WO2021075019A1

WO2021075019A1 - Communication device and work machine

Info

Publication number: WO2021075019A1
Application number: PCT/JP2019/040835
Authority: WO
Inventors: 憲司渡邉; 伸夫長坂; 重典田中丸
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2021-04-22
Also published as: JPWO2021075019A1; JP7199566B2

Abstract

Provided are a communication device and a work machine, which suppress competition for access to a memory and with which it is possible to use the memory for a purpose other than to store slave information.　This communication device comprises: a slave which is connected to a master in an industrial network; a memory which stores slave information, which is information relating to the slave; a processing circuit which performs processing based on control data transmitted from the master and accesses the memory; and an access control circuit which is connected to the slave, the processing circuit and the memory, said access control circuit comprising a storage device that reads out the slave information from the memory and stores the same, and transmitting the slave information read out to the storage device to the master via the slave.

Description

Communication equipment and work equipment

The present disclosure relates to a communication device that processes control data transmitted from a master in an industrial network, and a working machine provided with the communication device.

Conventionally, there is a technique for suppressing competition of common buses (for example, Patent Document 1). The bus conflict prevention circuit of Patent Document 1 controls a plurality of three-state buffers connected to one common bus. Each of the three-state buffers is connected to an AND gate and outputs a signal to the common bus based on the signal supplied from the AND gate. An enable signal for the AND gate and an inverted signal of the output of another AND gate are input to the AND gate corresponding to any three-state buffer. The AND gate suppresses the conflict with the common bus of the 3-state buffer by outputting the logical product of the two signals to the status buffer.

Japanese Unexamined Patent Publication No. 2000-56874

By the way, network communication technology represented by the Internet is also utilized in the FA (Factory Automation) field, and there is what is called an industrial network for the FA field. For example, in an industrial network, a network is configured in which a master and slaves controlled by the master are connected. By controlling the slave installed in the device to be controlled by the control data transmitted from the master, it is possible to control the operation of the device.

In this type of industrial network, for example, the master acquires information about the slave from the slave's memory when the device is powered on. The master detects the type of slave connected to the industrial network based on the information acquired from the memory. Further, by using the memory for storing slave information for other purposes, the number of memories in the communication device including the slave can be reduced. On the other hand, when the memory is shared, a problem is that a plurality of accesses to the memory occur at the same time and a conflict occurs.

The present disclosure has been made in view of the above problems, and when slave information relating to a slave is stored in a memory provided in a communication device in an industrial network, competition for access to the memory is suppressed and the slave information is disclosed. It is an object of the present invention to provide a communication device and a working machine that can use a memory in addition to the purpose of storing the information.

In order to solve the above problems, the present disclosure is based on a slave connected to a master in an industrial network, a memory for storing slave information which is information related to the slave, and control data transmitted from the master. The storage device includes a processing circuit that executes processing and accesses the memory, a storage device that is connected to the slave, the processing circuit, and the memory, and reads and stores the slave information from the memory. A communication device including an access control circuit for transmitting the read slave information to the master via the slave is disclosed.
Further, the content of the present disclosure can be implemented not only as a communication device but also as a working machine equipped with a communication device.

According to the communication device and the working machine of the present disclosure, the access control circuit reads slave information from the memory to the storage device in advance. The access control circuit appropriately transmits the slave information read to the storage device to the master. As a result, even if the slave information is read and the memory is accessed from the processing circuit at the same time, the slave information is read from the memory in advance so that access conflict does not occur and the memory is accessed by the processing circuit. be able to.

It is a top view which shows the schematic structure of the component mounting system of this embodiment. It is a perspective view which shows the schematic structure of the component mounting machine and a loader. It is a block diagram of a multiplex communication system. It is a block diagram of a second slave. It is a flowchart for demonstrating the processing content of the 2nd slave. It is a figure which shows the flow of data when the process of FIG. 5 is executed. It is a figure which shows the data flow in the 2nd slave of the comparative example.

Hereinafter, one embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of the component mounting system 10 of the present embodiment. FIG. 2 is a perspective view showing a schematic configuration of the component mounting machine 20 and the loader 13. In the following description, the left-right direction of FIG. 1 will be referred to as the X direction, the vertical direction (front-back direction) will be referred to as the Y direction, and the X direction and the direction perpendicular to the Y direction will be referred to as the Z direction.

As shown in FIG. 1, the component mounting system 10 includes a production line 11, a loader 13, and a management computer 15. The production line 11 has a plurality of component mounting machines 20 arranged in the X direction, and mounts electronic components on the substrate 17. For example, the substrate 17 is carried out from the component mounting machine 20 on the left side shown in FIG. 1 to the component mounting machine 20 on the right side, and electronic components are mounted during the transportation.

As shown in FIG. 2, the component mounting machine 20 includes an apparatus main body portion 21, a substrate transport device 22, a feeder base 23, a head portion 25, and a head moving mechanism 27. The substrate transfer device 22 is provided on the upper portion of the device main body 21, and conveys the substrate 17 in the X direction. The feeder table 23 is provided on the front surface of the device main body 21, and is an L-shaped table when viewed from the side. The feeder base 23 includes slots (not shown) arranged in a plurality of X directions. A feeder 29 for supplying electronic components is mounted in each slot of the feeder base 23. The feeder 29 is, for example, a tape feeder that supplies electronic components from a tape that houses the electronic components at a predetermined pitch.

