| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an offset measurement method for measuring offset of a trowel end 1d with respect to a central axis 2axis of an arm at a soldering position where the trowel end is attached to the arm to which coordinate control is performed on x, y, and z axes and rotation control is performed around the central axis 2axis along a z axis. <P>SOLUTION: X coordinates Xm1 and y coordinates Ym1 at the trowel end 1d when the trowel end 1d is at a first position with respect to the central axis 2axis are obtained, x coordinates Xm2 and y coordinates Ym2 at the trowel end 1d when the arm is rotated around the central axis at 180 degrees from the first position to place the trowel end 1d at a second position are obtained, the x coordinates Xm1 and Xm2 and y coordinates Ym1 and Ym2 are operated respectively and, on the basis of the operation result, offset values Xm, Ym on the x axis and y axis of the trowel end 1d with respect to the central axis 2axis are calculated. <P>COPYRIGHT: (C)2012,JPO&INPIT |
