JP2000340999A - Component packaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent malfunction of a component packaging device. SOLUTION: There are provide a rotation angle detecting means 19 for cams 2, 3, 4, and 12, which are connected to a head 1, an angle memory means 22 for storing angle data from the rotation angle detecting means 19, an angle determining means 23 connected to the angle memory means 22, and a control means 27 for controlling a motor 13 of driving means 7 and 8 of a substrate 6 based on the data from the angle determining means 23. The angle determination means 23 is configured to make comparison, based on the current angle data and the previous angle data that are stored in the angle memory means 22. At comparison, the current angle data is compared with the sum of the previous data and a difference between the current and the previous angle data. If the comparison values are different from each other, data for suspending the operation of the motor 13 is supplied to the control means 27.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting machine for mounting components on a substrate by a head.

[0002]

2. Description of the Related Art The configuration of a conventional component mounter of this type has the following configuration.

That is, a board operating means for controlling the operation of the board, a head for mounting components on the board, the operation of which is controlled by the board operating means, and a cam connected to the head via connecting means, A control means for controlling at least one of the substrate operation means and the cam rotation drive means, based on angle data from the rotation angle detection means, comprising: a cam rotation drive means for the cam; and a rotation angle detection means for the cam. It had a configuration provided.

That is, the rotation angle of the cam is detected by the rotation angle detection means, and according to the detected rotation angle,
By controlling at least one of the board operation means and the cam rotation drive means by the control means, the components are appropriately mounted on the board by the head.

[0005]

The above-described conventional component mounter has a problem that a malfunction occurs due to external noise.

That is, the rotation angle of the cam is detected by the rotation angle detecting means. When external noise is added to the detected value, the rotation angle detecting means detects the wrong rotation angle. As a result, the control means causes the board operation means and the cam rotation driving means to perform an erroneous operation, and consequently, a malfunction occurs.

Accordingly, an object of the present invention is to prevent a malfunction caused by such external noise.

[0008]

SUMMARY OF THE INVENTION In order to achieve this object, the present invention provides a board operating means for controlling the operation of a board, and mounting components on the board whose operation is controlled by the board operating means. A head, a cam connected to the head via a connecting means, a cam rotation driving means for the cam, a rotation angle detection means for the cam, and an angle storage means for storing angle data from the rotation angle detection means. An angle determination unit connected to the angle storage unit; and a control unit configured to control at least one of the substrate operation unit and the cam rotation drive unit based on data from the angle determination unit. The current angle data and the previous angle data stored in the angle storage means are configured to be compared based on the previous angle data.
The difference between the current and previous angle data is compared with the current angle data. If the comparison value is different, data for stopping the operation of at least one of the substrate operating unit and the cam rotation driving unit is transmitted to the control unit. It is configured to be supplied to.

That is, in the present invention, an angle storage means for storing the angle data from the rotation angle detection means and an angle determination means connected to the angle storage means are newly added. The current angle data stored in the angle storage means is compared with the previous angle data. At the time of this comparison, the difference between the current angle data and the previous angle data is added to the previous angle data. And the current angle data. For this reason, for example, if incorrect angle data is indicated by adding noise to the angle data obtained this time, the previous angle data will be the angle data that would originally be the current angle data. When the erroneous angle data is compared with the erroneous angle data of this time, the comparison value is naturally different. As a result, the data for stopping the operation of at least one of the substrate operating means and the cam rotation driving means is obtained. Is supplied to the control means, and malfunction due to external noise is less likely to occur.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the first aspect of the present invention, there is provided a board operating means for controlling the operation of a board, and a head for mounting components on the board, the operation of which is controlled by the board operating means. A cam connected to the head via a connecting means, a cam rotation driving means for the cam, a rotation angle detection means for the cam, an angle storage means for storing angle data from the rotation angle detection means, An angle determination unit connected to the angle storage unit; and a control unit that controls at least one of the substrate operation unit and the cam rotation driving unit based on data from the angle determination unit. The current angle data and the previous angle data stored in the storage means are compared with each other, and at the time of this comparison, the difference between the current and previous angle data is added to the previous angle data. And the current angle data, and if the comparison value is different, a component mounter configured to supply to the control means data for stopping the operation of at least one of the board operation means and the cam rotation drive means. Thus, malfunction due to external noise is less likely to occur.

