JPWO2017179156A1 - Board work machine - Google Patents

Abstract

The controller 23 outputs a reset signal for resetting the relay 62. When the relay 62 receives a reset command from the controller 23, the relay 62 opens the power supply lines 67a and 67b. Thereby, the power supply to the linear scale 34 is cut off, and the power supply of the linear scale 34 is turned off. The controller 23 can reset the linear scale 34 by transmitting a reset command.

Description

  The present invention relates to a substrate working machine.

  2. Description of the Related Art Conventionally, in an on-board work machine that performs board-to-board work such as picking up components with a nozzle attached to a head and mounting them on a board, an electromagnetic motor is used as a drive source for changing the position and orientation of a moving body such as a head Built in the head. Further, the substrate working machine is provided with an encoder for detecting displacement of the electromagnetic motor, a linear encoder for detecting the position of the moving body, and a servo amplifier for driving and controlling the electromagnetic motor on the apparatus main body side. Patent Document 1 describes a servo amplifier and a converter that connects an encoder and a servo amplifier.

  When the manufacturer of the servo amplifier and the manufacturer of the linear encoder are different, the communication protocol may be different. Therefore, communication is performed by interposing a converter between the servo amplifier and the linear encoder.

JP 2004-185300 A

  However, when the manufacturer of the servo amplifier and the manufacturer of the linear encoder are different, there is a case where the linear encoder cannot be reset even if a converter is interposed when it is desired to reset the linear encoder. In this case, it is necessary to turn off the power supply of the servo amplifier and the linear encoder once and start up again. In this case, it takes time to restart and establish communication between the servo amplifier and the controller that controls the servo amplifier, which may reduce the operating rate of the substrate working machine.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide an on-board working machine capable of quickly resetting an encoder.

  (1) A substrate work machine according to the present application includes a servo amplifier, a controller that controls the servo amplifier, an actuator driven by the servo amplifier, an encoder that detects driving position information of the actuator, and a power source connected to the encoder And a relay that switches between opening and closing of the power supply line, and the relay opens the power supply line based on a reset command from the controller.

  According to the substrate working machine according to the present application, the encoder can be reset quickly.

It is a block diagram of the working robot which uses the multiplexed communication which concerns on embodiment. It is a figure which shows the breakdown for every data kind by which multiplex communication is carried out. It is a perspective view of an electronic component mounting apparatus. FIG. 4 is a schematic plan view of the electronic component mounting apparatus shown in FIG. 3 with a top cover removed.

(Configuration of work robot 10)
A working robot will be described as an example of the substrate working machine of the present application.
FIG. 1 is a schematic diagram showing a configuration of a working robot 10 that uses multiplexed communication. As shown in FIG. 1, the work robot 10 includes an apparatus main body 11 that is fixedly provided at a place where the work robot 10 is installed, a first movable portion 13 that moves relative to the apparatus main body 11, and a second one. The movable part 15 etc. are provided. For example, the work robot 10 performs a work such as attaching a work clamped by a robot arm of the second movable unit 15 to an object conveyed on the production line.

  The apparatus body 11 includes a multiplexed communication device 21, a controller 23, a Y-axis linear servo amplifier (hereinafter abbreviated as servo amplifier) 25, an X-axis linear servo amplifier (hereinafter abbreviated as servo amplifier) 26, and 6 axes. A rotary servo amplifier (hereinafter abbreviated as servo amplifier) 27, a display unit 29, and the like are provided. The controller 23 is mainly configured by a computer having a CPU, a RAM, and the like. The controller 23 is connected to the servo amplifiers 25 to 27. Each of the controller 23 and the servo amplifiers 25 to 27 is connected to the multiplexing communication device 21.

  The display unit 29 includes a plurality of display lamps 29a. The controller 23 controls turning on / off of each of the display lamps 29a through a control circuit (not shown).

  The first movable unit 13 is, for example, a slider device that moves the position of the second movable unit 15 in the X-axis direction and the Y-axis direction in the upper part of the apparatus main body 11. The first movable unit 13 includes a multiplexed communication device 31, an X-axis linear motor 37, a Y-axis linear motor 33, linear scales 34 and 38, converters 35 and 39, power supplies 61 and 63, relays 62 and 64, and an image processing device. 71, a parts camera 72, a mark camera 73, and the like.

