WO2016060328A1

WO2016060328A1 - Component recognition device and method applied thereto

Info

Publication number: WO2016060328A1
Application number: PCT/KR2014/012107
Authority: WO
Inventors: 강석환; 지상규
Original assignee: 한화테크윈 주식회사
Priority date: 2014-10-15
Filing date: 2014-12-10
Publication date: 2016-04-21
Also published as: KR20160044304A

Abstract

A component recognition device and a method applied thereto are disclosed. The component recognition device according to the present invention comprises: a cam; a support member adsorbing a component so as to move the same up to a mounting location; a support member driving unit for driving the support member along a transport path set to the mounting location by passing through a location point of the cam; a cam angle adjustment unit for adjusting a rotation angle of the cam to an angle, which passes through the location point of the cam in the middle of the transport path; and a control unit for controlling the support member driving unit by optimizing the transport path.

Description

Component recognition device and method applied thereto

The present invention relates to a component recognition apparatus and a method applied thereto, and more particularly, to a component recognition apparatus and a method applied thereto for recognizing a component on a transport path that absorbs the component to move to the mounting position.

With the development of electronic and communication technologies, various electronic devices have become smaller and lighter. Accordingly, high integration and miniaturization of electronic components such as semiconductor chips embedded in various electronic devices are essential. Small electronic components are mounted on a printed circuit board (PCB) by a component mounter such as a chip mounter. Thousands of electronic components are mounted on printed circuit boards by component mounters. Due to high integration and miniaturization of components, development of inspection and measurement techniques for determining correct mounting of electronic components mounted on printed circuit boards is required.

On the other hand, as the size of the component becomes smaller, the size of the nozzle that adsorbs the component also becomes smaller, which causes a case in which the component is not picked up normally. That is, even though the part must be picked up by the nozzle while being level, the pick-up is picked up by the nozzle vertically or by picking up by picking up the outer part some distance from the center part of the part, even though the nozzle must pick up by picking up the center part of the part. It happens.

In this case, since the component is not mounted correctly on the printed circuit board, there is a part that requires a separate removal work after the component mounting work is completed.

In order to check the normal pickup state of the parts, a camera (hereinafter, referred to as a cam) analyzes the image obtained by photographing the pickup state of the parts, and checks. Check the error by stopping the component mounter.

In order to check the pick-up error of the part, it is necessary to directly open the folder in which the image captured by the cam is stored and find the relevant image. Accordingly, it takes time for the search to manually search for the image related to the component pick-up error, thereby reducing productivity and limiting the search accuracy of the image.

In addition, as described above, the cam for capturing the adsorption state of the part is mounted on the line in the form of a fixed cam, and the point of time when the support member (Gantry) in which the part is adsorbed to the head passes over the fixed cam while maintaining the off state. Scan to capture the state of the components adsorbed on the head.

The characteristic of such a fixed cam is a line scanner which always scans in units of lines. In other words, the part must pass only in the same direction above the stationary cam to be scanned. This characteristic may act as a barrier to lowering the degree of freedom of the conveyance path of the support (Gantry).

Therefore, the present invention was created to solve the above problems, the problem of the present invention is to set the transfer path, which is the path from the suction position of the component to the mounting position to a path having a one-point turning point, or turning point It is to provide a component recognition device and a method applied thereto to set the path without this.

The object of the present invention is not limited to the above-mentioned object, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

The component recognition apparatus according to the first aspect of the present invention for achieving the above object is a cam, a support member for adsorbing the component to move to the mounting position, and along the transport path set to the mounting position via the position point of the cam A support member driving unit for driving a support member, a cam angle adjusting unit for adjusting a rotation angle of the cam at an angle via a position point of the cam in the transfer path, and driving of the support member and the cam based on the transfer path It includes a control unit for controlling the position adjustment.

It may further include a cam moving unit for changing the position of the cam.

The transfer path may be set to a path having a one-point turning point.

The conveying path may be diagonally or may be curved.

An angle based on the turning point of the one-point may be set to a predetermined impact reduction angle or more.

The transfer path may be set to a path without a turning point.

