WO2017183169A1 - Machine de travail de substrat - Google Patents

Machine de travail de substrat Download PDF

Info

Publication number
WO2017183169A1
WO2017183169A1 PCT/JP2016/062698 JP2016062698W WO2017183169A1 WO 2017183169 A1 WO2017183169 A1 WO 2017183169A1 JP 2016062698 W JP2016062698 W JP 2016062698W WO 2017183169 A1 WO2017183169 A1 WO 2017183169A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
data log
unit
processing unit
input
Prior art date
Application number
PCT/JP2016/062698
Other languages
English (en)
Japanese (ja)
Inventor
紘佑 土田
神藤　高広
伸夫 長坂
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to JP2018512730A priority Critical patent/JP6615325B2/ja
Priority to PCT/JP2016/062698 priority patent/WO2017183169A1/fr
Publication of WO2017183169A1 publication Critical patent/WO2017183169A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components

Definitions

  • the present invention relates to an on-board work machine in which multiplex communication is performed between isolated devices.
  • the working robot described in Patent Document 1 includes an apparatus main body that is fixedly provided at a place where the working robot is installed, and a movable unit that moves relative to the apparatus main body.
  • the apparatus main body includes a Y-axis linear servo amplifier, an X-axis linear servo amplifier, and two three-axis rotary servo amplifiers.
  • the movable part includes a Y-axis linear motor, an X-axis linear motor, and six rotary servomotors.
  • control units there are four control units, that is, a control unit comprising a Y-axis linear servo amplifier and a Y-axis linear motor, an X-axis linear servo amplifier, and an X-axis linear motor between the apparatus main body and the movable part.
  • a control unit composed of one of the three-axis rotary servo amplifiers and a control unit composed of three rotary servomotors, and a control composed of the other of the three-axis rotary servo amplifiers and three rotary servomotors Unit exists.
  • Each control unit uses an encoder signal.
  • Each encoder signal is multiplexed with frame data when being multiplexed and transmitted between the apparatus main body and the movable part.
  • the cycle and bit position for transmitting each encoder signal can be changed as appropriate, so that the response speed of feedback control in each control unit is suitably maintained.
  • each control unit acquired the data log individually, the timing for acquiring the data log was not synchronized between the control units. Therefore, for example, even if an abnormality occurs in the operation timing of a certain control unit, it is difficult to accurately grasp the abnormality from the data log of each control unit.
  • the present invention has been made in view of the above-described point, and is a work on board that can acquire each data log at the same timing from two or more kinds of signals multiplexed and transmitted between isolated devices. It is an object to provide a machine.
  • the invention made in order to solve this problem is a work machine for a substrate, and a multiplexing processing unit that multiplexes two or more kinds of signals transmitted and received between isolated devices on a transmission side and demultiplexes on a reception side, and And a data log processing unit that acquires each of the two or more types of signals before being multiplexed by the multiplexing processing unit or after being demultiplexed as a data log at a predetermined period.
  • the on-board work machine of the present invention two or more types of signals transmitted and received between isolated devices are multiplexed on the transmitting side and demultiplexed on the receiving side, and before being multiplexed or after being demultiplexed Each of the two or more types of signals is acquired as a data log at a predetermined cycle. Therefore, the on-board work machine of the present invention can acquire each data log at the same timing from two or more types of signals multiplexed and transmitted between the isolated devices.
  • FIG. 1 is a system configuration diagram illustrating a substrate working machine according to an embodiment of the present invention. It is the block diagram in which the fixing
  • the substrate working machine 1 includes a fixed unit 101 and a movable unit 201.
  • the fixing unit 101 includes, for example, a base.
  • the movable unit 201 includes, for example, a head unit for mounting electronic components.
  • the usage example of the component described below demonstrates the case where the substrate working machine 1 of this embodiment is an electronic component mounting apparatus.
  • the fixing unit 101 has a controller 103.
  • the controller 103 is connected to an image input board 105, a PLC (Programmable Logic Controller) 107, servo amplifiers 109 and 111, and an Ethernet master 113. By outputting a command signal to these devices, the substrate work machine 1 Perform overall control.
  • the fixing unit 101 includes a multiplex communication board 115 for performing multiplex communication.
  • the multiplex communication board 115 is connected to the image input board 105, the PLC 107, the servo amplifiers 109 and 111, and the Ethernet master 113.
