Implementation-related devices and control methods

Abstract

To further improve the precision of drive control in detachable units. [Solution] The mounting device is a mounting device related to the process of mounting components onto an object, and comprises a mounting unit for detachably mounting a unit equipped with a drive unit, and a control unit that acquires drive unit information relating to the drive unit of the unit mounted on the mounting unit from the unit, and drives the drive unit of the unit mounted on the mounting unit using a reference information set in advance with respect to the driving of the unit equipped with a drive unit and the drive unit information.

Description

Technical Field

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[0001] This specification discloses an implementation-related apparatus and a control method.

Background Art

[0002] Conventionally, as a positioning control device used in an implementation device or the like, for example, a device has been proposed in which the value of a variable gain is set based on DC gain error data specific to a motor and DC gain error data specific to an amplifier, and an individual current command value is created based on that value (see, for example, Patent Document 1). In this implementation device, it is possible to improve the positioning accuracy of a movable member by controlling a driving device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the implementation device of Patent Document 1 described above, although it is possible to improve the positioning accuracy of a movable member, it does not cope with the case where a motor is detachably mounted. For this reason, in the above-described implementation device, it has been required to improve the accuracy of drive control in a detachable unit.

[0005] This disclosure has been made in view of such problems, and the main object thereof is to provide an implementation-related apparatus and a control method capable of improving the accuracy of drive control in a detachable unit.

Means for Solving the Problems

[0006] In this disclosure, the following means have been adopted to achieve the above main object.

[0007] The implementation-related devices of this disclosure are: Mounting-related equipment related to the process of mounting components onto an object, A mounting section for detachably attaching a unit equipped with a drive unit, A control unit that acquires drive unit information relating to the drive unit of the unit mounted on the mounting portion from the unit, and drives the drive unit of the unit mounted on the mounting portion using a reference information set in advance with respect to the driving of the unit having a drive unit and the drive unit information, It is something that is provided.

[0008] In this mounting device, even if various units are attached to the mounting section, drive unit information is directly acquired from the attached units, and reference information is applied to execute drive control of the drive unit. Therefore, this mounting device can improve the accuracy of drive control in detachable units. [Brief explanation of the drawing]

[0009] [Figure 1] A schematic diagram illustrating an example of the implemented system 10. [Figure 2] A schematic diagram showing an example of the mounting device 13. [Figure 3] An explanatory diagram showing an example of the mounting head 32. [Figure 4] A flowchart illustrating an example of a production parameter setting processing routine. [Figure 5] An explanatory diagram showing an example of the process for setting production parameters. [Figure 6] A flowchart showing an example of an implementation processing routine. [Modes for carrying out the invention]

[0010] This embodiment will be described below with reference to the drawings. Figure 1 is a schematic diagram showing an example of the mounting system 10. Figure 2 is a schematic diagram showing an example of the mounting device 13. Figure 3 is a diagram showing an example of the mounting head 32. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in Figures 1 and 2.

[0011] The mounting system 10 is configured as a production line in which mounting devices 13, which process components P onto a substrate S as an object, are arranged in the transport direction of the substrate S. Here, the object to be mounted is described as a substrate S, but it is not particularly limited as long as it mounts components P, and may also be a three-dimensional substrate. This mounting system 10 is configured to include mounting-related devices related to the process of mounting components P onto the substrate S as an object. As shown in Figure 1, the mounting system 10 includes a printing device 11, a printing inspection device 12, a mounting device 13, a mounting inspection device 14, a reflow device (not shown), and a control device 18 as mounting-related devices. The printing device 11 is a device that prints a viscous fluid such as solder paste onto the substrate S. The printing device 11 may also be a device that prints adhesives or conductive pastes as the viscous fluid. The printing inspection device 12 is a device that inspects the state of the printed viscous fluid. The mounting device 13 is a device that processes components P onto the substrate S. The mounting inspection device 14 is a device that inspects the condition of the components P mounted by the mounting device 13. The mounting device 13 may also be a mounting-inspection device that has the functions of the mounting inspection device 14. The reflow device is a device that reflows a circuit board on which solder has been printed and components P have been mounted. The management device 18 is a computer that manages information about each device in the mounting system 10.