The head portion 25 includes a suction nozzle (not shown) that sucks the electronic component supplied from the feeder 29, and mounts the electronic component sucked by the suction nozzle on the substrate 17. The head moving mechanism 27 moves the head portion 25 to arbitrary positions in the X direction and the Y direction on the apparatus main body portion 21. More specifically, the head moving mechanism 27 includes an X-axis slide mechanism 27A that moves the head portion 25 in the X direction and a Y-axis slide mechanism 27B that moves the head portion 25 in the Y direction. The X-axis slide mechanism 27A is attached to the Y-axis slide mechanism 27B. The Y-axis slide mechanism 27B has a linear motor (not shown) as a drive source. The X-axis slide mechanism 27A moves to an arbitrary position in the Y direction based on the drive of the linear motor of the Y-axis slide mechanism 27B. Further, the X-axis slide mechanism 27A has a linear motor (not shown) as a drive source. The head portion 25 is attached to the X-axis slide mechanism 27A and moves to an arbitrary position in the X direction based on the drive of the linear motor of the X-axis slide mechanism 27A. Therefore, the head portion 25 moves to an arbitrary position on the apparatus main body portion 21 as the X-axis slide mechanism 27A and the Y-axis slide mechanism 27B are driven. Further, the X-axis slide mechanism 27A includes a first slave 51 (see FIG. 3) connected to an industrial network described later.

Further, the head portion 25 is attached to the X-axis slide mechanism 27A via a connector and can be attached and detached with one touch, and can be changed to a different type of head portion 25, for example, a dispenser head or the like. Therefore, the head portion 25 of the present embodiment is removable from the device main body portion 21. Further, a mark camera 66 (see FIG. 3) for photographing the substrate 17 is fixed to the head portion 25 in a state of facing downward. The mark camera 66 can take an image of an arbitrary position of the substrate 17 from above as the head portion 25 moves. The image data GD captured by the mark camera 66 is image-processed by the main body control device 41 (see FIG. 3) of the device main body 21. The main body control device 41 acquires information about the substrate 17, an error in the mounting position, and the like by image processing.

Further, the head portion 25 includes a second slave 61 (see FIG. 3) connected to an industrial network. The second slave 61 is connected to elements such as various sensors and processes signals input / output to / from the elements. Further, the head portion 25 is provided with a parts camera 67 that captures images of electronic components that are attracted and held by the suction nozzle. The image data GD captured by the parts camera 67 is image-processed by the main body control device 41 (see FIG. 3) of the device main body 21. The main body control device 41 acquires an error in the holding position of the electronic component in the suction nozzle by image processing.

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

The loader 13 is a device that automatically replenishes and collects the feeder 29 from the component mounting machine 20, and includes a grip portion (not shown) that clamps the feeder 29. The loader 13 is provided with an upper roller (not shown) inserted into the upper guide rail 31 and a lower roller (not shown) inserted into the lower guide rail 33. Further, the loader 13 is provided with a motor as a drive source. A gear that meshes with the rack gear 35 is attached to the output shaft of the motor. The loader 13 includes a power receiving coil that receives power from the non-contact power feeding coil 37 of the component mounting machine 20. The loader 13 supplies the electric power received from the non-contact power feeding coil 37 to the motor. As a result, the loader 13 can move in the X direction (left-right direction) by rotating the gear with the motor. Further, the loader 13 can rotate the rollers in the upper guide rail 31 and the lower guide rail 33 and move in the X direction while maintaining the positions in the vertical direction and the front-rear direction.

The management computer 15 is a device that comprehensively manages the component mounting system 10. For example, the component mounting machine 20 of the production line 11 starts the electronic component mounting work based on the management of the management computer 15. The component mounting machine 20 performs mounting work of electronic components by the head portion 25 while transporting the substrate 17. The management computer 15 also monitors the number of remaining electronic components in the feeder 29. When the management computer 15 determines that the feeder 29 needs to be replenished, for example, the management computer 15 displays an instruction on the screen for setting the feeder 29 containing the parts type that needs to be replenished in the loader 13. The user confirms the screen and sets the feeder 29 in the loader 13. When the management computer 15 detects that the desired feeder 29 is set in the loader 13, the management computer 15 instructs the loader 13 to start the replenishment work. The loader 13 moves to the front of the component mounting machine 20 instructed, sandwiches the feeder 29 set by the user with the grip portion, and mounts the feeder 29 in the slot of the feeder base 23. As a result, a new feeder 29 is replenished to the component mounting machine 20. Further, the loader 13 holds the feeder 29, which has run out of parts, between the gripping portions and pulls it out from the feeder base 23 to collect it. In this way, the loader 13 can automatically replenish the new feeder 29 and collect the out-of-parts feeder 29.

Next, the multiplex communication system included in the component mounting machine 20 will be described. FIG. 3 is a block diagram showing a configuration of a multiplex communication system applied to the component mounting machine 20. As shown in FIG. 3, the component mounting machine 20 has a device main body 21 fixedly provided at a place where the device is installed and a movable portion (X-axis slide mechanism) that moves relative to the device main body 21. Data transmission between the 27A and the head unit 25) is performed by a multiplex communication system. The configuration of the multiplex communication system shown in FIG. 3 is an example and can be changed as appropriate. For example, the data of each device provided in the Y-axis slide mechanism 27B and the loader 13 may be transmitted by a multiplex communication system.

The device main body 21 includes a main body control device 41, a master 43, a first multiprocessing device 45, and the like. The X-axis slide mechanism 27A is provided with a first slave 51 controlled by a master 43 of the apparatus main body 21. Further, the head portion 25 is provided with a second slave 61 controlled by the master 43. The master 43 comprehensively controls the transmission of the control data CD that controls the first slave 51 and the second slave 61 connected to the industrial network. The industrial network is, for example, EtherCAT®. The industrial network of the present disclosure is not limited to EtherCAT (registered trademark), and other networks (communication standards) such as MECHATROLINK (registered trademark) -III and Profinet (registered trademark) can be adopted.

The main body control device 41 is, for example, a processing circuit mainly composed of a CPU, and inputs a control data CD collected by the master 43, an image data GD received by the first multiprocessing device 45, and the like to control the next. Determine the content (type of electronic components to be mounted, mounting position, etc.). Further, the main body control device 41 causes the master 43 to transmit a control data CD according to the determined control content. The master 43 transmits the control data CD to the first slave 51 and the second slave 61 via the industrial network.

