JP7199566B2 - Mounting device and work machine - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a mounting device equipped with a communication device that processes control data transmitted from a master in an industrial network, and a work machine equipped with the mounting device .

Conventionally, there is a technique for suppressing competition for a common bus (for example, Patent Document 1, etc.). The bus contention prevention circuit of Patent Document 1 controls a plurality of 3-state buffers connected to one common bus. Each 3-state buffer is connected to an AND gate and outputs a signal to the common bus based on the signal supplied from the AND gate. An AND gate corresponding to an arbitrary 3-state buffer receives an enable signal for that AND gate and an inverted signal of the output of another AND gate. The AND gate outputs the AND of the two signals to the status buffer, thereby suppressing contention with the common bus of the 3-state buffer.

JP-A-2000-56874

By the way, network communication technology represented by the Internet is also utilized in the FA (Factory Automation) field, and there is a so-called industrial network for the FA field. For example, an industrial network constitutes a network connecting a master and slaves controlled by the master. Control data transmitted from the master controls a slave installed in a device to be controlled, thereby enabling the operation of the device to be controlled.

In this type of industrial network, for example, the master retrieves information about the slave from the memory of the slave when the device is powered on. Based on the information obtained from the memory, the master detects the type of slave connected to the industrial network. Also, by using the memory for storing the slave information for other purposes, the number of memories in the communication device provided with the slave can be reduced. On the other hand, when the memory is shared, multiple accesses to the memory occur at the same time, causing a problem of contention.

The present disclosure has been made in view of the above problems. To provide a mounting device and a working machine capable of using a memory for purposes other than storing a memory.

In order to solve the above problems, the present disclosure provides a mounted device equipped with a communication device, wherein the communication device includes a slave connected to a master in an industrial network, and slave information , which is information about the slave. and a memory for storing mounting device identification information for identifying the mounting device or an operation log recording the operation status of the mounting device, and executing processing based on control data transmitted from the master, and a storage device connected to the slave, the processing circuit, and the memory for reading and storing the slave information from the memory, wherein the slave information read to the storage device is stored in the storage device. an access control circuit for transmitting to the master via a slave, the processing circuit causing the access control circuit to read out the slave information to the storage device, and then the mounted device of the mounted device. Disclosed is a mounted device that starts a process of accessing the memory without going through the storage device for an operation log that records identification information or the operating status of the mounted device .
Further, the contents of the present disclosure can be implemented not only as a mounting device, but also as a working machine equipped with a mounting device .

According to the mounting device and the working machine of the present disclosure, the access control circuit reads the slave information in advance from the memory to the storage device. 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 out and the processing circuit accesses the memory at the same time, the slave information is read out from the memory in advance so that the access conflict does not occur and the processing circuit can access the memory. be able to.

It is a top view showing a schematic structure of a component mounting system of this embodiment. It is a perspective view which shows schematic structure of a component mounting machine and a loader. 1 is a block diagram of a multiplex communication system; FIG. FIG. 4 is a block diagram of a second slave; FIG. 10 is a flowchart for explaining processing contents of a second slave; FIG. FIG. 6 is a diagram showing the flow of data when the processing in FIG. 5 is executed; FIG. 10 is a diagram showing the flow of data in the second slave of the comparative example;

An embodiment of the present disclosure will be described below with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of a component mounting system 10 of this embodiment. FIG. 2 is a perspective view showing a schematic configuration of the component mounting machine 20 and the loader 13. As shown in FIG. In the following description, the left-right direction in FIG. 1 is called the X direction, the up-down direction (front-rear direction) is called the Y direction, and the direction perpendicular to the X and Y directions is called 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 mounters 20 arranged in the X direction, and mounts electronic components on the substrate 17 and the like. The board 17 is, for example, transported from the component mounting machine 20 on the left side shown in FIG.

