WO2021171549A1 - Machine de travail - Google Patents

Machine de travail Download PDF

Info

Publication number
WO2021171549A1
WO2021171549A1 PCT/JP2020/008282 JP2020008282W WO2021171549A1 WO 2021171549 A1 WO2021171549 A1 WO 2021171549A1 JP 2020008282 W JP2020008282 W JP 2020008282W WO 2021171549 A1 WO2021171549 A1 WO 2021171549A1
Authority
WO
WIPO (PCT)
Prior art keywords
power supply
controlled
slave
controlled device
communication
Prior art date
Application number
PCT/JP2020/008282
Other languages
English (en)
Japanese (ja)
Inventor
芳行 深谷
淳郎 高桑
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to PCT/JP2020/008282 priority Critical patent/WO2021171549A1/fr
Priority to JP2022502770A priority patent/JP7305024B2/ja
Publication of WO2021171549A1 publication Critical patent/WO2021171549A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units

Definitions

  • the present disclosure relates to a working machine including a controlled device connected to the control device via a network.
  • the management monitoring device acquires predetermined initialization parameters from the data collection terminal together with data indicating the operating status.
  • the management monitoring device monitors whether or not the data collection terminal is operating normally by monitoring whether or not the acquired initialization parameters match the preset initialization parameters.
  • the management monitoring device detects an abnormality, it restarts the data collection terminal that has detected the abnormality.
  • the present disclosure has been made in view of the above problems, and an object of the present invention is to provide a working machine capable of stopping a controlled device when a communication abnormality occurs in a network connecting the controlled device and the controlled device. And.
  • the present specification connects a power supply device, a controlled device that operates based on the electric power supplied from the power supply device, and the controlled device via a network, and connects the network to the controlled device.
  • a control device that controls the controlled device via the control device, stops the power supplied from the power supply device to the controlled device, and stops the controlled device when a communication abnormality occurs in the network. Disclose the work machine.
  • the power supply is stopped to be controlled.
  • the device can be stopped.
  • 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.
  • the left-right direction of FIG. 1 will be referred to as the X direction
  • the front-back direction will be referred to as the Y direction
  • the directions perpendicular to the X direction and the Y direction will be referred to as the Z direction (vertical direction).
  • 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.
  • 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.
  • the component mounting machine 20 includes a base 21 and a module 22.
  • the base 21 has a substantially rectangular box shape that is long in the Y direction, and is placed on the floor or the like of a factory where the component mounting machine 20 is installed.
  • the base 21 is, for example, adjusted in the vertical direction so as to align the positions of the board transfer devices 23 of the adjacent modules 22, and is fixed to each other with the base 21 of the adjacent component mounting machine 20.
  • the module 22 is a device for mounting electronic components on the substrate 17, and is mounted on the base 21.
  • the module 22 can be pulled out toward the front side in the front-rear direction with respect to the base 21, and can be replaced with another module 22.
  • the module 22 includes a substrate transfer device 23, a pallet 24, a head portion 25, and a head moving mechanism 27.
  • the substrate transfer device 23 is provided in the module 22 and conveys the substrate 17 in the X direction.
  • the substrate transfer device 23 includes a conveyor belt that conveys the substrate 17, an electromagnetic motor as a drive source for rotating the conveyor belt, and the like.
  • the substrate transfer device 23 includes a fourth slave 101 (see FIG. 3) connected to an industrial network described later.
  • the fourth slave 101 is based on, for example, a control data CD to which various devices such as an electromagnetic motor, a relay, and a sensor provided in the board transfer device 23 are connected and received from the master 53 (see FIG. 3) of the device main body 41. The signals input and output by various devices are processed.
  • the pallet 24 is provided on the front surface of the module 22 and is a stand having an L-shaped side view.
  • the pallet 24 includes slots 24A (see FIG. 3) arranged in a plurality of X directions.
  • a feeder 29 for supplying electronic components is mounted in each slot 24A of the pallet 24.
  • the pallet 24 includes a fifth slave 103 (see FIG. 3) connected to an industrial network described below.
  • the fifth slave 103 is connected to, for example, various devices such as slot 24A of the pallet 24, and signals input / output by the various devices based on the control data CD received from the master 53 (see FIG. 3) of the device main body 41.
  • 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 fifth slave 103 can individually control the operation of the feeder 29 and the power supplied to the feeder 29 (for each slot 24A) based on the control data CD received from the master 53.
  • a touch panel 26 for inputting operations to the component mounting machine 20 is provided on the upper cover of the module 22.
  • FIG. 2 shows a state in which the upper cover and the touch panel 26 are removed.
  • 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 portion 25 has, for example, an electromagnetic motor (not shown) as a drive source for changing the positions of a plurality of suction nozzles and the positions of individual suction nozzles.
  • the head moving mechanism 27 moves the head portion 25 to arbitrary positions in the X direction and the Y direction in the upper portion of the module 22. 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. Further, the X-axis slide mechanism 27A includes a third slave 65 (see FIG. 3) connected to an industrial network described later.
  • the third slave 65 is connected to various devices such as a relay 81 and a sensor 83 (see FIG. 3) provided in the X-axis slide mechanism 27A, and control data received from the master 53 (see FIG. 3) of the device main body 41. It processes signals input and output by various devices based on the CD.
  • 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.
  • 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 in the upper portion of the module 22 as the X-axis slide mechanism 27A and the Y-axis slide mechanism 27B are driven.
  • the various devices controlled by the third slave 65 are not limited to the relay 81 and the sensor 83, but may be other devices such as a linear motor.
  • 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 component mounting machine 20.
  • a mark camera 69 (see FIG. 3) for photographing the substrate 17 is fixed to the head portion 25 in a state of facing downward.
  • the mark camera 69 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 69 is image-processed by the main body control device 51 (see FIG. 3) of the module 22.