  • the movable unit 201 includes a multiplex communication board 203 for performing multiplex communication.
  • the multiplex communication board 203 is connected to the camera 205, photoelectric sensor 207, solenoid 209, pressure sensor 211, temperature sensor 213, servo motors 215 and 217, encoders 219 and 221, and Ethernet slave 223.
  • the multiplex communication boards 115 and 203 are connected by an optical cable 301 for multiplex communication of a half duplex communication method. That is, half-duplex multiplex communication is performed between the fixed unit 101 and the movable unit 201 via the optical cable 301.
  • the image input board 105 inputs the image of the camera 205 by controlling the camera 205 by data communication. Data transmission is performed between the image input board 105 and the camera 205 in accordance with the parallel communication standard of camera link (CameraLink).
  • the camera 205 is used as a mark camera or a part camera, for example.
  • the mark camera captures an image of the mounting board surface of the electronic component.
  • the parts camera captures an image of the electronic component sucked and held by the suction nozzle of the head unit.
  • the PLC 107 receives data from the photoelectric sensor 207, the pressure sensor 211, and the temperature sensor 213 by data communication, and controls the solenoid 209. Each input data is used for overall control of the substrate working machine 1.
  • General-purpose digital data transmission is performed between the PLC 107 and the photoelectric sensor 207 and between the PLC 107 and the solenoid 209. Between the PLC 107 and the pressure sensor 211, data transmission is performed according to the I2C (Inter-IntegratedIntegrCircuit) serial communication standard. Between the PLC 107 and the temperature sensor 213, data transmission is performed according to a serial communication standard of SPI (Serial Peripheral Interface).
  • I2C Inter-IntegratedIntegrCircuit serial communication standard.
  • SPI Serial Peripheral Interface
  • the photoelectric sensor 207 is used as a human sensor for fail-safe, for example.
  • the pressure sensor 211 is used, for example, as a sensor for controlling the indentation pressure of the mounted component.
  • the temperature sensor 213 is used as, for example, a sensor that measures the temperature of the head unit.
  • the solenoid 209 is used, for example, as a driving source for an on-off valve for supplying compressed air or a driving source for a solenoid pin.
  • the servo amplifiers 109 and 111 receive the feedback signals of the encoders 219 and 221 through data communication, and control the servo motors 215 and 217 based on the feedback signals and the command signal of the controller 103. Data transmission according to the RS-485 serial communication standard is performed between the servo amplifiers 109 and 111 and the encoders 219 and 221. Note that command signals, electric power, and the like for driving the servo motors 215 and 217 are supplied from the servo amplifiers 109 and 111 to the servo motors 215 and 217 via a cable (not shown).
  • Encoders 219 and 221 detect the rotation angles of servo motors 215 and 217, and output the detected data to servo amplifiers 109 and 111, respectively.
  • the servo motors 215 and 217 are used as, for example, joints of a robot arm provided in the head unit.
  • Ethernet slave 223 Between the Ethernet master 113 and the Ethernet slave 223, a 100Base-TX-based industrial Ethernet (registered trademark) standard network is constructed. A photoelectric sensor 225, a solenoid 227, and a displacement sensor 229 are connected to the Ethernet slave 223.
  • an EtherCAT frame is transmitted and received between the Ethernet master 113 and the Ethernet slave 223 at high speed.
  • the Ethernet slave 223 reads or writes the EtherCAT frame received from the Ethernet master 113 and returns it to the Ethernet master 113.
  • the Ethernet slave 223 copies data from the read data position for the Ethernet slave 223 (hereinafter referred to as “read data position”) set in advance in the EtherCAT frame, and the solenoid according to the content of the copied data.
  • the driving process 227 is performed. Further, the Ethernet slave 223 writes data indicating the completion of driving of the solenoid 227, output data of the photoelectric sensor 225, the displacement sensor 229, and the like at a write data position for the Ethernet slave 223 set in advance in the EtherCAT frame. Return to the master 113.
  • the Ethernet master 113 reads the output data of the photoelectric sensor 225 and the displacement sensor 229 from the EtherCAT frame, generates data for driving the solenoid 227 based on the read data and the like, and generates the generated data as the EtherCAT frame. Write to [Read Data Position]. In this way, the Ethernet master 113 controls the solenoid 227 connected to the Ethernet slave 223.
  • the photoelectric sensor 225 is used as a human sensor for fail-safe, for example.
  • the solenoid 227 is used, for example, as a driving source for an on-off valve for supplying compressed air, or a driving source for a solenoid pin.
  • the displacement sensor 229 is used as, for example, a board height sensor that measures the height position of the electronic component from the mounting board surface.