The control unit compares a cam position recognition line indicating a current position of the cam with a cam passage line, which is a specific section of the transfer path via the cam position point, and an inclination value between the cam position recognition line and the cam passage line. It is possible to set the rotation angle of the cam by the difference, and control the position adjustment of the cam by the set rotation angle of the cam.

The controller may set a line corresponding to a tangential slope in contact with the camera center point of the cam as the via line of the cam when the transfer path is a curve.

The control unit may compare the intersection point between the center point of the cam, the movement line of the cam and the transfer path, and control the movement of the cam by the length between the center point and the intersection point.

The control unit compares a cam position recognition line indicating a current cam position after the movement with a cam passing line, which is a specific section of the transfer path via the position point after the cam movement, and the slope between the cam position recognition line and the cam passing line. The rotation angle of the cam is set by a value difference, and the cam rotation is controlled by the set rotation angle of the cam, or the angle corresponding to the transfer path is based on the virtual cam position after the movement while controlling the cam movement. The cam position can be controlled together.

In addition, the component recognition method according to the second aspect of the present invention for achieving the above object is the step of setting the transfer path of the support member moving to the mounting position via the position point of the cam after absorbing the part, the transfer path Driving the support member along the step of adjusting the rotational angle of the cam at an angle via a position point of the cam in the transfer path; and at the time when the support member passes through a shooting point of the cam. Photographing the part through.

The method may further include changing a location point of the cam.

The adjusting of the rotation angle of the cam may include comparing a cam position recognition line indicating a current position of the cam with a cam passing line, which is a specific section of the transfer path via the cam position point, and comparing the cam position recognition line with the cam position recognition line. And setting the rotation angle of the cam by the difference in the inclination value between the cam passing lines, and controlling the position adjustment of the cam by the set rotation angle of the cam.

When the conveying path is curved, a line corresponding to a tangential slope contacting the camera center point of the cam among the conveying paths may be set as the cam passing line.

The changing of the position point of the cam may include comparing the center point of the cam with the intersection point between the cam movement line and the transfer path, and controlling the movement of the cam by the length between the center point and the intersection point. Can be.

When changing the position of the cam, the step of adjusting the rotation angle of the cam is a cam position recognition line indicating the current cam position after the movement and a specific section of the transfer path via the position position after the cam movement. Compare the gas passage line and set the rotation angle of the cam by the difference in the inclination value between the cam position recognition line and the cam passage line, and control the position adjustment of the cam or control the cam movement by the set rotation angle of the cam. And controlling the position adjustment of the cam at an angle corresponding to the transfer path based on the virtual cam position after the movement.

Therefore, in the present invention, there is an advantage in that the transport path, which is the path from the suction position of the part to the mounting position, may be set as a path having a one-point turning point or a path without a turning point.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram showing a component recognition device according to an embodiment of the present invention.

2 is a plan view illustrating an example in which the component recognition device of FIG. 1 operates.

3 is a plan view illustrating another example in which the component recognition apparatus of FIG. 1 operates.

4 is a plan view illustrating an example in which the cam of FIG. 3 rotates in another direction.

FIG. 5 is a plan view illustrating a result of the cam of FIG. 4 rotating. FIG.

6 is a plan view illustrating another example in which the component recognition apparatus of FIG. 1 operates.

7 is a plan view illustrating still another example in which the component recognition apparatus of FIG. 1 operates.

8 is a plan view illustrating still another example in which the component recognition apparatus of FIG. 1 operates.

9 is a plan view illustrating still another example in which the component recognition apparatus of FIG. 1 operates.

FIG. 10 is a plan view illustrating still another example in which the component recognition apparatus of FIG. 1 operates.

FIG. 11 is a plan view illustrating still another example in which the component recognition apparatus of FIG. 1 operates.

12 is a flowchart illustrating an operation process of the component recognition device of FIG. 1.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. It is provided to fully inform the person having the scope of the invention, which is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

In addition, the embodiments described herein will be described with reference to cross-sectional and / or schematic diagrams, which are ideal illustrations of the invention. Accordingly, shapes of the exemplary views may be modified by manufacturing techniques and / or tolerances. In addition, each component in each drawing shown in the present invention may be shown to be somewhat enlarged or reduced in view of the convenience of description.