  • the main body control device 51 acquires information about the substrate 17, an error in the mounting position, and the like by image processing.
  • the head portion 25 includes a second slave 61 (see FIG. 3) connected to an industrial network.
  • Various devices such as a relay 75 and a sensor 77 provided in the head unit 25 are connected to the second slave 61, and various devices are connected based on the control data CD received from the master 53 (see FIG. 3) of the device main unit 41. Processes the input and output signals.
  • the head portion 25 is provided with a parts camera 71 that captures an image of an electronic component that is sucked and held by the suction nozzle.
  • the image data GD captured by the parts camera 71 is image-processed by the main body control device 51 (see FIG. 3) of the module 22.
  • the main body control device 51 acquires an error in the holding position of the electronic component in the suction nozzle by image processing.
  • the type and mounting position of the camera included in the component mounting machine 20 of the present embodiment are examples.
  • the parts camera 71 may be installed on the upper surface of the module 22, and the electronic parts attracted and held by the head portion 25 may be imaged from below.
  • the head portion 25 may be provided with a side camera that captures the suction-held electronic components from the side.
  • 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 base 21.
  • 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 base 21, and a horizontal plane extends forward.
  • the rack gear 35 is a gear provided below 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 base 21 can be detachably connected to the upper guide rail 31, lower guide rail 33, and rack gear 35 of the adjacent base 21. 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.
  • the loader 13 can move in the X direction (left-right direction) by rotating the gear by 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 shown in FIG. 1 is a device that comprehensively manages the component mounting system 10.
  • the management computer 15 can communicate with each component mounting machine 20 of the production line 11 by, for example, a wired LAN or a wireless LAN.
  • the component mounting machine 20 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.
  • 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 to set 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.
  • the management computer 15 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 24A (see FIG. 3) of the pallet 24.
  • a new feeder 29 is replenished to the component mounting machine 20.
  • the loader 13 sandwiches the feeder 29, which has run out of parts, with the gripping portion, pulls it out from the pallet 24, and collects it. In this way, the loader 13 can automatically replenish the new feeder 29 and collect the out-of-parts feeder 29.
  • FIG. 3 is a block diagram showing a configuration of a multiplex communication system applied to the component mounting machine 20.
  • the component mounting machine 20 includes a device main body portion 41, a branch slave 43, and a fixed multiplexing portion 45 in the module 22.
  • the device main body 41, the branch slave 43, and the fixed multiplexing section 45 are provided in the module 22 below the substrate transfer device 23.
  • the device main body 41 fixed in the module 22, the branch slave 43 and the fixed multiplex 45, and the movable part (X-axis slide) moving in the module 22.
  • Data transmission between the mechanism 27A and the head unit 25) is performed by multiplex communication.
  • the device main body 41 has a main body control device 51 and a master 53.
  • the branch slave 43 is connected to the master 53, the fourth slave 101 of the board transfer device 23, and the fifth slave 103 of the pallet 24.
  • the fixed multiplexing unit 45 includes a first multiplexing processing device 55.
  • the first slave 57 of the first multiplexing processing device 55 is connected to the branch slave 43.
  • the head portion 25 is provided with a second multiplexing processing device 63 having a second slave 61. Further, the X-axis slide mechanism 27A is provided with a third multiplexing processing device 67 having a third slave 65.
  • the multiplex communication and the connection configuration of the industrial network shown in FIG. 3 are examples.
  • the branch slave 43, the first slave 57, the second slave 61, the third slave 65, the fourth slave 101, and the fifth slave 103 are controlled by the master 53.
  • the master 53 controls the transmission of the control data CD that controls the branch slave 43 connected to the industrial network and the first to fifth slaves 57, 61, 65, 101, 103 (hereinafter, may be referred to as each slave).
  • the industrial network is, for example, EtherCAT®.
  • the "industrial network" of the present disclosure is, for example, a network that transmits a control data CD that controls relays 75, 81, sensors 77, 83, etc., using the communication standard of EtherCAT (registered trademark). Further, the industrial network of the present disclosure is not limited to EtherCAT (registered trademark), and may be other industrial networks (communication standards) such as Profinet (registered trademark) and MECHATROLINK (registered trademark) -III.
  • the main body control device 51 is, for example, a processing circuit mainly composed of a CPU, and inputs a control data CD collected by the master 53, an image data GD received by the first multiplexing processing device 55, 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 51 causes the master 53 to transmit a control data CD according to the determined control content. The master 53 transmits the control data CD to each slave via the industrial network.
  • the head portion 25 includes the above-mentioned second multiplexing processing device 63, a mark camera 69, a parts camera 71, and the like.
  • the second slave 61 processes signals input / output by various devices (relay 75, sensor 77, etc.) based on the control data CD received from the master 53 of the device main unit 41. For example, in the control data CD, an area corresponding to each of a plurality of slaves (first slave 57, etc.) is set.
  • FIG. 4 shows an example of the data structure of the control data CD transmitted on the industrial network.
  • the data area of the industrial network is set after the header information of Ethernet (registered trademark).
  • the data areas of each slave such as the second slave 61 ...
  • the fifth slave 103 and the branch slave are set in order from the first slave 57.
  • a read area 105 and a write area 107 are set in each of the data areas of each slave.
  • the second slave 61 of the head unit 25 drives the relay 75 and the sensor 77 based on the data read from the read area 105 for the second slave 61 among the control data CDs received from the master 53. Further, the second slave 61 writes the drive result signal of the relay 75 and the data corresponding to the detection signal of the sensor 77 to the writing area 107 for the second slave 61 in the control data CD.
  • the second slave 61 transmits the written control data CD to the master 53 and other slaves (third slave 65, etc.).
  • the control data CD is transmitted by multiple high-speed serial communication described later.
