable portion to the old type fixed portion substrate 45 (fixed portion in the drawing). In this case, the fixed part and the movable part execute S15 of FIG. 5 and start up in the old user mode. Both the fixed part and the movable part are in the old user mode and perform 5 Gbps multiplex communication.

NOs 7 and 8 in FIG. 9 show the case where the new type X-axis substrate 95 and the head substrate 97 are connected to the old type fixed portion substrate 45 as movable portions. Also in this case, the fixed part board 45 executes S15 of FIG. 5 and starts up in the old user mode. On the other hand, in S25 of FIG. 6, the movable part determines that the communication destination device is an old model based on the model information received from the fixed part substrate 45 (S25: YES), and executes S27. The movable part executes the first user mode program UP1 on the FPGAs 103 and 113 and starts up in the first user mode. Therefore, 5 Gbps multiplex communication is performed in user modes (old user mode and first user mode).

FIG. 10 shows each combination when the fixed part board 45 is a new type, and the modes and communication speeds when combined. NO1 to NO4 in FIG. 10 indicate respective combinations in the safe mode, and as in the case of FIG. 9, in the safe mode, both the new model and the old model execute multiplex communication at 5 Gbps.

NO 5 and 6 in FIG. 10 show the case where the old type X-axis substrate 95 and the head substrate 97 are connected to the new type fixed portion substrate 45 as the movable portion. In this case, the old X-axis board 95 and the head board 97 of the moving part execute S15 of FIG. 5 and start up in the old user mode. On the other hand, in S25 of FIG. 6, the fixed part board 45 of the fixed part determines that the communication destination device is an old model based on the model information received from the movable part (in this case, the X-axis board 95 or the head board 97). A determination is made (S25: YES), and S27 is executed. The fixed part board 45 executes the first user mode program UP1a on the FPGA 91 and starts up in the first user mode. Therefore, 5 Gbps multiplex communication is performed in the user mode.

NO 7 and 8 in FIG. 10 show the case where the new type movable portion is connected to the new type fixed portion substrate 45 . In this case, the stationary part board 45 determines that the communication destination device is a new model based on the model information received from the communication destination device (X-axis board 95 or head substrate 97) in S25 of FIG. : NO), S29 is executed. Similarly, the X-axis substrate 95 and the head substrate 97 of the movable portion make a negative determination in S25 of FIG. 6 (S25: NO) based on the model information received from the fixed portion substrate 45, and execute S29. Both the fixed part and the movable part execute the second user mode program UP2 in the FPGAs 91, 103, 113 and start up in the second user mode. Therefore, both the fixed part and the movable part are in the second user mode, and high-speed 10 Gbps multiplex communication is performed. In this way, even when new and old devices are combined and connected, multiplex communication can be executed at the optimum communication speed based on the model information.

Incidentally, as shown in the image output standards of FIGS. 8 and 9, it is assumed that the data output format differs between the new model device and the old model device. For example, as shown in FIG. 9, the old fixed part board 45 transmits image data of the mark camera 69 and the part camera 71 (see FIG. 3) to the image processing board 87 via a camera link (registered trademark) base configuration cable. Output to Further, as shown in FIG. 10, the new fixed part board 45 can, for example, transmit image data of the mark camera 69 and the parts camera 71 (see FIG. 3) through a USB cable through USB 3.0-VISION (registered trademark) standard communication. is output to the image processing board 87 .

For example, the speed of the USB 3.0-VISION (registered trademark) standard communication shown in FIG. 10 is higher than that of the Camera Link (registered trademark) standard communication of the Base configuration shown in FIG. This assumes, for example, that transmission of a larger amount of image data has become possible with the speeding up of multiplex communication. As described above, not only image data but also data amount and data format of data to be transmitted may be changed due to speeding up of multiplex communication. Therefore, for example, the FPGA 91 of the fixed part board 45 may include a processing part that converts the communication protocol.

