WO2021084734A1 - Dispositif de conversion de protocole et machine de travail - Google Patents

Dispositif de conversion de protocole et machine de travail Download PDF

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Publication number
WO2021084734A1
WO2021084734A1 PCT/JP2019/043007 JP2019043007W WO2021084734A1 WO 2021084734 A1 WO2021084734 A1 WO 2021084734A1 JP 2019043007 W JP2019043007 W JP 2019043007W WO 2021084734 A1 WO2021084734 A1 WO 2021084734A1
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WIPO (PCT)
Prior art keywords
data
communication
protocol
interface
communication protocol
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PCT/JP2019/043007
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English (en)
Japanese (ja)
Inventor
伸夫 長坂
憲司 渡邉
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2021554023A priority Critical patent/JP7279182B2/ja
Priority to PCT/JP2019/043007 priority patent/WO2021084734A1/fr
Publication of WO2021084734A1 publication Critical patent/WO2021084734A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/40—Network security protocols

Definitions

  • the present disclosure relates to a protocol conversion device that converts a communication protocol and a working machine including the protocol conversion device.
  • Patent Document 1 describes a technique relating to a processing plant that performs petroleum processing or chemical processing.
  • the processing plant of Patent Document 1 analyzes big data input / output by switches, sensors, controllers and the like used in the processing plant.
  • the processing plant is connected to other processing plants via a gateway to send and receive big data.
  • the gateway converts the communication protocol between different processing plants to send and receive data.
  • a protocol conversion device such as the gateway described above, it is possible to connect two devices having different communication protocols, for example, the first device and the second device.
  • the information not supported by the communication protocol of the second device may be discarded without being converted by the protocol conversion device.
  • the problem is that the information is lost.
  • This disclosure has been made in view of the above problems, and even if the information to be converted into a protocol includes information that is not supported by the communication protocol after conversion, that information is output to another device. It is an object of the present invention to provide a protocol conversion device and a working machine capable of providing the same.
  • the first interface for inputting the data of the first communication protocol from the device to be converted and the data of the first communication protocol input by the first interface are secondly communicated. It is included in the conversion processing unit that converts to protocol data, the second interface that outputs the data of the second communication protocol after conversion by the conversion processing unit, and the data of the first communication protocol before conversion.
  • a protocol conversion device including a third interface for outputting unconverted information, which is information not included in the data of the second communication protocol after being converted by the conversion processing unit, is disclosed.
  • the content of the present disclosure is useful not only as a protocol conversion device but also as a working machine equipped with a protocol conversion device.
  • unconverted information that is not converted by the protocol conversion of the conversion processing unit can be output from the third interface. Therefore, even if the information not supported by the second communication protocol is included in the data of the first communication protocol, the information can be transferred to the device connected to the third interface as unconverted information.
  • FIG. 1 is a plan view showing a schematic configuration of the component mounting system 10 of the present embodiment.
  • FIG. 2 is a perspective view showing a schematic configuration of the component mounting machine 20 and the loader 13.
  • the left-right direction of FIG. 1 will be referred to as the X direction
  • the vertical direction (front-back direction) will be referred to as the Y direction
  • the X direction and the direction perpendicular to the Y direction will be referred to as the Z direction.
  • the component mounting system 10 includes a production line 11, a loader 13, and a management computer 15.
  • the production line 11 has a plurality of component mounting machines 20 arranged in the X direction, and mounts electronic components on the substrate 17.
  • the substrate 17 is carried out from the component mounting machine 20 on the left side shown in FIG. 1 to the component mounting machine 20 on the right side, and electronic components are mounted during the transportation.
  • the component mounting machine 20 includes an apparatus main body portion 21, a substrate transport device 22, a feeder base 23, a head portion 25, and a head moving mechanism 27.
  • the substrate transfer device 22 is provided on the upper portion of the device main body 21, and conveys the substrate 17 in the X direction.
  • the feeder table 23 is provided on the front surface of the device main body 21, and is an L-shaped table when viewed from the side.