  • a multiplex communication board 115 included in the fixed unit 101 includes a multiplex communication FPGA (Field Programmable Gate Array) 121, a DO terminal 123, a DI terminal 125, DRV input / output units 127 and 129, and Ethernet input / output.
  • a unit 131, an O / E conversion module 133, a CPU (Central Processing Unit) 135, and a UART (Universal Asynchronous Receiver Transmitter) output unit 136 are provided.
  • the multi-communication FPGA 121 is provided with a circuit configuration for executing half-duplex multi-communication.
  • the DO terminal 123 is a device for executing data output by a general-purpose digital method.
  • the DI terminal 125 is a device for executing data input by a general-purpose digital method.
  • the DRV input / output units 127 and 129 are devices for executing data transmission based on the RS-485 serial communication standard.
  • the Ethernet input / output unit 131 is a device for constructing a 100Base-TX-based industrial Ethernet (registered trademark) network.
  • the O / E conversion module 133 converts the electrical signal input from the multiplex communication FPGA 121 into an optical signal, outputs the converted signal to the optical cable 301, and converts the optical signal input from the optical cable 301 into an electrical signal.
  • the unit outputs the converted signal to the multiplex communication FPGA 121.
  • the CPU 135 is a central processing unit that controls the entire multiplex communication board 115.
  • the UART output unit 136 is a device that converts a parallel signal into a serial signal and outputs the converted signal in accordance with the UART communication standard.
  • the multiplexing communication FPGA 121 includes a multiplexing processing unit 137, a camera link image data output unit 139, a camera link control data input / output unit 141, an I2C input / output unit 143, an SPI input / output unit 145, and a data log processing unit 147. Is provided.
  • the multiplexing processing unit 137 multiplexes signals input from the image input board 105, the PLC 107, the servo amplifiers 109 and 111, and the Ethernet master 113, while the multiplexing processing unit 137 includes the O / E conversion module 133. Multiplex communication of the half duplex communication system is executed by demultiplexing the signal input from the terminal. Therefore, the multiplexing processing unit 137 includes a DO terminal 123, a DI terminal 125, DRV input / output units 127 and 129, an Ethernet input / output unit 131, a camera link image data output unit 139, and a camera link control data input / output unit 141. , I2C input / output unit 143, SPI input / output unit 145, and O / E conversion module 133.
  • the camera link image data output unit 139 is a device for transmitting image data according to the camera link parallel communication standard.
  • the camera link control data input / output unit 141 is a device for transmitting control data and the like according to the camera link parallel communication standard.
  • the I2C input / output unit 143 is a device for executing data transmission according to the I2C serial communication standard.
  • the SPI input / output unit 145 is a device for executing data transmission based on the SPI serial communication standard.
  • the data log processing unit 147 will be described later.
  • the image input board 105 is provided with a camera link image data input unit 149 and a camera link control data input / output unit 150.
  • the camera link image data input unit 149 is a device for transmitting image data according to the camera link parallel communication standard, and is connected to the camera link image data output unit 139.
  • the camera link control data input / output unit 150 is a device for transmitting control data or the like according to the camera link parallel communication standard, and is connected to the camera link control data input / output unit 141.
  • the PLC 107 is provided with a DI terminal 151, a DO terminal 153, an I2C input / output unit 155, and an SPI input / output unit 157.
  • the DI terminal 151 is a device for executing data input by a general-purpose digital method, and is connected to the DO terminal 123.
  • the DO terminal 153 is a device for executing data output by a general-purpose digital method, and is connected to the DI terminal 125.
  • the I2C input / output unit 155 is a device for executing data transmission according to the I2C serial communication standard, and is connected to the I2C input / output unit 143.
  • the SPI input / output unit 157 is a device for executing data transmission according to the SPI serial communication standard, and is connected to the SPI input / output unit 145.
  • Servo amplifiers 109 and 111 are provided with DRV input / output units 159 and 161, respectively.
  • the DRV input / output units 159 and 161 are devices for executing data transmission according to the RS-485 serial communication standard, and are connected to the DRV input / output units 127 and 129.
  • the Ethernet master 113 is provided with an Ethernet input / output unit 163.
  • the Ethernet input / output unit 163 is a device for constructing a 100Base-TX-based industrial Ethernet (registered trademark) network, and is connected to the Ethernet input / output unit 131.