  The X-axis linear motor 37 is a drive source that moves the first movable portion 13 in the X-axis direction. The X-axis linear motor 37 is connected to the X-axis linear servo amplifier 26 of the apparatus main body 11 through a power line (not shown) and is driven by the X-axis linear servo amplifier 26. The first movable unit 13 moves on the guide rail along the X-axis direction according to the driving of the X-axis linear motor 37. The linear scale 38 detects the position of the first movable unit 13 in the X-axis direction, and outputs an encoder signal such as a position in the X-axis direction (X coordinate value) to the converter 39.

  Similarly, the Y-axis linear motor 33 is a drive source that moves the first movable portion 13 in the Y-axis direction. The Y-axis linear motor 33 is connected to the Y-axis linear servo amplifier 25 of the apparatus main body 11 through a power line (not shown) and is driven by the Y-axis linear servo amplifier 25. The first movable unit 13 moves on the guide rail along the Y-axis direction according to the drive of the Y-axis linear motor 33. The linear scale 34 detects the position of the first movable unit 13 in the Y-axis direction, and outputs an encoder signal such as a position in the Y-axis direction (Y coordinate value) to the converter 35.

  The power supply 61 and the relay 62 are connected by a power supply line 67a, and the relay 62 and the linear scale 34 are connected by a power supply line 67b. The relay 62 switches the state between a connection state in which the power line 67a and the power line 67b are connected and an open state in which the power line 67a and the power line 67b are opened. When the relay 62 is connected, the linear scale 34 is supplied with power from the power supply 61 via the relay 62. Similarly, the power supply 63 and the relay 64 are connected by a power supply line 68a, and the relay 64 and the linear scale 38 are connected by a power supply line 68b. The relay 64 switches between a connection state in which the power line 68a and the power line 68b are connected and an open state in which the power line 68a and the power line 68b are opened. When the relay 64 is connected, the linear scale 38 is supplied with power from the power source 63 via the relay 64.

  The parts camera 72 images the workpiece sandwiched between robot arms (described later) of the second movable unit 15. On the other hand, the mark camera 73 images an object to which a work is attached. The image data obtained by the mark camera 73 and the image data obtained by the parts camera 72 are subjected to signal processing in the image processing device 71 and output to the multiplexing communication device 31.

  The converters 35 and 39, the relays 62 and 64, and the image processing device 71 are connected to the multiplexing communication device 31.

  The second movable unit 15 is, for example, a 6-axis robot arm that performs work while sandwiching a workpiece. The second movable unit 15 includes a multiplexed communication device 41, six servo motors 42, an encoder 45 corresponding to each servo motor 42, a converter 43 corresponding to each encoder 45, a sensor 46, a power supply 65, a relay group 66, and A switch (not shown) is provided.

  The servo motor 42 is a drive source that rotates a joint included in the robot arm around an axis. The servo motor 42 is connected to the servo amplifier 27 of the apparatus main body 11 and a power line (not shown), and is driven by the servo amplifier 27. There are six servo motors 42 and servo amplifiers 27 corresponding to the six joints. The encoder 45 is, for example, an absolute encoder. The encoder 45 detects the rotation angle, rotation amount, and the like of the servo motor 42 and outputs an encoder signal such as detected position information to the multiplexing communication device 41.

  The sensor 46 is installed in a clamping unit that clamps a workpiece installed at the tip of the robot arm. The sensor 46 detects the force acting on the clamping unit and outputs the detected I / O signal to the multiplexing communication device 41. A switch (not shown) transmits an I / O signal notifying the operating status of the second movable part. In addition, when a switch is pressed by a user, a switch (not shown) transmits an I / O signal notifying that the switch has been pressed.

  The relay group 66 includes six relays (not shown) corresponding to the six encoders 45. The power supply 65 and the relay provided in the relay group 66 are connected by a power supply line 69a, and the relay provided in the relay group 66 and the encoder 45 are connected by a power supply line 69b. The relays included in the relay group 66 are switched between a connection state in which the power line 69a and the power line 69b are connected and an open state in which the power line 69a and the power line 69b are opened. In the connection state of the relays included in the relay group 66, the encoder 45 is supplied with power from the power source 65 via the relays included in the relay group 66.