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

The head unit 25 includes a suction nozzle (not shown) that sucks an electronic component supplied from a feeder 29 , and mounts the electronic component sucked by the suction nozzle onto the substrate 17 . The head moving mechanism 27 moves the head section 25 to an arbitrary position in the X direction and the Y direction on the apparatus body section 21 . Specifically, the head moving mechanism 27 includes an X-axis slide mechanism 27A that moves the head section 25 in the X direction, and a Y-axis slide mechanism 27B that moves the head section 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 any position in the Y direction based on the drive of the linear motor of the Y-axis slide mechanism 27B. Also, the X-axis slide mechanism 27A has a linear motor (not shown) as a drive source. The head unit 25 is attached to the X-axis slide mechanism 27A and moves to any position in the X direction based on the drive of the linear motor of the X-axis slide mechanism 27A. Therefore, the head section 25 moves to any position on the device body section 21 as the X-axis slide mechanism 27A and the Y-axis slide mechanism 27B are driven. The X-axis slide mechanism 27A also includes a first slave 51 (see FIG. 3) connected to an industrial network, which will be 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. Therefore, the head section 25 of this embodiment is detachable from the device main body section 21 . A mark camera 66 (see FIG. 3) for photographing the substrate 17 is fixed to the head portion 25 while facing downward. The mark camera 66 can pick up an image of an arbitrary position on the substrate 17 from above as the head unit 25 moves. The image data GD captured by the mark camera 66 is image-processed by the body controller 41 (see FIG. 3) of the device 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.

The head unit 25 also includes a second slave 61 (see FIG. 3) connected to the industrial network. The second slave 61 is connected to elements such as various sensors, and processes signals input to and output from the elements. The head unit 25 is also provided with a parts camera 67 that captures an image of the electronic component sucked and held by the suction nozzle. The image data GD captured by the parts camera 67 is image-processed by the body control device 41 (see FIG. 3) of the device body 21 . The main body control device 41 acquires the error of the holding position of the electronic component in the suction nozzle and the like 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 feeding coil 37 are provided on the front surface of the component mounter 20 . The upper guide rail 31 is a rail with a U-shaped cross section extending in the X direction, and the opening faces downward. The lower guide rail 33 is a rail extending in the X direction and having an L-shaped cross section. The rack gear 35 is provided at the lower portion of the lower guide rail 33, extends in the X direction, and has a front surface with a plurality of vertical grooves. The upper guide rail 31, the lower guide rail 33 and the rack gear 35 of the component mounting machine 20 can be detachably connected to the upper guide rail 31, the lower guide rail 33 and the rack gear 35 of the adjacent component mounting machine 20. Therefore, the component mounting machines 20 can increase or decrease the number of component mounting machines 20 arranged in the production line 11 . The contactless power feeding coil 37 is a coil provided on the upper portion of the upper guide rail 31 and arranged along the X direction, and supplies power to the loader 13 .

The loader 13 is a device that automatically replenishes and collects the feeder 29 for the component mounting machine 20 , and has a gripper (not shown) that clamps the feeder 29 . The loader 13 is provided with upper rollers (not shown) inserted into the upper guide rails 31 and lower rollers (not shown) inserted into the lower guide rails 33 . Moreover, the loader 13 is provided with a motor as a drive source. A gear meshing 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 contactless power feeding coil 37 of the component mounter 20 . The loader 13 supplies the electric power received from the contactless power feeding coil 37 to the motor. Thus, the loader 13 can move in the X direction (horizontal direction) by rotating the gear with the motor. Moreover, 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 position in the vertical direction and the front-rear direction.

The management computer 15 is a device that centrally 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 mounts electronic components using the head section 25 while transporting the board 17 . Management computer 15 also monitors the number of electronic components remaining in feeder 29 . For example, when the management computer 15 determines that the feeder 29 needs to be replenished, it displays on the screen an instruction to set the feeder 29 containing the part type requiring replenishment to the loader 13 . The user confirms the screen and sets the feeder 29 to the loader 13 . When the management computer 15 detects that the desired feeder 29 has been set in the loader 13, it instructs the loader 13 to start replenishment work. The loader 13 moves to the front of the component mounter 20 that has received the instruction, and mounts the feeder 29 set by the user in the slot of the feeder table 23 by gripping the feeder 29 with the grip portion. As a result, a new feeder 29 is supplied to the component mounting machine 20 . In addition, the loader 13 holds the feeder 29 that has run out of components with the gripping portions, pulls it out from the feeder table 23, and collects it. In this way, the loader 13 can automatically supply a new feeder 29 and recover a feeder 29 that has run out of parts.

Next, a multiplex communication system provided in the component mounting machine 20 will be described. FIG. 3 is a block diagram showing the configuration of a multiplex communication system applied to the component mounting machine 20. As shown in FIG. As shown in FIG. 3, the component mounting machine 20 includes an apparatus main body 21 fixedly provided at a place where the apparatus is installed, and a movable section (X-axis slide mechanism) that moves relative to the apparatus main body 21. 27A and the head section 25) are carried out by a multiplex communication system. Note that 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 unit 21 has a main 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 the master 43 of the device main body 21 . The head unit 25 is also provided with a second slave 61 controlled by the master 43 . The master 43 centrally controls transmission of control data CD for controlling the first slave 51 and the second slave 61 connected to the industrial network. Industrial networks are, 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 employed.

