Control device and control method for reducing a position error of a component mounting machine

1. A control device operatively connected with a component mounting machine including a camera and a component transfer device which includes a holding member that holds an electronic component and that transfers the electronic component from a supply position to a mounting position on a circuit board, the control device comprising:

a motor control circuit operatively connected to the component transfer device, the motor control circuit configured to control a moving table of the component transfer device to effect a moving operation of the holding member in a plane defined by a first axis and a second axis, the motor control circuit moves the holding member to a preparation position which is set to a defined propelling direction and distance in each of the first axis and the second axis with respect to a processing position, and then moves the holding member from the preparation position to a processing position in a case where motor control circuit controls the moving table to move the holding member in the plane from a current position to a predetermined processing position within the component mounting machine; and

a mounting control section that controls a position of the component transfer device or an operation of the holding member via the motor control circuit, the mounting control section performs calibration processing in advance for acquiring a calibration value with respect to an axial direction in the plane and a distance of a propelling axis regarding the propelling axis which is displaced when the holding member is moved from the preparation position to the processing position by the motor control circuit, and the defined propelling direction and distance is set to the axial direction and the distance of the propelling axis in which the holding member is moved in the calibration processing.

2. The control device of a component mounting machine according to claim 1 ,

wherein the processing position includes the mounting position on the circuit board,

wherein the motor control circuit controls the moving operation of the holding member according to a control program indicating an order of transferring the electronic component to multiple mounting positions, and

wherein the control program is configured to be optimized in the order of transferring the electronic component based on a movement amount or a movement time of the holding member according to the movement of the holding member by the moving table to each of the preparation positions corresponding to the multiple mounting positions.

3. The control device of a component mounting machine according to claim 1 ,

wherein the preparation position is set by the mounting control section to the defined propelling direction and distance with respect to the processing position calibrated using the calibration value.

4. The control device of a component mounting machine according to claim 1 ,

wherein the motor control circuit temporarily stops the movement of the holding member in the propelling direction when the holding member is moved to the preparation position.

5. The control device of a component mounting machine according to claim 1 ,

wherein the motor control circuit limits a movement speed of the holding member in the propelling direction in a certain range when the holding member is moved to the preparation position.

6. The control device of a component mounting machine according to claim 1 ,

wherein the mounting control section includes control information indicating whether it is a high-accuracy mode in which the holding member passes through the preparation position or a normal mode in which the holding member is not required to pass through the preparation position when the holding member is moved from the current position to the processing position, and

wherein the mounting control section controls the moving operation of the holding member via the motor control circuit by switching the high-accuracy mode and the normal mode based on the control information when the holding member is sequentially moved to multiple processing positions.

7. The control device of a component mounting machine according to claim 1 ,

wherein the motor control circuit controls a rotation operation of the holding member, and

in a case where the holding member is rotated from a current angle to a predetermined processing angle, the motor control circuit causes the holding member to rotate to a preparation angle which is set to a defined rotational direction and angle with respect to the processing angle and then causes the holding member to rotate from the preparation angle to the processing angle.

8. A control device operatively connected with a component mounting machine including a camera and a component transfer device which includes a holding member which is a suction nozzle that sucks an upper face of an electronic component to hold the electronic component, and that transfers the electronic component from a supply position to a mounting position on a circuit board, the control device comprising:

a motor control circuit operatively connected to the component transfer device, the motor control circuit configured to control a moving table of the component transfer device to effect a moving operation of the holding member in a plane defined by a first axis and a second axis, the motor control circuit moves the holding member to a preparation position which is set to a defined propelling direction and distance in each of the first axis and the second axis with respect to a processing position, and then moves the holding member from the preparation position to the processing position in a case where motor control circuit controls the moving table to move the holding member in the plane from a current position to a predetermined processing position within the component mounting machine; and

an imaging control circuit operatively connected to the camera, the imaging control circuit configured to

acquire a suction position of the suction nozzle which is positioned when the electronic component is sucked as the processing position based on image data acquired by imaging the upper face of the electronic component supplied to the supply position with the camera, and

in a case where the suction nozzle is moved from the current position to the suction position by the motor control circuit, the motor control circuit moves the suction nozzle to the preparation position corresponding to the suction position and then moves the suction nozzle from the preparation position to the suction position.

9. The control device of a component mounting machine according to claim 8 ,

wherein the suction nozzle is a dedicated nozzle which sucks and holds the electronic component whose suction position is set at a position eccentric from a center of the outer shape or a centroid position of the electronic component on the upper face of the electronic component.

10. A control method of controlling a component mounting machine including a camera and a component transfer device which includes a holding member that holds an electronic component and that transfers the electronic component from a supply position to a mounting position on a circuit board, the method comprising:

controlling a motor control circuit operatively connected to the component transfer device, the motor control circuit configured to control a moving table of the component transfer device to effect a moving operation of the holding member in a plane defined by a first axis and a second axis;

controlling the motor control circuit to control the moving table to move the holding member in the plane from a current position to a predetermined processing position within the component mounting machine, by moving the holding member to a preparation position which is set to a defined propelling direction and distance in each of the first axis and the second axis with respect to the processing position, and then moves the holding member from the preparation position to the processing position;

controlling a position of the component transfer device or an operation of the holding member via the motor control circuit;

performing calibration processing in advance for acquiring a calibration value with respect to an axial direction in the plane and a distance of a propelling axis regarding the propelling axis which is displaced when the holding member is moved from the preparation position to the processing position by the motor control circuit; and

setting the defined propelling direction and distance to the axial direction and the distance of the propelling axis in which the holding member is moved in the calibration processing.