  • the third slave 65 of the X-axis slide mechanism 27A has a relay 81 and a sensor 83 attached to the X-axis slide mechanism 27A based on the control data CD, similarly to the second slave 61 of the head portion 25 described above.
  • the first slave 57 of the first multiplexing processing device 55, the fourth slave 101 of the board transfer device 23, and the fifth slave 103 of the pallet 24 are from the master 53 as well as the second slave 61 and the third slave 65.
  • Various devices are controlled based on the control data CD received via the branch slave 43.
  • the control data CD circulates in each slave in the order of, for example, the master 53, the first slave 57, the second slave 61, the third slave 65, the fourth slave 101, the fifth slave 103, and the master 53 via the branch slave 43. Is transmitted. Therefore, each slave of the present embodiment transfers the control data CD transmitted from the master 53 to another slave or the like so as to circulate. Further, each slave of the present embodiment sequentially transfers the control data CD transmitted from the master 53 to the control data CD with state information 109 indicating that the own device has normally received the control data CD. After setting, transfer the control data CD.
  • an area (bit value) for writing the state information 109 is set in the write area corresponding to each slave.
  • each slave receives the control data CD and completes the process based on the control data CD as described above, each slave rewrites the state information 109 of the write area 107 of its own device.
  • the master 53 sets an initial value (a 1-bit value indicating zero, etc.) as the state information 109 of each write area 107.
  • the state information 109 is rewritten to a value other than the initial value (such as a bit value indicating 1).
  • each slave skips the arbitrary slave and executes the transfer of the control data CD. For example, if a communication error occurs in communication with the second slave 61 via the industrial network due to a network failure or software malfunction, the control data CD skips the second slave 61 and the next third slave. Transferred to 65.
  • the control data CD is transferred in the order of master 53, first slave 57, third slave 65, fourth slave 101, and fifth slave 103.
  • the state information 109 of each write area 107 is rewritten by other slaves except the second slave 61. In other words, in the control data CD, only the state information 109 of the write area 107 corresponding to the second slave 61 is returned to the master 53 in the state of the initial value.
  • the main body control device 51 confirms whether or not the state information 109 of the control data CD received by the master 53, that is, the control data CD after being transferred by the plurality of slaves, is the initial value of each slave. It is possible to confirm a communication abnormality in communication with each of them. For example, the main body control device 51 determines that a communication abnormality has occurred in the industrial network in the communication with the slave whose state information 109 remains at the initial value. Communication abnormalities in the industrial network referred to here include disconnection of the communication cable (optical fiber cable 91 described later), external noise generated in the communication cable, malfunction of software for processing the control data CD (FPGA described later, etc.), and the like. Including various abnormalities that communication cannot be executed normally.
  • the feeder 29 is connected to the slot 24A.
  • the fifth slave 103 (see FIG. 3) of the pallet 24 can communicate with the feeder 29 in a communication network (an example of the network of the present application) via the slot 24A, and each feeder is based on the control data CD received from the master 53. Controls the operation of 29. Further, the fifth slave 103 can control the power supplied to each feeder 29 for each slot 24A. Then, when a communication error that cannot communicate with the feeder 29 connected to the slot 24A occurs, the fifth slave 103 notifies the master 53 (main unit control device 51) that the communication error has occurred by the state information 109 of the control data CD. do.
  • the fifth slave 103 when the fifth slave 103 detects a communication abnormality that cannot communicate with at least one feeder 29 among the plurality of feeders 29 connected to the slot 24A, the fifth slave 103 provides state information 109 indicating that a communication abnormality has occurred. , Writes and transmits to the state information 109 corresponding to the fifth slave 103. For example, when there is no response from the feeder 29 for a certain period of time in the communication via the slot 24A, the fifth slave 103 determines that a communication abnormality has occurred in the communication with the feeder 29. The fifth slave 103 sets the status information 109 and transmits the number and the like of the slot 24A in which the communication error has occurred. The main body control device 51 of the device main body 41 detects which slot 24A the feeder 29 connected to has a communication error based on the state information 109 of the control data CD received by the master 53. be able to.
  • the various devices (devices controlled by the control data CD) connected to each slave are not particularly limited.
  • the relay 81 of the X-axis slide mechanism 27A is 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 81 outputs a drive signal to drive the brake, thereby suppressing overrun of the X-axis slide mechanism 27A, for example.
  • the sensor 83 of the X-axis slide mechanism 27A is a substrate height sensor that measures the height of the upper surface of the substrate 17 based on, for example, a reference height position set in the component mounting machine 20.
  • the component mounting machine 20 of the present embodiment executes data transmission between the fixed multiplexing unit 45, the X-axis slide mechanism 27A, and the head unit 25 described above by multiplex high-speed serial communication.
  • the fixed multiplexing unit 45 includes optical conversion modules 85 and 87 in addition to the first multiplexing processing device 55 described above.
  • the optical conversion module 85 is connected to the optical conversion module 89 included in the head portion 25 via an optical fiber cable 91.
  • the optical conversion module 87 of the fixed multiplexing unit 45 is connected to the optical conversion module 93 of the X-axis slide mechanism 27A via the optical fiber cable 95.
  • the communication for connecting the fixed multiplex unit 45, the head unit 25, and the X-axis slide mechanism 27A is not limited to optical communication, but may be packet communication using a LAN cable compliant with the communication standard of Gigabit Ethernet (registered trademark), for example. good.
  • the communication system included in the component mounting machine 20 is not limited to the wired communication system, and may be a wireless communication system.
  • the optical conversion module 85 of the fixed multiplexing unit 45 is a physical interface that performs conversion between an optical signal and a digital signal.