The X-axis slide mechanism 27A has a relay 53 and a sensor 55 in addition to the first slave 51 described above. The first slave 51 processes signals input / output by each device such as the relay 53 and the sensor 55. The relay 53 is, for example, a limit switch that outputs a drive signal for driving the brake of the linear motor of the X-axis slide mechanism 27A. The relay 53 outputs a drive signal to drive the brake, thereby suppressing, for example, overrun of the X-axis slide mechanism 27A. The sensor 55 is, for example, a substrate height sensor that measures the height of the upper surface of the substrate 17 based on the position of the reference height set in the device main body 21. The first slave 51 controls the relay 53 and the like based on the control data CD received from the master 43 of the device main body 21. Further, the first slave 51 processes the output signal of the sensor 55 or the like and transmits the control data CD to the master 43.

The head portion 25 has a relay 63, a sensor 65, and the like in addition to the second slave 61, the parts camera 67, and the mark camera 66 described above. The second slave 61 processes signals input / output by each device such as a relay 63 and a sensor 65 provided in the head portion 25. The second slave 61 controls the relay 63 and the like based on the control data CD received from the master 43 of the device main body 21. Further, the second slave 61 transmits an output signal of the sensor 65 or the like to the master 43 as a control data CD.

Next, the multiplex communication for transmitting the control data CD of the industrial network and the image data GD of the parts camera 67 and the like described above will be described. The component mounting machine 20 of the present embodiment executes data transmission between the device main body 21, the X-axis slide mechanism 27A, and the head 25 by multiplex communication. As shown in FIG. 3, the device main body 21 includes a first multiprocessing device 45 and GbE-

PHY

47, 48 in addition to the main body control device 41 and the like described above. GbE-PHY47,48 are, for example, ICs that function as an interface between a logical layer and a physical layer. The GbE-PHY47 is connected to the GbE-PHY59 of the X-axis slide mechanism 27A via a LAN cable 71. Similarly, the GbE-PHY 48 is connected to the GbE-PHY 69 included in the head portion 25 via the LAN cable 72. The

LAN cables

71 and 72 are, for example, LAN cables conforming to the communication standard of Gigabit Ethernet (registered trademark).

The first multiplexing processing device 45 of the device main body 21 transmits and receives multiplexed data to and from the second multiplexing processing device 57 of the X-axis slide mechanism 27A through the LAN cable 71. Further, the first multiplexing processing device 45 of the device main body 21 transmits and receives multiplexed data to and from the third multiplexing processing device 68 of the head unit 25 through the LAN cable 72. The first to third

multiplexing processing devices

45, 57, 68 multiplex the control data CD of the industrial network, the image data GD of the parts camera 67, and the like by, for example, a time division multiplexing method (TDM: Time Division Multiplexing). Convert and transmit. The first multiprocessing device 45 and the like are composed of, for example, a logic circuit such as a field programmable gate array (FPGA).

The second multiprocessing device 57 of the X-axis slide mechanism 27A is connected to GbE-PHY59. Further, the second multiprocessing device 57 is connected to the first slave 51 and inputs / outputs a control data CD to / from the first slave 51. The second multiprocessing device 57 multiplexes the control data CD and other data, and transmits the data to the first multiprocessing device 45 (device main body 21) through the LAN cable 71.

Further, the third multiprocessing device 68 of the head unit 25 is connected to GbE-PHY69. Further, the third multiprocessing device 68 is connected to the mark camera 66 and the parts camera 67. The mark camera 66 and the parts camera 67 output the captured image data GD to the third multiprocessing device 68 according to an image transmission standard such as GigE-vision (registered trademark). The mark camera 66 and the parts camera 67 take an image in response to receiving a trigger signal from the main body control device 41 of the device main body 21 via multiplex communication, and the captured image data GD is subjected to a third multiplexing processing device, for example. Output to 68. Further, the third multiprocessing device 68 is connected to the second slave 61, and inputs / outputs the control data CD to / from the second slave 61. The third multiplexing processing device 68 multiplexes various data such as image data GD and control data CD, and transmits the data to the first multiplexing processing device 45 through the LAN cable 72.

The first multiprocessing device 45 is connected to GbE-

PHY

47, 48. Further, the first multiprocessing device 45 is connected to the main body control device 41. The first multiplexing processing device 45 demultiplexes the multiplexed data received from the second multiplexing processing device 57 and the third multiplexing processing device 68 via multiplex communication. For example, the first multiplexing processing device 45 demultiplexes the multiplexing data received from the third multiplexing processing device 68, and separates the image data GD of the parts camera 67. The first multiprocessing device 45 outputs the separated image data GD to the main body control device 41 in a data format conforming to the GigE-vision (registered trademark) standard.

Further, the first multiprocessing device 45 is connected to the master 43. The master 43 constructs an industrial network for transmitting and receiving control data CDs that control devices such as the relay 53, and realizes integration (reduction) of wiring and the like. More specifically, in the industrial network of the present embodiment, the control data CD transmitted from the master 43 is, for example, the first multiprocessing device 45, the second multiprocessing device 57, the first slave 51, and the second multiprocessor. It is transmitted so as to circulate in each of the processing device 57, the first multiprocessing device 45, the third multiprocessing device 68, the second slave 61, the third multiprocessing device 68, the first multiprocessing device 45, and the master 43. For example, the first slave 51 reads and writes the control data CD received from the master 43, and transfers the control data CD to the second slave 61 of the head unit 25. The first slave 51 copies data from the read data position for the first slave 51 preset in the control data CD, and drives the relay 53 or the like according to the content of the copied data. Further, the first slave 51 writes information indicating the completion of driving of the relay 53, detection information of the sensor 55, and the like to the writing data position for the first slave 51 preset in the control data CD, and writes the detection information of the sensor 55 to the head portion 25. Forward. In this way, the first slave 51 and the second slave 61 exchange and transmit the control data CD at high speed while reading and writing the control data CD. The configuration of the industrial network shown in FIG. 3 is an example and can be changed as appropriate. For example, the second slave 61 may be connected to the master 43 via the first slave 51. Further, the number of slaves controlled by the master 43 may be one or three or more.