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

Referring to FIG. 1, the part recognition device 100 is for recognizing a part on a transport path K that absorbs a part and moves to a mounting position, and optimizes a transport path that is a path from a suction position of a part to a mounting position. It is possible to adjust the rotation angle of the cam 110, which is an essential component for component recognition to be provided in the path of.

Here, the optimum transport path may be set to a path having a turning point of one-point. In some cases, a path having a turning point of more than one-point, such as a two-point or three-point turning point, may be set as an optimal transport path.

Specifically, the component recognition device 100 is along the feed path K set up to the mounting position via the cam 110, the support member 130 which absorbs the component and moves to the mounting position, and the position point of the cam 110. Cam angle adjusting unit 120 for adjusting the rotation angle of the cam 110 at an angle passing through the position point of the cam 110 of the support member drive unit 140, the transport path (K) for driving the support member 130 And a controller 150 for optimizing the transport path K to control the driving of the support member 130 and the position adjustment of the cam 110.

Referring to FIG. 2, when the part recognition device 100 does not use the cam angle adjusting unit 120 and the cam 110 is provided as the fixed cam 110, the parts always pass in the same direction as the line scanner. In consideration of the characteristics of the cam 110 which can be scanned, the feed path k having the turning point of the four-point can be set.

At this time, when the first feeder C executes the pick-up of the part located at the first specific point 1 of the first component position A and moves to the first mounting position 2, FIG. As shown, a feed path k having a four-point turning point can be set. As described above, the part reaches the mounting position after passing through the position point of the cam 110 from the first component position A through the turning point of the four-point. There is a possibility that the component will break out as it becomes longer and passes through each turn point.

Referring to FIG. 3, when the component recognition device 100 adjusts the rotation angle of the cam 110 by activating the cam angle adjusting unit 120, the cam 110 of the cam 110 is provided as a line scanner. Even considering the characteristics, it is possible to set a feed path K having a one-point turning point.

That is, when the first feeder C executes the pick-up of the part located at the first specific point 1 of the first component position A and moves to the first mounting position 2, FIG. As shown, it is possible to set a feed path K having a turning point of one-point.

The line scan direction of the cam 110 shown in FIG. 2 is the direction of the turning point of the three-point in FIG. 2, while the line scan direction of the cam 110 shown in FIG. 3 is the circle-in FIG. 3. Indicates the direction of the point's turning point. That is, the cam 110 of FIG. 3 is in a state in which the rotation angle of the cam 110 is adjusted to direct the turning point of the one-point in FIG. 3.

As such, the cam 110 of FIG. 3 may be directed to the turning point of the one-point based on the information on the conveying path K having the turning point 3 of the one-point so that the line scan direction may be determined. As a result, the controller 150 enables to set the optimum transport path K.

The controller 150 compares the cam position recognition line indicating the current position of the cam 110 with the cam passing line, which is a specific section of the transfer path via the position point of the cam 110, and compares the cam position recognition line with the cam position recognition line. It is possible to set the rotation angle of the cam 110 by the difference in the inclination value between the cam via line, and to control the position adjustment of the cam 110 by the set rotation angle of the cam 110.

4 is a plan view illustrating an example in which the cam of FIG. 3 rotates in another direction, and FIG. 5 is a plan view illustrating a result of the cam of FIG. 4 rotating.

Referring to FIG. 4, when a work to be picked up and mounted on a component located at a first component location A is changed and a component to be picked up at a second component location B is moved to a mounting position, It is necessary to greatly change the rotation angle of the cam 110 in advance.

That is, as shown in FIG. 5, the second feeder D picks up the parts located at the first specific point 4 of the second component location B and moves them to the second mounting location 5. In the case of execution, it is possible to set a feed path K having a one-point turning point having a different direction from the feed path K of FIG. 3.

At this time, the line scan direction of the cam 110 shown in FIG. 5 indicates the direction of the turning point 6 of the one-point in FIG. 5.

Here, when the cam 110 of FIG. 5 adjusts the rotation angle of the cam 110 to direct the turning point 6 of the one-point in FIG. 5, the circle at the time when the calculation for the feed path K is completed is completed. After determining the turning point of the point, the component may pass through the position point of the cam 110 while the rotation angle of the cam 110 is already adjusted based on the determination result.