  The converter 43, the sensor 46, the relay included in the relay group 66, and the switch are connected to the multiplexed communication device 41.

  Here, it is assumed that the manufacturer of the servo amplifier 25 and the manufacturer of the linear scale 34 are different. Further, the manufacturer of the servo amplifier 26 and the manufacturer of the linear scale 38 are different. Also, the manufacturer of the servo amplifier 27 and the manufacturer of the encoder 45 are different. Further, it is assumed that the specification of the communication protocol used by the servo amplifier 25 and the specification of the communication protocol used by the linear scale 34 are different. The communication protocol used by the servo amplifier 26 is different from the communication protocol used by the linear scale 38. Further, the specification of the communication protocol used by the servo amplifier 27 and the specification of the communication protocol used by the encoder 45 are different.

  The converter 35 bi-directionally converts the communication protocol used by the servo amplifier 25 and the communication protocol used by the linear scale 34 according to the specification of the transmission destination. The converter 39 bi-directionally converts the communication protocol used by the servo amplifier 26 and the communication protocol used by the linear scale 38. Further, the converter 43 bidirectionally converts the communication protocol used by the servo amplifier 27 and the communication protocol used by the encoder 45. Accordingly, the servo amplifier 25 and the linear scale 34, the servo amplifier 26 and the linear scale 38, and the servo amplifier 27 and the encoder 45 can communicate with each other.

  The multiplexed communication device 21 and the multiplexed communication device 31 are connected by a multiplexed communication cable 51. The multiplexed communication device 31 and the multiplexed communication device 41 are connected by a multiplexed communication cable 52. The multiplexed communication cables 51 and 52 are LAN cables conforming to the communication standard of Gigabit Ethernet (registered trademark), for example. The multiplexed communication cables 51 and 52 may be other types of cables, for example, optical fiber cables or USB cables conforming to USB (Universal Serial Bus) 3.0 communication standards. The multiplexed communication cable 51 is preferably a flexible cable.

  The encoder signal output from the linear scale 34 is converted in communication protocol by the converter 35 and transmitted to the servo amplifier 25 via the multiplexing communication devices 31 and 21. The servo amplifier 25 compares the target position in the Y-axis direction of the first movable unit 13 instructed from the controller 23 with the encoder signal output from the linear scale 34, and feedback-controls the Y-axis linear motor 33. Similarly, the encoder signal output from the linear scale 38 is transmitted to the servo amplifier 26 via the converter 39 and the multiplexing communication devices 31 and 21. The servo amplifier 26 feedback-controls the X-axis linear motor 37 by comparing the target position in the X-axis direction of the first movable unit 13 instructed from the controller 23 with the encoder signal output from the linear scale 38. Similarly, the encoder signal output from the encoder 45 is transmitted to the servo amplifier 27 via the converter 43 and the multiplexing communication devices 41, 31, and 21. The servo amplifier 27 performs feedback control of the servo motor 42 by comparing the angle of each joint of the robot arm instructed by the controller 23 with the encoder signal output from each encoder 45.

  Image data obtained by the parts camera 72 and the mark camera 73 is transmitted to the controller 23 via the image processing device 71 and the multiplexing communication devices 31 and 21. The controller 23 detects a position error from the set position of the target object based on the image data captured by the mark camera 73. Further, the controller 23 detects a position error from the set position of the work position held by the robot arm based on the image data taken by the parts camera 72. Next, the controller 23 calculates a correction amount of the position of the robot arm based on the position error of the object and the workpiece, and instructs the servo amplifier 27 to set a new target angle. Moreover, the controller 23 attaches the workpiece | work clamped by the robot arm to a target object. The controller 23 controls the operation of the clamping unit that clamps the workpiece based on the signal output from the sensor 46.

  Next, a method of resetting the linear scales 34 and 38 and the encoder 45 when some trouble occurs will be described. In order to clarify the difference between the conventional method and this embodiment, first, a case where the servo amplifier manufacturer and the linear scale manufacturer are the same will be described.

  When the servo amplifier manufacturer and the linear scale manufacturer are the same, the specifications of the communication protocol are often the same between the servo amplifier and the linear scale. As described above, when the communication protocol of the same specification is used, the linear scale can operate according to the signal transmitted from the servo amplifier without using a converter that converts the communication protocol. For example, when it is desired to reset the linear scale, the user uses the controller to instruct to reset the linear scale. When the controller receives a linear scale reset command, it sends a reset command to the servo amplifier controlling the linear scale. When the servo amplifier receives the reset command, it transmits a reset signal to the linear scale. The linear scale resets itself in response to the received reset signal.