That is, in the present invention, an angle storage means for storing angle data from the rotation angle detection means and an angle determination means connected to the angle storage means are newly added. The current angle data stored in the angle storage means is compared with the previous angle data. At the time of this comparison, the difference between the current angle data and the previous angle data is added to the previous angle data. And the current angle data. For this reason, for example, if incorrect angle data is indicated by adding noise to the angle data obtained this time, the previous angle data will be the angle data that would originally be the current angle data. When the erroneous angle data is compared with the erroneous angle data of this time, the comparison value is naturally different. As a result, the data for stopping the operation of at least one of the substrate operating means and the cam rotation driving means is obtained. Is supplied to the control means, and malfunction due to external noise is less likely to occur.

According to a second aspect of the present invention, there is provided the component mounting machine according to the first aspect, wherein the angle data difference between the current time and the previous time is set to 1 by setting the angle data difference to 1. However, even if the angle data difference is only one degree, even if the angle data difference is one degree, the operation control by the cam has a substantially large effect on the operation. Less.

Next, according to a third aspect of the present invention, an output storage means is interposed between the angle determination means and the control means, and the output storage means has output data for each angle. 3. The control device according to claim 1, wherein output data corresponding to the angle data from the determination unit is supplied to the control unit.
Wherein the output data corresponding to the angle data given from the angle judging means is prepared in advance in the output storage means so as to correspond to the angle data given from the angle judging means. The data for performing the operation can be immediately supplied to the control means. As a result, the control means can perform a quick operation corresponding to the detected angle data.

Next, according to a fourth aspect of the present invention, there is provided a board operating means for controlling the operation of a board, a head for mounting components on the board, the operation of which is controlled by the board operating means. A cam connected to the head via a connecting means, a cam rotation driving means for the cam, a rotation angle detection means for the cam, an angle storage means for storing angle data from the rotation angle detection means, and an angle storage means Means for controlling at least one of the substrate operation means and the cam rotation drive means based on data from the angle determination means, wherein the angle determination means comprises: the angle storage means In this configuration, the comparison is made based on the current angle data and the previous angle data stored in the memory. In this comparison, the difference between the current and previous angle data is added to the previous angle data. The current angle data is compared with the current angle data. If the comparison value is different, the angle data obtained by doubling the angle data difference from the previous angle data is compared with the current angle data. Data for stopping at least one of the operation means and the cam rotation drive means is supplied to the control means.

That is, when the angle determination means compares the current angle data with the previous angle data obtained by adding the difference between the current and previous angle data to the previous angle data, even if the comparison values are different, the angle determination means is again used. By comparing the angle data obtained by doubling the angle data difference with the angle data of the previous two times with the current angle data, it is determined again whether or not the current angle data is really wrong. In the event of a failure, at least one of the substrate operating means and the cam driving means is stopped, so that not only can malfunctions be prevented, but also production efficiency can be increased without unnecessary stopping. It is.

According to a fifth aspect of the present invention, there is provided the component mounting apparatus according to the fourth aspect, wherein the angle data difference between the current time and the previous time is set to 1 by setting the angle data difference to 1. However, even if the angle data difference is only one degree, even if the angle data difference is one degree, the operation control by the cam has a substantially large effect on the operation. Less.

Next, according to a sixth aspect of the present invention, an output storage means is interposed between the angle determination means and the control means, and the output storage means has output data for each angle. An output data corresponding to the angle data from the determination means is supplied to the control means.
Is a component mounter described in (1).

That is, by preparing in advance the output data corresponding to the angle data provided from the angle determining means in the output storage means, an operation corresponding to the angle data provided from the angle determining means is performed. Data can be immediately supplied to the control means,
As a result, the control means can perform a quick operation corresponding to the detected angle data.

Next, a seventh aspect of the present invention provides a substrate operating means for controlling the operation of a substrate, a head for mounting components on the substrate, the operation of which is controlled by the substrate operating means. A cam connected to the head via a connecting means, a cam rotation driving means for the cam, a rotation angle detection means for the cam, an angle storage means for storing angle data from the rotation angle detection means, and an angle storage means Means for controlling at least one of the substrate operation means and the cam rotation drive means based on data from the angle determination means, wherein the angle determination means comprises: the angle storage means In this configuration, the comparison is made based on the current angle data and the previous angle data stored in the memory. In this comparison, the difference between the current and previous angle data is added to the previous angle data. , Comparing the current angle data with the current angle data. If the comparison value is different, the angle data obtained by adding the angle data difference doubled to the previous two-time angle data is compared with the current angle data. If the angle data is different, the previous angle data is compared with the data obtained by adding the angle difference to the previous two-time angle data. This is a component mounter configured as follows.