  • the data log processing unit 147 includes a parameter register 165, a data log register 167, an error data register 169, a RAM (Random Access Memory) 171, an abnormality detection unit 173, a decoding unit 179, 181, 183, 185, 187, And an encoding unit 189 is provided.
  • the parameter register 165 is provided with a log acquisition cycle setting area 165A, an input information area 165B, and an abnormal condition area 165C.
  • the log acquisition cycle setting area 165A stores an acquisition cycle that is a data log acquisition timing. Information relating to the data log is stored in the input information area 165B.
  • the abnormal condition area 165C stores abnormal conditions related to the data log. These areas 165A, 165B, and 165C can be written from the outside.
  • the data log register 167 includes the wiring branched from the wiring connecting the camera link image data output unit 139 and the multiplexing processing unit 137, and the camera link control data input / output unit 141 and the multiplexing processing unit 137. It is connected to the wiring branched from the wiring to be connected. Further, the data log register 167 is connected to the decoding units 179, 181, 183, and 185.
  • the error data register 169 is connected to the abnormality detection unit 173 and stores abnormality information.
  • the RAM 171 is a memory that can be read and written by random access.
  • the RAM 171 is connected to the data log register 167, the CPU 135, and the decoding unit 187, and stores a data log.
  • the abnormality detection unit 173 compares the data log in the data log register 167 with the abnormal condition in the abnormal condition area 165C. If the comparison result is abnormal, the error log is stored in the error data register 169 as error data.
  • the abnormality detection unit 173 is connected to the parameter register 165, the data log register 167, and the error data register 169.
  • the decoding units 179, 181, 183, 185, and 187 decode serial communication data.
  • the decoding unit 179 is connected to a line branched from a line connecting the I2C input / output unit 143 and the multiplexing processing unit 137.
  • the decoding unit 181 is connected to a wiring branched from the connection wiring of the SPI input / output unit 145 and the multiplexing processing unit 137.
  • the decoding units 183 and 185 are connected to wiring branched from the connection wiring of the DRV input / output units 127 and 129 and the multiplexing processing unit 137.
  • the decoding unit 187 is connected to the wiring branched from the connection wiring of the Ethernet input / output unit 131 and the multiplexing processing unit 137.
  • the encoding unit 189 encodes the data stored in the data log register 167 or the error data register 169 and outputs the encoded data to the UART output unit 136.
  • the encoding unit 189 is connected to the data log register 167, the error data register 169, and the UART output unit 136.
  • the multiplex communication board 203 included in the movable unit 201 includes a multiplex communication FPGA 231, a DI terminal 233, a DO terminal 235, DRV input / output units 237 and 239, an Ethernet input / output unit 241, and an O / E.
  • a conversion module 243 is provided.
  • the FPGA 231 for multiplex communication is provided with a circuit configuration for executing half-duplex multiplex communication.
  • the DI terminal 233 has the same configuration as the DI terminal 125 and is connected to the photoelectric sensor 207.
  • the DO terminal 235 has the same configuration as the DO terminal 123 and is connected to a solenoid.
  • the DRV input / output units 237 and 239 have the same configuration as the DRV input / output units 127 and 129, and are connected to the encoders 219 and 221.
  • the Ethernet input / output unit 241 has the same configuration as the Ethernet input / output unit 131 and is connected to the Ethernet slave 223.
  • the O / E conversion module 243 is a unit having the same configuration as the O / E conversion module 133.
  • the O / E conversion module 243 converts the electrical signal input from the multiplex communication FPGA 231 into an optical signal, and outputs the converted signal to the optical cable 301, while converting the optical signal input from the optical cable 301 into an electrical signal.
  • the converted signal is output to the multiplex communication FPGA 231.
  • the multiplexing communication FPGA 231 includes a multiplexing processing unit 245, a camera link image data input unit 247, a camera link control data input / output unit 249, an I2C input / output unit 251, and an SPI input / output unit 253.
  • the multiplexing processing unit 245 multiplexes signals input from the camera 205, photoelectric sensor 207, solenoid 209, pressure sensor 211, temperature sensor 213, servo motors 215 and 217, encoders 219 and 221, and Ethernet slave 223.
  • the multiplexing processing unit 245 includes the DI terminal 233, the DO terminal 235, the DRV input / output units 237 and 239, the Ethernet input / output unit 241, the camera link image data input unit 247, and the camera link control data input / output unit 249. , I2C input / output unit 251, SPI input / output unit 253, and O / E conversion module 243.
