Operation program and actuator driving method

Abstract

To appropriately drive an actuator.SOLUTION: An operation program of a component mounting machine that mounts components on a circuit board by sequentially driving actuators provided in respective constituent units is configured to drive the actuators provided in the respective constituent units in response to a plurality of commands input by an operator in a predetermined order, and the operation program can also drive the actuators provided in the respective constituent units in accordance with a plurality of types of operation commands including commands to drive the actuators provided in the respective constituent units in place of the plurality of commands input by the operator.SELECTED DRAWING: Figure 18

Description

[Technical field]

[0001] The present invention relates to an operation program for a component mounting machine that mounts components on a board by sequentially driving actuators provided in each constituent unit. [Background technology]

[0002] The following patent document describes an operation program for a robot that operates by sequentially driving actuators provided in each component unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-314524 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present specification is to appropriately drive the actuator. [Means for solving the problem]

[0005] In order to solve the above problems, this specification discloses an operation program of a component mounting machine that mounts components on a board by sequentially driving actuators provided in each constituent unit, the operation program being configured to drive the actuators provided in each constituent unit when a plurality of commands are input by an operator in a predetermined order, and which can also drive the actuators provided in each constituent unit in accordance with a plurality of types of operation commands including commands to drive the actuators provided in each constituent unit instead of the plurality of commands input by the operator.

[0006] Furthermore, in order to solve the above-mentioned problems, this specification discloses a method for driving an actuator provided in each constituent unit of a component mounting machine that mounts components on a board, in which, instead of driving the actuators provided in each constituent unit by inputting multiple commands in a predetermined order by an operator, the actuators are driven by outputting multiple types of operation commands including commands to drive the actuators provided in each constituent unit in a predetermined order. Effect of the Invention

[0007] According to the present disclosure, the actuators provided in the respective constituent units are driven in accordance with a plurality of types of operation commands including a command for driving the actuators provided in the respective constituent units, thereby allowing the actuators to be driven appropriately. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a perspective view showing a component mounter. [Diagram 2] FIG. 2 is a perspective view showing a component mounter. [Diagram 3] FIG. 2 is a perspective view showing a tape feeder. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. 2 is a perspective view showing a cutting device and a component mounting device. [Figure 9] FIG. 9 is a cross-sectional view taken along line AA in FIG. [Figure 10] FIG. 4 is a perspective view showing a second chuck. [Figure 11] FIG. [Figure 12]FIG. 2 is a side view showing the cutting device and the component mounting device. [Figure 13] FIG. 2 is a perspective view showing a cut and clinch device. [Figure 14] FIG. 2 is a perspective view showing an insertion guide device. [Figure 15] FIG. 2 is a perspective view showing an insertion guide device. [Figure 16] 1 is a schematic diagram showing a radial lead component held between a pusher and a guide pin. FIG. [Figure 17] FIG. 2 is a block diagram showing a control device of the component mounter. [Figure 18] FIG. 13 is a diagram showing the operational steps for checking the operation of the handling system and the procedures described in the manual. [Figure 19] 13A to 13C are diagrams showing operational steps for checking the operation of a guide pin and procedures described in a manual. [Figure 20] FIG. 13 is a diagram showing a first operation screen. [Figure 21] FIG. 13 is a diagram showing a second operation screen. [Figure 22] FIG. 13 is a diagram showing a screen for checking the operation of the handling mechanism. [Figure 23] FIG. 13 is a diagram showing a screen for confirming the operation of a guide pin. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

[0010] 1 and 2 show a component mounter 10. The component mounter 10 is a device for executing a mounting operation of components on a circuit substrate 12. The component mounter 10 includes a device main body 20, a substrate holding device 22, a component supply device 24, a component mounting device 26, a cut-and-clinch device (see FIG. 13) 27, an insertion guide device (see FIG. 14) 28, and a control device (see FIG. 17) 29. Examples of the circuit substrate 12 include a circuit board, a substrate with a three-dimensional structure, and the like, and examples of the circuit substrate include a printed wiring board, a printed circuit board, and the like.

[0011] The device body 20 is composed of a frame 30 and a beam 32 suspended on the frame 30. The substrate holding device 22 is disposed on the upper surface of the frame 30, and includes a conveying device 50, a clamping device 52, and a moving device 54. The conveying device 50 is a device for conveying the circuit substrate 12, and the clamping device 52 is a device for holding the circuit substrate 12. In this manner, the substrate holding device 22 conveys the circuit substrate 12 by the conveying device 50, and fixes and holds the circuit substrate 12 conveyed to a predetermined position by the clamping device 52. The conveying direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to the X direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. The moving device 54 includes an X direction moving device (see FIG. 17) 56 and a Y direction moving device (see FIG. 17) 58. X-direction movement device 56 is a device that moves circuit board 12 held by clamp device 52 in the X direction, and Y-direction movement device 58 is a device that moves circuit board 12 held by clamp device 52 in the Y direction. As a result, circuit board 12 held by clamp device 52 is moved to an arbitrary position on the frame by X-direction movement device 56 and Y-direction movement device 58, and is positioned and stopped.

[0012] The component supply device 24 has a slide device 60, a tape feeder (see FIG. 3) 62, and a cutting device 64. The slide device 60 includes a holding wall 66, a slide rail 68, and a feeder holding table 70. The holding wall 66 is erected on the edge of the upper surface of the frame 30 in the Y direction so as to extend in the X direction. The slide rail 68 is fixed to the holding wall 66 so as to extend in the X direction, and the feeder holding table 70 is slidably held by the slide rail 68. The feeder holding table 70 slides to an arbitrary position by the operation of an electromagnetic motor (see FIG. 17) 72. As a result, the feeder holding table 70 slides to an arbitrary position in the X direction along the holding wall 66 and stops at a position. The side of the component mounter 10 on which the holding wall 66 is disposed is referred to as the front side, and the opposite side is referred to as the rear side. In other words, the Y direction is the front-rear direction of the component mounter 10, and the X direction is the left-right direction of the component mounter 10.

[0013] Further, the feeder holder 70 is formed with a plurality of slots 76 aligned in the X direction, and the tape feeder 62 is positioned and attached to each of the plurality of slots 76 by an operator so as to be detachable with one touch. The tape feeder 62 is a device that feeds a taped component (see FIG. 5) 78 toward the cutting device 64. As shown in FIG. 5, the taped component 78 is composed of a plurality of radial lead components 80 and a carrier tape 82. The radial lead component 80 includes a generally cylindrical main body 86 and two leads 88 extending in the same direction from the bottom surface of the main body 86. The two leads 88 of the radial lead component 80 are taped to the carrier tape 82 at their lower ends. Further, the carrier tape 82 is formed with a plurality of feed holes 90 at equal pitches. The plurality of radial lead components 80 are taped to the carrier tape 82 at the same pitch as the formation pitch of the feed holes 90.

[0014] 1, a storage 92 is disposed below the feeder holder 70 on which the tape feeder 62 is mounted, and the tape component 78 is stored in the storage 92 in a folded state. One end of the tape component 78 is pulled out from the storage 92, and the one end is inserted into the tape feeder 62. In detail, as shown in FIG. 3, the tape feeder 62 is composed of a main body 96 and a pair of guide rails 97, and one end of the carrier tape 82 of the tape component 78 pulled out from the storage 92 is inserted between the pair of guide rails 97. A groove 98 is formed on the upper surface of the main body 96 of the tape feeder 62 so as to extend in the front-rear direction, and opens at the front and rear ends of the upper surface of the main body 96. The pair of guide rails 97 communicate with the opening at the rear end of the main body 96. Therefore, the carrier tape 82 inserted between the pair of guide rails 97 is inserted into the groove 98. The carrier tape 82 is inserted between the pair of guide rails 97 and into the grooves 98 with the width of the carrier tape 82 extending vertically, that is, in an upright state. The upright state of the carrier tape 82 means that the carrier tape 82 and the upper surface of the tape feeder 62 intersect at roughly a right angle, and the leads 88 taped to the carrier tape 82 extend vertically. The radial lead components 80 taped to the carrier tape 82 extend upward from the pair of guide rails 97 and the grooves 98.

[0015] A delivery device 99 is disposed inside the main body 96 of the tape feeder 62. The delivery device 99 has a claw member (not shown) and a delivery air cylinder 100. The claw member is disposed inside the main body 96 so as to be slidable in the front-rear direction, and slides in the front-rear direction by the operation of the delivery air cylinder 100. The claw member engages with the feed hole 90 of the carrier tape 82 inserted into the groove 98. The claw member slides toward the opening 102 on the opposite side of the guide rail 97 of the groove 98, so that the tape-formed component 78 is delivered toward the opening 102. The amount of sliding of the claw member once is the same as the formation pitch of the feed hole 90 in the tape-formed component 78. When the claw member slides in the direction opposite to the opening 102, the engagement of the claw member with the feed hole 90 is released. As a result, the claw member makes one reciprocating movement in the front-rear direction, so that the tape-formed component 78 is delivered toward the opening 102 by an amount corresponding to the formation pitch of the feed hole 90. Then, as the taped components 78 are sequentially fed out inside the groove 98 , the taped components 78 are fed out of the tape feeder 62 through the opening 102 .

[0016] The cutting device 64 is a device for cutting the leads 88 taped to the taped component 78 fed out from the opening 102 of the tape feeder 62 to separate the radial lead components 80 from the taped component 78, and is attached and fixed to the lower surface side of the beam 32 as shown in FIG. 1. More specifically, a plate-shaped bracket 110 shown in FIG. 4 is fixed to the lower surface of the beam 32 in a position extending downward. The cutting device 64 has a pair of roughly block-shaped sliders 112, which are held by the bracket 110 on the front side of the bracket 110 so as to be movable toward and away from each other in the X direction. The pair of sliders 112 are controllably moved toward and away from each other by the operation of an air cylinder 114 (see FIG. 17).