The main control unit 41 is, for example, a processing circuit mainly composed of a CPU. Determine the content (type of electronic component to be mounted, mounting position, etc.). Further, the main body control device 41 causes the master 43 to transmit the control data CD corresponding to the determined control contents. The master 43 transmits 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 and output by devices 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 overrun of the X-axis slide mechanism 27A, for example. 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 apparatus 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 . Also, the first slave 51 processes the output signal of the sensor 55 and the like and transmits it to the master 43 as control data CD.

The head unit 25 has a relay 63, a sensor 65, etc. in addition to the second slave 61, parts camera 67, and mark camera 66 described above. The second slave 61 processes signals input and output by devices such as the relay 63 and the sensor 65 provided in the head section 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 body 21 . The second slave 61 also transmits the output signal of the sensor 65 and the like to the master 43 as 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 will be described. The component mounting machine 20 of this embodiment performs data transmission among the apparatus main body 21, the X-axis slide mechanism 27A and the head section 25 by multiplex communication. As shown in FIG. 3, the device main unit 21 has a first multiprocessing device 45 and GbE-PHYs 47 and 48 in addition to the above-described main body control device 41 and the like. The GbE-PHYs 47 and 48 are, for example, ICs that function as interfaces between the logical layer and the physical layer. The GbE-PHY 47 is connected via a LAN cable 71 to the GbE-PHY 59 of the X-axis slide mechanism 27A. Similarly, the GbE-PHY 48 is connected to the GbE-PHY 69 of the head section 25 via a LAN cable 72 . The LAN cables 71 and 72 are, for example, LAN cables conforming to the Gigabit Ethernet (registered trademark) communication standard.

The first multiprocessing device 45 of the device main body 21 transmits/receives multiplexed data to/from the second multiprocessing device 57 of the X-axis slide mechanism 27A through the LAN cable 71 . Also, the first multiprocessing device 45 of the device body 21 transmits and receives multiplexed data to and from the third multiprocessing device 68 of the head section 25 through the LAN cable 72 . The first to third multiprocessing devices 45, 57, 68 multiplex the control data CD of the industrial network, the image data GD of the parts camera 67, etc., for example, by time division multiplexing (TDM). converted and transmitted. The first multiprocessing device 45 and the like are composed of, for example, logic circuits such as field programmable gate arrays (FPGA).

The second multiprocessing unit 57 of the X-axis slide mechanism 27A is connected to the GbE-PHY59. The second multiprocessing device 57 is also connected to the first slave 51 and inputs/outputs 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 multiplexed data to the first multiprocessing device 45 (apparatus main unit 21) through the LAN cable 71. FIG.

Also, the third multiprocessing unit 68 of the head unit 25 is connected to the GbE-PHY 69 . Also, 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). For example, the mark camera 66 and the parts camera 67 perform imaging in response to receiving a trigger signal from the main body control device 41 of the device main body 21 via multiplex communication, and send the captured image data GD to the third multiprocessing device. output to 68. The third multiprocessing device 68 is also connected to the second slave 61 and inputs/outputs control data CD to/from the second slave 61 . The third multiprocessing device 68 multiplexes various data such as image data GD and control data CD, and transmits the multiplexed data to the first multiprocessing device 45 through the LAN cable 72 .

The first multiprocessing device 45 is connected to GbE-PHYs 47 and 48 . Also, the first multiprocessing device 45 is connected to the main control device 41 . The first multiprocessing device 45 demultiplexes the multiplexed data received from the second multiprocessing device 57 and the third multiprocessing device 68 via multiplex communication. For example, the first multiprocessing device 45 demultiplexes the multiplexed data received from the third multiprocessing 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 body control device 41 in a data format conforming to the GigE-vision (registered trademark) standard.