  • the optical conversion module 85 is connected to the first multiplexing processing device 55 and converts the data input from the first multiplexing processing device 55 into an optical signal.
  • the optical conversion module 85 transmits the converted optical signal to the optical conversion module 89 of the head portion 25 via the optical fiber cable 91. Further, the optical conversion module 85 converts the optical signal received from the optical conversion module 89 of the head unit 25 into a digiter signal (serial signal) and outputs the optical signal to the first multiplexing processing device 55.
  • the first multiplexing processing device 55 is, for example, a programmable logic device such as an FPGA (Field Programmable Gate Array). Each of the slaves described above is, for example, an IP core used for constructing a logic circuit of a logic device.
  • the first multiplexing processing device 55 is not limited to the FPGA, and may be a programmable logic device (PLD) or a composite programmable logic device (CPLD). Further, in the first multiplexing processing device 55, a circuit other than the first slave 57 may be configured by an integrated circuit (ASIC) for a specific application or the like.
  • ASIC integrated circuit
  • the fixed multiplexing unit 45 includes, for example, a memory (not shown) for storing config information for constructing an FPGA logic circuit.
  • the first multiplexing processing device 55 reads the config information stored in the memory and constructs various processing circuits (logic circuits).
  • the first multiplexing processing device 55 processes data transmitted by a communication system such as a control data CD by the constructed processing circuit.
  • the first multiplexing processing device 55 inputs and multiplexes, for example, a control data CD of an industrial network, an imaging start signal transmitted from the main body control device 51 to a mark camera 69, and the like.
  • the first multiplexing processing device 55 performs multiplexing by, for example, a time division multiplexing method (TDM: Time Division Multiplexing).
  • TDM Time Division Multiplexing
  • the first multiplexing processing device 55 multiplexes the input various data according to a fixed time (time slot) allocated to the input port, and outputs the multiplexed multiplexed data to the optical conversion module 85.
  • TDM Time Division Multiplexing
  • the configuration of the multiplex communication system described above is an example and can be changed as appropriate.
  • the multiplex communication system of the component mounting machine 20 may multiplex the encoder signal of the encoder of the electromagnetic motor which is the drive source of the suction nozzle of the head unit 25 and the control command for the encoder.
  • the first multiplexing processing device 55 converts the serial data input from the optical conversion module 85 into parallel data.
  • the first multiplexing processing device 55 executes demultiplexing of the multiplexed data received from the second multiplexing processing device 63 of the head unit 25 via the optical conversion module 85, and separates the data multiplexed into the multiplexed data. do.
  • the first multiplexing processing device 55 outputs various separated data to the corresponding devices.
  • multiplex communication high-speed serial communication in which various data such as control data CD and image data GD are multiplexed is executed between the fixed multiplexing unit 45 and the head unit 25.
  • FIG. 5 shows an example of the power supply configuration of the component mounting machine 20.
  • FIG. 5 shows a configuration related to a power supply, and the illustration of a connection configuration for data communication such as the above-mentioned multiplex communication system is omitted.
  • the device main body 41 of the present embodiment can control the supply and stop of the supply of electric power to each slave.
  • the component mounting machine 20 includes a power supply device 111, DC / DC circuits 113, 114, 115, 116, and 117.
  • the power supply device 111 is a device that functions as a power source that supplies electric power to each device of the component mounting machine 20.
  • the power supply device 111 includes a connection plug connected to a commercial power supply, an AC / DC circuit, and the like, and converts AC power supplied from the commercial power supply into DC power.
  • the DC / DC circuits 113 to 117 are connected to the power supply device 111.
  • the DC / DC circuits 113, 114, 115, 116, 117 in this order, the fixed multiplexing section 45, the head section 25, the X-axis slide mechanism 27A, the substrate transfer device 23, the pallet 24 (hereinafter referred to as the fixed multiplexing section 45, etc.) Is connected to).
  • the DC / DC circuits 113 to 117 are, for example, switching regulators.
  • the DC / DC circuits 113 to 117 convert the DC voltage supplied from the power supply device 111 into a voltage required by the fixed multiplexing unit 45 or the like, and supply the DC voltage to the fixed multiplexing unit 45 or the like.
  • a switching device 119 is connected between each of the DC / DC circuits 113 to 117 and the fixed multiplexing unit 45 and the like.
  • the switching device 119 is in an on state of connecting the DC / DC circuits 113 to 117 and the fixed multiplexing unit 45 or the like based on the control signal CI supplied from the main body control device 51 of the device main body 41, and the DC / DC circuit 113. It switches to the off state in which ⁇ 117 and the fixed multiplex portion 45 and the like are cut.
  • the configuration of the switching device 119 is not particularly limited, but for example, an FET (field effect transistor), a relay circuit, or the like can be adopted.
  • the main body control device 51 of the present embodiment supplies and supplies electric power supplied from the power supply device 111 to the fixed multiplexing unit 45 and the like via the DC / DC circuits 113 to 117 by switching the switching device 119 on and off. Can be switched to stop.
  • the method of switching the power supply to the fixed multiplexing unit 45 or the like is not limited to the method of using the switching device 119 described above.
  • the main body control device 51 may individually stop the power supplied to the fixed multiplexing unit 45 or the like by individually controlling and stopping each operation of the DC / DC circuits 113 to 117.
  • the main body control device 51 may stop the operation of the power supply device 111 to stop the power supplied to all of the fixed multiplexing unit 45 and the like.
  • the configuration of the power supply shown in FIG. 5 is an example.
  • the main body control device 51 may control the supply of electric power supplied to the branch slave 43 and the stop of the supply.
  • the main body control device 51 of the present embodiment detects a communication abnormality that occurs in communication between each slave and a feeder 29 (hereinafter, may be referred to as a controlled device) connected to the fifth slave 103. That is, the main body control device 51 causes a communication abnormality to occur in communication between each slave directly connected to the industrial network and a controlled device that can be controlled by the control data CD, such as a device that can communicate with each slave. To detect.