[0017] The upper surface of each of the pair of sliders 112 is a generally horizontal surface, and the front surface of each of the pair of sliders 112 is a generally vertical surface. A pair of lead cutters 116 are fixed to the upper surfaces of the pair of sliders 112 with their blade tips facing each other. The pair of lead cutters 116 are fixed to the upper surfaces of the pair of sliders 112 with their blade tips protruding from the ends of the sliders 112 in the X direction. A pair of tape cutters 118 are fixed to the front surfaces of the pair of sliders 112 with their blade tips facing each other. The pair of tape cutters 118 are fixed to the front surfaces of the pair of sliders 112 with their blade tips protruding from the ends of the sliders 112 in the X direction.

[0018] The gap between the pair of sliders 112 when the pair of sliders 112 are spaced apart is located at the same height as the opening 102 of the tape feeder 62 attached to the feeder holding table 70. The opening 102 of the tape feeder 62 attached to the feeder holding table 70 faces rearward, and the pair of sliders 112 are disposed on the front surface of the bracket 110. For this reason, the operation of the electromagnetic motor 72 of the slide device 60 is controlled, and the feeder holding table 70 slides to a predetermined position in the X direction and stops at the position, so that the gap between the pair of sliders 112 when the pair of sliders 112 are spaced apart and the opening 102 of the positioned tape feeder 62 face each other in the front-rear direction. When the pair of sliders 112 are spaced apart and the gap between the pair of sliders 112 faces the opening 102 of the tape feeder 62, the tape feeder 62 feeds out the taped component 78 from the opening 102, so that the carrier tape 82 of the taped component 78 fed out from the opening 102 of the tape feeder 62 enters the gap between the pair of sliders 112, as shown in FIG. 5.

[0019] At this time, the leads 88 taped to the carrier tape 82 extend upward from the gap between the pair of sliders 112 and enter between a pair of lead cutters 116 fixed to the upper surfaces of the pair of sliders 112. Then, with the pair of leads 88 of one radial lead component 80 entering between the pair of lead cutters 116, the pair of sliders 112 are moved closer by the operation of the air cylinders 114, so that the pair of leads 88 are cut by the pair of lead cutters 116. As a result, one radial lead component 80 is separated from the taped component 78 in the cutting device 64. The cutting of the leads 88 by the cutting device 64 will be described in detail later.

[0020] Furthermore, the component mounting device 26 is a device for mounting the radial lead components 80, which have been cut off from the taped components 78 by the cutting device 64, onto the circuit board 12, and is disposed on the beam 32 as shown in Figs. 1 and 2. The component mounting device 26 is disposed on the surface of the bracket 110 opposite the cutting device 64, on which the cutting device 64 is disposed, as shown in Figs. 6 and 7. That is, the cutting device 64 is disposed on the front surface of the bracket 110, and the component mounting device 26 is disposed on the rear surface of the bracket 110. Note that Fig. 6 is a view showing the rear surface of the bracket 110, and Fig. 7 is a view showing the front surface of the bracket 110.

[0021] The component mounting device 26 has a first chuck 140 and a second chuck 142. The first chuck 140 holds the radial lead component 80 that has been cut off from the taped component 78 by the cutting device 64, and the second chuck 142 holds the radial lead component 80 from the first chuck 140 and mounts it on the circuit board 12.

[0022] As shown in Fig. 8 and Fig. 9, which is a cross-sectional view taken along line AA in Fig. 8, the first chuck 140 has a pair of gripping jaws 150 and a splined shaft 152. The splined shaft 152 is disposed to extend in the X direction behind the pair of sliders 112, and is held by the bracket 110 so as to be rotatable about its axis. The pair of gripping jaws 150 are held by the splined shaft 152 so as to be able to approach and separate in the X direction, and their respective positions are controllably moved closer and further apart by the operation of an electromagnetic motor (see Fig. 17) 154. The splined shaft 152 is controllably rotated by the operation of an electromagnetic motor (see Fig. 17) 156, and the pair of gripping jaws 150 held by the splined shaft 152 swing in the front-rear direction.

[0023] When the pair of gripping jaws 150 swing forward, they are located above the pair of lead cutters 116, as shown in Fig. 8. Therefore, when the pair of gripping jaws 150 swing forward by the operation of the electromagnetic motor 156, the pair of gripping jaws 150 approach each other by the operation of the electromagnetic motor 154, so that the leads 88 of the radial lead component 80 cut off from the taped component 78 can be gripped by the pair of gripping jaws 150. When the pair of gripping jaws 150 swing backward, the pair of gripping jaws 150 swing to a position where the radial lead component 80 gripped by the pair of gripping jaws 150 can be delivered to the second chuck 142.

[0024] 9 and 10, the second chuck 142 has a pair of gripping jaws 160, a mounting plate 162, and a bracket 164. FIG. 10 is a view of the second chuck 142 as viewed from the front side. The pair of gripping jaws 160 are held by a bracket 164 so as to be able to approach or move away from each other in the X direction, and their respective positions are controllably moved toward or away from each other by the operation of an electromagnetic motor (see FIG. 17) 166. The mounting plate 162 is fixedly held by the bracket 164 between the pair of gripping jaws 160. The mounting plate 162 is curved in an arc shape in accordance with the cylindrical main body 86 of the radial lead component 80.

[0025] The bracket 164 is sandwiched between a pair of support walls 170 (only one of the pair of support walls 170 is shown in FIG. 10) on both side surfaces in the X direction. A pair of cam grooves 172 is formed in the pair of support walls 170, and a pair of rollers 174 with an axis in the X direction is disposed on both side surfaces of the bracket 164 in the X direction. The pair of rollers 174 are fitted into the pair of cam grooves 172, so that the bracket 164 is sandwiched between the pair of support walls 170. The shape of the cam groove 172 is generally arc-shaped, and curves upward toward the rear and downward toward the front. As shown in FIG. 10, the bracket 164 descends relative to the support walls 170, and the rollers 174 move toward the lower end of the cam groove 172, so that the pair of gripping claws 160 and the mounting plate 162 are in a position extending in the vertical direction. At this time, the tips of the pair of gripping claws 160 face downward. Meanwhile, as shown in Fig. 11, the bracket 164 rises relative to the support wall 170, and the roller 174 moves toward the upper end of the cam groove 172, so that the pair of gripping claws 160 and the mounting plate 162 assume a position extending in the front-rear direction. At this time, the tips of the pair of gripping claws 160 face forward. The bracket 164 rises and falls relative to the support wall 170 in a controllable manner by the operation of an electromagnetic motor (see Fig. 17) 178.

[0026] Furthermore, when the bracket 164 rises relative to the support wall 170 and the pair of gripping jaws 160 and the mounting plate 162 of the second chuck 142 are in a position extending in the front-rear direction, the mounting plate 162 is located behind the radial lead component 80 gripped by the pair of gripping jaws 150 of the first chuck 140. Note that at this time, the pair of gripping jaws 160 of the second chuck 142 are spaced apart. Therefore, as shown in FIG. 12, the pair of gripping jaws 150 of the first chuck 140 swing backward, so that the main body 86 of the radial lead component 80 gripped by the pair of gripping jaws 150 is placed on the mounting plate 162. Then, when the main body 86 of the radial lead component 80 is placed on the mounting plate 162, the pair of gripping claws 160 of the second chuck 142 approach each other, and the main body 86 of the radial lead component 80 placed on the mounting plate 162 is gripped by the pair of gripping claws 160. After the main body 86 of the radial lead component 80 is placed on the mounting plate 162, the pair of gripping claws 150 move away from each other, and the grip of the radial lead component 80 by the first chuck 140 is released. As a result, the radial lead component 80 that was gripped by the first chuck 140 is handed over to the second chuck 142 and gripped by the second chuck 142.

[0027] 10, a pair of support walls 170 on which second chuck 142 is disposed via bracket 164 are fixed at their upper ends to flange 176. Flange 176 is controllably rotated by the operation of electromagnetic motor 177 (see FIG. 17). This allows the position of radial lead component 80 held by second chuck 142 to be changed to any angle.

[0028] 11, a pair of positioning claws 180 are disposed below the pair of support walls 170. A hanging member 182 is fixed to the rear side of the pair of support walls 170, and the hanging member 182 extends downward from the lower ends of the pair of support walls 170. The pair of positioning claws 180 are disposed at the lower ends of the hanging member 182 so as to be movable toward and away from each other, and the pair of positioning claws 180 extend forward. In other words, the pair of positioning claws 180 are disposed on the pair of support walls 170 via the hanging member 182, and extend downward from the pair of support walls 170. The pair of positioning claws 180 are moved toward and away from each other in a controllable manner by the operation of an electromagnetic motor (see FIG. 17) 186.

[0029] In addition, as the bracket 164 held by the pair of support walls 170 descends relative to the support walls 170, the tips of the pair of gripping claws 160 of the second chuck 142 held by the bracket 164 face downward, as described above. At this time, the tips of the pair of leads 88 of the radial lead component 80 held by the gripping claws 160 of the second chuck 142 also face downward. Note that, when the bracket 164 descends, the pair of positioning claws 180 are spaced apart. At this time, the pair of leads 88 whose tips face downward enter between the pair of positioning claws 180 that are spaced apart. Then, as the pair of positioning claws 180 approach each other, the pair of leads 88 of the radial lead component 80 enter between the pair of positioning claws 180, as shown in FIG. 10. As shown in FIG. 12, four semicircular grooves 187 extending in the vertical direction are formed on the opposing surfaces of the pair of positioning claws 180, and the four grooves 187 are formed at equal pitches in the Y direction, for example, at a pitch of 2.5 mm. When the pair of positioning claws 180 approach each other and the opposing surfaces come into contact with each other, a through hole 189 is formed by one groove 187 and the other groove 187 of the pair of positioning claws 180. Four through holes 189 are formed by the four grooves 187 formed in each of the pair of positioning claws 180. The pair of leads 88 enter two of the four through holes 189. The inner diameter of the groove 187 is slightly larger than half the diameter of the leads 88 of the radial lead component 80, so that the inner diameter of the through hole 189 is larger than the diameter of the leads 88. For this reason, the leads 88 enter the through hole 189 with a clearance. Furthermore, when the pitch of a pair of leads 88 is, for example, 7.5 mm, the pair of leads 88 enters a pair of through holes 189 at both ends of the four through holes 189. Furthermore, when the pitch of a pair of leads 88 is, for example, 2.5 mm, the pair of leads 88 enters a pair of through holes 189 at the center of the four through holes 189.