Next, the configuration of the second slave 61 included in the head unit 25 will be described. The first slave 51 of the X-axis slide mechanism 27A has the same configuration as the second slave 61. However, the head portion 25 is a device that is required to be smaller than the X-axis slide mechanism 27A, and it is more effective to adopt the technique according to the present application. Therefore, in the following description, the configuration of the second slave 61 will be described, and the description of the configuration of the first slave 51 will be omitted as appropriate.

FIG. 4 shows a block diagram of the second slave 61. As shown in FIG. 4, the second slave 61 includes a slave controller 81, a CPU 83, a non-volatile memory 85, an access control circuit 87, and the like. The slave controller 81 is connected to the third multiprocessing device 68 (see FIG. 3) via, for example, a PHY (external IF) that functions as an interface between the logical layer and the physical layer. Further, the slave controller 81 can send and receive a control data CD to and from the master 43 via multiplex communication such as the third multiplexing processing device 68, the LAN cable 72, and the first multiplexing processing device 45.

The slave controller 81 is an IP core used for constructing logic circuits such as a programmable logic device (PLD), a field programmable gate array (FPGA), and a composite programmable logic device (CPLD). The slave controller 81 receives, for example, the control data CD (after being transferred in the order of the master 43 and the first slave 51) from the master 43 via the first slave 51. The slave controller 81 performs read / write processing on the received control data CD. The slave controller 81 copies data from the read data position for the second slave 61 preset in the control data CD, and outputs the copied data to the CPU 83, for example.

The CPU 83 is connected to the digital IF 89 and the AD converter 91. The digital IF89 is an interface for inputting / outputting digital signals. The AD converter 91 is an interface that converts an analog signal and a digital signal. The CPU 83 is connected to the relay 63 and the sensor 65 (see FIG. 3) via a digital IF 89, an AD converter 91, or the like. The CPU 83 controls the relay 63 and the like based on the data input from the slave controller 81. Further, the CPU 83 outputs the output signal of the sensor 65 and the like to the slave controller 81. The slave controller 81 writes the data input from the CPU 83 to the write data position for the second slave 61 preset in the control data CD and transfers the data to the master 43.

The CPU 83 executes a process related to data input / output to / from the slave controller 81 by executing a predetermined program. The storage device for storing this predetermined program is not particularly limited, but for example, the non-volatile memory 85 may be used. In the following description, the control by the CPU 83 may be simply described by the device name. For example, the description that "the CPU 83 controls the access control circuit 87" means that "the CPU 83 outputs a command to the access control circuit 87 and controls the access control circuit 87 by executing a predetermined program." May mean.

The non-volatile memory 85 (an example of the memory of the present application) is connected to the access control circuit 87. The non-volatile memory 85 is, for example, an EEPROM. The memory of the present application is not limited to EEPROM, and may be FLASH memory, FRAM (registered trademark), MRAM, or the like. Various data such as slave information 93, operation log 95, and head eigenvalue 96 are stored in the non-volatile memory 85.

The slave information 93 is, for example, information indicating what kind of slave the slave controller 81 is, and is EtherCAT (registered trademark) slave information (ESI). The slave information 93 is an eigenvalue for identifying the slave controller 81 and information for detecting the function of the slave controller 81. The content of the slave information 93 is not particularly limited. The slave information 93 may be, for example, address information used for transmission of the control data CD, or information on a device included in the second slave 61 other than the slave controller 81. Further, the slave information 93 includes, for example, information defined by a communication standard of an industrial network, and is changed depending on the type of the communication standard.

The operation log 95 stores the operation status of the on-board device on which the second slave 61 is mounted, that is, the head unit 25. The CPU 83 stores, for example, control result information based on the control data CD, operation information of the head unit 25, and the like as an operation log 95. Specifically, the CPU 83 has, for example, the number of strokes (the number of suctions and attachments) in which the suction nozzle of the head portion 25 is moved in the Z direction, the number of images taken by the parts camera 67 and the mark camera 66, and the number of times the relay 63 is operated. , The detected value of the sensor 65 and the like are stored in the operation log 95. The CPU 83 constantly monitors the operation of the head unit 25 and writes the operation log 95 to the non-volatile memory 85 via the access control circuit 87 described later.

The mounted device provided with the communication device in the present application is not limited to the head unit 25. For example, the X-axis slide mechanism 27A may be adopted as the mounting device. In this case, the CPU 83 of the first slave 51 may store the number of slide movements, the number of accelerations, and the like of the X-axis slide mechanism 27A as the operation log 95. Further, for example, when the board transfer device 22 is adopted as the mounting device, the slave CPU 83 mounted on the board transfer device 22 may store the number of times the board transfer device 22 has conveyed the board 17 as an operation log 95. .. Further, for example, when the loader 13 is adopted as the mounting device, the slave CPU 83 mounted on the loader 13 stores the number of times the feeder 29 is replaced by the loader 13 and the number of times the feeder 29 is moved to each component mounting machine 20 as an operation log 95. You may.

The head eigenvalue 96 (an example of the mounted device identification information of the present disclosure) is, for example, information for identifying the mounted device on which the second slave 61 is mounted, that is, the head unit 25. Specifically, it is the serial number, model number, product name, etc. of the head portion 25. The head eigenvalue 96 is written to the non-volatile memory 85 by connecting the setting PC to the second slave 61 at the time of manufacturing the head portion 25, for example.