[0012] The mounting device 13 is a device that mounts components P onto an object created by the printing device 11. The mounting device 13 comprises a control device 20, a substrate processing unit 25, a component supply unit 26, a mounting imaging unit 29, a mounting unit 30, an operation panel, and a communication unit. The control device 20 is configured as a microprocessor centered on a control unit 21 such as a CPU, and is responsible for controlling the entire device. This control device 20 outputs control signals to the substrate processing unit 25, the component supply unit 26, the mounting imaging unit 29, the mounting unit 30, and the operation panel, and inputs signals from the substrate processing unit 25, the component supply unit 26, the mounting imaging unit 29, the mounting unit 30, and the operation panel. The control device 20 includes a storage unit 22, which is a large-capacity storage medium such as flash memory.

[0013] The memory unit 22 stores mounting condition information 23 and reference information 24. The mounting condition information 23 includes information such as information about the components P to be mounted, the arrangement order and position of the components P on the substrate S, and the mounting position of the feeder 27 for picking up the components. The reference information 24 is information that is pre-set regarding the driving of the mounting head 32 as a unit equipped with a drive unit 33. This reference information 24 may include, for example, reference parameters determined using a reference drive unit that serves as a standard for production, and performance information of the reference drive unit. The reference drive unit may be a drive unit used in the unit that has general performance, for example, average output characteristics. The reference parameters include tuning values ​​for the standard operation when the unit is operated using the reference drive unit (see Figure 5A below). The reference parameters may include, for example, information on the acceleration characteristics and PID control values ​​when the reference drive unit drives an object. The acceleration characteristics may include, for example, the relationship between the power supply and the acceleration of the object. Performance information, if the reference drive unit is a motor, includes, for example, torque characteristics including the relationship between supplied power and output torque. The control unit 21 acquires drive unit information 35 from the mounting head 32 regarding the drive unit 33 of the mounting head 32 as a unit mounted on the mounting unit 38, derives production parameters for the drive unit 33 using the pre-set reference information 24 and drive unit information 35, and drives the drive unit 33 of the mounting head 32 using these production parameters. The control unit 21 uses the drive unit information 35 and reference information 24 to derive production parameters that correct the performance difference between the reference drive unit and the drive unit 33. The control unit 21 uses the performance information contained in the drive unit information 35 linked to the drive unit 33 to adjust the voltage, current, etc. applied to the drive unit 33 using the production parameters so that when the mounting head 32 is operating, an output equivalent to the output characteristics of the reference drive unit is output from the corresponding drive unit 33.

[0014] The substrate processing unit 25 is responsible for loading, transporting, fixing at the mounting position, and unloading the substrate S. The component supply unit 26 is a supply device that supplies components P to the mounting unit 30. The component supply unit 26 includes a mounting unit for mounting a feeder 27 having a reel that holds components P, and a mounting unit for mounting a tray unit 28 having one or more trays that contain components P. The feeder 27 and tray unit 28 may be included in a unit that has a drive unit and is detachably mounted to the mounting-related equipment. The mounting imaging unit 29 is a camera that images the area above and images components P and the like held by the mounting head 32 of the mounting unit 30.

[0015] The mounting unit 30 is a unit that picks up components P from the component supply unit 26 and places them on a substrate S fixed to the substrate processing unit 25. The mounting unit 30 comprises a head moving unit 31, a mounting head 32, a picking member 37, a mounting unit 38, and an object imaging unit 39. The head moving unit 31 comprises a slider that moves in the XY direction guided by a guide rail and a motor that drives the slider. This slider has a mounting unit 38 to which the mounting head 32, which is a unit equipped with a drive unit 33, is detachably mounted. The mounting head 32 is a work head that is detachably mounted on the mounting unit 38 of the slider, picks up one or more components, moves in the XY direction by the head moving unit 31, and performs mounting-related work related to the mounting process. The mounting head 32 is equipped with a drive unit 33. As shown in Figure 3, the mounting head 32 is equipped with drive units 33a to 33d. Here, drive units 33a to 33d are collectively referred to as drive unit 33. Each drive unit 33 is a motor, and the target object is operated by a transmission mechanism such as gears that transmit the motor's driving force, but a detailed explanation of the transmission mechanism is omitted. Drive unit 33a is an R-axis drive unit that rotates a cylindrical multi-nozzle tool attached to the mounting part of the mounting head 32 around its axis (R axis), causing the sampling member 37 to revolve in the circumferential direction. Drive unit 33b is a Q-axis drive unit that rotates each nozzle 37 of the multi-nozzle tool around its axis (Q axis). Drive units 33c and 33d are Z1-axis drive units that move the syringe with the sampling member 37 attached in the vertical direction relative to the housing of the mounting head 32. Although the mounting head 32 is exemplified as having two Z1-axis drive units, either drive unit 33c or 33d may be omitted, or it may be further equipped with a drive unit for raising and lowering the sampling member 37.