[0030] Moreover, a pusher 196 is disposed above the radial lead component 80 held by the second chuck 142. The pusher 196 is held by the bracket 164 so that it can be raised and lowered, and is controllably raised and lowered by the operation of an electromagnetic motor (see FIG. 17) 198. As a result, the pusher 196 descends, and the radial lead component 80 held by the second chuck 142 is pushed downward by the pusher 196. Then, as the radial lead component 80 held by the second chuck 142 is pushed downward by the pusher 196, the leads 88 of the radial lead component 80 are inserted into insertion holes (see FIG. 16) 199 formed in the circuit board 12, which will be described in detail later.

[0031] Cut and clinch device 27 (see FIG. 13) is disposed below circuit board 12 held by substrate holding device 22, and includes cutting device 200 (see FIG. 17) and a pair of clinching claws (not shown). Cutting device 200 cuts leads 88 of radial lead component 80 inserted into insertion hole 199 of circuit board 12. The pair of clinching claws are disposed so as to be able to approach and separate, and are moved toward and away from each other by operation of electromagnetic motor 202 (see FIG. 17). When pair of clinching claws move toward and away from each other, leads 88 cut by cutting device 200 are bent. This makes it possible to prevent leads 88 inserted into insertion hole 199 of circuit board 12 from coming out of insertion hole 199.

[0032] The cut and clinch device 27 is moved to an arbitrary position below the circuit substrate 12 held by the substrate holding device 22 by the moving device 210 shown in FIG. 13. In detail, the moving device 210 has a base 212, a lifting plate 214, a rotating body 216, an X-direction moving device (see FIG. 17) 218, a Y-direction moving device (see FIG. 17) 220, and a Z-direction moving device (see FIG. 17) 222. The X-direction moving device 218 moves the base 212 to a position in the X direction, and the Y-direction moving device 220 moves the base 212 to a position in the Y direction. The lifting plate 214 is held by the base 212 above the base 212 so as to be movable up and down. The Z-direction moving device 222 moves the lifting plate 214 to an arbitrary position in the Z direction. Moreover, a rotating body 216 is rotatably disposed on the upper surface of the lift plate 214, and the rotating body 216 rotates controllably by the operation of an electromagnetic motor (see FIG. 17) 224. And a cut and clinch device 27 is disposed on the upper surface of the rotating body 216. With such a structure, the X-direction moving device 218 and the Y-direction moving device 220 move the base 212 in the XY directions, so that the cut and clinch device 27 moves to any position in the XY directions. Also, the Z-direction moving device 222 moves the lift plate 214 in the Z direction, so that the cut and clinch device 27 moves to any position in the Z direction. Also, the electromagnetic motor 224 rotates the rotating body 216, so that the cut and clinch device 27 rotates at any angle.

[0033] A space extending in the vertical direction is formed inside the cut and clinch device 27, and an insertion guide device 28 shown in FIG. 14 is disposed in the space. FIG. 14 is a view in which the cut and clinch device 27 is removed from FIG. 13. The insertion guide device 28 has a generally rod-shaped device body 230. The device body 230 is erected in the center of the upper surface of the rotating body 216 in a vertically extending posture. Thereby, the X-direction moving device 218 and the Y-direction moving device 220 move the base 212 in the XY directions, so that the device body 230 moves to an arbitrary position in the XY directions. Also, the Z-direction moving device 222 moves the lift plate 214 in the Z direction, so that the device body 230 moves to an arbitrary position in the Z direction. Also, the electromagnetic motor 224 rotates the rotating body 216, so that the device body 230 rotates at an arbitrary angle. As shown in FIG. 16, four through holes 232 are formed inside the device body 230 so as to extend in the vertical direction. The four through holes 232 are formed in a line at equal pitches in the radial direction of the device body 230. The pitch at which the four through holes 232 are formed is the same as the pitch at which the four grooves 187 formed in the positioning claw 180 are formed. Therefore, the pitch at which the four through holes are formed is, for example, 2.5 mm. Four guide pins 236 are inserted in the four through holes 232 so as to be movable up and down, and each guide pin 236 is individually raised and lowered by the operation of an electromagnetic valve (see FIG. 17) 238. As a result, for example, as shown in FIG. 15, the four guide pins 236 extend upward from the upper end surface of the device body 230. Since each guide pin 236 moves up and down individually by operation of each solenoid valve 238, any number of the four guide pins 236 can be made to extend upward from the upper end surface of the device body 230.

[0034] 17, the control device 29 includes a controller 250 and a plurality of drive circuits 252. The plurality of drive circuits 252 are connected to the above-mentioned conveying device 50, clamping device 52, X-direction moving device 56, Y-direction moving device 58, delivery device 99, delivery air cylinder 100, air cylinder 114, cutting device 200, X-direction moving device 218, Y-direction moving device 220, Z-direction moving device 222, solenoid valve 238, and solenoid motors 72, 154, 156, 166, 177, 178, 186, 198, 200, and 224. The controller 250 includes a CPU, ROM, RAM, and the like, and is mainly a computer, and is connected to the plurality of drive circuits 252. As a result, the operations of the substrate holding device 22, the component supply device 24, the component mounting device 26, and the like are controlled by the controller 250.

[0035] In the component mounter 10, the radial lead components 80 are mounted on the circuit board 12 held by the substrate holding device 22 using the above-mentioned configuration. Specifically, the transport device 50 transports the circuit board 12 to a predetermined position, and the clamp device 52 holds the circuit board 12 in a fixed manner at the predetermined position. In addition, the slide device 60 of the component supply device 24 slides the feeder holding table 70 so that the opening 102 of the tape feeder 62 that contains the taped components 78 to which the radial lead components 80 to be mounted are taped faces the space between the pair of sliders 112 of the cutting device 64.

[0036] Then, the delivery device 99 of the tape feeder 62 delivers the taped component 78 toward the opening 102, so that the taped component 78 extends from the opening 102 to the outside of the tape feeder 62. At this time, the pair of sliders 112 of the cutting device 64 are separated by the operation of the air cylinder 114. Also, the pair of gripping jaws 150 of the first chuck 140 are swung forward by the operation of the electromagnetic motor 156, and are positioned above the pair of sliders 112. At this time, the pair of sliders 112 are separated by the operation of the electromagnetic motor 154.

[0037] Therefore, a gap of a predetermined distance is formed between the pair of sliders 112 and between the pair of gripping claws 150, and the tip of the taped component 78 extending from the opening 102 to the outside of the tape feeder 62 enters between the pair of sliders 112 and between the pair of gripping claws 150. At this time, the tip of the carrier tape 82 of the taped component 78 enters between the pair of sliders 112, and the leads 88 taped to the tip of the carrier tape 82 enters between the pair of gripping claws 150. Then, at the timing when the pair of leads 88 of the leading radial lead component 80 taped to the carrier tape 82 enters between the pair of gripping claws 150, the operation of the feed device 99 stops.

[0038] Then, the pair of gripping claws 150 approach each other by the operation of the electromagnetic motor 154, and grip the pair of leads 88 that is between the pair of gripping claws 150. Then, with the pair of gripping claws 150 gripping the pair of leads 88, the pair of sliders 112 approach each other by the operation of the air cylinders 114, and the pair of lead cutters 116 cut the pair of leads 88 below the pair of gripping claws 150 gripping the pair of leads 88. As a result, with the pair of gripping claws 150 gripping the pair of leads 88, the radial lead component 80 is separated from the carrier tape 82. That is, the position where the pair of gripping claws 150 of the first chuck 140 grip the pair of leads 88 is the supply position of the radial lead component 80, and the pair of lead cutters 116 cut the pair of leads 88, so that one radial lead component 80 is separated from the carrier tape 82 and supplied to the first chuck 140. Also, when the pair of sliders 112 approach each other and the pair of lead cutters 116 cut the pair of leads 88, the pair of tape cutters 118 cut the carrier tape 82 that has entered between the pair of sliders 112.

[0039] In this manner, when the pair of gripping jaws 150 of the first chuck 140 grips the pair of leads 88 of the radial lead component 80 cut off from the carrier tape 82, the pair of gripping jaws 150 are swung backward by the operation of the electromagnetic motor 156. As a result, the main body 86 of the radial lead component 80 gripped by the pair of gripping jaws 150 is placed on the mounting plate 162 of the second chuck 142, as shown in Fig. 12. Note that when the main body 86 of the radial lead component 80 is placed on the mounting plate 162, the pair of gripping jaws 160 of the second chuck 142 are spaced apart. Then, when the main body 86 of the radial lead component 80 is placed on the mounting plate 162, the pair of gripping jaws 160 of the second chuck 142 approach each other by the operation of the electromagnetic motor 166, so that the pair of gripping jaws 160 grip the main body 86 of the radial lead component 80 placed on the mounting plate 162. After the main body 86 of the radial lead component 80 is placed on the mounting plate 162, the pair of gripping jaws 150 of the first chuck 140 move away by the operation of the electromagnetic motor 154, so that the first chuck 140 releases its grip on the radial lead component 80. As a result, the radial lead component 80 that was gripped by the first chuck 140 is handed over to the second chuck 142, and the second chuck 142 grips the radial lead component 80.