Further, the access control circuit 87 includes a slave IF 101, a memory IF 102, a bus 105, and a RAM 107 (an example of the storage device of the present application). The slave IF 101 is an interface for connecting the RAM 107 to the slave controller 81. The memory IF 102 is an interface for connecting the RAM 107 to the non-volatile memory 85. The slave IF 101 and the memory IF 102 communicate with each other by, for example, a serial bus communication method also referred to as an i-squared sea (Inter-Integrated Circuit, I2C).

The bus 105 is an interface for connecting the memory IF 102 and the CPU 83. Bus 105 is, for example, an Avalon® bus. The CPU 83 can read data from the non-volatile memory 85 to the RAM 107 via the bus 105. For example, the CPU 83 outputs a command specifying the address value and data size of the non-volatile memory 85 to the access control circuit 87 via the bus 105. Based on the command from the CPU 83, the access control circuit 87 reads, for example, the slave information 93 from the non-volatile memory 85 and stores it in the RAM 107. Then, as will be described later, the access control circuit 87 transmits the slave information 93 stored in the RAM 107 to the master 43 when a command for requesting the slave information 93 is received from the master 43 to the slave controller 81. The storage device for storing the slave information 93 is not limited to a volatile memory such as RAM 107, but may be a non-volatile memory such as EEPROM.

Next, the processing in the second slave 61 having the above configuration will be described. FIG. 5 shows an example of processing in the second slave 61. Further, FIG. 6 shows a data flow when the process shown in FIG. 5 is executed.

First, in step 11 of FIG. 5 (hereinafter, simply referred to as “S”) 11, the second slave 61 performs an activation process. For example, when the power is turned on when the component mounting system 10 is started, the component mounting machine 20 supplies electric power to the device main body 21, the X-axis slide mechanism 27A, the head 25, and the like to start the system. The main body control device 41 executes the establishment of the multiplex communication line shown in FIG. 3 and the like when the system is started. When power is supplied to the head unit 25, the second slave 61 executes an activation process such as construction of a logic circuit of the slave controller 81. When power is supplied, the CPU 83 of the second slave 61 reads a predetermined program from the non-volatile memory 85 or the like and executes it to perform initial setting.

Next, the CPU 83 causes the access control circuit 87 to execute a process of reading the slave information 93 from the non-volatile memory 85. The CPU 83 outputs a command specifying an address value or the like of the non-volatile memory 85 to the access control circuit 87. The access control circuit 87 reads the slave information 93 from the non-volatile memory 85 based on the command from the CPU 83, and stores the read slave information 93 in the RAM 107.

The second slave 61 processes S15 and S17 in parallel after executing S13. In S15, the second slave 61 transmits the slave information 93 stored in the RAM 107 in S13 to the master 43 in response to the request from the master 43. For example, when the main body control device 41 detects the establishment of the multiplex communication line, the master 43 starts the process. The master 43 acquires the slave information 93 of each slave via the established multiplex communication line, and starts the construction of the industrial network.

The master 43 requests the first slave 51 and the second slave 61 detected on the network to transmit the slave information 93. The method of requesting the slave information 93 from the master 43 to the first slave 51 and the like is not particularly limited. For example, the master 43 may request the slave information 93 by transmitting a control command defined by the communication standard of the industrial network to the first slave 51 or the like. When the slave controller 81 of the second slave 61 receives the request for the slave information 93 from the master 43, it reads the slave information 93 from the RAM 107 via the slave IF 101 and transmits the slave information 93 to the master 43 (S15). Based on the slave information 93 received from the first slave 51 and the second slave 61, the master 43 detects the type of slave controller 81 connected to the industrial network, the supported communication protocol, and the like, and controls data. Set the destination address of the CD.

Therefore, when the access control circuit 87 of the present embodiment receives a request from the master 43 to instruct the second slave 61 to read the slave information 93, the access control circuit 87 reads the slave information 93 into the RAM 107 to the second slave. It is transmitted to the master 43 via 61 (S15). According to this, the slave information 93 read from the non-volatile memory 85 to the RAM 107 in advance can be transmitted to the master 43 in response to the request from the master 43, that is, at the timing when the master 43 is needed.

On the other hand, the second slave 61 executes reading of the head eigenvalue 96 in S17. For example, when the master 43 completes the industrial network settings (setting of the destination address of each slave controller 81, etc.) based on the slave information 93, the master 43 is equipped with the first slave 51 and the second slave 61. Acquires on-board device identification information that identifies the device. The master 43 requests the first slave 51 and the second slave 61 to transmit the on-board device identification information by the control data CD of the industrial network. In the case of the second slave 61, the master 43 requests the second slave 61 to transmit the head eigenvalue 96. When the slave controller 81 receives the control data CD requesting the head eigenvalue 96, the slave controller 81 instructs the CPU 83 to read the head eigenvalue 96 (S17).

The CPU 83 outputs a command specifying the address value in which the head eigenvalue 96 in the non-volatile memory 85 is stored and the data size of the head eigenvalue 96 to the access control circuit 87 via the bus 105 (S17). When the access control circuit 87 receives the command, the access control circuit 87 reads the head eigenvalue 96 from the non-volatile memory 85 and outputs it to the CPU 83. The CPU 83 outputs the head eigenvalue 96 received from the access control circuit 87 to the slave controller 81. For example, the slave controller 81 sets the head eigenvalue 96 at the data position for writing the control data CD and transmits it to the master 43 (S17). As a result, the master 43 detects, for example, the type and model name of the head unit 25, the communication protocol when a command is transmitted to the head unit 25, and the like based on the head eigenvalue 96 received from the second slave 61, and the head The mounting work can be performed by appropriately controlling the portion 25.