[0016] The drive unit 33 has a memory unit 34 within the motor itself. Drive units 33a to 33d each have memory units 34a to 34d. Here, memory units 34a to 34d are collectively referred to as the memory unit 34. The memory unit 34 is, for example, a storage medium such as flash memory. The memory unit 34 is configured to allow power supply and data input / output, for example, via USB. When the drive unit 33 is installed on the mounting head 32, it is electrically connected to the control board of the mounting head 32. The memory unit 34 stores drive unit information 35, which is information about the installed drive unit 33. The drive unit information 35 includes information about the drive unit 33 of the mounting head 32 as a unit mounted on the mounting unit 38. The drive unit information 35 may also include, for example, information about the relationship between the power actually supplied and the torque actually output by the drive unit 33 on which the memory unit 34 is installed.

[0017] One or more sampling members 37 are detachably mounted on the underside of the mounting head 32. The sampling members 37 may be suction nozzles that use negative pressure to collect parts, or mechanical chucks that mechanically hold parts. The mounting section 38 detachably mounts the mounting head 32. The mounting section 38 is equipped with, for example, a locking mechanism to prevent it from falling off during operation. The object imaging unit 39 is a camera located on the underside of the mounting head 32 that images marks formed on the substrate S from above. The operation panel is a unit that receives input from the operator and presents information to the operator. This operation panel includes a display unit and an operation unit with a touch panel and buttons. The communication unit is an interface for exchanging information with external devices such as the printing device 11 and the management device 18.

[0018] Next, the operation of the implementation system 10 of this embodiment configured in this way will be described. First, the process of setting the production parameters used by the control device 20 of the implementation device 13 for the implementation process will be described. Here, the operation of the implementation device 13 as an implementation-related device and the operation of the implementation head 32 as a unit will be mainly described. FIG. 4 is a flowchart showing an example of a production parameter setting processing routine executed by the control unit 21 of the control device 20. This routine is stored in the storage unit 22 and is executed after the power of the implementation device 13 is turned on. When this routine is started, the control unit 21 first determines whether production units used for the implementation process, such as the implementation head 32, the feeder 27, the tray unit 28, etc., are mounted (S100). The control unit 21, for example, acquires implementation condition information 23, etc., and determines whether all the production units are mounted based on the signals from each mounting unit. When the units used for the production of the substrate S are not attached, the control unit 21 waits as it is, while when the units used for the production of the substrate S are attached, the drive units of the units are detected (S110). The control unit 21 can detect the drive units based on the signals from each drive unit.

[0019] Next, the control unit 21 sets the drive unit for setting production parameters (S120). The control unit 21 may, for example, perform this setting process according to the predetermined order of the drive units in the unit. When the mounting head 32 as a unit has drive units 33a to 33d, the control unit 21 may set the drive units from 33a to 33d in order. Next, the control unit 21 acquires the drive unit information 35 stored in the storage unit 34 of the set drive unit 33 (S130). Subsequently, the control unit 21 sets the production parameters based on the reference information 24 and the drive unit information 35 stored in the storage unit 22 and stores them in the storage unit 22 (S140). The control unit 21 uses the reference parameters included in the reference information 24 and the drive unit information 35 of the drive unit 33 to derive production parameters that correct the performance difference of the drive unit 33 corresponding to the drive unit information 35, based on the performance information of the reference drive unit included in the reference information 24 and the performance information of this drive unit 33 included in the drive unit information 35. For example, the control unit 21 sets production parameters that cause the drive unit 33 to operate more closely to the reference drive unit so that the output characteristics of a particular drive unit 33 are equivalent to those of the reference drive unit. In this case, the control unit 21 may also derive production parameters that correct the performance difference between the performance information of this drive unit 33 included in the drive unit information 35 and the performance information of the reference drive unit.

