KR100193891B1 - Jog speed control method of position control coordinate system in wire bonder - Google Patents

Abstract

The present invention discloses a jog (JOG) speed control method of a position control coordinate system in a wire bonder.

The present invention uses a graphic displayed on the monitor to enlarge or reduce the area of the coordinate system to move the cursor so that the jog can be jogged by the chessman. You can use the several switches on the chessman to choose where to go from now. In addition, the zoom range can be changed in a zoomed image device, so that the jog speed can be controlled in proportion to the range of the watch. When the watch range is large, that is, when the position to go to is seen at a time, the jog speed is high.

Therefore, in the present invention, the jog speed can be maximized by controlling the jog by controlling the chess man and the graphic displayed on the monitor quickly and accurately and simply at the position to be moved in the position control coordinate system. The performance of the jogging method is improved.

Description

How to control jog speed of positioning coordinate system in wire bonder

1 is a positioning coordinate system.

Figure 2a is a plan view of the device shown in the positioning coordinate system in the case of wire bonding.

2B is a cross-sectional view of the device, in the case of wire bonding.

3 to 6 are diagrams for explaining the step of jogging the cursor of the position control area of the X, Y, θ coordinates to the position of the cursor shown in FIG.

8 and 9 are positioning coordinate systems for explaining jog velocity.

* Explanation of symbols for main parts of the drawings

1: Position control area 2: Cursor

3: window clamp 3A: window clamp area

4: Die 4A: Die Area

5: paddle 5A: paddle area

6: wire 7: die pad

8: hit block 10: monitor

11: screen

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jog speed control method of a positioning coordinate system in a wire bonder equipped with a vision pattern recognition system. It is about how to control jog speed by manipulating the chessman with the graphic and cursor displayed on the monitor easily and accurately.

When you do not know the coordinates of the position you want to go to, the jog is a means to effectively control the position you want to move. Therefore, the object is moving slowly while looking at an object in moving coordinates. At this time, the longer the distance is, the larger the magnification of the image recognition device is. In this case, you will find the position you want to go through without a certain direction through a lot of trial and error. That is, the prior art has no problem in a small position control coordinate system or when the field of view (FOV) of the image is wide (when the lens magnification is small), but when the image magnification is increased and the XYθ coordinate system is wide, the jog control method is very inefficient. .

Accordingly, an object of the present invention is to provide a method of controlling a jog by manipulating a chessman with a graphic and a cursor displayed on a monitor at a position to be moved in a position control coordinate system.

In order to achieve the above object, the present invention provides a jog speed control method of a position control coordinate system for speeding up a jog speed from a current position point P (Xø, Yø) to a target position T (X ₁ , Y ₁ ). When the area is represented as a graphic area on the monitor, the jog velocity in the X direction is calculated by the formula V _X = K ₁ × ｜ 1 _X ｜ / N _G = K ₁ × ｜ X ₁ -Xø | / N _G , and the Y direction The jog speed is calculated by the formula V _y = K ₂ × ｜ 1 _y ｜ / N _G = K ₂ × ｜ Y ₁ -Yø | / N _G to increase the jog speed, or zoom in on the monitor. In the case of an area, the jog velocity in the X direction is calculated by the formula V _X = K ₃ × | 1 _X | / N _I = K ₃ × | X ₁ -Xø | / N _I , and the jog velocity in the Y direction is calculated by the formula V _y = K ₄ × | 1 _y | / N _I = K ₄ × | Y ₁ -Yø | / N _I

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows the position control coordinate system. The coordinate coordinate system (X, Y, θ) is represented by the maximum coordinate region of the X, Y coordinate, that is, the position control region 1, from the origin coordinates (X, Y, θ). The direction of the position control region 1 can be changed by the position in the θ direction.

2A and 2B illustrate the case of wire bonding, in which there may be a zoom of the image recognition device, the magnification may be fixed, or there may be no θ axis. Here, it is assumed that θ and zoom are fixed, and the field of view is about 1 x 1 mm. The table area is about 600 × 600 mm, and the table control minimum resolution is 2.5 μm. In the current image recognition coordinates, the coordinate area, that is, the table area, is the position where the cursor (2) is located. The coordinates must be moved to the inside of the window clamp (3), which is the bonding work area. At this time, to move with Jog, move with Chessman or Switch. Unexplained reference numeral 4 is a semiconductor die, reference numeral 5 is a paddle, reference numeral 6 is a wire, reference numeral 8 is a heat block.

In order to jog the cursor 2 of the position control area 1 of the X, Y, θ coordinates in FIG. 3 to the position of the cursor 2 shown in FIG. 7, the window size is input numerically in advance or the image coordinate is Through the measurement, the window clamp area 3A (FIG. 4), paddle area 5A (FIG. 5), the die area 4A and the entire area of the pad 7 (FIG. 6) are reduced graphically. The selection of the screen 17 of FIG. 7 shown to go at which jog speed in which area is determined depends on the type of area graphically shown.