Specifically, for example, the first user mode program UP1a stored in the new-model storage device 92 receives Camera Link (registered trademark) from the old-model substrate (X-axis substrate 95 and head substrate 97) via multiplex communication. ) configuration information of a protocol conversion processing unit that converts standard communication data into USB 3.0-VISION (registered trademark) standard communication data. In addition, the first user mode programs UP1b and UP1c stored in the new storage devices 105 and 115 use the USB 3.0-VISION (registered trademark) standard communication data input from the mark camera 69 and parts camera 71 as camera link data. It may also include configuration information of a protocol conversion processing unit that converts to (registered trademark) standard communication data.

As a result, when the new-model FPGAs 91, 103, and 113 are activated in the first user mode to match the old-model device, protocol conversion is performed according to the communication standard (Camera Link (registered trademark) standard) of the old-model device, Appropriate transmission processing and reception processing can be performed. For example, the FPGA 91 converts the camera link (registered trademark) standard data received from the old board into data of the USB 3.0-VISION (registered trademark) standard by the protocol conversion processing unit, and transfers the data to the image processing board 87 via the USB cable. can be output to

In the above example, the case where the communication protocol of image data is changed has been described, but the protocol conversion processing section may be similarly constructed in the case of other data. For example, if communication standards such as the linear scale signal of the linear scale 78 and the encoder signal of the encoder 76 are different between old and new, the FPGA 91 may construct a protocol conversion processing unit, convert the program, and then output it to the servo amplifier 83 or the like. good.

Here, as described above, the first user mode of this embodiment is a mode in which multiplex communication is performed at 5 Gbps (an example of the first communication speed). The second user mode is a mode in which multiplex communication is performed at 10 Gbps (an example of a second communication speed), which is faster than the first communication speed. According to this, when two types of devices with different communication speeds coexist, the user mode can be switched according to the communication destination device, and communication can be executed at the optimum communication speed.

FPGAs 91, 103, and 113 are programmable logic devices that construct logic circuits based on configuration information. Storage devices 92, 105, and 115 store configuration information (safe mode program SP, first user mode program UP1, second user mode program UP2) corresponding to each of safe mode, first user mode, and second user mode. are doing. The fixed part board 45 and the like switch between three different modes, a safe mode, a first user mode, and a second user mode, based on the configuration information. Here, when executing mode switching suitable for the device of the communication destination after starting up to the user mode, one user mode program includes a switching program, a first user mode program, and a second user mode program. may be included. As a result, even if it is desired to update only the program of the second user mode (such as new configuration information) (and to leave the old program of the first user mode unchanged), it is necessary to update the entire user mode program. Also, including two modes may increase the data capacity of the user mode program. An increase in data capacity may lead to a prolonged program development/verification process, an increase in the capacity of programmable logic devices, and an increase in manufacturing costs. An increase in the capacity of a programmable logic device may increase the length of connection lines connecting logic circuits and increase the frequency of occurrence of timing errors in signal input/output.

On the other hand, by separately storing the three programs in the storage devices 92, 105 and 115 as shown in FIG. 4, the programs can be updated separately. For example, only the new second user mode program UP2 can be updated separately. Also, the data capacity of the entire program can be reduced, and the capacity of the programmable logic device can be reduced to reduce costs. Furthermore, the connection lines between the logic circuits can be shortened, and the occurrence of timing errors can be suppressed.

Also, the component mounting machine 20 includes a module 22 having a fixed part board 45 and a head board 97, moves relative to the module 22, and carries out work based on data transmitted and received by multiplex communication. head 25 and the like. According to this, in the component mounting machine 20 that transmits and receives data between the fixed part and the movable part by multiplex communication, the fixed part can be activated in a user mode suitable for the movable part. The system of the component mounting machine 20 can be stably activated, and the work by the mounting head 25 and the X-axis slide mechanism 27A (an example of the movable part) can be properly executed.