The component mounting machine 20 acquires mounting device identification information (head eigenvalue 96, etc.) from the head portion 25 on which the second slave 61 is mounted and the X-axis slide mechanism 27A on which the first slave 51 is mounted, and then mounts the electronic components on the substrate. The mounting work for mounting on 17 is started. For example, the component mounting machine 20 notifies the management computer 15 of the component mounting system 10 that the preparation is completed when the acquisition of the head eigenvalue 96 is completed and the mounting work can be started. When the management computer 15 receives the preparation completion notification from each component mounting machine 20 of the production line 11, the management computer 15 transmits control information necessary for the mounting work to the component mounting machine 20 to start the mounting work. The control information referred to here is information on the type of substrate to be produced, information on the type of electronic component, information on the mounting position on which the electronic component is mounted, and the like.

The second slave 61 executes S19 after executing S17. For example, the CPU 83 of the first slave 51 and the second slave 61 of each component mounting machine 20 starts the process of storing the operation log 95 in the non-volatile memory 85 when the construction of the industrial network is completed (S19). The CPU 83 stores, for example, the number of times the suction nozzle is stroked in the work of mounting the electronic component, the number of times the image is taken by the mark camera 66, and the like as the operation log 95. Alternatively, the CPU 83 of the first slave 51 stores the number of movements of the X-axis slide mechanism 27A as an operation log 95 in the non-volatile memory 85 of the first slave 51.

Note that all slaves such as the first slave 51 and the second slave 61 do not have to execute the storage of the operation log 95. Further, the information stored in the operation log 95 is not limited to the above-mentioned information. For example, the CPU 83 of the second slave 61 may store the control contents instructed from the master 43 to the second slave 61 in the operation log 95 using the control data CD. More specifically, the CPU 83 may store the content of the command for driving the relay 63, the time when the command is received, and the execution result in the operation log 95. Further, the CPU 83 may store the detection content and the detection time of the sensor 65 in the operation log 95.

The second slave 61 executes S21 after executing S19. The second slave 61 determines whether or not to end the process (S21). For example, in the case of setting to continue the process until the power of the component mounting machine 20 is turned off, the second slave 61 makes a negative determination in S21 until the power of the component mounting machine 20 is turned off (S21: NO), and the process of S19. Is repeated. As a result, the second slave 61 continues to store the operation log 95 when the component mounting machine 20 is in the power-on state. When the second slave 61 determines that the power of the component mounting machine 20 has been turned off (S21: YES), the second slave 61 ends the process of S19.

Here, as described above, the CPU 83 of the present embodiment causes the access control circuit 87 to execute the process (S13) of reading the slave information 93 into the RAM 107, and then data other than the slave information 93 (operation log 95, head). The process of accessing the RAM 107 for the eigenvalue 96) (S17 or S19) is started. According to this, the CPU 83 reads the slave information 93 before executing the reading of the data from the non-volatile memory 85 and the writing of the data to the non-volatile memory 85 for the data other than the slave information 93. Let 87 do it. As a result, the slave information 93 can be read into the RAM 107 before the access is started, and the contention for access of the non-volatile memory 85 can be suppressed more reliably.

On the other hand, the second slave 61 executes S23 after executing S15 in parallel with the above-mentioned processes of S17 and S19. In S23, the second slave 61 determines whether or not the slave information 93 is requested to be retransmitted. Here, in an industrial network such as EtherCAT (registered trademark), the slave controller 81 can be hot-connected. The hot connect here is, for example, a function that enables attachment / detachment of a device (for example, a head portion 25) equipped with a slave controller 81 while the system of the component mounting machine 20 is in operation. When hot connection is performed, the topology of the industrial network is changed by attaching / detaching the slave controller 81. When the master 43 detects a change in the topology of the industrial network, it reacquires the slave information 93 and reconstructs the industrial network.

Therefore, the second slave 61 determines in S23 whether or not the slave information 93 is requested from the master 43. In the component mounting machine 20 of the present embodiment, the head portion 25 is removable from the X-axis slide mechanism 27A. Therefore, if the head portion 25 is attached / detached while the power of the component mounting machine 20 is turned on, the slave information 93 is reacquired. Further, if the X-axis slide mechanism 27A and the first slave 51 are attached / detached, the slave information 93 is reacquired by the attachment / detachment. Further, for example, if one component mounting machine 20 is provided with two head portions 25 (two-head configuration), the slave information 93 is reacquired when one of the two head portions 25 is attached or detached. Will be done. Further, for example, when the loader 13 itself or a part of the loader 13 is replaced with a different type (tray type loader 13 or the like), the slave information 93 is reacquired.

In this case, for example, the device (head portion 25, etc.) that has been replaced by attachment / detachment starts the process of FIG. 5 after being attached to the component mounting machine 20 and supplied with power, and performs the processes of S11 to S15 described above. It can be executed and the slave information 93 can be transmitted to the master 43 to be activated. On the other hand, the non-detachable (non-replaceable) device is connected from the master 43 to the slave information 93 by disconnecting the other device from the industrial network and reconnecting the device even if the device remains connected to the industrial network. Is required. In such a non-detachable device, slave information 93 may be requested when reading the head eigenvalue of S17, writing the operation log 95 of S19, that is, accessing the non-volatile memory 85. There is.

FIG. 7 shows the data flow in the configuration of the second slave 121 of the comparative example. As shown in FIG. 7, the second slave 121 of the comparative example does not include the access control circuit 87. The CPU 83 executes access to the non-volatile memory 85 via the slave controller 81. For example, in S31 shown in FIG. 7, a process of requesting slave information 93 from the master 43 to the slave controller 81 occurs. At the same time, as shown in S33, the reading process of the head eigenvalue 96 occurs. Alternatively, as shown in S35, the writing process of the operation log 95 occurs.