That is, a comparison is made based on the current angle data and the previous angle data, and at the time of this comparison, the difference between the previous angle data and the current and previous angle data is added.
If the comparison value is different from the current angle data, and the comparison value is different, a result obtained by adding a value obtained by doubling the angle data difference to the previous two-time angle data is compared with the current angle data. If different, the angle data obtained by adding the angle data difference to the previous two-time angle data is compared with the previous angle data.If the comparison value is correct, the angle data obtained by adding the angle data difference to the previous angle data is used as the current angle data. By doing so, careless stopping can be prevented, and productivity can be increased.

According to an eighth aspect of the present invention, there is provided the component mounting machine according to the seventh aspect, wherein the angle data difference between the current time and the previous time is set to 1, wherein the angle data difference is set to 1. However, even if the angle data difference is only one degree, even if the angle data difference is one degree, the operation control by the cam has a substantially large effect on the operation. Less.

According to a ninth aspect of the present invention, an output storage means is interposed between the angle determination means and the control means. The output storage means has output data for each angle, 9. A configuration in which output data corresponding to the angle data from the determination means is supplied to the control means.
Is a component mounter described in (1).

That is, by preparing in advance the output data corresponding to the angle data given from the angle judging means in the output storage means, an operation corresponding to the angle data given from the angle judging means is performed. The data can be immediately supplied to the control means, and as a result, the control means can perform a quick operation corresponding to the detected angle data.

The following invention according to claim 10 of the present invention provides
Board operating means for controlling the operation of the board, a head for mounting components on the board, the operation of which is controlled by the board operating means, a cam connected to the head via connecting means, and cam rotation of the cam Driving means, rotation angle detection means for the cam, angle storage means for storing angle data from the rotation angle detection means, angle determination means connected to the angle storage means, and data from the angle determination means Control means for controlling at least one of the substrate operation means and the cam rotation drive means, the angle determination means based on the current angle data and the previous angle data stored in the angle storage means At the time of this comparison, a comparison is made between the previous angle data, the difference between the current and previous angle data, and the current angle data.
If the comparison value is different, the angle data obtained by adding the angle data difference doubled to the previous two-time angle data is compared with the current angle data. If the comparison value is different, the previous angle data is compared with the previous angle data. Compare the data obtained by adding the angle difference to the previous two-time angle data, and if the comparison values are equal, the current angle data is obtained by adding the angle difference to the previous angle data.
If the comparison value is different, the component mounter is configured to supply to the control means data for stopping at least one of the board operation means and the cam rotation driving means.

That is, a comparison is made based on the current angle data and the previous angle data. At the time of this comparison, the current angle data obtained by adding the difference between the current angle data and the previous angle data to the previous angle data is compared. Then, when the comparison value is different, the angle data obtained by adding twice the angle data difference to the angle data obtained two times before is compared with the current angle data. If the comparison value is different, the angle data obtained two times before is obtained. The data obtained by adding the angle data difference and the previous angle data are compared. If the comparison value is correct, the data obtained by adding the angle data difference to the previous angle data is processed as the current angle data. When the comparison values are different, data for stopping the operation of at least one of the substrate operating unit and the cam driving unit is supplied to the control unit. On the other hand, if the angle data is incorrect due to extraneous noise or the like, the operation is stopped to eliminate mounting defects in component mounting, Will be prevented from being damaged.

Next, the invention according to claim 11 of the present invention provides:
11. The component mounting machine according to claim 10, wherein the difference between the current and previous angle data is set to 1, and by setting the angle data difference to 1, quick calculation processing can be performed without reducing the calculation speed for that angle. Further, even if the angle data difference is 1 degree, in the case where the operation is controlled by the cam, there is little influence on the substantially large operation.

Next, the invention described in claim 12 of the present invention is as follows.
Output storage means is interposed between the angle determination means and the control means, and the output storage means has output data for each angle and supplies output data corresponding to the angle data from the angle determination means to the control means. 12. The component mounting machine according to claim 10, wherein the output data corresponding to the angle data given from the angle determination means is prepared in advance in the output storage means, so that the output from the angle determination means is reduced. Data for performing an operation corresponding to the given angle data can be immediately supplied to the control means, and as a result, the control means can perform a quick operation corresponding to the detected angle data. It becomes.