Also, the mounting head 25 is configured to be detachable from the module 22 . The mounting head 25 that performs the assembly work and the mounting work is changed according to the work (substrate 17, etc.) to be worked. Since such a mounting head 25 is an expensive device, there is a high possibility that it will be reused even if the fixed portion side becomes new. As a result, the mounting heads 25 supporting different functions coexist. Therefore, it is extremely effective to provide the FPGA 113 for selecting the user mode based on the model information in the component mounting machine 20 to which the mounting head 25 is detachable.

Incidentally, the component mounting machine 20 is an example of a work machine. Module 22 is an example of a fixed part. The mounting head 25 and the X-axis slide mechanism 27A are examples of movable parts. The fixed part board 45, the X-axis board 95, and the head board 97 are examples of a multiplex communication device and a communication destination device. Transmitting photoelectric converters 93A, 94A, 101A, 111A and receiving photoelectric converters 93B, 94B, 101B, 111B are an example of a multiplex communication interface. The FPGAs 91, 103, 113 are examples of processing units.

As described above, the present embodiment described above has the following effects.
In one aspect of the present embodiment, storage devices 92, 105, and 115 store configuration information for three modes: safe mode, first user mode, and second user mode. The FPGAs 91, 103, and 113 execute the safe mode program SP, receive model information from the communication destination device in the safe mode, and determine execution of the first user mode or the second user mode based on the model information (see FIG. 6). S25). The FPGAs 91, 103, and 113 construct user-mode logic circuits and perform multiplex communication via the transmission-side photoelectric converter 93A and the like.

According to this, the fixed part board 45 and the like can be activated in two user modes, ie, the first user mode and the second user mode. The fixed part board 45 and the like receive the model information from the communication destination device in the safe mode, and activate the first user mode or the second user mode based on the received model information. As a result, the fixed part board 45 and the like can select and activate a user mode suitable for the communication destination device based on the model information.

Here, if the model information of the communication destination device is determined after starting up to the user mode, processing to switch to the user mode suitable for the communication destination device is required after starting up to the user mode, and the startup time is increased. become longer. On the other hand, in the fixed part board 45 and the like of the present embodiment, the startup time can be shortened by receiving the model information in the safe mode and selecting and executing the user mode.

It goes without saying that the present disclosure is not limited to the above embodiments, and that various improvements and modifications are possible without departing from the scope of the present disclosure.
For example, in the above embodiment, the case where the first user mode and the second user mode are modes with different multiplex communication speeds has been described, but the present invention is not limited to this. For example, the first and second user modes may be user modes in which the parts camera 71 and the mark camera 69 have different communication standards (see FIGS. 9 and 10). Also in this case, the camera can be activated in a user mode corresponding to the communication standard of the camera based on the model information. Similarly, the first and second user modes may be user modes with different communication standards for linear scale signals from the linear scale 78 and encoder signals from the encoder 76, or user modes with different data formats and numbers of sensors for various sensors. .

The processing unit of the present disclosure is not limited to a logic circuit such as an FPGA, and may be configured to perform multiple processing by software processing by executing a program with a CPU. Also in this case, the user mode may be switched by changing the program executed by the CPU.
FPGAs 91, 103, 113 may have three or more user modes.
The mounting head 25 may be configured so as not to be detachable from the component mounting machine 20 .
Further, the communication lines for multiplex communication are not limited to the optical fiber cables 81 and 82, and may be, for example, LAN cables conforming to the Gigabit Ethernet (registered trademark) communication standard. In this case, for example, 2.5 Gbps multiplex communication may be performed in the first user mode, 5 Gbps multiplex communication may be performed in the second user mode, and 10 Gbps multiplex communication may be performed in the third user mode. .