  • the camera link image data input unit 247 is a device for transmitting image data according to the camera link parallel communication standard, and is connected to the camera 205.
  • the camera link control data input / output unit 249 has the same configuration as the camera link control data input / output unit 141 and is connected to the camera 205.
  • the I2C input / output unit 251 has the same configuration as that of the I2C input / output unit 143 and is connected to the pressure sensor 211.
  • the SPI input / output unit 253 has the same configuration as the SPI input / output unit 145 and is connected to the temperature sensor 213.
  • data transmission is performed between the camera 205 and the image input board 105 according to the camera link parallel communication standard.
  • General-purpose digital data transmission is performed between the photoelectric sensor 207 and the PLC 107 and between the solenoid 209 and the PLC 107.
  • Data transmission according to the I2C serial communication standard is performed between the pressure sensor 211 and the PLC 107.
  • Data transmission according to the SPI serial communication standard is performed between the temperature sensor 213 and the PLC 107.
  • Data transmission according to the RS-485 serial communication standard is performed between the encoders 219 and 221 and the servo amplifiers 109 and 111.
  • Between the Ethernet slave 223 and the Ethernet master 113, data transmission based on the 100Base-TX based industrial Ethernet standard is performed.
  • the multiplexing processing units 245 and 137, the O / E conversion modules 243 and 133, and the optical cable 301 are used to multiplex the half duplex communication method. Communication takes place.
  • Data log type As described above, data transmission according to a predetermined communication standard is executed between the device of the fixed unit 101 and the device of the movable unit 201 through the multiplex communication of the half duplex communication method. Further, all or part of communication data during data transmission is acquired and stored in the data log processing unit 147 as a data log.
  • camera link parallel communication standard data transmission is performed using the image input board 105 as a communication partner.
  • the trigger data during the data transmission is acquired and stored in the data log processing unit 147 as a data log before being multiplexed by the multiplexing processing unit 137.
  • the FVAL data (effective frame signal) during the data transmission is demultiplexed by the multiplexing processing unit 137 and then acquired and stored in the data log processing unit 147 as a data log.
  • output data transmission by a general-purpose digital method is performed using the PLC 107 as a communication partner.
  • the ON / OFF data being transmitted is demultiplexed by the multiplexing processing unit 137 and then acquired and stored in the data log processing unit 147 as a data log.
  • data transmission of the I2C serial communication standard is performed using the PLC 107 as a communication partner.
  • the pressure value data during the data transmission is demultiplexed by the multiplexing processing unit 137 and then acquired and stored in the data log processing unit 147 as a data log.
  • data transmission of the SPI serial communication standard is performed using the PLC 107 as a communication partner.
  • the temperature data during the data transmission is demultiplexed by the multiplexing processing unit 137 and then acquired and stored in the data log processing unit 147 as a data log.
  • the encoders 219 and 221 perform data transmission of the RS-485 serial communication standard with the servo amplifiers 109 and 111 as communication partners.
  • the rotation angle data during the data transmission is demultiplexed by the multiplexing processing unit 137 and then acquired and stored in the data log processing unit 147 as a data log.
  • Ethernet slave 223 100Base-TX-based industrial Ethernet standard data transmission is performed with the Ethernet master 113 as a communication partner.
  • the I / O data and analog input / output data during the data transmission are acquired and stored in the data log processing unit 147 as a data log before being multiplexed by the multiplexing processing unit 137 or after being demultiplexed.
  • the I / O data is data for the photoelectric sensor 225 connected to the Ethernet slave 223 or data for the solenoid 227.
  • the analog input / output data is data for the displacement sensor 229 connected to the Ethernet slave 223.
  • step S11 data log processing executed by the data log processing unit 147.
  • step S11 it is determined whether or not the acquisition cycle has passed.
  • the acquisition period is read from the log acquisition period setting area 165A of the parameter register 165. If the acquisition cycle has not elapsed (step S11: NO), the process returns to S11. On the other hand, when the acquisition cycle has elapsed (step S11: YES), the first acquisition process is performed (step S12).
  • trigger data or FVAL data (valid frame signal) of the camera 205 is acquired as a data log by the data log processing unit 147 and stored in the data log register 167.