The following invention according to claim 13 of the present invention provides:
Board operating means for controlling the operation of the board, a head for mounting components on the board, the operation of which is controlled by the board operating means, a cam connected to the head via connecting means, and cam rotation of the cam A driving unit, a rotation angle detection unit that detects a rotation angle and a detection cycle of the cam, an angle storage unit that stores angle data from the rotation angle detection unit, and an angle determination unit connected to the angle storage unit. Control means for controlling at least one of the substrate operation means and the cam rotation drive means based on data from the angle determination means, wherein the angle determination means includes current angle data stored in the angle storage means The comparison is made based on the previous angle data. At this comparison, the difference between the previous angle data and the current and previous angle data is added to the current angle data. If this comparison value is different, re-detect the current angle data again within the detection cycle of the current angle data, and re-compare this re-detected current angle data with the previous angle data, If the recomparison values are different, the component mounting machine is configured to supply data to the control unit to stop the operation of at least one of the board operation unit and the cam rotation driving unit.

That is, a comparison is made based on the current angle data and the previous angle data. At the time of this comparison, the current angle data obtained by adding the difference between the current and previous angle data to the previous angle data is compared with the current angle data. If the comparison value is different, the current angle data is re-detected within the current angle data detection cycle, and the re-detected current angle data is compared with the previous angle data again. However, if the recomparison value is different, data for stopping the operation of at least one of the board operating means and the cam driving means is supplied to the control means, so that a malfunction as a component mounter due to external noise can be prevented. However, if an abnormality is found in the current angle data, re-detection of the current angle data within the detection cycle again prevents inadvertent stop operation. It is those that can.

Next, the invention described in claim 14 of the present invention is:
14. The component mounting machine according to claim 13, wherein the angle data difference between the current time and the previous time is set to 1, and by setting the angle data difference to 1, quick calculation processing can be performed without lowering the calculation speed for the angle. Even when the angle data difference is 1 degree, in the case where the operation is controlled by the cam, there is little influence on a substantially large operation.

Next, the invention described in claim 15 of the present invention is:
Output storage means is interposed between the angle determination means and the control means, and the output storage means has output data for each angle and supplies output data corresponding to the angle data from the angle determination means to the control means. 15. The component mounting machine according to claim 13 or 14, wherein output data corresponding to the angle data given from the angle determination means is prepared in advance in the output storage means, so that Data for performing an operation corresponding to the given angle data can be immediately supplied to the control means, and as a result, the control means can perform a quick operation corresponding to the detected angle data. It becomes.

An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, reference numeral 1 denotes a head.
Are controlled by the cams 2, 3, and 4, respectively. Specifically, the cam 2 controls the vertical movement of the head 1, the cam 3 drives the head 1 left and right, and the cam 4 opens and closes the head 1. That is, the head 1 is mounted on a substrate 6 provided below the component 5 while holding the component 5 from both sides. The substrate 6 is positioned by an X-direction driving unit 7 and a Y-direction driving unit 8 used as an example of the substrate operation unit.

Reference numeral 9 denotes a through hole 10 provided in the substrate 6.
, And is moved up and down to receive the lead terminal 11 of the component 5.
The cam 12 moves up and down. These cams 2, 3, 4, and 12 are rotated by a motor 13 used as an example of a cam rotation driving unit.

That is, the power of the motor 13 is transmitted to the pulleys 14 and 15, and thereafter, the power transmission means 1
Each of them is driven to rotate via 6 and 17. In such a case, a rotation angle detecting means 19 is connected to a shaft 18 that penetrates a central portion of the cam 12. This rotation angle detecting means 1
Reference numeral 9 denotes a rotary encoder or the like, whose resolution is once every time in the present embodiment.

That is, data from 0 to 359 degrees is detected.

The rotation angle detecting means 19 includes a shaft 18
The power transmission means 16 is connected to the power transmission means 16 via a shaft 20 and the power transmission means 1.
The shaft 21 is connected to the shaft 21 and the cams 2, 3, and 4 are connected to the shaft 21. Therefore, only by detecting the rotation angle of one shaft 18, all the cams 2,
This can be realized in a state equivalent to detecting the rotation angles of 3, 4, and 12.

The angle detected by the rotation angle detecting means 19 is stored in the angle storing means 22 each time. As shown in FIG. 2, the angle storage means 22 stores the current data (n), the previous data (n-1), and the data (n-2) two times before the current data. The data (n) and the previous data (n-1) are compared by the angle determination means 23, and a determination is made based on the comparison.