Also, the first multiprocessing device 45 is connected to the master 43 . The master 43 builds an industrial network for transmitting and receiving control data CD for controlling devices such as the relay 53, and realizes integration (reduction) of wiring. More specifically, in the industrial network of this 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, the second multiplex It is transmitted so as to circulate through each of the processor 57 , the first multiprocessor 45 , the third multiprocessor 68 , the second slave 61 , the third multiprocessor 68 , the first multiprocessor 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 it 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 according to the contents of the copied data. In addition, the first slave 51 writes information indicating completion of driving of the relay 53, detection information of the sensor 55, etc. to the write data position preset for the first slave 51 in the control data CD, and writes the information to the head unit 25. Forward. In this manner, 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. Note that 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 configured to be connected to the master 43 via the first slave 51 . Also, 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 section 25 will be described. The first slave 51 of the X-axis slide mechanism 27A has the same configuration as the second slave 61. As shown in FIG. However, the head unit 25 is a device that requires a smaller size than the X-axis slide mechanism 27A, and it is more effective to employ the technology 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. As shown in FIG. 4, the second slave 61 has a slave controller 81, a CPU 83, a nonvolatile memory 85, an access control circuit 87, and the like. The slave controller 81 is connected to the third multiprocessing unit 68 (see FIG. 3), for example, via a PHY (external IF) that functions as an interface between the logical layer and the physical layer. Also, the slave controller 81 can transmit and receive control data CD to and from the master 43 via multiplex communication such as the third multiprocessing device 68, the LAN cable 72, the first multiprocessing device 45, and the like.

The slave controller 81 is an IP core used to build logic circuits such as programmable logic devices (PLDs), field programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs). The slave controller 81 receives, for example, control data CD from the master 43 via the first slave 51 (after being transferred in the order of the master 43 and the first slave 51). The slave controller 81 reads and writes 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, for example, and outputs the copied data to the CPU 83 .

The CPU 83 is connected to the digital IF 89 and AD converter 91 . A digital IF 89 is an interface for inputting and outputting digital signals. The AD converter 91 is an interface that converts analog signals and digital signals. The CPU 83 is connected to the relay 63 and the sensor 65 (see FIG. 3) via the digital IF 89, the AD converter 91, and the like. The CPU 83 controls the relay 63 and the like based on data input from the slave controller 81 . The CPU 83 also 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 performs processing related to data input/output to/from the slave controller 81 by executing a predetermined program. The storage device that stores this predetermined program is not particularly limited, but may be the non-volatile memory 85, for example. In the following description, the control by the CPU 83 may be simply described by the name of the device. For example, the statement "the CPU 83 controls the access control circuit 87" means that "the CPU 83 executes a predetermined program to output commands to the access control circuit 87 and control the access control circuit 87." may mean.

A nonvolatile memory 85 (an example of the memory of the present application) is connected to the access control circuit 87 . 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. The nonvolatile memory 85 stores various data such as slave information 93, an operation log 95, a head unique value 96, and the like.

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 a unique value 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 other than the slave controller 81 provided in the second slave 61 . Also, the slave information 93 includes, for example, information defined by communication standards for industrial networks, and is changed depending on the type of communication standard.

The operation log 95 stores the operation status of the 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 section 25, etc., as an operation log 95. FIG. Specifically, the CPU 83 controls, for example, the number of strokes (number of times of suction and attachment) of moving the suction nozzle of the head unit 25 in the Z direction, the number of times of imaging by the parts camera 67 and the mark camera 66, and the number of operations of the relay 63. , 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 an operation log 95 into the nonvolatile memory 85 via an access control circuit 87 which will be described later.

Note that the mounting device provided with the communication device in the present application is not limited to the head section 25 . For example, the X-axis slide mechanism 27A may be employed as the mounting device. In this case, the CPU 83 of the first slave 51 may store the number of slide movements of the X-axis slide mechanism 27A, the number of accelerations, etc. as the operation log 95. FIG. Further, for example, when the substrate transport device 22 is employed as the mounting device, the slave CPU 83 mounted on the substrate transport device 22 may store the number of times the substrate transport device 22 transports the substrate 17 as the operation log 95. . Further, for example, when the loader 13 is employed as the mounting device, the slave CPU 83 mounted on the loader 13 stores the number of exchanges of the feeder 29 by the loader 13 and the number of movements to each component mounting machine 20 as an operation log 95. can be

The head unique value 96 (an example of mounting device identification information of the present disclosure) is, for example, information for identifying the mounting 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 unit 25 . The head unique value 96 is written in the non-volatile memory 85 by connecting a setting PC to the second slave 61 at the time of manufacturing the head unit 25, for example.

The access control circuit 87 also 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 that connects the RAM 107 to the slave controller 81 . Also, the memory IF 102 is an interface that connects the RAM 107 to the nonvolatile memory 85 . The slave IF 101 and memory IF 102 communicate, for example, by a serial bus communication method called Inter-Integrated Circuit (I2C).

