METHOD OF MINIMIZING MOVING TIME OF GANTRY IN SURFACE MOUNTING MACHINE

摘要

In the present invention, when the distance from the feeder pickup position to the camera for vision inspection is shorter than the distance of the Y axis (X Y) and the distance from the camera to the mounting position of the PCB is Y (Hereinafter referred to as sLb-camera-pRd path) that is longer than the distance of the axis (X Y). The method for minimizing the gantry driving time of the surface sealer according to the present invention comprises the steps of: inputting the sLb-camera-pRd path among the movement paths of the head by the head movement path input unit; Generating a velocity curve of the motion along the movement path of the head, generating a trajectory of motion along the movement path of the input head by the motion trajectory generation unit, and generating a velocity curve of the motion, And moving the head by adjusting the gantry by the gantry drive unit based on the locus; The velocity curve of the motion consists of a motion velocity curve of the X-axis and a motion velocity curve of the Y-axis; The motion velocity curve of the X axis,There is an equal deceleration section d and an equivalent speed section e between the component attraction position and the camera position and an equivalent speed section e, a constant speed section f, There is an equal deceleration section g; The motion velocity curve of the Y axis shows an equivalent velocity section (a) and a constant velocity section (b) between the component attraction position and the camera position, and a constant velocity section b ) And an equal deceleration period (c) exist; The trajectory of the motion includes a section (h) in which the X-axis distance is reversely moved between the component attraction position and the camera position (coordinates: 0, 0) and then moves in the forward direction. There is a slope reduction interval (i) between the positions.;