  On the other hand, when the manufacturer of the servo amplifiers 25 to 27 is different from the manufacturer of the linear scales 34 and 38 and the encoder 45 as in the present embodiment and the communication protocol is different, the converters 35, 39, and 43 are used. However, the linear scales 34 and 38 and the encoder 45 may not be reset due to design differences. Therefore, in this embodiment, the linear scales 34 and 38 and the encoder 45 are restarted and reset by cutting off the power supply to the linear scales 34 and 38 and the encoder 45.

  A case where the linear scale 34 is reset will be described as an example. When the controller 23 receives a reset command for the linear scale 34, the controller 23 transmits a reset signal instructing the relay 62 to switch to the open state. The reset signal transmitted from the controller 23 is transmitted to the relay 62 via the multiplexing communication devices 21 and 31. When the relay 62 receives the reset signal, the relay 62 switches the state to the open state. Thereby, the connection between the power supply line 67a and the power supply line 67b is released, and the power supply to the linear scale 34 is interrupted. Next, after a predetermined time, the relay 62 is switched to the connected state. Thereby, the power supply line 67a and the power supply line 67b are connected, and the power supply to the linear scale 34 is resumed. As a result, the linear scale 34 is restarted and the linear scale 34 is reset. The controller 23 can reliably reset the linear scale 34 by controlling the state of the relay 62.

  Similarly, in the case of the linear scale 38 and the encoder 45, the controller 23 resets the linear scale 38 and the encoder 45 by switching the relay state of the corresponding relay 64 and relay group 66.

  Here, the controller 23 individually controls the relays included in the relays 62 and 64 and the relay group 66. The reset signal includes an identifier corresponding to each of the relays included in the relays 62 and 64 and the relay group 66. When the communication between the multiplexed communication devices 21, 31 and 41 is established, the controller 23 distributes the identifier to each of the relays included in the relays 62 and 64 and the relay group 66 to the multiplexed communication devices 31 and 41. The multiplexing communication devices 31 and 41 store the identifiers of the relays included in the relays 62 and 64 and the relay group 66 connected thereto in a storage unit (not shown). When the identifier stored in the reset signal transmitted from the controller 23 is included, the reset signal is transmitted to any of the relays included in the corresponding relays 62 and 64 and the relay group 66.

  Note that multiplexed communication is performed between the multiplexed communication devices 21, 31, and 41. The multiplexing communication device 41 multiplexes the encoder signal output from the encoder 45, the I / O signal output from the sensor 46 and the switch, and the multiplexed data is multiplexed via the multiplexing communication device 31. The data is transmitted to the multiplexed communication device 21. The multiplexing communication device 31 multiplexes the encoder signals output from the linear scales 34 and 38 and the image data output from the image processing device 71, and transmits the multiplexed data to the multiplexing communication device 21. The multiplexed communication device 21 separates the received multiplexed data and transmits it to the corresponding transmission destination. Specifically, an encoder signal is output to the corresponding servo amplifiers 25 to 27, and an I / O signal and image data are transmitted to the controller 23.

  Further, the multiplex communication device 21 multiplexes reset signals output from the controller 23 to the relays 62 and 64 and the relay group 66 and transmits multiplexed data to the multiplex communication device 31. The multiplexing communication device 31 separates the multiplexed data and transmits a reset signal to one of the corresponding relays 62 and 64. In addition, a reset signal for the relay group 66 is transmitted to the multiplexing communication device 41. The multiplexing communication device 41 separates the received multiplexed data and transmits a reset signal to any of the relays included in the corresponding relay group 66.

Next, an encoder signal output from the encoder 45 will be described as an example of signals transmitted and received by multiplexed communication.
The servo amplifier 27 transmits / receives an encoder signal to / from the encoder 45 by communication conforming to a communication standard such as HDLC (High level Data Link Control procedure). A frame of data transmitted by communication using HDLC includes synchronization data for synchronization between transmission and reception, a start flag (for example, “7EH” in hexadecimal (0x)), and data (encoder signal output by the encoder 45). , A frame check sequence (parity code), an end flag (0x7EH), and the like.