A bus 105 is an interface that connects the memory IF 102 and the CPU 83 . Bus 105 is, for example, an Avalon® bus. The CPU 83 can read data from the nonvolatile memory 85 to the RAM 107 via the bus 105 . The CPU 83 outputs, for example, a command designating the address value and data size of the nonvolatile memory 85 to the access control circuit 87 via the bus 105 . The access control circuit 87 reads the slave information 93 from the non-volatile memory 85 and stores it in the RAM 107 based on a command from the CPU 83 . 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 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 the RAM 107, and may be a non-volatile memory such as an EEPROM.

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

First, in step 11 (hereinafter simply referred to as "S") in FIG. 5, the second slave 61 performs startup processing. For example, when the component mounting machine 20 is powered on when the component mounting system 10 is activated, power is supplied to the apparatus main body 21, the X-axis slide mechanism 27A, the head section 25, etc., and the system is activated. The main control unit 41 establishes multiple communication lines 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 startup processing such as construction of the logic circuit of the slave controller 81 . When power is supplied, the CPU 83 of the second slave 61 reads out a predetermined program from the nonvolatile memory 85 or the like and executes it to perform initial setting.

Next, the CPU 83 causes the access control circuit 87 to read the slave information 93 from the nonvolatile memory 85 . The CPU 83 outputs to the access control circuit 87 a command designating the address value of the nonvolatile memory 85 and the like. The access control circuit 87 reads the slave information 93 from the nonvolatile memory 85 based on the instruction from the CPU 83 and stores the read slave information 93 in the RAM 107 .

After executing S13, the second slave 61 processes S15 and S17 in parallel. At S<b>15 , the second slave 61 transmits the slave information 93 stored in the RAM 107 at S<b>13 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 a multiplex communication line, it causes the master 43 to start processing. The master 43 acquires the slave information 93 of each slave via the established multiplex communication line and starts constructing the industrial network.

The master 43 requests transmission of the slave information 93 to the first slave 51 and the second slave 61 detected on the network. A method of requesting the slave information 93 from the master 43 to the first slave 51 or 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 industrial network communication standard to the first slave 51 or the like. Upon receiving the request for the slave information 93 from the master 43, the slave controller 81 of the second slave 61 reads the slave information 93 from the RAM 107 via the slave IF 101 and transmits it 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 the slave controller 81 connected to the industrial network, the supported communication protocol, etc., and outputs the control data. Set the destination address of the CD, etc.

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 to the RAM 107 from the second slave. 61 to the master 43 (S15). According to this, the slave information 93 previously read from the nonvolatile memory 85 to the RAM 107 can be transmitted to the master 43 in response to a request from the master 43, that is, at the timing when the master 43 becomes necessary.

On the other hand, the second slave 61 reads the head unique value 96 in S17. For example, when the master 43 completes the settings of the industrial network (such as the setting of the transmission destination address of each slave controller 81) based on the slave information 93, the master 43 is equipped with the first slave 51 and the second slave 61. Acquire mounted device identification information that identifies the device. The master 43 requests the first slave 51 and the second slave 61 to transmit the mounting device identification information using 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 unique value 96 . When the slave controller 81 receives the control data CD requesting the head unique value 96, it commands the CPU 83 to read the head unique value 96 (S17).

The CPU 83 outputs an address value in which the head unique value 96 is stored in the nonvolatile memory 85 and a command designating the data size of the head unique value 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 unique value 96 from the nonvolatile memory 85 and outputs it to the CPU 83 . The CPU 83 outputs the head unique value 96 received from the access control circuit 87 to the slave controller 81 . The slave controller 81, for example, sets the head unique value 96 in the data position for writing the control data CD and transmits it to the master 43 (S17). As a result, the master 43 detects the type and model name of the head unit 25, the communication protocol for transmitting commands to the head unit 25, and the like based on the head unique value 96 received from the second slave 61, for example. The mounting work can be performed by appropriately controlling the portion 25 .

The component mounting machine 20 obtains the mounting device identification information (such as the head unique value 96) from the head unit 25 mounting the second slave 61 and the X-axis slide mechanism 27A mounting the first slave 51, and then mounts the electronic component on the board. 17 is started. For example, when the component mounting machine 20 completes the acquisition of the head peculiar value 96 and becomes ready to start the mounting work, it notifies the management computer 15 of the component mounting system 10 that preparations have been completed. When the management computer 15 receives a preparation completion notification from each component mounter 20 on the production line 11, it transmits control information necessary for the mounting work to the component mounter 20 to start the mounting work. The control information referred to here includes information on the type of board to be produced, information on the type of electronic component, information on the mounting position where the electronic component is mounted, and the like.