  • the feeder base 23 includes slots (not shown) arranged in a plurality of X directions.
  • a feeder 29 for supplying electronic components is mounted in each slot of the feeder base 23.
  • the feeder 29 is, for example, a tape feeder that supplies electronic components from a tape that houses the electronic components at a predetermined pitch.
  • the head portion 25 includes a suction nozzle (not shown) that sucks the electronic component supplied from the feeder 29, and mounts the electronic component sucked by the suction nozzle on the substrate 17.
  • the head moving mechanism 27 moves the head portion 25 to arbitrary positions in the X direction and the Y direction on the apparatus main body portion 21. More specifically, the head moving mechanism 27 includes an X-axis slide mechanism 27A that moves the head portion 25 in the X direction and a Y-axis slide mechanism 27B that moves the head portion 25 in the Y direction.
  • the X-axis slide mechanism 27A is attached to the Y-axis slide mechanism 27B.
  • the Y-axis slide mechanism 27B has a Y-axis linear motor 41 (FIG. 3) as a drive source.
  • the X-axis slide mechanism 27A moves to an arbitrary position in the Y direction based on the drive of the Y-axis linear motor 41. Further, the X-axis slide mechanism 27A has an X-axis linear motor 43 (FIG. 3) as a drive source.
  • the head portion 25 is attached to the X-axis slide mechanism 27A and moves to an arbitrary position in the X direction based on the drive of the X-axis linear motor 43. Therefore, the head portion 25 moves to an arbitrary position on the apparatus main body portion 21 as the X-axis slide mechanism 27A and the Y-axis slide mechanism 27B are driven.
  • the head portion 25 is attached to the X-axis slide mechanism 27A via a connector and can be attached and detached with one touch, and can be changed to a different type of head portion 25, for example, a dispenser head or the like. Therefore, the head portion 25 of the present embodiment is removable from the device main body portion 21. Further, the head portion 25 includes a plurality of rotary servomotors 51 (see FIG. 3) as a drive source for driving the suction nozzle. By driving the rotary servomotor 51, the head portion 25 rotates the suction nozzles around the Z-axis, moves them up and down in the Z-axis direction, replaces the positions of the plurality of suction nozzles, and the like.
  • a mark camera for photographing the substrate 17 and a parts camera (not shown) for photographing electronic parts sucked and held by the suction nozzle are fixed to the head portion 25.
  • the controller 45 (see FIG. 3) of the device main body 21 processes the image of the mark camera and acquires information about the board 17, an error in the mounting position, and the like. Further, the controller 45 processes the image of the parts camera and acquires an error of the holding position of the electronic component in the suction nozzle.
  • the configuration of the head portion 25 described above is an example.
  • the head portion 25 may include various sensors, relays, switches, and the like in addition to or in place of an imaging device such as a mark camera.
  • an upper guide rail 31, a lower guide rail 33, a rack gear 35, and a non-contact power feeding coil 37 are provided on the front surface of the component mounting machine 20.
  • the upper guide rail 31 is a rail having a U-shaped cross section extending in the X direction, and the opening faces downward.
  • the lower guide rail 33 is a rail having an L-shaped cross section extending in the X direction, a vertical surface is attached to the front surface of the component mounting machine 20, and a horizontal plane extends forward.
  • the rack gear 35 is a gear provided in the lower part of the lower guide rail 33, extending in the X direction, and having a plurality of vertical grooves engraved on the front surface.
  • the upper guide rail 31, lower guide rail 33, and rack gear 35 of the component mounting machine 20 can be detachably connected to the upper guide rail 31, lower guide rail 33, and rack gear 35 of the adjacent component mounting machine 20. Therefore, the component mounting machine 20 can increase or decrease the number of the component mounting machines 20 lined up on the production line 11.
  • the non-contact power feeding coil 37 is a coil provided above the upper guide rail 31 and arranged along the X direction, and supplies electric power to the loader 13.
  • the loader 13 is a device that automatically replenishes and collects the feeder 29 from the component mounting machine 20, and includes a grip portion (not shown) that clamps the feeder 29.