  • the main body control device 51 of the present embodiment detects the occurrence of a communication abnormality, it has a stop mode in which the power supply to the controlled device in which the communication abnormality has occurred is stopped, and a controlled device in which the power supply is restarted after the power supply is stopped. It has two modes, a restart mode that automatically restarts the power. First, in the following description, the restart mode will be described, and the stop mode will be described later.
  • the method of switching between the stop mode and the restart mode is not particularly limited.
  • the main body control device 51 may switch between the two modes based on the operation input to the touch panel 26 (see FIG. 1), or may switch between the two modes based on the instruction data from the management computer 15. ..
  • the main body control device 51 turns on the switching device 119 and causes each DC / DC circuit 113 to 117. And the controlled device are connected, and the power supply to each controlled device is started from the DC / DC circuits 113 to 117.
  • the main body control device 51 starts transmission of the control data CD by the industrial network.
  • the main body control device 51 starts the electronic component mounting operation by the component mounting machine 20.
  • the main body control device 51 starts the process shown in FIG. The condition for starting the process shown in FIG.
  • the main body control device 51 may start the process shown in FIG. 6 on the condition that the transfer of the control data CD is started in the industrial network and the communication with each slave can be established. That is, the main body control device 51 may execute communication abnormality monitoring or the like immediately after the transmission of the control data CD is started or immediately after the communication with an arbitrary slave is started.
  • the main body control device 51 determines in step 11 (hereinafter, simply referred to as “S”) 11 whether or not a communication abnormality has occurred.
  • the main body control device 51 determines whether or not a communication abnormality has occurred in each of the plurality of controlled devices based on the state information 109 (see FIG. 4) included in the control data CD as described above (S11). ..
  • the main body control device 51 repeatedly executes the process of S11 until a communication abnormality occurs (S11: NO). As a result, the main body control device 51 can monitor the communication between the device main body 41 and the controlled device during the mounting work of the component mounting machine 20.
  • the main body control device 51 determines that a communication abnormality has occurred in communication with at least one controlled device among all the controlled devices, it determines affirmatively in S11 (S11: YES), and sets S13. Run. The main body control device 51 performs a process of stopping the mounting work as needed (S13).
  • the mounting work is stopped in S13. Since the X-axis slide mechanism 27A and the head portion 25 are connected to the first slave 57, if the first slave 57 is stopped, the mounting work cannot be performed. On the other hand, for example, when two or more sets of the X-axis slide mechanism 27A, the head portion 25, and the substrate transport device 23 are mounted, the X-axis slide mechanism 27A and the head portion 25 that are not used for the mounting work are stopped. Can continue the mounting work. Further, among the feeders 29 connected to the pallet 24, if the feeder 29 is not used for the device work, the mounting work can be continued even if the feeder 29 is stopped.
  • the main body control device 51 stops the mounting work in S13 when the controlled device necessary for continuing such the mounting work is stopped. Further, when the main body control device 51 stops a controlled device that is not used for the mounting work, a controlled device that is not planned to be used, a controlled device that has an alternative device, or the like, the mounting work is not stopped in S13. .. As a result, the mounting work can be continued as much as possible.
  • the main body control device 51 may always stop the mounting work when a communication abnormality occurs.
  • the main body control device 51 stops supplying power to the controlled device in which a communication abnormality has occurred (S15).
  • the main body control device 51 controls the switching device 119 (see FIG. 5) connected to the slave in which the communication error has occurred by the control signal CI to turn it off (S15). ..
  • the power supply to the slave or the device including the slave in which the communication abnormality has occurred is stopped.
  • the main body control device 51 may stop only the slave.
  • the main body control device 51 may stop the power supply to the first slave 57 included in the fixed multiplexing unit 45 while continuing the power supply to the fixed multiplexing unit 45.
  • the switching device 119 may be provided on the power supply line of the first slave 57, or a command to stop the first slave 57 may be issued to the fixed multiplexing unit 45.
  • the main body control device 51 supplies power to the feeder 29 in which the communication abnormality has occurred.
  • the command to stop is notified to the fifth slave 103 by the control data CD (S15).
  • the fifth slave 103 controls the power supply of the slot 24A based on the control data CD, and stops the power supply to the feeder 29 in which the communication abnormality has occurred.
  • the main body control device 51 executes S17 after executing S15.
  • the main body control device 51 executes a process of waiting for a certain period of time to elapse.
  • the fixed time in S15 is a time required from when a communication abnormality occurs, that is, from when the controlled device whose power supply is stopped in S15 stops the power supply to when the operation is stopped.
  • the main body control device 51 When the main body control device 51 executes S17, the main body control device 51 restarts the power supply to the controlled device that has stopped the power supply (S19). As a result, the power supply can be stopped, the controlled device can be completely stopped after a certain period of time has elapsed, and then the power supply to the controlled device can be resumed. The controlled device can be restarted by being supplied with electric power again, and the processing related to communication can be reset and restarted. If the stopped controlled device is a slave, the main body control device 51 turns on the switching device 119 corresponding to the slave and restarts the power supply to the slave. Further, if the stopped controlled device is the feeder 29, the main body control device 51 controls the fifth slave 103 by the control data CD to cause the pallet 24 to restart the power supply to the feeder 29.