After executing S17, the second slave 61 executes S19. For example, when the construction of the industrial network is completed, 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 nonvolatile memory 85 (S19). The CPU 83 stores, as an operation log 95, the number of strokes of the suction nozzle, the number of images taken by the mark camera 66, and the like, for example, in the mounting work of electronic components. Alternatively, the CPU 83 of the first slave 51 stores the number of times of movement of the X-axis slide mechanism 27A as the operation log 95 in the nonvolatile memory 85 of the first slave 51 .

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

After executing S19, the second slave 61 executes S21. The second slave 61 determines whether or not to end the process (S21). For example, if the setting is to continue processing until the component mounting machine 20 is turned off, the second slave 61 makes a negative determination in S21 until the component mounting machine 20 is turned off (S21: NO), and performs the processing of S19. repeatedly. As a result, the second slave 61 continues to store the operation log 95 while the component mounting machine 20 is in the power ON state. When the second slave 61 determines that the component mounting machine 20 has been powered off (S21: YES), it terminates the processing 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 to the RAM 107, and thereafter, data other than the slave information 93 (the operation log 95, the head The processing (S17 and S19) for accessing the RAM 107 for the eigenvalue 96) is started. According to this, the CPU 83 reads data other than the slave information 93 from the nonvolatile memory 85 or writes data to the nonvolatile memory 85 before reading the slave information 93 from the access control circuit. 87 to execute. As a result, the slave information 93 is read out to the RAM 107 before access is started, and conflicts in access to the nonvolatile memory 85 can be suppressed more reliably.

On the other hand, the second slave 61 executes S23 after executing S15 in parallel with the processing of S17 and S19 described above. In S23, the second slave 61 determines whether retransmission of the slave information 93 has been requested. Here, hot connection of the slave controller 81 is possible in industrial networks such as EtherCAT (registered trademark). The hot connect here is, for example, a function that enables attachment and detachment of a device (for example, the head unit 25) on which the slave controller 81 is mounted while the system of the component mounting machine 20 is in operation. When hot connect is performed, the topology of the industrial network is changed by attaching and 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 master 43 has requested the slave information 93 . In the component mounting machine 20 of this embodiment, the head section 25 is detachable with respect to the X-axis slide mechanism 27A. Therefore, when the head unit 25 is attached and detached while the component mounting machine 20 is powered on, the slave information 93 is acquired again. Also, if the X-axis slide mechanism 27A or the first slave 51 is attached or detached, the re-acquisition of the slave information 93 is executed by the attachment or detachment. Further, for example, if one component mounting machine 20 is configured to include two head units 25 (two-head configuration), reacquisition of the slave information 93 is executed when one of the two head units 25 is attached or detached. be done. Also, for example, when the loader 13 itself or part of the loader 13 is replaced with a different type of loader (such as the tray-type loader 13), the slave information 93 is reacquired.

In this case, for example, the device (such as the head section 25) after being replaced by attachment/detachment is mounted on the component mounter 20 and supplied with power, and then starts the processing of FIG. It can be executed to send the slave information 93 to the master 43 and start up. On the other hand, a device that is not attached/detached (not replaced) remains connected to the industrial network. is requested. With such a non-detachable device, there is a possibility that the slave information 93 will be requested during the reading of the head peculiar value in S17 and the writing of the operation log 95 in S19, that is, the access to the nonvolatile 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 have the access control circuit 87 . The CPU 83 accesses the nonvolatile memory 85 via the slave controller 81 . For example, in S31 shown in FIG. 7, a process of requesting the slave information 93 from the master 43 to the slave controller 81 occurs. At the same time, as shown in S33, reading processing of the head unique value 96 occurs. Alternatively, as shown in S35, the operation log 95 is written.

The process of S33 and the process of S35 are processes 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 S<b>31 is a process directly performed by slave controller 81 to nonvolatile memory 85 based on a request from master 43 . Therefore, the process of S31 occurs regardless of the processes of S33 and S35, and the slave controller 81 executes the process regardless of the processing state of the CPU83. In particular, as described above, when the slave controller 81 is attached or detached due to hot connection, the master 43 may request the slave information 93 from each slave controller 81 . As a result, simultaneous accesses to the nonvolatile memory 85 occur, resulting in access conflicts. Failure to read the slave information 93, failure to read the head unique value 96, failure to write the operation log 95, and the like occur.