The processing of S33 and the processing of S35 are processing mainly executed by the CPU 83. Therefore, for example, the CPU 83 can exclusively control the processing of S33 and the processing of S35. On the other hand, the process of S31 is a process that the slave controller 81 directly performs to the non-volatile memory 85 based on the request from the master 43. Therefore, the processing of S31 occurs regardless of the processing of S33 and S35, and the slave controller 81 executes the processing regardless of the processing state of the CPU 83. In particular, as described above, when the slave controller 81 is attached or detached by the hot connect, the master 43 may request the slave information 93 from each slave controller 81. As a result, simultaneous access to the non-volatile memory 85 occurs, and access contention occurs. Failure to read the slave information 93, failure to read the head eigenvalue 96, failure to write the operation log 95, and the like occur.

On the other hand, as described above, in the second slave 61 of the present embodiment, the slave information 93 is copied to the RAM 107 in advance at the time of startup (S13). Then, in S23 of FIG. 5, when the slave information 93 is requested from the master 43, the second slave 61 executes S15 again. The slave controller 81 reads the slave information 93 from the RAM 107 of the access control circuit 87 and transmits it to the master 43 (S15). That is, in the transmission of the slave information 93, the access of the non-volatile memory 85 does not occur. Therefore, the CPU 83 can appropriately access the non-volatile memory 85 without causing an access conflict even if the processes of S17 and S19 are executed.

As described above, in the present embodiment, the eigenvalue for identifying the slave controller 81 is adopted as the slave information 93. According to this, the master 43 can stably read the eigenvalues (slave information 93) of the slave controller 81 from the RAM 107 of the access control circuit 87 when the industrial network is connected. The master 43 can determine the type and function of the slave controller 81 connected to the industrial network based on the eigenvalues, and can appropriately perform the connection with the slave controller 81 and the control of the slave controller 81.

Further, the non-volatile memory 85 of the present embodiment stores a head eigenvalue 96 for identifying the head portion 25 on which the second slave 61 is mounted. When the master 43 receives the control data CD instructing the slave controller 81 to read the head eigenvalue 96, the CPU 83 reads the head eigenvalue 96 from the non-volatile memory 85 via the access control circuit 87. The CPU 83 transmits the read head eigenvalue 96 to the master 43 via the slave controller 81.

According to this, the non-volatile memory 85 can be shared not only with the slave information 93 but also with the storage of the head eigenvalue 96 that identifies the head unit 25 on which the second slave 61 is mounted. By storing the slave information 93 in the RAM 107 of the access control circuit 87 in advance, the CPU 83 can read the head eigenvalue 96 from the non-volatile memory 85 at any time via the access control circuit 87, and the read head eigenvalue 96 can be read. It can be sent to the master 43. On the master 43 side, the type, function, type of control command, etc. of the head unit 25 can be determined based on the head eigenvalue 96, and the head unit 25 can be appropriately controlled.

Further, the CPU 83 of the present embodiment writes the operation log 95 related to the operation of the head unit 25 on which the second slave 61 is mounted to the non-volatile memory 85 via the access control circuit 87 (S19). According to this, the CPU 83 uses the non-volatile memory 85 for storing the operation log 95 of the head unit 25. By storing the slave information 93 in the RAM 107 of the access control circuit 87 in advance, the CPU 83 can stably write the operation log 95 to the non-volatile memory 85. That is, it is possible to suppress the failure of the writing process of the operation log 95. As a result, the operating status of the head unit 25 can be appropriately recorded in the operation log 95.

Further, the second slave 61 of the present embodiment is provided on the head portion 25 that performs the work of mounting the electronic component on the substrate 17. The head portion 25 for mounting the electronic component on the substrate 17 is required to be further miniaturized due to demands such as miniaturization of the electronic component, miniaturization of the component mounting machine 20, and speeding up of the working speed of the head portion 25. Here, if the slave information 93 and other information (operation log 95 and head eigenvalue 96) are stored in separate memories, it is not necessary to read the slave information 93 in advance, and access conflict does not occur. However, an increase in memory leads to an increase in the number of memories themselves and an increase in the number of interfaces connected to the memory. As a result, the size of the second slave 61 is increased. On the other hand, in the second slave 61 included in the head unit 25, which is particularly required to be miniaturized, the access control circuit 87 that reads out the slave information 93 in advance is provided to reduce the number of memories and reduce the size of the head unit 25. Can be realized more reliably.

Then, when the second slave 61 determines in S23 that the slave information 93 is not requested from the master 43 (S23: NO), the second slave 61 executes S24. Similar to S21, the second slave 61 determines whether or not to end the process (S24). For example, the second slave 61 makes a negative determination in S21 (S24: NO) until the power of the component mounting machine 20 is turned off, and repeatedly executes the process of S23. As a result, the second slave 61 can execute the writing process of the operation log 95 and the retransmission process of the slave information 93 in parallel. When the second slave 61 determines that the power of the component mounting machine 20 has been turned off (S24: YES), the second slave 61 ends the process. If the second slave 61 determines affirmatively in both S24 and S21, the process shown in FIG. 5 ends. As a result, it is possible to suppress competition for access to the non-volatile memory 85 when the component mounting machine 20 is in operation.

By the way, the parts mounting machine 20 is an example of a working machine. The head portion 25 is an example of a mounting device, a mounting head, and a movable portion. The second slave 61 is an example of a communication device. The slave controller 81 is an example of a slave. The CPU 83 is an example of a processing circuit. The non-volatile memory 85 is an example of the memory. The head eigenvalue 96 is an example of the mounted device identification information. The RAM 107 is an example of a storage device.

As described above, according to the above-described embodiment, the following effects are obtained.
In one aspect of this embodiment, the access control circuit 87 reads the slave information 93 from the non-volatile memory 85 and stores it in the RAM 107 when the second slave 61 is activated (S13). The access control circuit 87 transmits the slave information 93 read to the RAM 107 to the master 43 via the second slave 61 (S15).