  Multiplexed communications performed by the multiplexed communication devices 21, 31, 41 employ a plurality of error detection methods. The multiplexing communication devices 21, 31, and 41 determine an error detection method to be applied according to the data type of data to be transmitted / received. FIG. 2 is a diagram showing a breakdown of various data types to be multiplexed. Three types of data are illustrated. Signals classified as (A) are high-speed signals. The image data output from the image processing apparatus 71 is illustrated. Signals classified as (B) are medium speed signals. A reset signal and servo control information are illustrated. Here, the servo control information is an encoder signal. Signals classified as (C) are low-speed signals. An I / O signal is illustrated.

  The image data classified as (A) is data having, for example, 2000 × 2000 pixels per frame, and gradation of 8 bits per pixel. The amount of data constituting one frame is large. Since the amount of data per frame is large, it is not realistic to retransmit data for bit errors. For this reason, it is common to perform error correction at the reception destination instead of retransmission. Since a forward error correction code (FEC) of a Hamming code is added to the image data, the amount of data is further increased. As a result, a data transfer rate of 1 GBPS or more is required as a field network standard in the FA field. On the other hand, the time until the display of one frame is updated has some allowance, and it is sufficient that about 1 ms is secured as the data processing time. During this time, a data error correction process is performed and a one-frame screen display is performed. Although the data processing time is longer than that of the servo control information, the total amount of data is enormous. Therefore, a high data transfer rate is set, and a high data request rate is required in combination with the data processing time. Although the accuracy of data is maintained by error correction, it is necessary to transmit a large amount of data at high speed.

  The servo control information classified as (B) is, for example, torque information of the servo motor 42 output from the encoder 45, position information output from the linear scale 34, and the like. Since the servo amplifier 25 and the like drive the Y-axis linear motor 33 and the like according to the servo control information, a high-speed response may be required. On the other hand, the amount of data required per servo control information is smaller than that of image data. Accordingly, a data transfer rate of 125 MBPS is generally used as a field network standard in the FA field. On the other hand, the data processing time per command requires a high speed of about 1 μs, for example, due to communication protocol specifications or control restrictions such as the servo motor 42. The data transfer rate and the data processing time combine to require a medium data request rate. In addition, data error processing may require command certainty for control, and processing based on majority logic is performed in order to avoid the transmission of control values. For example, the same servo control information is transmitted three times with a parity code added. Match / mismatch is detected by parity check among the three commands, and if they match, a heavy coefficient is added and the score for each data value is totaled. As a result, the data value that obtains the highest score is set as the final value. With multiple data transmissions and majority logic, data values can be reliably transmitted while ensuring certainty. Further, error processing is simple and high-speed processing can be performed.

  The I / O signals classified as (C) are, for example, signals output from the sensor 46 and signals input by switches. These signals are not required to have high speed. For example, a data transfer rate of several KHz and a data processing time of about 1 ms are sufficient. A low data request rate is required in combination with the data transfer rate and the data processing time. Data error processing is performed by a plurality of transmissions with a parity code added. In the continuous transmission, the transmitted data is acquired by confirming that all the data has the same data value. If there is a case where the data value is different even once in continuous transmission, the data transmission is cancelled. The present invention is applied to a signal that can maintain the original state even when the signal transmission is a low-speed signal transmission and the data transmission is canceled.

  Up to this point, the working robot 10 which is an example of the substrate working machine has been described. Next, an electronic component mounting apparatus (hereinafter abbreviated as mounting apparatus) 110, which is another example of the substrate working machine, will be described with reference to FIGS.

(Configuration of mounting device 110)
As illustrated in FIG. 3, the mounting device 110 includes a device main body 111, a pair of display devices 113 provided integrally with the device main body 111, and supply devices 115 and 116 provided detachably with respect to the device main body 111. Is provided. The mounting apparatus 110 according to the present embodiment mounts an electronic component (not illustrated) on the circuit board 100 that is transported by the transport device 121 accommodated in the apparatus main body 111 based on control of a controller (not illustrated). It is an apparatus which implements. In this embodiment, as shown in FIG. 3 and FIG. 4, the direction in which the circuit board 100 is transported by the transport device 121 (the left-right direction in FIG. A direction perpendicular to the X-axis direction is referred to as the Y-axis direction and will be described.