As another example, when the cam 110 of FIG. 5 adjusts the rotation angle of the cam 110 to direct the turning point 6 of the one-point in FIG. 5, when the calculation for the feed path K is completed, After determining the turning point of the one-point, the parts are transferred based on the determination result, and the rotation angle of the cam 110 is adjusted in anticipation of the point at which the moving part reaches the position point of the cam 110. It can be provided.

In addition, as illustrated in FIG. 5, the transfer path K may be provided as a path in which the support member 130 that absorbs the component runs diagonally. That is, in the conveying path K shown in FIG. 5, the supporting member 130 is moved in different diagonal directions two times, and the aforementioned one-point turning point is positioned at the intersection of each diagonal line. .

Furthermore, the one-point turning point mentioned above several times is preferably provided at an angle equal to or more than a predetermined impact reduction angle.

Here, the impact reduction angle refers to an angle that can minimize the impact received during the movement of the parts in the state adsorbed on the support member 130 through the feed path (K).

That is, if the component adsorbed to the support member 130 reverses the path that has been passed through the transfer path K at the time of the one-point turning point by 180 degrees, then the direction of inertia is applied. Instead of moving the parts in the opposite direction, there is a possibility that the parts are detached due to the component being applied to the support member 130 with a force against the inertia.

Therefore, even if the support member 130 in the state where the component is adsorbed along the transport path K at the time of passing through the one-point turning point is changed, the possibility of the component leaving the support member 130 is minimized. To this end, it is necessary to set the impact reduction angle in advance as an angle that can minimize the impact of the change of direction.

Referring to FIG. 6, when the first feeder C executes picking up a part located at the first specific point 1 of the first part location A and moving to the first mounting location 2. It is possible to set the feed path K, which proceeds as a curve rather than an oblique line.

It is preferable to set the path having a one-point turning point at which the slope becomes '0' at a specific coordinate, so that the feed path K proceeding in a curve may also be provided as the optimum feed path K.

Similarly, the cam 110 of FIG. 6 also adjusts the rotation angle of the cam 110 by pointing the turning point of the one-point in which the slope becomes '0' at a specific coordinate.

The controller 150 compares the cam position recognition line indicating the current position of the cam 110 with the cam passing line, which is a specific section of the transfer path via the position point of the cam 110, and compares the cam position recognition line with the cam position recognition line. It is possible to set the rotation angle of the cam 110 by the difference in the inclination value between the cam via line, and to control the position adjustment of the cam 110 by the set rotation angle of the cam 110. Here, when the transfer path is curved as described above, the controller 150 may set a line corresponding to a tangential slope in contact with the camera center point of the cam 110 among the transfer paths as the cam passing line.

FIG. 7 is a plan view illustrating another example in which the component recognition apparatus of FIG. 1 operates, and FIG. 8 is a plan view illustrating another example in which the component recognition apparatus 100 of FIG. 1 operates.

7 and 8, the feed path K set by the component recognition device 100 may be set as a path without a turning point.

For example, as shown in FIG. 7, a second feeder in which an object for picking up a part located at the first specific point 1 of the first part location A is located in an oblique direction with respect to the cam 110. Can be set to (D). At this time, the control unit 150 transfer path (K) in a straight section connecting the first specific location 1 of the first component location (A) and the second mounting location (5) of the second feeder (D). By setting, it is possible to set the feed path K as a path without a turning point.

In accordance with the execution of the cam angle adjusting unit 120 and the control unit 150, the cam 110 is finely positioned such that the line scan direction of the cam 110 is positioned on a line coinciding with the above-described feed path K of the straight line section. Rotation angle can be adjusted.

As another example, as shown in FIG. 8, a first feeder in which an object for picking up a part located at the first specific point 4 of the second part location B is located in an oblique direction with respect to the cam 110. Can be set to (C). At this time, the control unit 150 transfer path (K) in a straight section connecting the first specific location 4 of the second component location (B) and the first mounting location (2) of the first feeder (C). By setting, it is possible to set the feed path K as a path without a turning point.