According to this, the non-volatile memory 85 stores the slave information 93 related to the second slave 61 (slave controller 81), and the slave information 93 is accessed from the master 43. The non-volatile memory 85 is also accessed from the CPU 83. That is, the non-volatile memory 85 is shared by the master 43 and the CPU 83. On the other hand, the access control circuit 87 reads the slave information 93 from the non-volatile memory 85 into the RAM 107 in advance. Then, the access control circuit 87 transmits the slave information 93 read into the RAM 107 to the master 43. As a result, even if the slave information 93 is read and the CPU 83 accesses the non-volatile memory 85 at the same time, the slave information 93 is read in advance from the non-volatile memory 85 so that access conflict does not occur and the CPU 83 does not occur. The non-volatile memory 85 can be accessed by the above. Therefore, the non-volatile memory 85 can be used for purposes other than storing the slave information 93 by suppressing the competition for access to the non-volatile memory 85.

It goes without saying that the present disclosure is not limited to the above-described embodiment, and various improvements and changes can be made without departing from the spirit of the present application.
For example, the mounting device in the present disclosure is not limited to the head portion 25, and an X-axis slide mechanism 27A, a substrate transfer device 22, a feeder 29, and the like can be adopted. When the feeder 29 is adopted, the CPU 83 may store the number of times the electronic components are supplied from the feeder 29 as the operation log 95.
Further, when the slave controller 81 and the access control circuit 87 receive a request from the master 43 to instruct the second slave 61 to read the slave information 93, the slave controller 81 transmits the slave information 93 to the master 43 (S15). ), Not limited to this. The slave controller 81 and the access control circuit 87 may transmit the slave information 93 to the master 43, for example, on condition that the reading of the slave information 93 in S13 is completed. That is, the slave information 93 may be spontaneously transmitted to the master 43 at a predetermined processing timing without requiring a request from the master 43. Also in this case, by reading the slave information 93 into the RAM 107 in advance, the non-volatile memory 85 can be accessed by the CPU 83 without causing an access conflict with the non-volatile memory 85. ..
Further, a slave device may be provided in the loader 13 to control the operation of the loader 13. That is, the loader 13 may be connected to the industrial network. In this case, the CPU 83 may store the number of times the loader 13 is moved, the number of times the feeder 29 is replaced, and the like in the operation log 95.
Further, the component mounting machine 20 may be configured not to include the loader 13. In this case, the feeder 29 may be replaced manually by the worker.
Further, the CPU 83 may be configured to execute at least one of reading the head eigenvalue 96 and writing the operation log 95. Further, the CPU 83 may use the non-volatile memory 85 for purposes other than reading the head eigenvalue 96 and writing the operation log 95. For example, the CPU 83 may write the history of errors and warnings to the non-volatile memory 85.

Further, the CPU 83 executes the process of reading the slave information 93 (S13) before the processes of S17 and S19, but the present invention is not limited to this. For example, the CPU 83 may execute a process of reading the slave information 93 into the RAM 107 after reading the head eigenvalue 96.
Further, the head portion 25 may be configured so as not to be detached from the device main body portion 21.
Further, the operation log 95 may be written and the head eigenvalue 96 may be read by a device other than the CPU 83, for example, the slave controller 81.
Further, the multiplex communication line is not limited to Gigabit Ethernet (registered trademark), and may be, for example, optical communication using an optical fiber cable. Further, the multiplex communication line is not limited to wired communication but may be wireless communication.
Further, the component mounting machine 20 does not have to be provided with the multiplex communication system. In this case, the master 43 may send and receive the control data CD between the first slave 51 and the like without going through the multiplex communication line.

Further, in the above embodiment, an example in which the component mounting machine 20 for mounting electronic components on the substrate 17 is adopted as the working machine in the present disclosure has been described. However, the working machine in the present disclosure is not limited to the component mounting machine 20, and other working machines such as a solder printing device for applying solder to the substrate 17 can be adopted. Further, the working machine may be, for example, a machine tool or a robot that performs assembly work.

17 board, 20 parts mounting machine (working machine), 21 device body, 25 head (mounting device, mounting head, movable part), 43 master, 51 first slave (communication device), 61 second slave (communication device) ), 81 Slave controller (slave), 83 CPU (processing circuit), 85 non-volatile memory (memory), 93 slave information, 96 head unique value (mounted device identification information), 107 RAM (storage device), CD control data.

Claims

Slave connected to master in industrial network,
A memory that stores slave information, which is information related to the slave, and
A processing circuit that executes processing based on the control data transmitted from the master and executes access to the memory, and
The slave, the processing circuit, and a storage device connected to the memory and reading and storing the slave information from the memory are provided, and the slave information read into the storage device is transmitted to the master via the slave. Access control circuit and
A communication device.
The access control circuit
The communication device according to claim 1, wherein when a request for instructing the slave to read the slave information is received from the master, the slave information read to the storage device is transmitted to the master.
The processing circuit
The communication according to claim 1 or 2, wherein the access control circuit executes a process of reading the slave information to the storage device, and then starts a process of accessing the memory for data other than the slave information. apparatus.
The slave information is
The communication device according to any one of claims 1 to 3, which is an eigenvalue for identifying the slave.
The memory is
The on-board device identification information for identifying the on-board device on which the communication device is mounted is stored.
The processing circuit
When the control data instructing the slave to read the mounted device identification information is received from the master, the mounted device identification information is read from the memory via the access control circuit and read out. The communication device according to any one of claims 1 to 4, wherein the device identification information is transmitted to the master via the slave.
The processing circuit
The communication device according to any one of claims 1 to 5, wherein an operation log related to the operation of the on-board device on which the communication device is mounted is written to the memory via the access control circuit.
The communication device is
The communication device according to any one of claims 1 to 6, which is provided on a mounting head for mounting an electronic component on a substrate.
A working machine provided with the communication device according to any one of claims 1 to 7.
With the master
The main body of the device on which the master is provided and
A movable portion provided with the communication device and moving relative to the main body of the device, and a movable portion.
Equipped with a working machine.