  The apparatus main body 111 includes display devices 113 at both ends in the Y-axis direction on one end side in the X-axis direction. Each display device 113 is a touch panel display device, and displays information related to the mounting operation of the electronic component. The supply devices 115 and 116 are attached to the device main body 111 so as to be sandwiched from both sides in the Y-axis direction. The supply device 115 is a feeder-type supply device, and includes a plurality of tape feeders 115A in which various electronic components are taped and accommodated in a state of being wound around a reel. The supply device 116 is a tray-type supply device, and has a plurality of component trays 116A (FIG. 4) on which a plurality of electronic components are placed.

  FIG. 4 is a schematic plan view showing the mounting device 110 as viewed from above (upper side in FIG. 3) with the upper cover 111A (FIG. 3) of the device body 111 removed. As shown in FIG. 4, the apparatus main body 111 includes a base 120 that includes the transfer device 121 described above, a head portion 122 that mounts electronic components on the circuit board 100, and a moving device 123 that moves the head portion 122. Prepare on top.

  The transfer device 121 is provided at a substantially central portion of the base 120 in the Y-axis direction, and moves the pair of guide rails 131, the substrate holding device 132 held by the guide rails 131, and the substrate holding device 132. An electromagnetic motor 133. The board holding device 132 holds the circuit board 100. The electromagnetic motor 133 is drivingly connected to a conveyor belt whose output shaft is stretched to the side of the guide rail 131. The electromagnetic motor 133 is, for example, a servo motor that can accurately control the rotation angle. In the conveying device 121, the circuit board 100 moves in the X-axis direction together with the substrate holding device 132 when the conveyor belt rotates around the electromagnetic motor 133.

  The head unit 122 has a suction nozzle 141 that sucks electronic components on the lower surface facing the circuit board 100. The suction nozzle 141 communicates with negative pressure air and a positive pressure air passage via a solenoid valve of a positive / negative pressure supply device (not shown), and sucks and holds the electronic component with a negative pressure, so that a slight positive pressure is supplied. The held electronic parts are removed. The head unit 122 incorporates a plurality of electromagnetic motors as drive sources for raising and lowering the suction nozzle 141 and rotating the suction nozzle 141 about its axis, and the position of the electronic component to be held and the electronic component Change the holding posture. The suction nozzle 141 is provided with a plurality of nozzles for sucking electronic components, and the head unit 122 includes an electromagnetic motor that individually rotates each nozzle. In addition, the head unit 122 is provided with a parts camera 147 that captures images of the electronic components sucked and held by the suction nozzle 141 from the supply positions of the supply devices 115 and 116. Image data captured by the parts camera 147 is processed by the controller, and an electronic component holding position error in the suction nozzle 141 is acquired. The suction nozzle 141 can be attached to and detached from the head unit 122, and can be changed according to the size and shape of the electronic component.

  The head unit 122 is moved to an arbitrary position on the base 120 by the moving device 123. More specifically, the moving device 123 includes an X-axis direction slide mechanism 150 for moving the head portion 122 in the X-axis direction, and a Y-axis direction slide mechanism 152 for moving the head portion 122 in the Y-axis direction. . The X-axis direction slide mechanism 150 has an X-axis slider 154 provided on the base 120 so as to be movable in the X-axis direction, and a linear motor as a drive source. The X-axis slider 154 moves to an arbitrary position in the X-axis direction based on driving of the linear motor. In the linear motor, for example, a permanent magnet in which N poles and S poles are alternately arranged is provided on the inner wall of a guide rail 156A provided on the base 120 as the fixed part side, and the X axis is provided on the movable part side. An excitation coil is provided on the slider 154. The X-axis slider 154 generates a magnetic field when electric power is supplied to the exciting coil, and moves by the action of the magnetic field generated from the permanent magnet of the guide rail 156A on the fixed part side.