[0040] Next, the bracket 164 of the second chuck 142 is lowered by the operation of the electromagnetic motor 178, so that the tips of the pair of gripping claws 160 of the second chuck 142 held by the bracket 164 face downward. At this time, the tips of the pair of leads 88 of the radial lead component 80 held by the gripping claws 160 of the second chuck 142 also face downward. Note that, when the bracket 164 is lowered, the pair of positioning claws 180 are separated. Then, the pair of leads 88 whose tips face downward enter between the pair of positioning claws 180. At this time, the pair of positioning claws 180 approach each other by the operation of the electromagnetic motor 186, so that the lower ends of the pair of leads 88 of the radial lead component 80 enter the through holes 189 of the pair of positioning claws 180 as shown in FIG. 10. As described above, the through holes 189 are formed by the grooves 187 formed in each positioning claw 180 when the pair of positioning claws 180 come into contact with each other, and four through holes 189 are formed lined up at a pitch of 2.5 mm. The distance between the pair of leads 88 is 7.5 mm. Therefore, the lower ends of the pair of leads 88 enter the pair of through holes 189 at both ends of the four through holes 189, as shown in FIG.

[0041] In addition, in the substrate holding device 22, the operation of the substrate holding device 22 and the electromagnetic motor 177 is controlled to move the circuit substrate 12 to a mounting position for the radial lead component 80. More specifically, a pair of insertion holes 199 for inserting the pair of leads 88 of the radial lead component 80 is formed in the circuit substrate 12. The operation of the electromagnetic motor 177 is controlled so that the direction in which the pair of insertion holes 199 are aligned coincides with the direction in which the pair of leads 88 are aligned. The operation of the X-direction moving device 56 and the Y-direction moving device 58 is controlled so that the pair of insertion holes 199 and the tips of the pair of leads 88 are aligned in the up-down direction.

[0042] Additionally, below the circuit board 12 held by the board holding device 22, the insertion guide device 28 is moved below the insertion hole 199 by the moving device 210. At this time, the electromagnetic motor 224 of the moving device 210 is controlled so that the direction in which two through holes 232 at both ends of the four through holes 232 in the device body 230 of the insertion guide device 28 are aligned coincides with the direction in which the pair of insertion holes 199 in the circuit board 12 are aligned. Additionally, the operation of the X-direction moving device 218 and the Y-direction moving device 220 of the moving device 210 is controlled so that the two through holes 232 at both ends of the four through holes 232 in the device body 230 and the pair of insertion holes 199 in the circuit board 12 are aligned in the up-down direction. Then, when the device body 230 of the insertion guide device 28 moves below the insertion hole 199 of the circuit board 12, the two guide pins 236 inserted into the two through holes 232 at both ends of the four through holes 232 of the device body 230 extend upward from the upper end surface of the device body 230 due to the operation of the solenoid valve 238. As a result, the two guide pins 236 pass through the pair of insertion holes 199 of the circuit board 12 and extend upward on the circuit board 12. Then, as the two guide pins 236 extend further upward, the upper ends of the two guide pins 236 enter the pair of through holes 189 at both ends of the four through holes 189 of the pair of positioning claws 180. As described above, the lower ends of the pair of leads 88 fit into a pair of through holes 189 at both ends of the four through holes 189, so that the lower ends of the pair of leads 88 and the upper ends of the two guide pins 236 come into contact inside the pair of through holes 189 at both ends of the four through holes 189.

[0043] When the lower ends of the pair of leads 88 and the upper ends of the two guide pins 236 come into contact with each other inside the pair of through holes 189 in this manner, the pusher 196 of the second chuck 142 is lowered by the operation of the electromagnetic motor 198. At this time, the pusher 196 presses the upper surface of the body 86 of the radial lead component 80 downward, and the two guide pins 236 support the lower ends of the pair of leads 88 from below. As a result, the radial lead component 80 is sandwiched between the pusher 196 and the two guide pins 236. When the radial lead component 80 is sandwiched between the pusher 196 and the two guide pins 236 in this manner, the pair of gripping jaws 160 of the second chuck 142 are separated by the operation of the electromagnetic motor 166. Furthermore, when the radial lead component 80 is held between the pusher 196 and the two guide pins 236, the pair of positioning claws 180 are also moved apart by the operation of the electromagnetic motor 186.

[0044] As the pusher 196 descends, the two guide pins 236 also descend. At this time, the pusher 196 and the two guide pins 236 descend at the same speed. As a result, the radial lead component 80 descends while being sandwiched between the pusher 196 and the two guide pins 236. Then, the lower ends of the pair of leads 88 supported by the two guide pins 236 are guided toward the pair of insertion holes 199 of the circuit board 12 and inserted into the pair of insertion holes 199. Then, the radial lead component 80 is pushed downward by the pusher 196, so that the pair of leads 88 are inserted up to their bases into the pair of insertion holes 199. When the lower ends of the pair of leads 88 are inserted into the pair of insertion holes 199 in this manner, the cut-and-clinch device 27 located around the insertion guide device 28 cuts the pair of leads 88 inserted into the pair of insertion holes 199 to a predetermined length and bends them. This allows the radial lead component 80 to be mounted on the circuit board 12 in a state in which the pair of leads 88 are prevented from slipping out of the pair of insertion holes 199.

[0045] In the component mounter 10, the component mounting device 26 holds the radial lead components 80 of the taped components 78 supplied from the tape feeder 62 and mounts them on the circuit board 12 together with the insertion guide device 28 according to such a regular procedure. When it is necessary to check the operation of the component mounter 10 before actually performing such an operation or after mounting the radial lead components 80, the component mounting device 26 and other components constituting the component mounter 10 are operated by an operator operating buttons according to a regular procedure described in a manual. In detail, an operation program (see FIG. 17) 270 is stored in the controller 250 of the control device 29, and for example, when an operator operates buttons according to a regular procedure described in a manual shown in FIG. 18, the components constituting the component mounter 10 are operated in order according to the operation program 270 in operation steps corresponding to the regular procedures described in each manual.

[0046] Specifically, first, the operator operates the Origin button to input a command to the controller 250, and the component mounting device 26 is operated in the operation step of "moving to original position". In the operation step of "moving to original position", the first chuck 140, the second chuck 142, etc. of the component mounting device 26 are moved to the original position. For example, the first chuck 140 is swung from above the slider 112 as an original position by the operation of the electromagnetic motor 156, and the second chuck 142 is swung from behind the first chuck 140 as an original position by the operation of the electromagnetic motor 178. For this reason, the operation program 270 outputs drive commands to the electromagnetic motors 156, 178, etc. by the operator operating the Origin button.

[0047] Next, the worker operates the individual unit operation button, the feeder button, the specific operation button, the D-axis: 2ST position button, the feeder slot number designation button, and the operation button in order to input a plurality of commands to the controller 250, thereby operating the component supplying device 24 in the operation step of "slot designation". In the operation step of "slot designation", the tape feeder 62 of the designated feeder slot number is slid by the operation of the electromagnetic motor 72 so that the opening 102 of the tape feeder 62 faces the space between the pair of sliders 112 of the component mounting device 26. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 72 by the worker operating the individual unit operation button, the feeder button, the specific operation button, the D-axis: 2ST position button, the feeder slot number designation button, and the operation button in order.

[0048] Next, the worker operates the D-axis: 2ST part feed button and the operation button in sequence to input a plurality of commands to the controller 250, which causes the part supply device 24 to operate in the "feeder feed ON" operation step. In the "feeder feed ON" operation step, the feed device 99 of the tape feeder 62 with the specified feeder slot number feeds out the taped parts 78 built into the tape feeder 62 by operating the feed air cylinder 100. For this reason, the operation program 270 outputs a drive command to the feed air cylinder 100 by the worker operating the D-axis: 2ST part feed button and the operation button in sequence.

[0049] Next, the operator operates the back button, the ST2 button for single operation, the RC button, the JOG button for the feed method, the large feed speed / feed amount button, ENABLE, and JOG+ to specify 100° in order to input a plurality of commands to the controller 250, which causes the component mounting device 26 to operate in the operation step of "cam 100° movement". In the operation step of "cam 100° movement", the pair of gripping jaws 150 of the first chuck 140 approach each other by the operation of the electromagnetic motor 154, and grip the pair of leads 88 of the radial lead component 80 taped to the carrier tape 82. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 154 by the operator operating the ST2 button for single operation, the RC button, the JOG button for the feed method, the large feed speed / feed amount button, ENABLE, and JOG+ to specify 100° in order.

[0050] Next, the worker operates the specific operation 1 button, the lead cut solenoid valve: ON / OFF button, and the operation button in order to input a plurality of commands to the controller 250, thereby operating the component mounting device 26 in the "lead cut ON" operation step. In the "lead cut ON" operation step, the pair of sliders 112 approach each other by the operation of the air cylinder 114, and cut the pair of leads 88 taped to the carrier tape 82. For this reason, the operation program 270 outputs a drive command to the air cylinder 114 by the worker operating the specific operation 1 button, the lead cut solenoid valve: ON / OFF button, and the operation button in order.

[0051] Next, the operator operates the back button, the RC button, the JOG button for the feed method, the large feed rate / feed amount button, ENABLE, and JOG+ to specify 250° in order to input a plurality of commands to the controller 250, which causes the component mounting device 26 to operate in the operation step of "cam 250° movement". In the operation step of "cam 250° movement", the pair of gripping jaws 150 of the first chuck 140 are swung backward by the operation of the electromagnetic motor 156, thereby placing the radial lead component 80 on the placement tray 162 of the second chuck 142. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 156 when the operator operates the back button, the RC button, the JOG button for the feed method, the large feed rate / feed amount button, ENABLE, and JOG+ to specify 250° in order.

[0052] Next, the worker operates the specific operation 1 button, the lead cut solenoid valve: ON / OFF button, and the operation button in that order to input a plurality of commands to the controller 250, which causes the component mounting device 26 to operate in the "lead cut OFF" operation step. In the "lead cut OFF" operation step, the operation of the air cylinder 114, which is the drive source for the pair of sliders 112, is stopped. For this reason, the operation program 270 outputs a drive command to the air cylinder 114 by the worker operating the specific operation 1 button, the lead cut solenoid valve: ON / OFF button, and the operation button in that order.