  • the main body control device 51 of the present embodiment can be used from the power supply device 111 when a communication abnormality occurs in the industrial network or the communication network (an example of the network) between the fifth slave 103 and the feeder 29 (S11: YES). After stopping the power supply to the controlled device, the power supply is restarted and the controlled device is restarted. According to this, when a network communication abnormality occurs, the power supply to the controlled device can be stopped and restarted, and the controlled device can be restarted. Communication between the main body control device 51 and the controlled device can be automatically restored, and the mounting work by the component mounting machine 20 can be automatically restored. The operator does not need to move to the position where the component mounting machine 20 is installed and manually restart the component mounting machine 20.
  • the controlled device can be restarted individually, it is not necessary to restart the component mounting machine 20 or the entire component mounting system 10. As a result, the time from the occurrence of the communication abnormality to the recovery of the abnormality can be shortened, and the work stop time can be shortened.
  • the main body control device 51 executes S21 after executing S19.
  • the main body control device 51 executes a process of waiting for a certain period of time to elapse.
  • the fixed time in S21 is the time required for the controlled device that resumed power supply in S19 to start after being supplied with power.
  • the main body control device 51 executes S21, it confirms whether communication with the controlled device can be normally executed (S23). As a result, it is possible to confirm the communication with the controlled device after restarting the power supply and waiting for a certain period of time to completely start the controlled device (after restarting it). By transmitting the control data CD and checking the status information 109 after being transferred by each slave, the main body control device 51 can confirm whether or not normal communication can be performed with the restarted controlled device (S23). ..
  • the main body control device 51 executes S25 after executing S23. In S25, the main body control device 51 determines whether or not the communication confirmation can be normally executed in S23. When the main body control device 51 can confirm the communication with the controlled device normally (S25: YES), the main body control device 51 executes the initial setting for the restarted controlled device (S27). In the initial setting, for example, the master 53 executes a process of reading an eigenvalue for identifying the slave from the slave, a process of confirming a function provided by the slave, and the like for the restarted slave. Alternatively, the master 53 executes an operation confirmation process or the like for the restarted feeder 29.
  • the main body control device 51 executes S27, the mounting work is continued (S29). If the mounting work has been stopped in S13, the main body control device 51 resumes the work. Further, when the main body control device 51 stops only the controlled device without stopping the mounting work in S13, the main body control device 51 continues the mounting work while making the restarted controlled device stand by. As a result, the controlled device in which the communication abnormality has occurred can be automatically restarted to restore the component mounting machine 20.
  • the main body control device 51 notifies the communication abnormality when the communication with the controlled device cannot be confirmed normally (S25: NO), for example, when the communication abnormality is not recovered (S31).
  • the main body control device 51 displays, for example, that a communication error has occurred on the touch panel 26 of the component mounting machine 20 or the screen of the management computer 15, and which controlled device has the communication error. Further, when it is necessary to use the controlled device in which the communication abnormality has occurred, the main body control device 51 executes a process of stopping the mounting operation. When the main body control device 51 executes S29 or S31, the process shown in FIG. 6 ends.
  • the main body control device 51 of the present embodiment confirms whether or not communication with the controlled device can be performed via the network after restarting the power supply and restarting the controlled device (S23). ), When communication with the controlled device cannot be performed (S25: NO), a communication abnormality is notified (S31). If the controlled device fails or the network cable is disconnected, there is a high possibility that the network communication error will not be restored even if the controlled device is restarted. When such a physical failure occurs and communication between the main body control device 51 and the controlled device cannot be performed even by restarting the controlled device, a communication abnormality is notified. As a result, it is possible to urge the user to take appropriate measures such as investigating the cause of the communication abnormality and replacing parts.
  • an industrial network is adopted as the network.
  • a plurality of controlled devices are provided and controlled based on the control data CD received from the main body control device 51.
  • the main body control device 51 can control a plurality of controlled devices by transmitting the control data CD via the industrial network. Then, when a communication abnormality occurs in the industrial network and the controlled device cannot be controlled by the control data CD, the power supply from the power supply device 111 to the controlled device is stopped to control the controlled device. The device can be stopped.
  • each of the plurality of controlled devices sequentially transfers the control data CD transmitted from the main body control device 51, and receives the state information 109 indicating that the own device has normally received the control data CD. After setting to, transfer the control data CD.
  • the main body control device 51 receives the control data CD after being transferred by the plurality of controlled devices, and is connected to each of the plurality of controlled devices based on the state information 109 of the received control data CD for industrial use. Judge a communication error in the network. According to this, the plurality of controlled devices transmit and receive while transferring the control data CD transmitted from the main body control device 51 to each other so as to circulate in the industrial network.
  • the controlled device when the controlled device normally receives and processes the control data CD, the controlled device sets the state information 109 indicating that the control data CD has been normally received as the control data and transfers the control data CD to the next controlled device or the main body control device 51. do.
  • the main body control device 51 confirms the control data CD after being transferred between the plurality of controlled devices, and whether or not each controlled device can normally receive the control data CD, that is, It is possible to appropriately judge communication abnormalities in industrial networks.
  • the component mounting machine 20 is connected to a power supply line connecting the power supply device 111 and the controlled device, and switches between supplying power from the power supply device 111 to the controlled device via the power supply line and stopping the supply.
  • a switching device 119 is provided.