On the other hand, as described above, the second slave 61 of the present embodiment copies the slave information 93 to the RAM 107 in advance at startup (S13). Then, in S23 of FIG. 5, when the master 43 requests the slave information 93, 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, no access to the non-volatile memory 85 occurs in transmitting the slave information 93 . Therefore, the CPU 83 can appropriately access the non-volatile memory 85 without conflict of access even if the processes of S17 and S19 are executed.

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

The non-volatile memory 85 of this embodiment also stores a head unique value 96 for identifying the head section 25 on which the second slave 61 is mounted. The CPU 83 reads the head unique value 96 from the nonvolatile memory 85 via the access control circuit 87 when the control data CD instructing the slave controller 81 to read the head unique value 96 is received from the master 43 . The CPU 83 transmits the read head unique value 96 to the master 43 via the slave controller 81 .

According to this, the non-volatile memory 85 can also store the head unique value 96 for identifying the head section 25 on which the second slave 61 is mounted, in addition to the slave information 93 . 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 unique value 96 from the nonvolatile memory 85 via the access control circuit 87 at any time, and read the read head unique value 96. It can be transmitted to the master 43 . On the master 43 side, based on the head eigenvalue 96, the type and function of the head section 25, the type of control command, and the like can be determined, and the head section 25 can be appropriately controlled.

Further, the CPU 83 of this embodiment writes an operation log 95 relating to the operation of the head unit 25 on which the second slave 61 is mounted to the nonvolatile 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 section 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 nonvolatile memory 85 . In other words, it is possible to suppress the failure of the writing process of the operation log 95 and the like. As a result, the operation status of the head unit 25 can be properly recorded in the operation log 95 .

Also, the second slave 61 of the present embodiment is provided in the head section 25 that performs the work of mounting electronic components on the substrate 17 . Due to demands for miniaturization of electronic components, miniaturization of the component mounter 20, and speeding up of the working speed of the head unit 25, the head unit 25 for mounting the electronic components on the substrate 17 is required to be further miniaturized. Here, if the slave information 93 and other information (the operation log 95 and the head unique value 96) are stored in separate memories, there is no need to read the slave information 93 in advance, and access conflicts do not occur. However, an increase in the number of memories causes an increase in the number of memories themselves and an increase in the number of interfaces connected to the memories. As a result, the size of the second slave 61 is increased. On the other hand, in the second slave 61 provided in the head section 25, which particularly requires miniaturization, an access control circuit 87 for reading the slave information 93 in advance is provided, thereby reducing the number of memories and miniaturizing the head section 25. can be realized more reliably.

When the second slave 61 determines in S23 that the slave information 93 is not requested from the master 43 (S23: NO), it executes S24. As in 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) and repeats the process of S23 until the component mounting machine 20 is turned off. Thereby, the second slave 61 can execute the write processing of the operation log 95 and the retransmission processing of the slave information 93 in parallel. When the second slave 61 determines that the component mounting machine 20 has been powered off (S24: YES), the process ends. When the second slave 61 makes an affirmative determination in both S24 and S21, it ends the processing shown in FIG. As a result, competition for access to the nonvolatile memory 85 can be suppressed when the component mounting machine 20 is in operation.

Incidentally, the component mounting machine 20 is an example of a work machine. The head section 25 is an example of a mounting device, a mounting head, and a movable section. 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 nonvolatile memory 85 is an example of memory. The head unique value 96 is an example of mounting device identification information. RAM 107 is an example of a storage device.

As described above, the present embodiment described above has the following effects.
In one aspect of the present embodiment, the access control circuit 87 reads the slave information 93 from the nonvolatile 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 nonvolatile memory 85 stores slave information 93 related to the second slave 61 (slave controller 81 ), and the slave information 93 is accessed by the master 43 . The nonvolatile memory 85 is also accessed by 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 preliminarily reads the slave information 93 from the nonvolatile memory 85 to the RAM 107 . The access control circuit 87 then transmits the slave information 93 read out to the RAM 107 to the master 43 . As a result, even if the slave information 93 is read and the CPU 83 accesses the nonvolatile memory 85 at the same time, by reading the slave information 93 from the nonvolatile memory 85 in advance, access conflicts do not occur. can access the non-volatile memory 85 by Therefore, competition for access to the nonvolatile memory 85 is suppressed, and the nonvolatile memory 85 can be used for purposes other than storing the slave information 93 .