Jog doesn't know the coordinates in the positioning coordinate system, but when he knows the target he wants, he manually controls the keys to move the coordinates to the target, for example, through a chessman, a switch, or a joystick. Move the coordinate system (XYθ table). The present invention relates to a jog speed control method having a function of displaying a control coordinate area and an object on a monitor, that is, displaying a real image and displaying a graphic instead of a real image. If the magnification is N, the distance I want to go to the jog from the current position, and the jog speed is V, k × ｜ 1 | / N = V. The graphic display also displays the work area as in the example of wire bonder. Graphically displays on the monitor according to the clamping area, pedal area, die area, working conditions and environment, and displays the current bondhead tool or camera coordinate center in any selected graphic area and wants to go when moving the chessman. Jog start key in the graphic with the target mark cursor at the target position Turning on effectively moves the table quickly at jog speed proportional to the magnification of the graphics area.

In the zoom lens method that has the actual image display function, selecting the magnification while looking at the zoom lens magnification monitor displays the cursor at the current position, and when manipulating the chessman, it moves on the real image like the cursor of a mouse. Place it where you want to go and turn on the jog start key to get the best jogging at the fastest time.

Eighth turn when referred to the size of the image _{(G x, G y),} (I x, I y) shown on the monitor by the actual work area W _x, W _y graphics or zoom lens magnification in the X, Y position control coordinate system Magnification N = W / G = W / I, that is, N _X = | W _X / G _X |, N _y = | W _y / G _X | or N _X = | W _X / I _X |, N _y = | W _y / I _y | Here we have displayed the graphic or zoom image area G _X × G _y or I _X × I _y displayed on the monitor, and we want to move jog from the current position point P (Xø, Yø) to the target point T (X ₁ , Y ₁ ). The jog speed V is controlled by a jog speed of V = k x | 1 | / N, which is proportional to the distance 1 to go and inversely proportional to the magnification of the graphic or zoom image. Jog velocity in the X direction is V _X = k ₁ × | 1 _x | / N _X = K ₁ × | X ₁ -Xø | / N _X , and jog velocity in the Y direction is V _y = K ₂ × | 1 _y | / N _y = K ₂ × | Y ₁ -Yø | / N _y .

In the X, Y, and θ position control coordinate systems shown in FIG. 9, the jog velocity Vθ = K ₃ × | θ ₁ -θø | / Nθ = K ₃ × | 1θ | in the direction of θ is added, and Nθ = 1. In this way, the jog velocity V of the present invention is maximized with respect to the magnification of the actual working area of the graphic or zoom image.

As described above, the present invention uses the graphic displayed on the monitor to enlarge or reduce the area of the positioning coordinate system to move the cursor so that it can be jogged to the chessman, for example, while reducing from a wide range to a narrow range. You can jog quickly and easily, and you can choose where to go from now with a few switches on the chessman. That is, in order to easily display the position to go on the monitor with the cursor, it is reduced or enlarged in multiple stages, and when the long distance or the close distance is determined by the cursor, the jog speed is multi-stage in proportion to the distance. In addition, the zoom range can be changed in a zoomed image device, so the jog speed can be controlled in proportion to the range of the watch. When the zoom range is large, that is, when the position to be seen can be seen at a time, the jog speed is fast.

Therefore, in the present invention, the jog speed can be maximized by controlling the jog by controlling the chess man and the graphic displayed on the monitor quickly and accurately and simply at the position to be moved in the position control coordinate system. The performance of the jogging method is improved.

Claims (4)

In the jog speed control method of the position control coordinate system for increasing the jog speed from the current position point P (Xø, Yø) to the target position T (X ₁ , Y ₁ ), the actual control coordinate area is displayed as a graphic area on the monitor. In this case, the jog speed in the X direction is calculated by the formula V _X = K ₁ × ｜ 1 _X ｜ / N _G = K ₁ × ｜ X ₁ -Xø | / N _G , and the jog speed in the Y direction is calculated by the formula V _y = K ₂ x | 1 _y | / N _G = K Jog speed control method characterized in that the jog speed is increased by calculating with ₂ x | Y ₁ -Yø | / N _G. Where V _X and V _y are jog velocities in the X and Y directions, K ₁ and ₂ are proportional constants, 1 _X and 1 _y are jog distances in the X and Y directions, and N _G and N _G are magnifications of the graphic. to be. The method according to claim 1, wherein in order to control the jog speed in multiple stages, the actual control coordinate area and the graphic area are divided into various types, and the magnification of the corresponding graphic is set, respectively, and the equation V = k × 1 | / N Jog speed control method characterized in that to control the jog speed in each of the graphics area on the basis of _G. In the jog speed control method of the position control coordinate system for increasing the jog speed from the current position point P (Xø, Yø) to the target position T (X ₁ , Y ₁ ), the actual control coordinate area is displayed as a graphic area on the monitor. In this case, the jog speed in the X direction is calculated by the formula V _X = K ₃ × ｜ 1 _X ｜ / N _I = K ₃ × ｜ X ₁ -Xø | / N _I , and the jog speed in the Y direction is calculated by the formula V _y = K ₄ × | 1 _y | / N _I = K Jog speed control method characterized in that the jog speed is increased by calculating with ₄ × | Y ₁ -Yø | / N _I. Where V _X and V _y are jog speeds in X and Y directions, K ₃ and K ₄ are proportional constants, 1 _X and 1 _y are jog distances in X and Y directions, and N ₁ and N _I are zoom ratios. to be. 4. The method according to claim 3, wherein in order to control the jog speed in multiple stages, the actual control coordinate area and the zoom image area are divided into various types, and the corresponding magnifications are set, respectively, and the formula V = K × | 1 | / Jog speed control method for controlling the jog speed for each of the zoom image region based on N _I in multiple stages.