[0020] FIG. 5 is an explanatory diagram showing an example of production parameter setting processing. FIG. 5A shows the setting processing of the reference parameters of the reference drive unit, FIG. 5B shows the setting processing of the production parameters for the low-performance drive unit A, and FIG. 5C is an explanatory diagram of the setting processing of the production parameters for the high-performance drive unit B. In FIG. 5, an example is shown where the performance of the reference drive unit is 110, the performance of the low-performance drive unit A is 90, and the performance of the high-performance drive unit B is 120. When the drive unit A with low performance is arranged in the unit, the control unit 21 performs a calculation (output = 110 / 90) to correct the performance difference from the performance value of the drive unit A with respect to the reference parameters of the output characteristics in the reference drive unit included in the reference information 24, and derives the production parameters corresponding to the drive unit A (FIG. 5B). Further, when the drive unit B with high performance is arranged in the unit, the control unit 21 performs a calculation (output = 110 / 120) to correct the performance difference from the performance value of the drive unit B with respect to the reference parameters of the output characteristics in the reference drive unit included in the reference information 24, and derives the production parameters corresponding to the drive unit B (FIG. 5C).

[0021] After S140, the control unit 21 determines whether production parameters have been set for all the drive units 33 (S150). When production parameters have not been set for all the drive units 33, the processing after S120 is executed. On the other hand, when production parameters have been set for all the drive units 33, the control unit 21 ends this routine. Thus, in the mounting device 13, for the drive unit 33 of the removable unit, using the information of the drive unit information 35 stored in this drive unit 33, the production parameters for realizing the same operation as the reference drive unit serving as a reference are set for this drive unit 33.<OOO0099>

[0022] Next, the process by which the mounting device 13 mounts components P onto the substrate S using production parameters will be described. Here, the operation of the mounting device 13 as a mounting-related device and the operation of the mounting head 32 as a unit will be mainly described. Figure 6 is a flowchart showing an example of a mounting process routine executed by 21 of the control device 20. This routine is stored in the storage unit 22 and executed in response to a command from the operator to start the mounting process. When this routine is started, the control unit 21 of the control device 20 first reads and acquires mounting condition information 23 and set production parameters from the storage unit 22 (S200). Next, the control unit 21 controls the substrate processing unit 25 to load and fix the substrate S (S210). Next, based on the mounting condition information 23, the control unit 21 sets the components to be picked from the feeder 27 and tray unit 28 attached to the component supply unit 26 and placed on the substrate S (S220). Next, the control unit 21 drives the drive unit 33 using the set production parameters to perform the mounting process in which the mounting head 32 picks up and moves the component P and places it on the substrate S (S230). The mounting head 32 rotates the R axis with the drive unit 33a, rotates the Q axis with the drive unit 33b, and raises and lowers the picking member 37 with the drive units 33c and 33d to pick up and place the component P. At this time, even if there is a performance difference between the drive unit 33 and the reference drive unit, it will perform the same operation, so a more reliable mounting process can be performed. For example, the drive unit of the head movement unit 31 is not removed from the device, so the control device 20 can hold its own unique production parameters. On the other hand, for units such as the mounting head 32 that are removed from the device, it is not determined which mounting device 13 they will be mounted on, so it is difficult to hold their own unique production parameters in a specific control device 20. In this implementation device 13, drive unit information 35 is acquired from a storage unit 34 located in the drive unit 33 of the unit, and production parameters corresponding to the drive unit 33 are set based on reference information 24. Therefore, the accuracy of drive control of detachable units can be further improved without the need for complicated processing such as managing production parameters with a control device.

[0023] After S230, the control unit 21 determines, based on the mounting condition information 23, whether there is another component P to be placed on the substrate S (S240). If there is another component P to be placed on the substrate S, the control unit 21 executes the processing from S220 onwards. On the other hand, if there is no other component P to be placed on the substrate S, the control unit 21 determines, based on the number of substrates S produced, whether the production of all substrates S has been completed (S250). If the production of all substrates S has not been completed, the control unit 21 executes the processing from S210 onwards. At this time, the control unit 21 discharges the substrate S on which the component P has been placed in S210 to the substrate processing unit 25, loads the next substrate S into the substrate processing unit 25, fixes it, and has the mounting head 32 execute the mounting process. On the other hand, when the production of all substrates S has been completed, this routine is terminated.

[0024] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The mounting head 32 of this embodiment is an example of the unit and work head of the present disclosure, the drive unit 33 and drive units 33a to 33d are examples of drive units, the storage unit 34 is an example of a storage unit, the drive unit information 35 is an example of drive unit information, the reference information 24 is an example of reference information, and the control unit 21 is an example of a control unit. In addition, the printing device 11, the printing inspection device 12, the mounting device 13, the mounting inspection device 14, etc. are examples of mounting-related devices, the component P is an example of a component, the substrate S is an example of an object, and the component supply unit 26 is an example of a supply device. Furthermore, in this embodiment, an example of the control method of the present disclosure is also clarified by describing the operation of the mounting device 13.