[0053] Next, the worker operates the back button, feeder button, specific operation button, D-axis: 2ST part feed button, and operation button in that order to input multiple commands to the controller 250, which causes the part supply device 24 to operate in the "feeder feed OFF" operation step. In the "feeder feed OFF" operation step, the operation of the delivery device 99 of the tape feeder 62 of the previously specified feeder slot number is stopped. For this reason, the operation program 270 outputs a drive command to the delivery air cylinder 100 when the worker operates the back button, feeder button, specific operation button, D-axis: 2ST part feed button, and operation button in that order.

[0054] Next, the worker operates the Ra component grip close CYL solenoid valve button and the operation button in sequence to input multiple commands to the controller 250, which causes the component mounting device 26 to operate in the "close second conveyor jaws" operation step. In the "close second conveyor jaws" operation step, the pair of gripping jaws 160 of the second chuck 142 approach each other by operation of the electromagnetic motor 166 to grip the radial lead component 80 placed on the placement tray 162. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 166 by the worker operating the Ra component grip close CYL solenoid valve button and the operation button in sequence.

[0055] Next, the operator operates the RC axis: origin position return button and the operation button in sequence to input multiple commands to the controller 250, which causes the component mounting device 26 to operate in the "cam 0° movement" operation step. In the "cam 0° movement" operation step, the pair of gripping jaws 150 of the first chuck 140 are separated by the operation of the electromagnetic motor 154, and release the pair of leads 88 of the radial lead component 80. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 154 when the operator operates the RC axis: origin position return button and the operation button in sequence.

[0056] Next, the operator operates the Z axis: swivel position movement button and the operation button in sequence to input a plurality of commands to the controller 250, which causes the component mounting device 26 to operate in the operation step of "moving along ZU2 axis to swivel position". In the operation step of "moving along ZU2 axis to swivel position", the bracket 164 holding the second chuck 142 is swung to a swivel position by the operation of the electromagnetic motor 178. Therefore, the operation program 270 outputs a drive command to the electromagnetic motor 178 by the operator operating the Z axis: swivel position movement button and the operation button in sequence.

[0057] Next, the operator operates the back button, QU2 button, STEP button, large feed rate / feed amount button, ENABLE, and JOG- to set the QU2 axis at -90° in order to input multiple commands to the controller 250, which causes the component mounting device 26 to operate in the "QU2 rotation" operation step. In the "QU2 rotation" operation step, the bracket 164 holding the second chuck 142 swings downward by the operation of the electromagnetic motor 178, so that the pair of leads 88 of the radial lead component 80 held by the second chuck 142 faces downward. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 178 when the operator operates the back button, QU2 button, STEP button, large feed rate / feed amount button, ENABLE, and JOG- to set the QU2 axis at -90° in order.

[0058] Next, the operator operates the ZU2 axis designation in sequence with the ZU2 button, the JOG button for the feed method, the small feed rate / feed amount button, ENABLE, and JOG- to input a plurality of commands to the controller 250, whereby the component mounting device 26 operates in the "ZU2 axis lowering" operation step. In the "ZU2 axis lowering" operation step, the pusher 196 of the second chuck 142 is lowered by the operation of the electromagnetic motor 198, so that the tips of the pair of leads 88 of the radial lead component 80 gripped by the second chuck 142 enter the insides of the through holes 189 of the pair of positioning claws 180. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 198 by the operator operating the ZU2 axis designation in sequence with the ZU2 button, the JOG button for the feed method, the small feed rate / feed amount button, ENABLE, and JOG-.

[0059] 18, the constituent units of the component mounter 10 operate in a plurality of operational steps, allowing the operator to check the operation of the component mounter 10 from when the component mounting device 26 holds the radial lead components 80 of the taped components 78 sent out from the component supply device 24 until the tips of a pair of leads 88 of the radial lead components 80 enter inside the through-holes 189 of the positioning claws 180. Note that in the following explanation, this operation check will be referred to as the handling operation check.

[0060] Also, for example, when an operator operates buttons in accordance with the procedures described in the manuals shown in FIG. 19, each component unit of the component mounter 10 operates in accordance with the operating program 270 in operation steps corresponding to the procedures described in each manual.

[0061] Specifically, first, the operator operates the Origin button to input a command to the controller 250, which causes the movement device 210 to operate in the "movement to original position" operation step. In the "movement to original position" operation step, the X-direction movement device 218, the Y-direction movement device 220, the Z-direction movement device 222, etc. of the movement device 210 move to the original position. For this reason, the operation program 270 outputs drive commands to the X-direction movement device 218, the Y-direction movement device 220, the Z-direction movement device 222, etc., when the operator operates the Origin button.

[0062] Next, the worker operates the individual operation button, ST2 button, specific operation 1 button, Z axis: swivel position movement button, and operation button in order to input a plurality of commands to the controller 250, which causes the component mounting device 26 to operate in the operation step of "ZU2 axis movement to swivel position." In the operation step of "ZU2 axis movement to swivel position," the bracket 164 holding the second chuck 142 is swung to a swivel position by the operation of the electromagnetic motor 178. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 178 by the worker operating the individual operation button, ST2 button, specific operation 1 button, Z axis: swivel position movement button, and operation button in order.

[0063] Next, the operator operates the back button, QU2 button, STEP button, feed rate / feed amount large button, ENABLE, and JOG+ in order to specify a predetermined angle for the QU2 axis, inputting multiple commands to the controller 250, which causes the component mounting device 26 to operate in the operation step of "QU2 angle specification." In the operation step of "QU2 angle specification," the radial lead component 80 held by the pair of gripping jaws 160 of the second chuck 142 is rotated by the operation of the electromagnetic motor 177, and the angle at which the pair of leads 88 are aligned becomes the specified angle. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 177 when the operator operates the back button, QU2 button, STEP button, feed rate / feed amount large button, ENABLE, and JOG+ in order to specify a predetermined angle for the QU2 axis.

[0064] Next, the operator operates the specific operation 1 button, the Ra guide pin CYT solenoid valve 1 button, the operation button, the Ra guide pin CYT solenoid valve 2 button, the operation button, the Ra guide pin CYT solenoid valve 3 button, the operation button, the Ra guide pin CYT solenoid valve 4 button, and the operation button in order to input a plurality of commands to the controller 250, thereby operating the insertion guide device 28 in the operation step of "Turn all guide pins CYT ON". In the operation step of "Turn all guide pins CYT ON", the power supply of the solenoid valve 238 that raises and lowers each of the four guide pins 236 in the device body 230 of the insertion guide device 28 is turned ON. For this reason, the operation program 270 outputs a drive command to the solenoid valve 238 by the operator operating the specific operation 1 button, the Ra guide pin CYT solenoid valve 1 button, the operation button, the Ra guide pin CYT solenoid valve 2 button, the operation button, the Ra guide pin CYT solenoid valve 3 button, the operation button, the Ra guide pin CYT solenoid valve 4 button, and the operation button in order.

[0065] Next, the operator operates the back button, the QC2 button, the STEP button, the feed rate / feed amount large button, ENABLE, and JOG+ in order to specify the predetermined angle of the QC2 axis, inputting multiple commands to the controller 250, and the moving device 210 operates in the operation step of "QC2 angle specification". The predetermined angle of the QC2 axis is specified to be the same angle as the previously specified QU2 angle. In the operation step of "QC2 angle specification", the device body 230 of the insertion guide device 28 rotates by the operation of the electromagnetic motor 224, and the angle at which the four through holes 232 into which the four guide pins 236 are inserted are aligned becomes the specified angle. For this reason, the operation program 270 outputs a drive command to the electromagnetic motor 224 when the operator operates the back button, the QC2 button, the STEP button, the feed rate / feed amount large button, ENABLE, and JOG+ in order to specify the predetermined angle of the QC2 axis.

[0066] Next, the operator operates the ZC2 button, STEP button, feedrate / feed amount large, medium, small button, ENABLE, and JOG+ in order to specify the eigenvalues ​​of the ZC2 axis, inputting multiple commands to the controller 250, which causes the movement device 210 to operate in the operation step of "ZC2 axis movement to raised position." In the operation step of "ZC2 axis movement to raised position," the device body 230 of the insertion guide device 28 is raised by the operation of the Z-direction movement device 222. For this reason, the operation program 270 outputs a drive command to the Z-direction movement device 222 by the operator operating the ZC2 button, STEP button, feedrate / feed amount large, medium, small button, ENABLE, and JOG+ in order to specify the eigenvalues ​​of the ZC2 axis.

[0067] Next, the operator operates the GP button, STEP button, feed rate / feed amount large, medium, small button, ENABLE, and JOG+ to specify the setting value of the GP axis in sequence to input a plurality of commands to the controller 250, whereby the insertion guide device 28 is operated in the operation step of "guide pin ascending position -3 mm movement". In the operation step of "guide pin ascending position -3 mm movement", the guide pin 236 of the insertion guide device 28 is raised by the operation of the solenoid valve 238. For this reason, the operation program 270 outputs a drive command to the solenoid valve 238 by the operator operating the GP button, STEP button, feed rate / feed amount large, medium, small button, ENABLE, and JOG+ to specify the setting value of the GP axis in sequence. Note that the ascending position of the guide pin 236 in the operation step of "guide pin ascending position -3 mm movement" is specified to a position where the upper end of the guide pin 236 is several mm below the through hole 189 of the positioning claw 180. Therefore, in the operation step of “guide pin raised position--movement 3 mm”, the guide pin 236 rises due to the operation of the solenoid valve 238, but the rise stops just before the upper end of the guide pin 236 is inserted into the through hole 189 of the positioning claw 180.