  The Y-axis direction slide mechanism 152 includes a Y-axis slider 158 provided on the side surface of the X-axis slider 154 so as to be movable in the Y-axis direction, and a linear motor as a drive source. The Y-axis slider 158 moves to an arbitrary position in the Y-axis direction based on driving of the linear motor. Further, a mark camera for photographing the circuit board 100 is fixed to the Y-axis slider 158 in a state of facing downward. Thereby, the mark camera can image the surface of an arbitrary position of the circuit board 100 by moving the Y-axis slider 158. Image data captured by the mark camera is processed by the controller, and information on the circuit board 100, a holding position error, and the like are acquired. The head unit 122 is attached to the Y-axis slider 158 and moves to an arbitrary position on the base 120 as the moving device 123 is driven. The head unit 122 is attached to the Y-axis slider 158 via the connector 148 and can be attached and detached with one touch, and can be changed to a different type of head unit such as a dispenser head.

  The head unit 122 also includes a head unit encoder (not shown) that detects rotation angles of a plurality of electromagnetic motors built in the head unit 122. The head encoder outputs the detected encoder signal to a head multiplexed communication device (described later). The head unit encoder is connected to a power source line (not shown) via a power source (not shown) and a head part relay. The head relay switches the state between a connection state where the power line is connected and an open state where the power line is opened.

  The multiplexed communication device 101 provided in the Y-axis direction slide mechanism 152 and the multiplexed communication device 103 provided in the base 120 are connected by a multiplexed communication cable. Further, the multiplexed communication device 101 and a head unit multiplexed communication device (not shown) provided in the head unit 122 are connected by a multiplexed communication cable. The multiplexed communication devices 101 and 103 and the head unit multiplexed communication device perform multiplexed communication. A controller is connected to the multiplexed communication apparatus 101. A head unit encoder is connected to the head unit multiplexing communication apparatus.

  A method of resetting the head encoder in the mounting apparatus 110 will be described. The controller outputs a reset signal for resetting the head unit encoder to the multiplexing communication device 103. The reset signal is transmitted to the head unit relay via the multiplexing communication devices 101 and 103 and the head unit multiplexing communication device. The head part relay will switch a state to an open state, if a reset signal is received. As a result, power supply to the head encoder is cut off. After a predetermined time, the head relay switches to the connected state. Thereby, the head unit encoder is restarted and the head unit encoder is reset.

  Here, the working robot 10 is an example of a substrate working machine. The slider device driven by the X-axis linear motor 37, the Y-axis linear motor 33, the X-axis linear motor 37, and the Y-axis linear motor 33 is an example of an actuator. The rotary servo amplifier 27 and the robot arm driven by the rotary servo amplifier 27 are examples of actuators. The linear scale 34, the linear scale 38, and the encoder 45 are examples of encoders. The robot arm is an example of a work head unit. The multiplex communication device 21 is an example of a first multiplex communication unit, and the multiplex communication devices 31 and 41 are examples of a second multiplex communication unit.

  The mounting device 110 is an example of a substrate working machine. Further, the electromagnetic motor and the head unit 122 built in the head unit 122 are an example of an actuator. The multiplexed communication device 103 is an example of a first multiplexed communication unit, and the multiplexed communication device 101 and the head multiplexed communication device are an example of a second multiplexed communication unit.

As mentioned above, according to this embodiment described in detail, there exist the following effects.
When the relay 62 receives a reset command from the controller 23, the relay 62 opens the power supply lines 67a and 67b. Thereby, the power supply to the linear scale 34 is cut off, and the power supply of the linear scale 34 is turned off. Even when the manufacturer of the servo amplifier and the manufacturer of the linear encoder are different and the communication protocol to be used is different, the controller 23 can reset the linear scale 34 by transmitting a reset command. Similarly, when relay 64 receives a reset command from controller 23, relay 64 opens power supply lines 68a and 678b. When the relay included in the relay group 66 receives a reset command from the controller 23, the power supply lines 69a and 69b are opened. The controller 23 can reset the linear scale 38 and the encoder 45 by transmitting a reset command.

  The present invention can be applied to a configuration in which the linear scales 34 and 38 detect the position of the slider device driven by the servo amplifiers 25 and 26. The present invention can be applied to a configuration in which the encoder 45 detects the position of the robot arm driven by the servo amplifier 27.