[0025] The mounting apparatus 13 of this embodiment, as described above, is a mounting-related apparatus related to the process of mounting components P onto a substrate S as an object, and comprises a mounting section 38 on which a mounting head 32 as a unit equipped with a drive unit 33 is detachably mounted, and a control unit 21 that acquires drive unit information 35 regarding the drive unit 33 of the mounting head 32 mounted on the mounting section 38 from the mounting head 32 side, and drives the drive unit 33 of the mounting head 32 mounted on the mounting section 38 using a reference information 24 and drive unit information 35 that are set in advance regarding the driving of the mounting head 32 equipped with a drive unit 33. In this mounting apparatus 13, even if various mounting heads 32 are mounted on the mounting section 38, the drive unit information 35 regarding the drive unit 33 is acquired directly from the mounted mounting head 32, and the reference information 24 is applied to execute drive control of the drive unit 33. Therefore, in this mounting apparatus 13, the accuracy of drive control can be further improved in a detachable unit.

[0026] Furthermore, since the control unit 21 acquires drive unit information 35 from the memory unit 34 of the drive unit 33, this mounting device 13 can acquire the drive unit information 35 of the drive unit 33 more reliably than acquiring the drive unit information 35 from other management devices. Moreover, since the control unit 21 uses reference information 24 which includes reference parameters set using a reference drive unit that serves as a reference when operating the mounting head 32 in the mounting device 13, this mounting device 13 can further improve the accuracy of drive control of the drive unit 33 in accordance with the reference drive unit. Furthermore, the control unit 21 uses the reference parameters included in the reference information 24 and the drive unit information 35 to derive production parameters that correct the performance difference of the drive unit 33 corresponding to this drive unit information 35 from the performance information of the reference drive unit included in the reference information 24 and the performance information of this drive unit 33 included in the drive unit information 35, and drives this drive unit 33 using the derived production parameters. In this mounting device 13, the accuracy of drive control of the drive unit 33 can be further improved by using production parameters that correct for performance differences. Furthermore, since the control unit 21 derives production parameters that correct for the performance difference between the performance information of the drive unit 33 included in the drive unit information 35 and the performance information of the reference drive unit, this mounting device 13 can control the drive unit 33 in accordance with the performance of the reference drive unit. And, since the mounting head 32 as a unit is a work head that performs mounting-related tasks related to the mounting process, the accuracy of drive control of the work head can be improved. Moreover, the drive unit information 35 includes performance information regarding the performance of the corresponding drive unit 33, and the reference information 24 includes the acceleration and / or PID control values ​​of the drive unit 33 used in the unit as reference parameters. In this mounting device 13, the accuracy of drive control can be further improved by applying the performance information of the corresponding drive unit 33 to parameters such as acceleration and PID control values.

[0027] Furthermore, the mounting device 13 can perform performance correction on the operation of the drive unit of the unit being attached and detached. In addition, since the mounting device 13 can be used with units even when there is variation in the performance of the drive unit, yield can be further improved by using a wide range of drive units.

[0028] It goes without saying that the implementation-related devices and their control methods disclosed herein are not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present invention.

[0029] For example, in the embodiment described above, the drive unit information 35 is obtained from the storage unit 34 of the drive unit 33, but the control unit 21 is not limited to this, and the control unit 21 may obtain the drive unit information 35 from the unit in which the corresponding drive unit 33 is installed. In this case, the storage unit 34 may be installed on the control board of the unit or the like. It is preferable that the storage unit 34 is installed on the drive unit 33 so that the drive unit information 35 of that drive unit 33 can be obtained without error, and the manufacturer can also store the performance information of the drive unit 33 in the storage unit 34.

[0030] In the embodiment described above, the unit having the drive unit 33 is assumed to be the mounting head 32, but the unit is not limited to this, and the unit may also include a component supply unit 26 as a supply device having a drive unit and supplying components. In this mounting device 13, the accuracy of the drive control of the supply device can be improved. The component supply unit 26 as a supply device may include a feeder 27 that supplies components P on tape, a tray unit 28 that supplies components P on a tray, and so on.

[0031] In the above-described embodiment, the mounting head 32 used in the mounting device 13 for mounting components P onto a substrate S was described as the work head. However, the invention is not limited to this, and the work head may also be a print head used in a printing device 11 that has a drive unit and prints a viscous fluid onto a substrate S.