  • ON / OFF data of the photoelectric sensor 207 is acquired as a data log by the data log processing unit 147 and stored in the data log register 167.
  • the ON / OFF data of the solenoid 209 is acquired as a data log by the data log processing unit 147 and stored in the data log register 167.
  • the pressure value data of the pressure sensor 211 is extracted from the I2C communication data as a data log by the decoding unit 179 of the data log processing unit 147 and stored in the data log register 167.
  • the temperature data of the temperature sensor 213 is extracted from the SPI communication data as a data log by the decoding unit 181 of the data log processing unit 147 and stored in the data log register 167.
  • the rotation angle data of the encoders 219 and 221 is extracted from the RS-485 communication data by the decoding units 183 and 185 of the data log processing unit 147 and stored in the data log register 167.
  • step S13 the second acquisition process is performed (step S13).
  • part of the communication data before being multiplexed by the multiplexing processing unit 137 or after being demultiplexed is acquired and stored in the data log processing unit 147 as a data log.
  • 100Base-TX-based communication data of the Ethernet slave 223 is temporarily stored in the RAM 171 by the decoding unit 187 of the data log processing unit 147. Further, the I / O data and analog input / output data of the Ethernet slave 223 are extracted from the data stored in the RAM 171 as a data log by a program executed by the CPU 135 and stored in the data log register 167. The program is stored in the RAM 171.
  • step S12 may be performed after the second acquisition process (step S13).
  • step S13 may be performed simultaneously.
  • step S21 the data log stored in the data log register 167 at a predetermined acquisition cycle is read (step S21).
  • the abnormal condition stored in the abnormal condition area of the parameter register 165 is read (step S22).
  • the data log and the abnormal condition are compared to determine whether or not there is an abnormality (step S23). This comparison is performed for each data log.
  • step S23 when there is no abnormality (step S23: NO), the error processing is finished. On the other hand, if there is an abnormality (step S23: YES), abnormality information regarding the data log determined to be abnormal is stored in the error data register 169 (step S24).
  • step S25 output processing is performed (step S25).
  • the data log or error information to be subjected to abnormality determination is encoded by the encoding unit 189 and output from the UART output unit 136.
  • This output is performed, for example, according to the SATA (Serial ATA) interface standard. Thereafter, the error processing ends.
  • SATA Serial ATA
  • the fixed portion 101 and the movable portion 201 are isolated via the optical cable 301. Further, the fixed unit 101 controls the servo amplifiers 109 and 111 that drive the servo motors 215 and 217 and the servo amplifiers 109 and 111 based on the rotation angle data (position information based on the encoder signal) output from the encoders 219 and 221.
  • the controller 103 is provided.
  • the movable unit 201 includes encoders 219 and 221 and servo motors 215 and 217.
  • Two or more types of signals such as rotation angle data of the encoders 219 and 221 are transmitted and received between the fixed unit 101 and the movable unit 201 that are separated with the optical cable 301 interposed therebetween.
  • the rotation angle data of the encoders 219 and 221 is multiplexed by the transmission side multiplexing processing unit 245 and demultiplexed by the reception side multiplexing processing units 137 and 245.
  • the rotation angle data of the demultiplexed encoders 219 and 221 is acquired as a data log at predetermined intervals by the data log processing unit 147 (step S12). Therefore, the substrate work machine 1 of the present embodiment acquires the rotation angle data of the encoders 219 and 221 transmitted in a multiplexed manner between the isolated fixed unit 101 and the movable unit 201 as the data log at the same timing.
  • the data log processing unit 147 acquires the rotation angle data of the encoders 219 and 221 at the same timing as the data log, synchronization is accurately performed between the rotation angle data of the encoders 219 and 221 which are different devices.
  • the collected data log is acquired.
  • the data log processing unit 147 includes the data log register 167, and the data log is stored in the data log register 167 (step S12, step S13). It is possible to perform an analysis using the recorded data log.
  • the data log processing unit 147 encodes the data log by the encoding unit 189 and outputs the data log from the UART output unit 136 (step S25), so that the analysis using the data log is performed by the external device. Is possible.
  • the data log processing unit 147 detects an error based on the data log (step S23: YES), so it is possible to execute fail-safe based on the error detection. .