  For work in which multiplexed communication is performed between the multiplexed communication device 21 provided in the fixed unit, the multiplexed communication device 31 provided in the first movable unit, and the multiplexed communication device 41 provided in the second movable unit. Applied in the robot 10. The reset command transmitted from the controller 23 is transmitted to each relay included in the relays 62 and 64 and the relay group 66 by multiplexed communication. The reset command includes an identifier corresponding to each relay included in the relays 62 and 64 and the relay group 66. Thereby, the reset command is reliably transmitted to each of the relays included in the relays 62 and 64 and the relay group 66 of the transmission destination. A converter 35 is provided between the servo amplifier 25 and the linear scale 34. Similarly, a converter 39 is provided between the servo amplifier 26 and the linear scale 38, and a converter 43 is provided between the servo amplifier 27 and the encoder 45. The converters 35, 39, and 43 perform communication protocol conversion.

  When the head relay receives a reset signal from the controller, the head relay switches to the open state. Thereby, the power supply to the head unit encoder is cut off, and the power of the head unit encoder is turned off. The controller can reset the head unit encoder by transmitting a reset signal.

In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning.
For example, in the above-described embodiment, the present invention is applied to data communication conforming to the HDLC communication standard, but may be applied to other types of communication standards. For example, you may apply to the data communication based on the communication standard of industrial Ethernet (trademark). The industrial Ethernet referred to here is, for example, EtherCAT (registered trademark), MECHATRLINK (registered trademark) -III, or the like.

  In the above embodiment, the working robot 10 has been described. However, the present application is not limited to this, and other devices such as a mounting device for mounting electronic components on a circuit board, a screen printing device for printing solder on the circuit board, and the like. It can be applied to other devices.

  Further, the linear scales 34 and 38 and the encoder 45 have been described as being supplied with power from the power sources 61, 63 and 65 via the relays 62 and 64 and the relay group 66, respectively, but the power supply is not limited to the power sources 61, 63 and 65. . A configuration may be adopted in which one of the servo amplifiers 25 to 27 is a power supply. For example, the present application can be applied to the linear scale 34 in the case of a configuration in which power is supplied from the servo amplifier 25 via the relay 62.

  Moreover, although the case where the manufacturer of the servo amplifier 25 and the manufacturer of the linear scale 34 are different has been described as an example, the present invention is not limited to the case where the manufacturer is different. The manufacturer of the servo amplifier 25 and the manufacturer of the linear scale 34 may be the same. Further, for example, the present invention can be applied when the linear scale 34 does not have a reset function.

21, 31, 41 Multiplex communication device 23 Controller 25 Y-axis linear servo amplifier 26 X-axis linear servo amplifier 27 Rotary servo amplifier 33 Y-axis linear motors 34, 38 Linear scale 35, 39, 43 Converter 37 X-axis Linear motor 42 Servo motor 45 Encoder 61, 63, 65 Power supply 62, 64 Relay 66 Relay group 67a, 67b, 68a, 68b, 69a, 69b Power supply line

Claims (7)

A servo amplifier,
A controller for controlling the servo amplifier;
An actuator driven by the servo amplifier;
An encoder for detecting drive position information of the actuator;
A power supply line connected to the encoder, and a relay that switches between opening and closing the power supply line,
The relay working machine for a substrate, wherein the relay opens the power line based on a reset command from the controller. The actuator is a slider device that enables linear movement,
The encoder is a linear scale that detects a linear position of the slider device.
2. The substrate work machine according to claim 1, wherein: The actuator is a work head unit that rotates about a rotation axis,
The encoder is a rotary encoder that detects a rotation position of the work head unit.
3. The substrate working machine according to claim 1, wherein the working machine is a board working machine. A fixing unit including the servo amplifier and the controller;
A movable part including the actuator, the encoder, and the relay;
Between the fixed part and the movable part, multiplex communication is performed to multiplex and communicate signals to be transmitted and received,
The fixed unit and the movable unit each include first and second multiplex communication units that multiplex transmission signals and demultiplex reception signals and execute the multiplex communication.
4. The substrate working machine according to any one of claims 1 to 3, wherein:   5. The substrate work machine according to claim 4, wherein the reset command is transmitted by the multiplex communication. The movable part includes a converter that is interposed between the servo amplifier and the encoder and converts a signal transmitted and received between the servo amplifier and the encoder according to a specification of a transmission destination. The substrate working machine according to claim 4 or 5. A plurality of the relays;
7. The substrate work machine according to claim 1, wherein the reset command issued by the controller includes an identifier for identifying each of the relays.

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