Similarly, according to the execution of the cam angle adjusting unit 120 and the control unit 150, the cam 110 has the line scan direction of the cam 110 positioned on a line coinciding with the above-described feed path K of the straight line section. Rotation angle can be finely adjusted.

Referring to FIG. 9, the feed path K set by the component recognition apparatus 100 may be provided as a curve below a predetermined curvature, rather than being set as a straight line section.

Here, the predetermined curvature refers to the minimum curvature that can be determined as a straight line when visually confirmed.

As shown in FIG. 7 and FIG. 8, when the feed path K is set to a straight section, fine rotation angle adjustment may be performed so that the cam 110 is located at a line coinciding with the feed path K of the straight section. However, even if the cam 110 adjusts the rotation angle through the execution of the cam angle adjusting unit 120 and the control unit 150 as described above, it may not be possible to be located in a line coinciding with the feed path K of the straight section. have. At this time, the feed path K can be corrected by applying a minimum curvature to the feed path K of the straight section so that the feed path K of the straight section and the line scan direction of the cam 110 are on the same line. Do.

The minimum curvature described above means a curvature that may be included in a range in which the cam 110 which is a line scan camera can be recognized.

Referring to FIG. 10, the part located at the first specific point 1 of the first component location A is set to be picked up by the second feeder D positioned in the diagonal direction with respect to the cam 110. In this case, the controller 150 may set the feed path K step by step from the first specific point 1 of the first component location A to the first mounting location 2.

For example, the controller 150 sets a straight section connecting the first specific point 1 of the first component location A and the center point of the cam 110 as the first transfer path K, The section from the virtual mounting position 8 which is the end point of the set first transport path K to the second mounting position 5 to be actually mounted may be set as the second transport path K.

The support member 130 of the second feeder D straightens the part along the first feed path K from the first specific point 1 of the first component position A to the virtual mounting position 8. After the movement, it moves from the virtual mounting position 8 to the 2nd mounting position 5 along the 2nd conveyance path K again. That is, there is an advantage in that unnecessary paths are added like the second transport path K, or the first transport path K can be provided in a straight section.

Referring to FIG. 11, not only the rotation angle of the cam 110 may be adjusted, but also the position point of the cam 110 may be changed.

That is, the component recognition device 100 changes the position of the cam 110 when it is necessary to change the position of the cam 110 so that the optimum feed path K can be easily set (eg, horizontal movement). ) May further include a cam moving part (not shown).

Here, the controller 150 may compare the intersection between the center point of the cam 110, the moving line and the transfer path of the cam 110, and control the movement of the cam 110 by the length between the center point and the intersection point. Do.

At this time, the controller 150 compares the cam position recognition line indicating the position of the current cam 110 after the movement with the cam passing line, which is a specific section of the conveying path via the position point after the movement of the cam 110, and recognizes the cam position. While setting the rotation angle of the cam 110 by the difference in the inclination value between the line and the cam via line, while controlling the position adjustment of the cam 110 or the movement of the cam 110 by the set rotation angle of the cam 110 Based on the position of the virtual cam after the movement, the position adjustment of the cam 110 can be controlled together with the angle corresponding to the feed path.

Referring to FIG. 12, the component recognition apparatus 100 collects information on a specific point where a part is located, a mounting point for mounting a part, and a center point of the cam 110, and then absorbs the part to mount the part. The movement trajectory (that is, the feeding path K) for moving the position up to is calculated (S1 and S3).

When there are a plurality of transport trajectories (that is, the transport path K) calculated in step S3, the movement trajectory (ie, the transport path K) having the minimum number of turning points may be determined as the optimal trajectory (S5).

Thereafter, the rotation angle of the cam 110 is adjusted such that the line scan direction of the cam 110 is located on the same line as the optimum movement trajectory (S7).

The component is moved through the optimum movement trajectory determined through the above-described steps (S9).

The point in time at which the component being moved along the optimum movement trajectory reaches the position point of the cam 110 may be a photographing time point (S11).

In operation S11, when the part reaches the position point of the cam 110, the cam 110 performs an image for determining an adsorption state of the part. As the captured image is stored or transmitted to the controller 150, it is used as data for determining whether or not the adsorption state of the component is normal (S13).