  • the I / O data and the analog input / output data are extracted from the 100Base-TX-based communication data by the data log processing unit 147 as a data log (step S13). Therefore, only necessary data can be acquired as a data log from a large amount of data during Ethernet communication.
  • each device (the image input board 105, the PLC 107, the servo amplifiers 109 and 111, or the Ethernet master 113) of the fixed unit 101 or movable by the data log processing unit 147 of the multiplex communication FPGA 121. Since the data log is acquired from the communication signal of each device (camera 205, photoelectric sensor 207, solenoid 209, pressure sensor 211, temperature sensor 213, encoder 219, 221 or Ethernet slave 223) of the unit 201 (step S12). , Step S13), it is possible to collect data logs collectively from a plurality of different types of communication signals.
  • the data log processing unit 147 of the multiplex communication FPGA 121 collectively acquires the data logs from a plurality of different types of communication signals, the data log format can be changed by the multiplex communication FPGA 121. Is possible. Therefore, it is not necessary to acquire a data log in each device included in the fixed unit 101 and the movable unit 201, and it is not necessary to change the format of the data log.
  • the UART output unit 136 and the encoding unit 189 are examples of an interface unit.
  • the data log register 167 is an example of a storage unit.
  • Servo motors 215 and 217 are examples of actuators.
  • the data log is acquired and stored at the timing of each acquisition cycle (step S11: YES), but the data log is at the timing of multiplexing or demultiplexing of multiplex communication It may be acquired and stored.
  • the output data of the UART output unit 136 may be stored in an external storage device.
  • Each data log stored in the data log register 167 may be output from the UART output unit 136, or the output data may be stored in an external storage device.
  • a dedicated terminal for externally storing data stored in the data log register 167 or the error data register 169 may be provided on the multiplex communication board 115.
  • the servo amplifiers 109 and 111, the servo motors 215 and 217, and the encoders 219 and 221 are provided, so that the biaxial rotation angle data is handled as a data log.
  • rotation angle data of three or more axes may be handled as a data log.
  • the rotation angle data of one axis may be handled as a data log by omitting the servo amplifier 109, the servo motor 215, and the encoder 219.
  • the data log processing unit 147 is provided in the fixed unit 101.
  • a fixed unit including a controller and a servo amplifier by adding a fixed unit including a controller and a servo amplifier, multiplex communication is performed between the added fixed unit and the fixed unit 101, and data log processing of the fixed unit 101 is performed from the multiplex communication data.
  • the data log may be acquired and stored by the unit 147. In such a case, if the distance between the fixed portion and the fixed portion 101 is 1 m or more, the effect of wiring saving by multiplexing is easily exhibited.
  • a data log processing unit that replaces the data log processing unit 147 of the fixed unit 101 may be provided in the movable unit 201.
  • the data log of each device included in the movable unit 201 can be held for each acquisition period.
  • the data log processing unit 255 is provided in the multiplex communication FPGA 231 of the movable unit 201.
  • the data log processing unit 255 is provided in the multiplex communication FPGA 231 in the same manner as the data log processing unit 147 of the fixed unit 101, and further, the CPU 257 and the UART output unit 259 are provided in the multiplex communication FPGA 231.
  • multiplex communication is performed between the added movable part and the movable part 201, and data logging processing of the movable part 201 is performed from the multiplexed communication data.
  • the data log may be acquired and stored by the unit 255.
  • an ASIC application specific integrated circuit
  • FPGA field-programmable gate array
  • the substrate working machine 1 has been described as an electronic component mounting device, but it may be an appearance inspection device, a printing device, a machine tool, or the like.
  • half-duplex communication type multiplex communication is performed between the fixed unit 101 and the movable unit 201, but full duplex communication type multiplex communication is performed. May be.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'invention concerne une machine de travail de substrat qui comprend : une unité de traitement par multiplexage 137 pour, dans une unité fixe 101, multiplexer ou démultiplexer au moins deux types de signaux émis et reçus par l'unité fixe 101 et une unité mobile ; et une unité de traitement de journal de données 147 pour acquérir chacun desdits signaux avant multiplexage ou après démultiplexage par l'unité de traitement par multiplexage 137 à une période prescrite en tant que journal de données.
PCT/JP2016/062698 2016-04-22 2016-04-22 Machine de travail de substrat WO2017183169A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018512730A JP6615325B2 (ja) 2016-04-22 2016-04-22 対基板作業機
PCT/JP2016/062698 WO2017183169A1 (fr) 2016-04-22 2016-04-22 Machine de travail de substrat