The determination operation will be described with reference to FIG. 2. First, the first determination by the angle determination means 23 is performed by the first determination 24 in FIG. That is, in this determination, the current angle data (n) is compared with the previous angle data (n-1) obtained by adding 1 degree, and if the comparison value is correct, it is determined that it is correct as in block 25, and thereafter, Will be performed.

However, if the comparison value is NO, then the data obtained by twice the angle difference of 1 to the data of the previous two times, that is, the data obtained by adding 2 degrees, is compared with the current data. Is correct, block 2
5, and if the comparison values are different, an error is determined as in block 26.
To the motor 13 and the driving means 7,
8 is stopped. If it is determined in block 25 that the detected angle is correct, the determination data is transmitted to the output storage unit 29. As shown in FIG. 4, the output storage means 29 stores in advance what data is to be output corresponding to 0 to 359 degrees with respect to the control targets of channels 1 to 64, respectively. Means 27, whereby the control means 27
Controls the control targets 1 to 64.

The channels 1 to 64 in FIG.
Indicates the respective targets for operation control in the original component mounter. One of the channels 1 to 64 is the motor 13 and the driving means 7 and 8 described above.

FIG. 3 shows a state in which angle data is generated by the angle detecting means 19, and illustrates a state in which external noise is incident at a point Q in FIG.
That is, when the external noise occurs at the point Q in this manner, the data up to that point becomes, for example, data sinking downward in FIG. 3, and as a result, the digital values “1” and “0” are obtained. Is significantly shifted by the angle determination means 23 performed using FIG. 2 described above.

Next, another embodiment of the present invention will be described with reference to the accompanying drawings.

The operation of determining the angle data stored in the angle storage means 22 will be described with reference to FIG.
The first determination by the angle determination means 23 is the first determination in FIG.
The determination 30 is made. That is, in this determination, the current angle data (n) is compared with the previous angle data (n-1) obtained by adding 1 degree, and if the comparison value is correct, it is determined that it is correct as in block 31. If the comparison value is NO, then the angle data (n−2) obtained by multiplying the angle data (n−2) by twice the angle difference, that is, by adding 2 degrees, The comparison of the current angle data (n) is performed in the second determination 32. If this data is correct, this angle data (n) is correct,
The subsequent operation is performed as determined in block 31.

At this time, if the comparison value is NO, a comparison is made by adding the angle data (n−1) of the previous time and the angle data (n−2) of the previous time one time to the third determination 33. .

If the comparison value is correct, the current angle data (n) is determined by adding the angle data (n-1) one time to the previous angle data (n-1) and the current angle data (n) in the block 34. However, if the comparison values are different, it is determined that an error has occurred as in block 35, and the error information is transmitted to the control means 27, whereby the operations of the motor 13 and the driving means 7, 8 are controlled. It is designed to stop.

When it is determined or determined in the blocks 31 and 34 that the detected angle is correct, the determination data is transmitted to the output storage means 29.

Next, still another embodiment of the present invention will be described with reference to the accompanying drawings.

The operation of determining the angle data stored in the angle storage means 22 will be described with reference to FIG.
The first determination by the angle determination means 23 is the first determination in FIG.
The determination 36 is made.

That is, in this determination, the current angle data (n) is compared with the previous angle data (n-1) obtained by adding 1 degree, and if the comparison value is correct, it is determined that it is correct as in block 37. Then, the subsequent operation is performed. When the comparison value is NO, when the current angle data (n) is the data at the point Q in FIG. 3, the time between the point R and the point Q in FIG. ,
The angle at the point S in FIG. 3 obtained by adding the time at the point Q to the value of the half of the detection cycle stored in advance in the block 39 is detected again as the current angle data (n) as in the block 40. .

The angle data (n) of this time and the angle data (n−1) of the previous time added by one degree are used for a second judgment 4.
If the comparison value is correct, it is determined that it is correct, as in block 37, and the subsequent operation proceeds. If the comparison value is different, it is determined as an error, as in block 42. The error information is transmitted to the control unit 2
7 to stop the operation of the motor 13 and the driving means 7 and 8. And
If it is determined in block 37 that the detected angle is correct, the determination data is transmitted to the output storage unit 29.