  • the main body control device 51 controls the switching device 119 to stop the power supplied from the power supply device 111 to the controlled device. According to this, when a communication abnormality occurs, the main body control device 51 controls the switching device 119 connected to the power supply line to stop the power supplied from the power supply device 111 to the controlled device and receive the power. The control device can be stopped.
  • FIG. 7 shows the processing contents when a communication error occurs in the stop mode.
  • the description of the same contents as the restart mode in FIG. 6 will be omitted as appropriate.
  • the main body control device 51 executes S33 when the power supply to the controlled device in which the communication abnormality has occurred is stopped, as in the restart mode shown in FIG.
  • the main body control device 51 maintains the state of the device of the component mounting machine 20 and notifies the communication abnormality (S33). Similar to S31 in FIG. 6, the main body control device 51 notifies the touch panel 26 and the like of a communication abnormality. Further, the main body control device 51 keeps the controlled device stopped, that is, the state immediately after the communication abnormality occurs, and stops the component mounting machine 20.
  • the main body control device 51 may save the contents of the control data CD at the time of communication abnormality, the communication log, the detection log of the sensors 77, 83, and the like. Therefore, in the stop mode, unlike the restart mode, the main body control device 51 does not restart the controlled device, and the state of the component mounting machine 20 in which the communication abnormality has occurred remains as it was at the time of occurrence as much as possible. Hold.
  • the main body control device 51 of the present embodiment has a stop mode in which the power supplied from the power supply device 111 to the controlled device is stopped and the controlled device is stopped when a communication abnormality occurs in the network, and communication in the network.
  • a restart mode is provided in which the power supplied from the power supply device 111 to the controlled device is stopped, and then the power supply is restarted and the controlled device is restarted.
  • the controlled device can be automatically restarted, the communication abnormality can be quickly recovered, and the work can be restarted.
  • the stop mode For example, when developing or repairing the component mounting machine 20, it is necessary to investigate the cause of the communication abnormality, and the state of the communication abnormality can be confirmed by the stop mode.
  • the restart mode can realize quick recovery.
  • the parts mounting machine 20 is an example of a working machine.
  • the feeder 29 is an example of a controlled device.
  • the main body control device 51 is an example of a control device.
  • the first to fifth slaves 57, 61, 65, 101, 103 are examples of controlled devices.
  • the DC / DC circuits 113 to 117 are examples of power supply devices.
  • the main body control device 51 of the device main body 41 is connected to a controlled device such as the first slave 57 via an industrial network, and controls the controlled device via the industrial network. ..
  • the main body control device 51 stops the power supplied from the power supply device 111 to the controlled device when a communication abnormality occurs in the industrial network or the communication network with the feeder 29 (S11: YES), and the controlled device 51 Is stopped (S15).
  • the main body control device 51 stops the power supplied from the power supply device 111 to the controlled device.
  • the controlled device stops its operation by stopping the supply of electric power.
  • the controlled device is stopped by stopping the power supply. be able to.
  • the component mounting machine 20 includes both a stop mode and a restart mode, but a configuration may include only one of the modes.
  • the communication standard applied to the industrial network is not limited to Ethernet (registered trademark), and other communication standards may be used.
  • five slaves (first to fifth slaves 57, 61, 65, 101, 103) are connected to one master 53, but the present invention is not limited to this.
  • the number of masters 53 may be two or more.
  • the number of slaves may be one, two to three, or a plurality of six or more.
  • the component mounting machine 20 does not have to be provided with the multiplex communication system.
  • the component mounting machine 20 does not have to multiplex the control data CD with other data and transmit the data.
  • the main body control device 51 executes the processes shown in FIGS. 6 and 7, but another device such as the master 53 may execute the processes.
  • the master 53 is an example of the control device of the present disclosure.
  • the main body control device 51 determines the communication abnormality based on the state information 109, it may be determined by using another method.
  • the main body control device 51 may transmit confirmation data different from the control data CD to the first slave 57 or the like to confirm the occurrence of a communication abnormality with the slave.
  • the component mounting machine 20 does not have to include the switching device 119. In this case, the main body control device 51 may stop the DC / DC circuits 113 to 117 and the power supply device 111 to stop the power supply to the controlled device.
  • the multiplex communication between the first multiplexing processing device 55 and the second multiplexing processing device 63 may be, for example, a frequency multiplexing method other than the time division multiplexing method.
  • the component mounting machine 20 for mounting electronic components on the substrate 17 is adopted as the working machine in the present disclosure.
  • the working machine in the present disclosure is not limited to the component mounting machine 20, and other anti-board working machines such as a solder printing device can be adopted.
  • the working machine may be, for example, a machine tool or a robot that performs assembly work.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'objectif de la présente invention est de fournir une machine de travail qui peut arrêter un dispositif à commander lorsqu'une défaillance de communication se produit dans un réseau connectant un dispositif de commande et le dispositif à commander. Cette machine de travail est pourvue : d'un dispositif d'alimentation électrique ; d'un dispositif à commander qui fonctionne sur la base de la puissance fournie par le dispositif d'alimentation électrique ; et d'un dispositif de commande qui est connecté au dispositif à commander par l'intermédiaire d'un réseau, commande le dispositif à commander par l'intermédiaire du réseau, et, lorsqu'une défaillance de communication se produit dans le réseau, stoppe l'alimentation électrique depuis le dispositif d'alimentation électrique vers le dispositif à commander pour arrêter le dispositif à commander.
PCT/JP2020/008282 2020-02-28 2020-02-28 Machine de travail WO2021171549A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2020/008282 WO2021171549A1 (fr) 2020-02-28 2020-02-28 Machine de travail
JP2022502770A JP7305024B2 (ja) 2020-02-28 2020-02-28 作業機