After the process of additional mounting parts is repeated, the above-described steps are repeated (S15).

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. You will understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

In addition, the present invention is to provide a component recognition device for setting the transfer path that is the path from the suction position of the component to the mounting position to a path having a one-point turning point, or a path without a turning point. It is an invention that can be used industrially because it is not only commercially available or commercially viable, but also practically evident.

Claims

In the component recognition device,

cam;

A support member for absorbing parts and moving to a mounting position;

A support member driving unit for driving the support member along a feed path set to the mounting position via a position point of the cam;

A cam angle adjusting unit for adjusting a rotation angle of the cam at an angle passing through a position point of the cam in the transfer path; And

And a controller for controlling the driving of the support member and the position adjustment of the cam based on the transfer path.
According to claim 1,

Part recognition device further comprises a cam moving unit for changing the position of the cam.
The method according to claim 1 or 2,

The conveying path is a component recognition device is set to a path having a turning point of one-point.
The method of claim 3, wherein

The conveying path is a part recognition device that proceeds in an oblique line or proceeds in a curve.
The method of claim 3, wherein

The component recognition device, wherein the angle based on the turning point of the one-point is set to a predetermined impact reduction angle or more.
The method according to claim 1 or 2,

The part recognition device is set to a path without the turning point.
The method according to claim 1 or 2,

The control unit compares a cam position recognition line indicating a current position of the cam with a cam passage line, which is a specific section of the transfer path via the cam position point, and an inclination value between the cam position recognition line and the cam passage line. The component recognition device for setting the rotation angle of the cam by the difference, and controls the position adjustment of the cam by the set rotation angle of the cam.
The method of claim 7, wherein

And the controller is configured to set a line corresponding to a tangential slope in contact with the camera center point of the cam as the path through the cam when the transfer path is curved.
The method of claim 2,

The control unit is a component recognition device for comparing the intersection point between the center point of the cam and the movement line and the transfer path of the cam, and controls the movement of the cam by the length between the center point and the intersection point.
The method of claim 9,

The control unit compares a cam position recognition line indicating a current cam position after the movement with a cam passing line, which is a specific section of the transfer path via the position point after the cam movement, and the slope between the cam position recognition line and the cam passing line. The rotation angle of the cam is set by a value difference, and the cam rotation is controlled by the set rotation angle of the cam, or the angle corresponding to the transfer path is based on the virtual cam position after the movement while controlling the cam movement. Component recognition device that controls the position adjustment of cam together.
In the part recognition method,

Setting a transfer path of a support member moving to a mounting position via a cam position point after absorbing the component;

Driving the support member along the transport path;

Adjusting a rotation angle of the cam at an angle via a position point of the cam in the transfer path; And

And photographing the part through the cam at a point in time at which the support member passes through a photographing point of the cam.
The method of claim 11, wherein

And changing the position of the cam.
The method of claim 11 or 12,

The adjusting of the rotation angle of the cam may include comparing a cam position recognition line indicating a current position of the cam with a cam passing line, which is a specific section of the transfer path via the cam position point, and comparing the cam position recognition line with the cam position recognition line. And setting a rotation angle of the cam by a difference in inclination value between the cam passing lines, and controlling position adjustment of the cam by the set rotation angle of the cam.
The method of claim 13,

And a line corresponding to a tangential slope in contact with a camera center point of the cam in the transfer path as a curve through the cam when the transfer path is curved.
The method of claim 12,

The step of changing the position point of the cam includes comparing the center point of the cam, the intersection point between the cam movement line and the transfer path, and controlling the movement of the cam by the length between the center point and the intersection point. Part recognition method.
The method of claim 15,

When changing the position of the cam, the step of adjusting the rotation angle of the cam is a cam position recognition line indicating the current cam position after the movement and a specific section of the transfer path via the position position after the cam movement. Compare the gas passage line and set the rotation angle of the cam by the difference in the inclination value between the cam position recognition line and the cam passage line, and control the position adjustment of the cam or control the cam movement by the set rotation angle of the cam. And controlling the position adjustment of the cam at an angle corresponding to the transfer path based on the virtual cam position after the movement.