[0068] Then, the operator visually checks the guide pin 236 that has risen to a point immediately before being inserted into the through hole 189 of the positioning claw 180, and judges whether or not the upper end of the guide pin 236 can be inserted into the through hole 189 of the positioning claw 180 when the guide pin 236 is further raised. At this time, if the operator judges that the upper end of the guide pin 236 can be inserted into the through hole 189 of the positioning claw 180, the operator operates the GP button, STEP button, feed rate / feed amount large / medium / small button, ENABLE, and JOG+ to specify the upper end value of the GP axis in sequence to input multiple commands to the controller 250, and the insertion guide device 28 is operated as the operation step of "guide pin raised position". In the operation step of "guide pin raised position", the guide pin 236 of the insertion guide device 28 is raised to the upper end position by the operation of the solenoid valve 238. The upper end position of the guide pin 236 is specified to a position where the upper end of the guide pin 236 is inside the through hole 189 of the positioning claw 180. For this reason, the operation program 270 outputs a drive command to the solenoid valve 238 when the operator operates the GP button, STEP button, feed rate / feed amount large / medium / small button, ENABLE and JOG+ in that order to specify the upper end value of the GP axis. Note that, in the operation step of "guide pin raised position", when the guide pin 236 is raised by the operation of the solenoid valve 238, the upper end of the guide pin 236 comes into contact with the lower end of the lead 88 inside the through hole 189 of the positioning claw 180.

[0069] 19, the constituent units of the component mounter 10 operate in a plurality of operational steps, allowing the operator to check the operation of the component mounter 10 from when the guide pin 236 of the insertion guide device 28 rises until the upper end of the guide pin 236 comes into contact with the lower end of the lead 88 inside the through hole 189 of the positioning claw 180. Note that in the following explanation, this operation check will be referred to as guide pin operation check.

[0070] As described above, the operator can check the operation of the handling and the operation of the guide pins by operating the buttons according to the predetermined procedure described in the manual. However, the procedure described in the manual requires the operator to operate many buttons, which takes a long time and places a heavy burden on the operator. Moreover, the operator must operate the buttons while referring to the manual, which is very cumbersome for the operator. In view of this, multiple types of operation commands including drive commands are set, and the operation program 270 performs the operation check of the handling and the operation check of the guide pins according to the multiple types of operation commands instead of the multiple commands input by the operator.

[0071] Specifically, as shown in FIG. 20, an operation mode button 286 is displayed on a first operation screen 282 displayed on a monitor 280 of the component mounter 10, and when the worker operates the operation mode button 286, a second operation screen 290 is displayed on the monitor 280 as shown in FIG. 21. On the displayed second operation screen 290, a button 292 for performing a handling operation check, a button 294 for performing a guide pin operation check, an angle designation button 296, an operation button 298, and an end button 300 are displayed. Then, when the worker operates the button 292 for performing the handling operation check and the operation button 298, a screen 310 for handling operation check is displayed on the monitor 280 as shown in FIG. 22. On the displayed screen 310 for handling operation check, a slot designation field 312, an operation button 314, an end button 316, and an operation step display field 318 are displayed. Then, the worker simply inputs an arbitrary number in the displayed slot designation field 312 and operates the operation button 314 to perform the handling operation check.

[0072] In detail, when the worker inputs an arbitrary number in the slot designation field 312 and operates the operation button 314, the operation program 270 outputs a drive command to the electromagnetic motors 156, 178, etc., so that the component mounting device 26 operates in the operation step of "moving to the original position". That is, the operation program 270 is set with a first operation command for operating a part of the operation check of the handling, including the drive command of the electromagnetic motors 156, 178, etc., and when the worker operates the operation button 314, the controller 250 outputs the first operation command to the operation program 270. That is, the controller 250 outputs a first operation command including the drive command of two or more actuators to the operation program 270. Then, when the operation program 270 receives the first operation command, it outputs the drive command to the electromagnetic motors 156, 178, etc., included in the first operation command. As a result, the electromagnetic motors 156, 178, etc. operate according to the drive command, so that the component mounting device 26 operates in the operation step of "moving to the original position". In addition, the operation step display field 318 displays the operation steps executed when checking the operation of the handling, i.e., the operation steps shown in FIG. 18. When the component mounting device 26 is operating in the operation step of "moving to original position", the field for the operation step of "moving to original position" in the operation step display field 318 is highlighted.

[0073] Then, when the worker operates the operation button 314 again after the operation step of "moving to original position" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 72, and the component supply device 24 operates in the operation step of "slot designation". That is, a second operation command for operating part of the operation check of the handling, including a drive command for the electromagnetic motor 72, is set in the operation program 270, and when the worker operates the operation button 314 again, the controller 250 outputs the second operation command to the operation program 270. That is, the controller 250 outputs a second operation command including a drive command for the first actuator to the operation program 270. Then, when the operation program 270 receives the second operation command, it outputs a drive command to the electromagnetic motor 72 included in the second operation command. As a result, the electromagnetic motor 72 operates according to the drive command, and the component supply device 24 operates in the operation step of "slot designation". When the component supply device 24 operates in the operation step of "slot designation", the column of the operation step of "slot designation" in the operation step display column 318 is displayed in a highlighted state.

[0074] Next, when the operator operates the operation button 314 again after the operation step of "slot designation" is completed, the operation program 270 outputs a drive command to the air cylinder 100 for sending, and the component supply device 24 operates in the operation step of "feeder feed ON". That is, a third operation command for operating part of the operation check of the handling including the drive command of the air cylinder 100 for sending is set in the operation program 270, and when the operator operates the operation button 314 again, the controller 250 outputs the third operation command to the operation program 270. That is, the controller 250 outputs a third operation command including the drive command of the actuator No. 1 to the operation program 270. Then, when the operation program 270 receives the third operation command, it outputs a drive command to the air cylinder 100 for sending, which is included in the third operation command. As a result, the air cylinder 100 for sending operates according to the drive command, and the component supply device 24 operates in the operation step of "feeder feed ON". When the component supply device 24 is operating in the operation step "feeder feed ON", the column for the operation step "feeder feed ON" in the operation step display column 318 is displayed in a highlighted state.

[0075] Next, when the operator operates the operation button 314 again after the operation step of "feeder feed ON" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 154, and the component mounting device 26 operates in the operation step of "cam 100° movement". In other words, the operation program 270 is set with a fourth operation command for operating part of the operation check of the handling, including the drive command of the electromagnetic motor 154, and when the operator operates the operation button 314 again, the controller 250 outputs the fourth operation command to the operation program 270. In other words, the controller 250 outputs a fourth operation command including the drive command of the first actuator to the operation program 270. Then, when the operation program 270 receives the fourth operation command, it outputs a drive command to the electromagnetic motor 154 included in the fourth operation command. As a result, the electromagnetic motor 154 operates according to the drive command, and the component mounting device 26 operates in the operation step of "cam 100° movement". When the component supply device 24 is operating in the operation step "cam 100° movement", the operation step column "cam 100° movement" in the operation step display column 318 is displayed in a highlighted state.

[0076] Next, when the operator operates the operation button 314 again after the operation step of "cam 100° movement" is completed, the operation program 270 outputs a drive command to the air cylinder 114, and the component mounting device 26 operates in the operation step of "lead cut ON". That is, a fifth operation command for operating part of the operation check of the handling including the drive command of the air cylinder 114 is set in the operation program 270, and when the operator operates the operation button 314 again, the controller 250 outputs the fifth operation command to the operation program 270. That is, the controller 250 outputs a fifth operation command including the drive command of the first actuator to the operation program 270. Then, when the operation program 270 receives the fifth operation command, it outputs a drive command to the air cylinder 114 included in the fifth operation command. As a result, the air cylinder 114 operates according to the drive command, and the component mounting device 26 operates in the operation step of "lead cut ON". When the component supply device 24 is operating in the "lead cut ON" operation step, the "lead cut ON" operation step field in the operation step display field 318 is displayed in a highlighted state.

[0077] Next, when the operator operates the operation button 314 again after the operation step of "lead cut ON" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 156, and the component mounting device 26 operates in the operation step of "cam 250° movement". That is, the operation program 270 is set with a sixth operation command for operating part of the operation check of the handling, including the drive command of the electromagnetic motor 156, and when the operator operates the operation button 314 again, the controller 250 outputs the sixth operation command to the operation program 270. That is, the controller 250 outputs a sixth operation command including the drive command of the first actuator to the operation program 270. Then, when the operation program 270 receives the sixth operation command, it outputs a drive command to the electromagnetic motor 156 included in the sixth operation command. As a result, the electromagnetic motor 156 operates according to the drive command, and the component mounting device 26 operates in the operation step of "cam 250° movement". When the component supply device 24 is operating in the operation step "cam 250° movement", the operation step column "cam 250° movement" in the operation step display column 318 is displayed in a highlighted state.

[0078] Next, when the operator operates the operation button 314 again after the operation step of "cam 250° movement" is completed, the operation program 270 outputs a drive command to the air cylinder 114 and the air cylinder 100 for sending, and the component mounting device 26 operates in the operation steps of "lead cut OFF" and "feeder feed OFF". In other words, the operation program 270 is set with a seventh operation command for operating part of the operation check of the handling, including the drive command of the air cylinder 114 and the air cylinder 100 for sending, and when the operator operates the operation button 314 again, the controller 250 outputs the seventh operation command to the operation program 270. In other words, the controller 250 outputs the seventh operation command, including the drive command of the actuator No. 2, to the operation program 270. Then, when the operation program 270 receives the seventh operation command, it outputs the drive command to the air cylinder 114 and the air cylinder 100 for sending, which is included in the seventh operation command. As a result, the air cylinder 114 and the delivery air cylinder 100 operate according to the drive command, and the component mounting device 26 operates in the operation steps of "lead cut OFF" and "feeder feed OFF". When the component supplying device 24 is operating in the operation steps of "lead cut OFF" and "feeder feed OFF", the operation step columns of "lead cut OFF" and "feeder feed OFF" in the operation step display column 318 are highlighted.

