| 摘要 |
PURPOSE:To provide a calculating method for properly correcting the deviation between the center of components and their rotation center by further adding correcting amounts to X- and Y-directions in accordance with the correction amount theta in theta-axis and the difference between the component center and rotation center. CONSTITUTION:A controller 2 is provided with a main storage device 10 for storing the executing state of a program and a processing program 11 for controlling programs taught by an operator. The operation of a component mounting hand 1, the operation of a visual device 13 which converts a component holding state detected by a component recognizing camera 4 into data, and the operation which feeds back the converted data to an X-, Y-, and theta-axis servomotor 12 are respectively controlled in accordance with the processing program 11. As a result, when the rotational deviation of a component occurs, the correcting amount theta of theta-axis can be obtained and, even when a deviation occurs between the component center position and the rotating center of theta-axis, the deviation is suction can be corrected accurately by adding correcting amounts to X- and Y-directions and feeding back the amounts to the motor 12. |
