PART MOUNTING DEVICE, CONTROL METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a control method capable of preferably carrying out a soft-limit control under various conditions in a part mounting device without preparing a large number of limit values in response to each condition.

SOLUTION: The control method prevents an interference in a movable unit fitted to the part mounting device and another unit. The control method includes a position and state acquiring step (S11) acquiring a current coordinate value representing the current positions of the movable unit and another unit and the size and holding state of a work. The control method further includes a limit computing step (S12) computing a limit coordinate value representing a limit point interfering with no other unit in response to the current coordinate value and the size and holding state of the work when the movable unit intends to move, and movement control steps (S13 and S14) controlling the movement of the movable unit when the current coordinate value reaches the limit coordinate value.

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