[0079] Next, when the operator operates the operation button 314 again after the operation steps of "lead cut OFF" and "feeder feed OFF" are completed, the operation program 270 outputs a drive command to the electromagnetic motor 166, and the component mounting device 26 operates in the operation step of "closing the second conveying jaws". In other words, the operation program 270 is set with an eighth operation command for operating part of the operation check of the handling, including the drive command of the electromagnetic motor 166, and when the operator operates the operation button 314 again, the controller 250 outputs the eighth operation command to the operation program 270. In other words, the controller 250 outputs an eighth operation command including the drive command of the first actuator to the operation program 270. Then, when the operation program 270 receives the eighth operation command, it outputs a drive command to the electromagnetic motor 166 included in the eighth operation command. As a result, the electromagnetic motor 166 operates according to the drive command, and the component mounting device 26 operates in the operation step of "closing the second conveying jaws". When the component supply device 24 is operating in the operation step of "closing the second conveying jaws", the column of the operation step "closing the second conveying jaws" in the operation step display column 318 is displayed in a highlighted state.

[0080] Next, when the operator operates the operation button 314 again after the operation step of "closing the second conveying jaw" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 154, and the component mounting device 26 operates in the operation step of "cam 0° movement". That is, the operation program 270 is set with a ninth operation command for operating part of the operation check of the handling, including the drive command of the electromagnetic motor 154, and when the operator operates the operation button 314 again, the controller 250 outputs the ninth operation command to the operation program 270. That is, the controller 250 outputs a ninth operation command including the drive command of the first actuator to the operation program 270. Then, when the operation program 270 receives the ninth operation command, it outputs a drive command to the electromagnetic motor 154 included in the ninth operation command. As a result, the electromagnetic motor 154 operates according to the drive command, and the component mounting device 26 operates in the operation step of "cam 0° movement". When the component supply device 24 is operating in the operation step "cam 0° movement", the operation step column "cam 0° movement" in the operation step display column 318 is displayed in a highlighted state.

[0081] Next, when the operator operates the operation button 314 again after the operation step of "cam 0° movement" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 178, and the component mounting device 26 operates in the operation step of "ZU2-axis movement to the turnable position". That is, the operation program 270 is set with a tenth operation command for activating part of the handling operation check, including a drive command for the electromagnetic motor 178, and when the operator operates the operation button 314 again, the controller 250 outputs the tenth operation command to the operation program 270. That is, the controller 250 outputs the tenth operation command, including a drive command for the first actuator, to the operation program 270. Then, when the operation program 270 receives the tenth operation command, it outputs a drive command to the electromagnetic motor 178 included in the tenth operation command. As a result, the electromagnetic motor 178 operates according to the drive command, and the component mounting device 26 operates in the operation step of "ZU2-axis movement to the turnable position". In addition, when the component supply device 24 is operating in the operation step of "moving along ZU2 axis to position where rotation is possible," the column for the operation step of "moving along ZU2 axis to position where rotation is possible" in the operation step display column 318 is displayed highlighted.

[0082] Next, when the operator operates the operation button 314 again after the operation step of "moving along ZU2 axis to a swivel possible position" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 178, and the component mounting device 26 operates in the operation step of "QU2 swivel". That is, an eleventh operation command for operating a part of the operation check of the handling, including a drive command for the electromagnetic motor 178, is set in the operation program 270, and when the operator operates the operation button 314 again, the controller 250 outputs the eleventh operation command to the operation program 270. That is, the controller 250 outputs an eleventh operation command including a drive command for the first actuator to the operation program 270. Then, when the operation program 270 receives the eleventh operation command, it outputs a drive command to the electromagnetic motor 178 included in the eleventh operation command. As a result, the electromagnetic motor 178 operates according to the drive command, and the component mounting device 26 operates in the operation step of "QU2 swivel". When the component supply device 24 is operating in the operation step "QU2 turn", the operation step column "QU2 turn" in the operation step display column 318 is displayed in a highlighted state.

[0083] Next, when the operator operates the operation button 314 again after the operation step of "QU2 rotation" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 198, and the component mounting device 26 operates in the operation step of "ZU2 axis descent". That is, a twelfth operation command for operating part of the operation check of the handling, including a drive command for the electromagnetic motor 198, is set in the operation program 270, and when the operator operates the operation button 314 again, the controller 250 outputs the twelfth operation command to the operation program 270. That is, the controller 250 outputs a twelfth operation command including a drive command for the first actuator to the operation program 270. Then, when the operation program 270 receives the twelfth operation command, it outputs a drive command to the electromagnetic motor 198 included in the twelfth operation command. As a result, the electromagnetic motor 198 operates according to the drive command, and the component mounting device 26 operates in the operation step of "ZU2 axis descent". When the component supply device 24 is operating in the "ZU2 axis lowering" operation step, the "ZU2 axis lowering" operation step field in the operation step display field 318 is displayed in a highlighted state.

[0084] In this way, instead of multiple commands being input by the operator, the operator simply inputs any number in the slot designation field 312 on the handling operation confirmation screen 310 and operates the operation button 314, and the handling operation confirmation is performed according to the 12 types of operation commands. The 12 types of operation commands are output in the above-mentioned predetermined order, and the handling operation confirmation is performed according to the 12 types of operation commands. In other words, if the 12 types of operation commands are output in an order other than the above-mentioned predetermined order, the handling operation confirmation is not performed according to the 12 types of operation commands.

[0085] In addition, when the worker operates the button 294 for performing the guide pin operation check on the second operation screen 290, and then operates the operation button 298 after specifying an arbitrary angle with the angle specification button 296, a screen 320 for the guide pin operation check is displayed on the monitor 280 as shown in FIG. 23. Note that the angle specification button 296 specifies any angle of 0°, 90°, 180°, or 270°. The screen 320 for the guide pin operation check displays an angle display field 322, an operation button 324, an end button 326, and an operation step display field 328. The angle specified with the angle specification button 296 on the second operation screen 290 is displayed in the angle display field 322. Then, the worker simply operates the operation button 324 to perform the guide pin operation check.

[0086] In detail, when the operator operates the operation button 324, the operation program 270 outputs a drive command to the X-direction moving device 218, the Y-direction moving device 220, the Z-direction moving device 222, etc., so that the moving device 210 operates in the operation step of "moving to original position". That is, a first operation command for operating a part of the operation check of the guide pin, including a drive command for the X-direction moving device 218, the Y-direction moving device 220, the Z-direction moving device 222, etc., is set in the operation program 270, and when the operator operates the operation button 324, the controller 250 outputs the first operation command to the operation program 270. That is, the controller 250 outputs a first operation command including a drive command for three or more actuators to the operation program 270. Then, when the operation program 270 accepts the first operation command, it outputs a drive command to the X-direction moving device 218, the Y-direction moving device 220, the Z-direction moving device 222, etc., included in the first operation command. As a result, the X-direction moving device 218, the Y-direction moving device 220, the Z-direction moving device 222, etc. operate according to the drive command, and the moving device 210 operates in the operation step of "moving to original position". When the moving device 210 is operating in the operation step of "moving to original position", the operation step column of "moving to original position" in the operation step display column 328 is displayed in a highlighted state.

[0087] Then, when the operator operates the operation button 324 again after the operation step of "moving to original position" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 178, and the component mounting device 26 operates in the operation step of "moving along ZU2 axis to the swivel-enabled position". That is, the operation program 270 is set with a second operation command for operating part of the operation check of the guide pin, including a drive command for the electromagnetic motor 178, and when the operator operates the operation button 324 again, the controller 250 outputs the second operation command to the operation program 270. That is, the controller 250 outputs a second operation command, including a drive command for the first actuator, to the operation program 270. Then, when the operation program 270 receives the second operation command, it outputs a drive command to the electromagnetic motor 178 included in the second operation command. As a result, the electromagnetic motor 178 operates according to the drive command, and the component supply device 24 operates in the operation step of "moving along ZU2 axis to the swivel-enabled position".

[0088] Then, after the operation step of "ZU2-axis movement to a swivel-enabled position" is completed, the operation program 270 outputs a drive command to the electromagnetic motor 177, so that the component mounting device 26 operates in the operation step of "QU2 angle designation". That is, a third operation command for operating part of the operation check of the guide pin, including a drive command for the electromagnetic motor 177, is set in the operation program 270, and after the operation step of "ZU2-axis movement to a swivel-enabled position" is completed, the controller 250 outputs the third operation command to the operation program 270. That is, the controller 250 outputs a third operation command including a drive command for the actuator No. 1 to the operation program 270. Then, when the operation program 270 receives the third operation command, it outputs a drive command to the electromagnetic motor 177 included in the third operation command. As a result, the electromagnetic motor 177 operates according to the drive command, so that the component supply device 24 operates in the operation step of "QU2 angle designation".

[0089] Next, after the operation step of "QU2 angle designation" is completed, the operation program 270 outputs a drive command to the solenoid valve 238, so that the insertion guide device 28 operates in the operation step of "turn all guide pins CYT ON". That is, a fourth operation command for operating part of the operation check of the guide pin, including a drive command for the solenoid valve 238, is set in the operation program 270, and after the operation step of "QU2 angle designation" is completed, the controller 250 outputs the fourth operation command to the operation program 270. That is, the controller 250 outputs a fourth operation command including a drive command for one actuator to the operation program 270. Then, when the operation program 270 receives the fourth operation command, it outputs a drive command to the solenoid valve 238 included in the fourth operation command. As a result, the solenoid valve 238 operates according to the drive command, so that the component supply device 24 operates in the operation step of "turn all guide pins CYT ON".

[0090] Next, after the operation step of "turn all guide pins CYT ON", the operation program 270 outputs a drive command to the electromagnetic motor 224, so that the moving device 210 operates in the operation step of "QC2 angle designation". That is, a fifth operation command for operating part of the operation check of the guide pins, including a drive command for the electromagnetic motor 224, is set in the operation program 270, and after the operation step of "turn all guide pins CYT ON", the controller 250 outputs the fifth operation command to the operation program 270. That is, the controller 250 outputs a fifth operation command including a drive command for one actuator to the operation program 270. Then, when the operation program 270 receives the fifth operation command, it outputs a drive command to the electromagnetic motor 224 included in the fifth operation command. As a result, the electromagnetic motor 224 operates according to the drive command, so that the component supply device 24 operates in the operation step of "QC2 angle designation".