[0052]

As described above, according to the present invention, there are provided a board operating means for controlling the operation of a board, a head for mounting components on the board, the operation of which is controlled by the board operating means,
A cam connected to the head via a connecting means, a cam rotation driving means of the cam, a rotation angle detection means of the cam, an angle storage means for storing angle data from the rotation angle detection means, An angle determination unit connected to a storage unit; and a control unit that controls at least one of the substrate operation unit and the cam rotation driving unit based on data from the angle determination unit. The current angle data and the previous angle data stored in the means are compared with each other. At this time, the current angle data obtained by adding the difference between the current and previous angle data to the previous angle data and the current angle data If the comparison value is different, data for stopping the operation of at least one of the substrate operation unit and the cam rotation driving unit is supplied to the control unit. It is.

That is, in the present invention, the angle storage means for storing the angle data from the rotation angle detection means and the angle determination means connected to the angle storage means are newly added. The current angle data stored in the angle storage means is compared with the previous angle data. At the time of this comparison, the difference between the current angle data and the previous angle data is added to the previous angle data. Is compared with the current angle data. For example, if the angle data obtained this time shows incorrect angle data due to noise, the previous angle data When comparing the angle data that is expected to be the angle data and the incorrect angle data of this time, the comparison value is naturally different, and as a result To, and configured to supply to the control means data for stopping the operation of at least one of the substrate operation means and cam rotation driving means, in which a malfunction due to external noise is less likely to occur.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2 is an operation flowchart of an embodiment of the present invention.

FIG. 3 is a diagram showing an operation state of a rotation angle detection unit.

FIG. 4 is a diagram showing data of an output storage unit;

FIG. 5 is a flowchart of another embodiment of the present invention.

FIG. 6 is a flowchart of still another embodiment of the present invention.

FIG. 7 is a flowchart showing the operation state;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Head 2,3,4 Cam 5 Parts 6 Substrate 7 Driving means 8 Driving means 9 Support body 10 Through hole 11 Lead terminal 12 Cam 13 Motor 14,15 Pulley 16,17 Power transmission means 18 Shaft 19 Rotation angle detecting means 20 Shaft Reference Signs List 21 shaft 22 angle storage means 23 angle determination means 24 first determination 25 block 26 block 27 control means 28 second determination 29 output storage means 30 first determination 31 block 32 second determination 33 third determination 34 block 35 block 36 first judgment 37 block 38 block 39 block 40 block 41 second judgment 42 block

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Jun Fujikawa 1006 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. F-term (reference) 5E313 AA01 AA07 AA11 EE02 EE03 EE23 FF24 FF28

Claims (15)

