| 摘要 |
<P>PROBLEM TO BE SOLVED: To realize a function for reducing vibration of a movable body such as an attaching head by pitch driving, while fulfilling a request for the pitch driving at a higher speed and reduced calculation load on a controller. <P>SOLUTION: A plurality of sucking nozzles 21 are arrayed at a predetermined pitch on an attaching head 22 of a component mounting device. At the time of component sucking operation and component mounting operation, the attaching head 22 is pitch-driven in rotational direction by the amount of array pitch of the sucking nozzles 21. As a speed command profile for pitch driving, such speed command profile of trapezoidal waveform as speed rising is limited to the speed lower than performance limit is used, for pitch-driving the attaching head 22. Thus, the vibration energy in an X-axis direction of the attaching head 22 under pitch driving is attenuated. The frequency band for attenuating the vibration energy can be changed by a maximum speed command of the speed command profile of trapezoidal waveform. The maximum speed command can be so set as the frequency that is to be attenuated agrees with the natural frequency of a support portion of the attaching head 22. <P>COPYRIGHT: (C)2012,JPO&INPIT |