It goes without saying that the present disclosure is not limited to the above embodiments, and that various improvements and modifications are possible without departing from the spirit of the present application.
For example, the mounting device in the present disclosure is not limited to the head unit 25, and may be the X-axis slide mechanism 27A, substrate transfer device 22, feeder 29, or the like. When the feeder 29 is employed, 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 received a request from the master 43 to instruct the second slave 61 to read the slave information 93, the slave information 93 was transmitted to the master 43 (S15 ), but not limited to this. For example, the slave controller 81 and the access control circuit 87 may transmit the slave information 93 to the master 43 on condition that reading of the slave information 93 in S13 is completed. That is, without requiring a request from the master 43, the slave information 93 may be voluntarily transmitted to the master 43 at predetermined processing timing. In this case as well, by reading the slave information 93 to the RAM 107 in advance, competition for access to the nonvolatile memory 85 does not occur, and the nonvolatile memory 85 can be accessed by the CPU 83 . .
Also, 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 an 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 .
Also, the component mounting machine 20 may be configured without the loader 13 . In this case, the configuration may be such that the operator replaces the feeder 29 manually.
Further, the CPU 83 may be configured to execute at least one of reading the head unique value 96 and writing the operation log 95 . Also, the CPU 83 may use the non-volatile memory 85 for purposes other than reading the head unique value 96 and writing the operation log 95 . For example, the CPU 83 may write a history of errors and warnings to the nonvolatile memory 85 .

Also, although the CPU 83 executes the process of reading the slave information 93 (S13) before the processes of S17 and S19, the present invention is not limited to this. For example, the CPU 83 may read the slave information 93 into the RAM 107 after reading the head unique value 96 .
Further, the head section 25 may be configured so as not to be detached from the device main body section 21 .
Also, the writing of the operation log 95 and the reading of the head unique value 96 may be executed 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 optical communication using an optical fiber cable, for example. Further, the multiplex communication line is not limited to wired communication, and may be wireless communication.
Also, the component mounting machine 20 does not have to be equipped with a multiplex communication system. In this case, the master 43 may transmit and receive the control data CD between the first slaves 51 and the like without using multiplex communication lines.

Further, in the above embodiment, an example in which the component mounting machine 20 for mounting electronic components on the board 17 is employed 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 machine such as a solder printing device that applies solder to the board 17 can be employed. Also, the work machine may be, for example, a machine tool or a robot that performs assembly work.

17 substrate, 20 component mounting machine (working machine), 21 device main 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 (equipment identification information), 107 RAM (storage device), CD control data.

Claims (8)

An on-board device that carries a communication device,
The communication device
a slave connected with a master in an industrial network;
a memory for storing slave information , which is information about the slave , mounting device identification information for identifying the mounting device, or an operation log recording the operating status of the mounting device ;
a processing circuit that performs processing based on control data transmitted from the master and accesses the memory;
A storage device connected to the slave, the processing circuit, and the memory for reading and storing the slave information from the memory is provided, and the slave information read to the storage device is transmitted to the master via the slave. an access control circuit that
with
The processing circuit is
After causing the access control circuit to execute the process of reading the slave information to the storage device, the operation log recording the mounted device identification information of the mounted device or the operation status of the mounted device without going through the storage device An on-board device that initiates a process of accessing said memory. The memory is
non-volatile memory,
The storage device
2. The mounting device of claim 1, which is a RAM. The access control circuit is
3. The apparatus according to claim 1, wherein when a request instructing the slave to read the slave information is received from the master, the slave information read from the storage device is transmitted to the master. on-board equipment . The slave information is
4. The on- board device according to any one of claims 1 to 3, which is a unique value for identifying said slave. The memory is
storing the mounting device identification information;
The processing circuit is
When the control data instructing the slave to read the mounting device identification information is received from the master, the mounting device identification information is read from the memory via the access control circuit, and the read mounting device identification information is read. 5. An on- board device according to any preceding claim, wherein device identification information is transmitted to the master via the slave. The memory is
storing the operation log;
The processing circuit is
6. The mounting device according to any one of claims 1 to 5, wherein said operation log is written into said memory via said access control circuit. The communication device
7. The mounting device according to any one of claims 1 to 6, wherein the mounting device is provided in a mounting head that mounts an electronic component on a substrate. A working machine comprising the mounting device according to any one of claims 1 to 7,
the master;
an apparatus main body on which the master is provided;
with
The mounting device is
A work machine provided with the communication device and being a movable part that moves relative to the device main body.

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