[Claims] A substrate operating means for controlling the operation of the substrate;
A head for mounting components on the board, the operation of which is controlled by the board operating means, a cam connected to the head via a connecting means, a cam rotation driving means for the cam, and a rotation angle detecting means for the cam Angle storage means for storing angle data from the rotation angle detection means; angle determination means connected to the angle storage means; and data from the substrate operation means and cam rotation drive means based on data from the angle determination means. Control means for performing at least one control, wherein the angle determination means performs a comparison based on current angle data and previous angle data stored in the angle storage means. The data obtained by adding the difference between the current and previous angle data to the angle data is compared with the current angle data. If the comparison value is different, the substrate operating means and the cam rotation driving mechanism are compared. Mounter data to stop at least one of operation and the structure for supplying to the control means. 2. The component mounting machine according to claim 1, wherein a difference between the current and previous angle data is set to 1. 3. An output storage means is interposed between the angle determination means and the control means. The output storage means has output data for each angle, and outputs output data corresponding to the angle data from the angle determination means. The component mounter according to claim 1, wherein the component mounter is configured to supply the component mounter to a controller. 4. Substrate operating means for controlling operation of the substrate;
A head for mounting components on the board, the operation of which is controlled by the board operating means, a cam connected to the head via a connecting means, a cam rotation driving means for the cam, and a rotation angle detecting means for the cam Angle storage means for storing angle data from the rotation angle detection means; angle determination means connected to the angle storage means; and data from the substrate operation means and cam rotation drive means based on data from the angle determination means. Control means for performing at least one control, wherein the angle determination means performs a comparison based on current angle data and previous angle data stored in the angle storage means. The angle data obtained by adding the difference between the current and previous angle data to the current angle data is compared. If the comparison value is different, the angle data obtained two times before is added to the angle data. The data obtained by doubling the data difference is compared with the current angle data. If the difference is different, data for stopping the operation of at least one of the substrate operating means and the cam rotation driving means is supplied to the control means. Component mounting machine. 5. The component mounting machine according to claim 4, wherein a difference between the current and previous angle data is set to 1. 6. An output storage means is interposed between the angle determination means and the control means. The output storage means has output data for each angle, and outputs output data corresponding to the angle data from the angle determination means. The component mounter according to claim 4, wherein the component mounter is configured to supply the component mounter to a controller. 7. A substrate operation means for controlling operation of the substrate,
A head for mounting components on the board, the operation of which is controlled by the board operating means, a cam connected to the head via a connecting means, a cam rotation driving means for the cam, and a rotation angle detecting means for the cam Angle storage means for storing angle data from the rotation angle detection means; angle determination means connected to the angle storage means; and data from the substrate operation means and cam rotation drive means based on data from the angle determination means. Control means for performing at least one control, wherein the angle determination means performs a comparison based on current angle data and previous angle data stored in the angle storage means. The angle data obtained by adding the difference between the current and previous angle data to the current angle data is compared. If the comparison value is different, the angle data obtained two times before is added to the angle data. Data obtained by adding the data difference twice and the current angle data are compared. If the comparison value is different, the previous angle data and the data obtained by adding the angle difference to the previous two-time angle data are compared. A component mounter configured to compare and, if the comparison values are equal, the current angle data obtained by adding the angle difference to the previous angle data. 8. The component mounting machine according to claim 7, wherein a difference between the current and previous angle data is set to 1. 9. An output storage means is interposed between the angle determination means and the control means, the output storage means having output data for each angle, and outputting output data corresponding to the angle data from the angle determination means. 9. The component mounter according to claim 7, wherein the component mounter is configured to supply the component mounter to a controller. 10. A board operating means for controlling the operation of the board, a head for mounting components on the board, the operation of which is controlled by the board operating means, and a cam connected to the head via connecting means, Cam rotation driving means for the cam, rotation angle detection means for the cam, angle storage means for storing angle data from the rotation angle detection means, angle determination means connected to the angle storage means, Control means for controlling at least one of the substrate operation means and the cam rotation drive means based on data from the determination means, wherein the angle determination means stores the current angle data and the previous angle data stored in the angle storage means. The comparison is made based on the data, and during this comparison, the previous angle data
The difference between the current and previous angle data is compared with the current angle data.If the comparison value is different, the angle data obtained by doubling the angle data difference to the previous two-time angle data is added. Compare this angle data with the current angle data, and if the comparison value is different, compare the previous angle data with the angle data of the previous two times plus the angle difference, and if the comparison values are equal, return to the previous angle data The component mounting configured to supply the control unit with data for stopping the operation of at least one of the substrate operation unit and the cam rotation driving unit if the comparison value differs by adding the angle difference to the current angle data. Machine. 11. The component mounting machine according to claim 10, wherein a difference between the current and previous angle data is set to 1. 12. An output storage means is interposed between the angle determination means and the control means. The output storage means has output data for each angle and outputs output data corresponding to the angle data from the angle determination means. The component mounter according to claim 10, wherein the component mounter is configured to supply the component mounter to a controller. 13. A board operating means for controlling the operation of the board, a head for mounting components on the board, the operation of which is controlled by the board operating means, and a cam connected to the head through a connecting means. A cam rotation driving means for the cam, a rotation angle detection means for detecting a rotation angle and a detection cycle of the cam, an angle storage means for storing angle data from the rotation angle detection means, and an angle storage means connected to the angle storage means. Angle determination means, and control means for controlling at least one of the substrate operation means and the cam rotation drive means based on data from the angle determination means, wherein the angle determination means is stored in the angle storage means. The current angle data is compared with the previous angle data, and the comparison is based on the previous angle data plus the difference between the current and previous angle data. If the comparison value is different, the current angle data is re-detected within the current angle data detection cycle, and the re-detected current angle data and the previous angle data are compared. A component mounter configured to re-compare, and to supply to the control means data for stopping the operation of at least one of the board operation means and the cam rotation driving means if the re-comparison value is different. 14. The component mounting machine according to claim 13, wherein a difference between the current and previous angle data is set to 1. 15. An output storage means is interposed between the angle determination means and the control means. The output storage means has output data for each angle, and outputs output data corresponding to the angle data from the angle determination means. 15. The component mounter according to claim 13, wherein the component mounter is configured to supply the component mounter to a controller.