  • the loader 13 is provided with an upper roller (not shown) inserted into the upper guide rail 31 and a lower roller (not shown) inserted into the lower guide rail 33. Further, the loader 13 is provided with a motor as a drive source. A gear that meshes with the rack gear 35 is attached to the output shaft of the motor.
  • the loader 13 includes a power receiving coil that receives power from the non-contact power feeding coil 37 of the component mounting machine 20. The loader 13 supplies the electric power received from the non-contact power feeding coil 37 to the motor.
  • the loader 13 can move in the X direction (left-right direction) by rotating the gear with the motor. Further, the loader 13 can rotate the rollers in the upper guide rail 31 and the lower guide rail 33 and move in the X direction while maintaining the positions in the vertical direction and the front-rear direction.
  • the management computer 15 shown in FIG. 1 is a device that comprehensively manages the component mounting system 10.
  • the component mounting machine 20 of the production line 11 starts the electronic component mounting work based on the management of the management computer 15.
  • the component mounting machine 20 performs mounting work of electronic components by the head portion 25 while transporting the substrate 17.
  • the management computer 15 also monitors the number of remaining electronic components in the feeder 29.
  • the management computer 15 determines that the feeder 29 needs to be replenished, for example, the management computer 15 displays an instruction on the screen for setting the feeder 29 containing the parts type that needs to be replenished in the loader 13. The user confirms the screen and sets the feeder 29 in the loader 13.
  • the management computer 15 When the management computer 15 detects that the desired feeder 29 is set in the loader 13, the management computer 15 instructs the loader 13 to start the replenishment work.
  • the loader 13 moves to the front of the component mounting machine 20 instructed, sandwiches the feeder 29 set by the user with the grip portion, and mounts the feeder 29 in the slot of the feeder base 23.
  • a new feeder 29 is replenished to the component mounting machine 20.
  • the loader 13 holds the feeder 29, which has run out of parts, between the gripping portions and pulls it out from the feeder base 23 to collect it. In this way, the loader 13 can automatically replenish the new feeder 29 and collect the out-of-parts feeder 29.
  • FIG. 3 is a block diagram showing a configuration of a multiplex communication system applied to the component mounting machine 20.
  • the device main body 21 of the component mounting machine 20 is fixedly provided at a place where the component mounting machine 20 is installed.
  • the X-axis slide mechanism 27A, the Y-axis slide mechanism 27B, and the head portion 25 described above are provided in the head moving mechanism 27 that is relatively movable with respect to the device main body portion 21, and the Y-axis linear motor 41 and the X-axis described above are provided.
  • a linear motor 43 for use, a plurality of rotary servomotors 51, and the like are provided.
  • the apparatus main body 21 includes a controller 45, a Y-axis linear servo amplifier 46, an X-axis linear servo amplifier 47, and a multi-axis rotary servo amplifier 48.
  • the component mounting machine 20 operates the head portion 25 and the like based on the control of the controller 45 to mount the electronic components on the substrate 17.
  • the controller 45 is mainly composed of a computer equipped with a CPU, RAM, and the like.
  • the controller 45 is a slave circuit of a Y-axis linear servo amplifier 46, an X-axis linear servo amplifier 47, and a multi-axis rotary servo amplifier 48 (hereinafter, may be referred to as amplifiers 46, 47, 49) by means of a field network cable 53. (Not shown) is connected.
  • the field network referred to here is, for example, an industrial network such as MECHATROLINK (registered trademark) -III, in which the controller 45 serves as the master and constructs a network for transmitting and receiving data to and from the slave circuits of the amplifiers 46 to 48.
  • the purpose is to reduce the cost of network construction by realizing the integration (reduction) of wiring.
  • Each of the amplifiers 46 to 48 is connected to the multiplexing communication device 57 by the encoder cable 55.
  • the multiplex communication device 57 provided in the device main body 21 is connected to the multiplex communication device 59 provided in the head moving mechanism 27 by a multiplex communication cable 60.