[0032] In the embodiments described above, the mounting device 13, which is a mounting-related device, was described as being used in the mounting system 10. However, it is not limited to this, and the mounting device 13 may be used independently, or it may be a mounting device connected to a 3D printing device that creates a molded object and places components on the molded object. Furthermore, in the embodiments described above, the mounting device 13 was mainly described as a mounting-related device, but it is not limited to this, and it may also be applied to a printing device 11, a printing inspection device 12, a mounting inspection device 14, a reflow device, a transport device, a mobile work device that performs automatic replacement of the feeder 27, etc. Moreover, this disclosure may also be a control method for a mounting-related device, a mounting method, and a program that implements these methods.

[0033] Here, the control method of the Disclosure may be configured as follows. For example, the control method of the Disclosure is A control method executed by a computer of a mounting-related device related to the process of mounting components onto an object, the device having a mounting section for detachably attaching a unit equipped with a drive unit, A step of obtaining drive unit information relating to the drive unit of the unit mounted on the mounting portion from the unit, and driving the drive unit of the unit mounted on the mounting portion using the reference information and the drive unit information that have been set in advance for driving the unit equipped with the drive unit, It includes.

[0034] In this control method, similar to the mounting-related devices described above, even if various units are mounted on the mounting section, drive unit information is obtained directly from the mounted units, and reference information is applied to execute drive control of the drive unit. Therefore, the accuracy of drive control can be further improved in detachable units. In this control method, various forms of the mounting-related devices described above may be adopted, or steps that realize any of the functions of the mounting-related devices described above may be added.

[0035] This specification also discloses a technical concept in which "the mounting-related device described in claim 1 or 2" in the original claim 5 was changed to "the mounting-related device described in any one of claims 1 to 3," and a technical concept in which "the mounting-related device described in claim 1 or 2" in the original claim 6 was changed to "the mounting-related device described in any one of claims 1 to 5." [Industrial applicability]

[0036] This disclosure is applicable to the technical field of equipment that performs processes such as component sampling and placement. [Explanation of Symbols]

[0037] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13 Mounting device, 14 Mounting inspection device, 18 Management device, 20 Control device, 21 Control unit, 22 Storage unit, 23 Mounting condition information, 24 Reference information, 25 Substrate processing unit, 26 Parts supply unit, 27 Feeder, 28 Tray unit, 29 Mounting imaging unit, 30 Mounting unit, 31 Head movement unit, 32 Mounting head, 33, 33a~33d Drive unit, 34, 34a~34d Storage unit, 35 Drive unit information, 37 Sampling member, 38 Mounting unit, 39 Object imaging unit, P Parts, S Substrate.

Claims

1. Mounting-related equipment related to the process of mounting components onto an object, A mounting section for detachably attaching a unit equipped with a drive unit, A control unit that acquires drive unit information relating to the drive unit of the unit mounted on the mounting portion from the unit, and drives the drive unit of the unit mounted on the mounting portion using a reference information set in advance with respect to the driving of the unit having a drive unit and the drive unit information, Implementation-related equipment equipped with these features.

2. The mounting-related device according to claim 1, wherein the control unit acquires drive unit information from the storage unit of the drive unit.

3. The mounting-related device according to claim 1 or 2, wherein the control unit uses the reference information, which includes reference parameters set using a reference drive unit that serves as a reference when operating the unit in the mounting-related device.

4. The mounting-related device according to claim 3, wherein the control unit uses the reference parameters included in the reference information and the drive unit information to derive production parameters that correct the performance difference of the drive unit corresponding to the drive unit information from the performance information of the reference drive unit included in the reference information and the performance information of the drive unit included in the drive unit information, and drives the drive unit using the derived production parameters.

5. The mounting-related apparatus according to claim 1 or 2, wherein the unit includes one or more of the following: a work head that performs mounting-related work related to the process to be mounted, and a supply device that supplies the parts.

6. The aforementioned drive unit information includes performance information relating to the performance of the corresponding drive unit. The mounting-related device according to claim 1 or 2, wherein the reference information includes the acceleration and / or PID control values ​​of the drive unit used in the unit as the reference parameters.

7. A control method executed by a computer of a mounting-related device related to the process of mounting components onto an object, the device having a mounting section for detachably attaching a unit equipped with a drive unit, A step of obtaining drive unit information relating to the drive unit of the unit mounted on the mounting portion from the unit, and driving the drive unit of the unit mounted on the mounting portion using the reference information and the drive unit information that have been set in advance for driving the unit equipped with the drive unit, A control method including

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