[0091] Next, after the operation step of "QC2 angle designation" is completed, the operation program 270 outputs a drive command to the Z-direction moving device 222, so that the moving device 210 operates in the operation step of "ZC2-axis upward position movement". That is, a sixth operation command for operating part of the operation check of the guide pin, including a drive command for the Z-direction moving device 222, is set in the operation program 270, and after the operation step of "QC2 angle designation" is completed, the controller 250 outputs the sixth operation command to the operation program 270. That is, the controller 250 outputs a sixth operation command including a drive command for one actuator to the operation program 270. Then, when the operation program 270 receives the sixth operation command, it outputs a drive command to the Z-direction moving device 222 included in the sixth operation command. As a result, the Z-direction moving device 222 operates according to the drive command, so that the moving device 210 operates in the operation step of "ZC2-axis upward position movement".

[0092] Next, after the operation step of "ZC2-axis raised position movement" is completed, the operation program 270 outputs a drive command to the solenoid valve 238, and the insertion guide device 28 operates in the operation step of "guide pin raised position -3 mm movement". That is, a seventh operation command for operating part of the operation check of the guide pin, including a drive command for the solenoid valve 238, is set in the operation program 270, and after the operation step of "ZC2-axis raised position movement" is completed, the controller 250 outputs the seventh operation command to the operation program 270. That is, the controller 250 outputs a seventh operation command including a drive command for the first actuator to the operation program 270. Then, when the operation program 270 receives the seventh operation command, it outputs a drive command to the solenoid valve 238 included in the seventh operation command. As a result, the solenoid valve 238 operates according to the drive command, and the movement device 210 operates in the operation step of "guide pin raised position -3 mm movement".

[0093] That is, when the operator operates the operation button 324 again after the operation step of "moving to original position" is completed, the controller 250 sequentially outputs six types of operation commands, the second operation command to the seventh operation command for activating part of the operation check of the guide pin, and when the operation program 270 receives each operation command, it outputs the drive command included in each operation command. As a result, the moving device 210 and the like are operated in six types of operation steps, "moving ZU2 axis to a swivel possible position", "specifying QU2 angle", "turning all guide pins CYT ON", "specifying QC2 angle", "moving ZC2 axis to the raised position", and "moving the guide pin to the raised position by -3 mm". When the moving device 210 and the like are operating in these six types of operation steps, the column of the operation step "moving the guide pin to the raised position by -3 mm" in the operation step display column 328 is displayed in a highlighted state.

[0094] Next, when the operator operates the operation button 324 again after the operation step of "guide pin raised position -3 mm movement" is completed, the operation program 270 outputs a drive command to the solenoid valve 238, and the insertion guide device 28 operates in the operation step of "guide pin raised position". That is, an eighth operation command for operating part of the operation check of the guide pin, including a drive command for the solenoid valve 238, is set in the operation program 270, and when the operator operates the operation button 324 again, the controller 250 outputs the eighth operation command to the operation program 270. That is, the controller 250 outputs an eighth operation command including a drive command for the first actuator to the operation program 270. Then, when the operation program 270 receives the eighth operation command, it outputs a drive command to the solenoid valve 238 included in the eighth operation command. As a result, the solenoid valve 238 operates according to the drive command, and the insertion guide device 28 operates in the operation step of "guide pin raised position". When the insertion guide device 28 is operating in the operation step of "guide pin raised position", the operation step column of "guide pin raised position" in the operation step display column 328 is displayed in a highlighted state.

[0095] In this way, instead of multiple commands being input by the operator, the operator only operates the operation button 324 on the guide pin operation confirmation screen 320, and the operation confirmation of the guide pin is performed according to eight types of operation commands. Note that the eight types of operation commands are output in the above-mentioned predetermined order, and thus the operation confirmation of the guide pin is performed according to the eight types of operation commands. In other words, if the eight types of operation commands are output in an order other than the above-mentioned predetermined order, the operation confirmation of the guide pin is not performed according to the eight types of operation commands.

[0096] The component mounter 10 is an example of a component mounting machine. The component supply device 24 is an example of a component unit. The component mounting device 26 is an example of a component unit. The insertion guide device 28 is an example of a component unit. The cutting device 64 is an example of a component unit. The electromagnetic motor 72 is an example of an actuator. The sending air cylinder 100 is an example of an actuator. The air cylinder 114 is an example of an actuator. The electromagnetic motor 154 is an example of an actuator. The electromagnetic motor 156 is an example of an actuator. The electromagnetic motor 166 is an example of an actuator. The electromagnetic motor 177 is an example of an actuator. The electromagnetic motor 178 is an example of an actuator. The electromagnetic motor 198 is an example of an actuator. The moving device 210 is an example of a component unit. The X-direction moving device 218 is an example of an actuator. The Y-direction moving device 220 is an example of an actuator. The Z-direction moving device 222 is an example of an actuator. The electromagnetic motor 224 is an example of an actuator. The solenoid valve 238 is an example of an actuator. The operation program 270 is an example of an operation program.

[0097] Furthermore, the present invention is not limited to the above embodiment, and can be embodied in various forms with various modifications and improvements based on the knowledge of a person skilled in the art. Specifically, for example, in the above embodiment, the operation program 270 can execute the handling operation check and the guide pin operation check by inputting a plurality of commands in a predetermined order by the operator, and can execute the handling operation check and the guide pin operation check by outputting a plurality of types of operation commands in a predetermined order. On the other hand, it may be impossible for the operation program 270 to execute the handling operation check and the guide pin operation check by inputting a plurality of commands in a predetermined order by the operator, but it may be possible to execute the handling operation check and the guide pin operation check by outputting a plurality of types of operation commands in a predetermined order.

[0098] In addition, in the above embodiment, the operation program 270 performs handling operation check and guide pin operation check by outputting multiple types of operation commands in a predetermined order, but the operation program 270 may also perform handling operation check and guide pin operation check by outputting multiple types of operation commands in an order other than the predetermined order.

[0099] In the above embodiment, the tape feeder 62 feeds the taped components 78 toward the cutting device 64, and the cutting device 64 separates the radial lead components 80 from the taped components 78 and supplies the separated radial lead components 80. In other words, the tape feeder 62 performs the feed step of feeding the taped components 78, and the cutting device 64 performs the cutting step of separating the radial lead components 80 from the taped components 78 and the supply step of supplying the radial lead components 80 separated from the taped components 78. On the other hand, the tape feeder 62 and the cutting device 64 may be integrated into a supply device that performs the feed step, the cutting step, and the supply step. The supply device in this case is, for example, a tape feeder, which is detachably positioned and attached to each of the multiple slots 76 of the feeder holder by an operator with one touch. Alternatively, in another embodiment, for example, the cutting device 64 may be provided with a function for sending out the taped component 78, so that the cutting device 64 performs the sending step, the cutting step, and the supplying step.

[0100] In the above embodiment, the radial lead components 80, which are separated from the taped components 78 by the cutting device 64 and supplied, are mounted on the circuit board 12 by the operation of the first chuck 140, the second chuck 142, and the insertion guide device 28. However, the radial lead components 80 may be mounted on the circuit board 12 by the operation of a single chuck. That is, in the above embodiment, the first chuck 140 holds the radial lead components 80 at the supply position, and the radial lead components 80 held by the first chuck 140 are passed to the second chuck 142. The second chuck 142 then mounts the radial lead components 80 on the circuit board 12 while holding the radial lead components 80 between the pusher 196 and the guide pin 236 of the insertion guide device 28. On the other hand, the radial lead components 80 may be held by a single chuck at the supply position, and the radial lead components 80 held by the single chuck may be mounted on the circuit board 12. The component mounting apparatus may be provided with a horizontal movement device and a vertical movement device in addition to the single chuck, so that the radial lead components held by the component mounting apparatus can be mounted onto the circuit board.

[0101] In addition, in the above embodiment, radial lead components 80 are mounted on the circuit board 12, but axial lead components, square chips having no leads, and other electronic components may also be mounted. Therefore, the feeder for feeding components is not limited to a tape feeder, but may be a stick feeder, bulk feeder, tray side feeder, or bulk component feeder. [Explanation of symbols]

[0102] 10: component mounter (component mounting machine) 24: component supply device (component unit) 26: component mounting device (component unit) 28: insertion guide device (component unit) 64: cutting device (component unit) 72: electromagnetic motor (actuator) 100: air cylinder for feeding (actuator) 114: air cylinder (actuator) 154: electromagnetic motor (actuator) 156: electromagnetic motor (actuator) 166: electromagnetic motor (actuator) 177: electromagnetic motor (actuator) 178: electromagnetic motor (actuator) 198: electromagnetic motor (actuator) 210: moving device (component unit) 218: X-direction moving device (actuator) 220: Y-direction moving device (actuator) 222: Z-direction moving device (actuator) 224: electromagnetic motor (actuator) 238: solenoid valve (actuator) 270: operation program

Claims

1. An operation program for a component mounting machine that mounts components on a board by sequentially driving actuators provided in each component unit, the operation program is configured to drive actuators provided in the respective constituent units by inputting a plurality of commands by an operator in a predetermined order, An operating program that can also drive actuators provided in each of the constituent units in accordance with multiple types of operation commands including commands to drive the actuators provided in each of the constituent units in place of multiple commands input by the worker.

2. 2. The operating program according to claim 1, wherein the plurality of types of operation commands are output in a predetermined order to drive an actuator provided in each of the constituent units.

3. 3. The operation program according to claim 1, further comprising: a program for driving one actuator provided in each of said constituent units in accordance with one type of operation command.

4. When actuators provided in each component unit of a component mounting machine that mounts components on a board are sequentially driven, instead of driving the actuators provided in each component unit by inputting a plurality of commands in a predetermined order by an operator, An actuator driving method for driving an actuator provided in each of the constituent units by outputting, in a predetermined order, multiple types of operation commands including instructions to drive the actuator provided in each of the constituent units.

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