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/008282 WO2021171549A1 (fr) 2020-02-28 2020-02-28 Machine de travail

Publications (1)

Publication Number Publication Date
WO2021171549A1 true WO2021171549A1 (fr) 2021-09-02

Family

ID=77491220

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/008282 WO2021171549A1 (fr) 2020-02-28 2020-02-28 Machine de travail

Country Status (2)

Country Link
JP (1) JP7305024B2 (fr)
WO (1) WO2021171549A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001255789A (ja) * 2000-03-10 2001-09-21 Fuji Xerox Co Ltd 画像記録装置
JP2017105163A (ja) * 2015-12-02 2017-06-15 株式会社リコー 画像形成装置、画像形成制御方法及びプログラム
JP2017151936A (ja) * 2016-02-26 2017-08-31 オムロン株式会社 マスタ装置、スレーブ装置、情報処理装置、イベントログ収集システム、マスタ装置の制御方法、スレーブ装置の制御方法、および制御プログラム
JP2017184086A (ja) * 2016-03-31 2017-10-05 富士機械製造株式会社 多重化通信システム及び作業機
JP2019043096A (ja) * 2017-09-06 2019-03-22 キヤノン株式会社 印刷装置、その制御方法、及びプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001255789A (ja) * 2000-03-10 2001-09-21 Fuji Xerox Co Ltd 画像記録装置
JP2017105163A (ja) * 2015-12-02 2017-06-15 株式会社リコー 画像形成装置、画像形成制御方法及びプログラム
JP2017151936A (ja) * 2016-02-26 2017-08-31 オムロン株式会社 マスタ装置、スレーブ装置、情報処理装置、イベントログ収集システム、マスタ装置の制御方法、スレーブ装置の制御方法、および制御プログラム
JP2017184086A (ja) * 2016-03-31 2017-10-05 富士機械製造株式会社 多重化通信システム及び作業機
JP2019043096A (ja) * 2017-09-06 2019-03-22 キヤノン株式会社 印刷装置、その制御方法、及びプログラム

Also Published As

Publication number Publication date
JPWO2021171549A1 (fr) 2021-09-02
JP7305024B2 (ja) 2023-07-07

Similar Documents

Publication Publication Date Title
JP6866532B2 (ja) スレーブ、作業機、及びログ情報を記憶する方法
CN103857270B (zh) 电子元件的安装方法以及表面安装机
WO2018109793A1 (fr) Système de réglage de distributeur à bande
JP6461998B2 (ja) 作業機
WO2021171549A1 (fr) Machine de travail
JP2018042128A (ja) 多重通信装置及び作業機
JP6858278B2 (ja) 多重装置、作業機、及び通信の切断方法
JP7445460B2 (ja) 作業システム
JP7199566B2 (ja) 搭載装置、及び作業機
JP7149342B2 (ja) 光通信装置及び作業機
WO2022259456A1 (fr) Dispositif de communication à multiplexage optique, machine de travail et procédé de communication
JPWO2020100254A1 (ja) 作業機、及び作業システム
JP2017169080A (ja) 多重化通信システム及び作業機
JP7289963B2 (ja) 部品種類管理装置
JP7222115B2 (ja) 多重通信装置、及び作業機
JP7394670B2 (ja) 廃テープ搬送装置及び実装装置
JP7111892B2 (ja) 情報処理装置及び作業機
JP7299142B2 (ja) 部品実装機
JP2019067972A (ja) 部品実装機
CN118176679A (zh) 光通信装置、作业机以及通信方法
JP2023101693A (ja) 情報管理方法および部品種類管理装置
JP2023001597A (ja) 対基板作業機、及び対基板作業システム

Legal Events

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

Ref document number: 20921358

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022502770

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20921358

Country of ref document: EP

Kind code of ref document: A1