In the above embodiment, the technique of the present disclosure is applied to the multiplex communication system in the component mounting machine 20, but the invention is not limited to this. For example, the host computer 15 may perform communication for controlling the loader 13 by multiplex communication, and a processing unit (such as an FPGA) that processes the multiplex communication may switch the user mode based on the model information received in the safe mode. . As a result, for example, when the loader 13 itself or part of the loader 13 is replaced, it can be started in the user mode according to the model information.
Further, in the above-described embodiment, the component mounting machine 20 that mounts electronic components on the substrate 17 is used as the working machine of the present disclosure, but the present invention is not limited to this. For example, as the work machine, various work machines such as a solder application device that applies solder to the substrate 17, a machine tool, and a care robot can be employed.

20 component mounting machine (working machine), 22 module (fixed part), 25 mounting head (movable part), 27A X-axis slide mechanism (movable part), 45 fixed part substrate (multiplex communication device) 91, 103, 113 FPGA ( processing unit), 92, 105, 115 storage device, 93A, 94A, 101A, 111A transmission-side photoelectric converter (multiplex communication interface), 93B, 94B, 101B, 111B reception-side photoelectric converter (multiplex communication interface), 95 X Axis substrate (multiplex communication device), 97 Head substrate (multiplex communication device), SP Safe mode program, UP1 First user mode program, UP2 Second user mode program.

Claims (7)

a multiplex communication interface that performs multiplex communication with a communication destination device;
a storage device for storing programs in three modes: a safe mode, a first user mode, and a second user mode different from the first user mode;
reading out the safe mode program from the storage device and executing it, receiving model information related to the communication destination device from the communication destination device via the multiplex communication interface in the safe mode, and based on the model information; The first user mode or the second user mode in which a program of the first user mode or the second user mode is selected, read out from the storage device and executed, and multiplex communication via the multiplex communication interface is read out and executed. a processing unit that executes between the communication destination device based on the program of
with
The first user mode is
A mode for executing multiplex communication at a first communication speed,
The second user mode is
A multiplex communication device in a mode for executing multiplex communication at a second communication speed higher than the first communication speed . The processing unit is
read the program of the first user mode or the second user mode from the storage device and execute it, execute multiplex communication via the multiplex communication interface, receive the model information again from the communication destination device, and 2. The multiplex communication device according to claim 1, wherein confirmation is made to see if the model information matches the received model information in safe mode. The processing unit is
A programmable logic device that builds a logic circuit based on configuration information,
The storage device
storing the configuration information corresponding to each of the safe mode, the first user mode, and the second user mode as the program ;
The processing unit is
After receiving the model information from the communication destination device, the program for the first user mode or the second user mode is read from the storage device based on the model information and executed to reconstruct the logic circuit. 3. A multiplex communication device according to claim 1 or claim 2, wherein said multiplex communication interface performs establishment of multiplex communication via said multiplex communication interface. The communication destination device includes:
one of a data output device and a data processing device that processes output data from the data output device is connected, and the output data is transmitted to and from the one device using a first communication protocol;
The multiplex communication device
the other of the data output device and the data processing device is connected, and the output data is transmitted between the other device and the other device using a second communication protocol that is faster than the first communication protocol;
The processing unit is
When the program of the first user mode is read from the storage device and executed to execute the multiplex communication at the first communication speed, the output data received from the one device in the multiplex communication at the first communication speed is: 4. The multiplex communication device according to claim 1, further comprising a protocol conversion processing unit that converts the first communication protocol into the second communication protocol and outputs the converted protocol to the other device. A work machine comprising the multiplex communication device according to any one of claims 1 to 4 , wherein the multiplex communication device transmits data related to work. a fixed part comprising the multiplex communication device;
a movable part that includes the communication destination device, moves relative to the fixed part, and performs work based on the data transmitted and received by the multiplex communication;
The work machine according to claim 5 , comprising: The movable part is
configured to be detachable from the fixed portion ,
The processing unit is
When the system of the working machine is started after the movable part is replaced, the program of the safe mode is executed to shift to the safe mode, and in the safe mode, the first user mode or the second user mode is activated. 7. The work machine according to claim 6 , wherein the safe mode is shifted to a selected user mode by selecting and executing a program .

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