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/062698 WO2017183169A1 (fr) 2016-04-22 2016-04-22 Machine de travail de substrat

Publications (1)

Publication Number Publication Date
WO2017183169A1 true WO2017183169A1 (fr) 2017-10-26

Family

ID=60116664

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/062698 WO2017183169A1 (fr) 2016-04-22 2016-04-22 Machine de travail de substrat

Country Status (2)

Country Link
JP (1) JP6615325B2 (fr)
WO (1) WO2017183169A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011159165A (ja) * 2010-02-02 2011-08-18 Fujitsu Ltd 並列計算機システム、並列計算機システムの制御方法及び制御プログラム
WO2015052790A1 (fr) * 2013-10-09 2015-04-16 富士機械製造株式会社 Système de communication par multiplexage et robot de travail
JP5841226B1 (ja) * 2014-12-25 2016-01-13 Ｎｅｃスペーステクノロジー株式会社 テレメトリデータ監視修復装置及び監視修復方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130262035A1 (en) * 2012-03-28 2013-10-03 Michael Charles Mills Updating rollup streams in response to time series of measurement data
JP5979064B2 (ja) * 2013-04-02 2016-08-24 横河電機株式会社 記録計
JP6132097B2 (ja) * 2013-09-25 2017-05-24 横河電機株式会社 測定システムおよび測定方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011159165A (ja) * 2010-02-02 2011-08-18 Fujitsu Ltd 並列計算機システム、並列計算機システムの制御方法及び制御プログラム
WO2015052790A1 (fr) * 2013-10-09 2015-04-16 富士機械製造株式会社 Système de communication par multiplexage et robot de travail
JP5841226B1 (ja) * 2014-12-25 2016-01-13 Ｎｅｃスペーステクノロジー株式会社 テレメトリデータ監視修復装置及び監視修復方法

Also Published As

Publication number Publication date
JPWO2017183169A1 (ja) 2019-02-21
JP6615325B2 (ja) 2019-12-04

Similar Documents

Publication Publication Date Title
US8339091B2 (en) Communication apparatus for robots
JP6169715B2 (ja) 多重化通信システム及び作業用ロボット
US20070159125A1 (en) Motor control system
CN107921625A (zh) 远程操作机器人系统
WO2002052715A1 (fr) Systeme de commande d'entrainement d'un servomoteur
JP2010036334A (ja) 直列および／または並列配置された複数の多軸ハンドリング装置からなる複合装置の制御方法ならびにデータ記憶媒体、制御システムおよび複合装置
JP2010036334A6 (ja) 直列および／または並列配置された複数の多軸ハンドリング装置からなる複合装置の制御方法ならびにデータ記憶媒体、制御システムおよび複合装置
CN104440909A (zh) 控制装置以及机器人系统
WO2017179452A1 (fr) Système de commande d'actionneur, procédé de commande d'actionneur, programme de traitement d'informations et support d'enregistrement
CN112045677B (zh) 一种航空发动机涡轮盘螺栓孔智能强化系统及其控制方法
JP6400831B2 (ja) 多重化通信システム及び作業機
CN109955279B (zh) 机器人手、其控制方法、物品的组装方法及存储介质
JP6615325B2 (ja) 対基板作業機
CN112296995A (zh) 机器人协作搬运系统
JP6596239B2 (ja) 多重化通信装置
CN210536535U (zh) 一种远程分离的电机驱动及电机控制系统以及电机驱动及电机控制系统
JP2008525870A (ja) 検出器信号をシミュレートするためのモジュール
JP2006285752A (ja) ２軸間の同期制御方法および同期制御装置
JPWO2006095401A1 (ja) 駆動制御システム及び機械制御装置
JP6941234B2 (ja) ロジックアナライザ
JP6905976B2 (ja) 対基板作業機
CN112548996A (zh) 一种开放式工业机器人控制系统及一种开放式工业机器人
CN104460530A (zh) 内置机器人控制器的数值控制装置
Gu et al. Control system design of 6-DOFs serial manipulator based on real-time ethernet
CN104656537A (zh) 一种智能主令控制器

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2018512730

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16899441

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 16899441

Country of ref document: EP

Kind code of ref document: A1