  • the multiplex communication cable 60 is, for example, a LAN cable compliant with the communication standard of Gigabit Ethernet (registered trademark) or a USB cable compliant with the communication standard of USB (Universal Serial Bus) 3.0.
  • the component mounting machine 20 uses the multiplexing communication device 59 to convert the encoder signals of each motor (Y-axis linear motor 41, X-axis linear motor 43, rotary servomotor 51) provided in the head moving mechanism 27 into frame data FRMD.
  • the multiplexing communication device 57 demultiplexes the received frame data FRMD and separates the encoder signals corresponding to each motor.
  • the multiplexing communication device 57 transmits the separated individual encoder signals to the corresponding amplifiers 46 to 48.
  • the controller 45 controls each motor of the head moving mechanism 27 via amplifiers 46 to 48.
  • the Y-axis linear servo amplifier 46 controls the Y-axis linear motor 41 of the head moving mechanism 27.
  • the head moving mechanism 27 is provided with a linear scale 61 that detects the position of the X-axis slide mechanism 27A that moves on the guide rail along the Y-axis direction in response to the drive of the Y-axis linear motor 41.
  • the linear scale 61 is connected to the protocol conversion device 65 via the encoder cable 63.
  • the linear scale 61 outputs an encoder signal such as the position (Y coordinate value) of the X-axis slide mechanism 27A in the Y-axis direction to the protocol conversion device 65 in response to the inquiry information received from the Y-axis linear servo amplifier 46, for example. To do.
  • the protocol conversion device 65 is connected to the multiplexing communication device 59 via an encoder cable 67.
  • the protocol conversion device 65 transmits the encoder signal of the linear scale 61 to the Y-axis linear servo amplifier 46 via the multiplexing communication devices 57 and 59.
  • the Y-axis linear servo amplifier 46 transfers the encoder signal received from the protocol conversion device 65 to the controller 45 via the field network cable 53.
  • the controller 45 determines the rotation position of the Y-axis linear motor 41 (moving position of the X-axis slide mechanism 27A in the Y-axis direction) based on the encoder signal of the linear scale 61, and determines the determined control content in the Y-axis linear. Notify the servo amplifier 46.
  • the Y-axis linear servo amplifier 46 is connected to the Y-axis linear motor 41 by a power line 69, for example, and can control the electric power supplied to the Y-axis linear motor 41.
  • the Y-axis linear servo amplifier 46 controls the electric power supplied to the Y-axis linear motor 41 based on the control content received from the controller 45, and controls the operation of the Y-axis linear motor 41.
  • the head moving mechanism 27 moves the X-axis slide mechanism 27A to an arbitrary position in the Y direction in response to the drive of the Y-axis linear motor 41.
  • the X-axis linear servo amplifier 47 controls the X-axis linear motor 43 of the head moving mechanism 27.
  • the head moving mechanism 27 is provided with a linear scale 71 that detects the position of the head portion 25 that moves on the guide rail along the X-axis direction in response to the drive of the X-axis linear motor 43.
  • the linear scale 71 is connected to the protocol conversion device 75 via an encoder cable 73.
  • the protocol conversion device 75 is connected to the multiplexing communication device 59 via an encoder cable 77.
  • the encoder signal of the linear scale 71 is output to the multiplexing communication device 59 via the protocol conversion device 75 and the encoder cable 77.
  • the X-axis linear servo amplifier 47 is connected to the X-axis linear motor 43 via a power line 79.
  • the controller 45 controls the electric power supplied from the X-axis linear servo amplifier 47 to the X-axis linear motor 43 based on the encoder signal of the linear scale 71, and controls the operation of the X-axis linear motor 43.
  • the head moving mechanism 27 moves the head portion 25 to an arbitrary position in the X direction in response to the drive of the X-axis linear motor 43.
  • the plurality of rotary type servomotors 51 (hereinafter, may be referred to as "servomotors”) have, for example, a plurality of output shafts corresponding to each rotary type servomotor 51, and the suction nozzle of the head portion 25 is Z. Move in the axial direction, rotate around the Z axis, etc.
  • the rotary encoder 81 provided in each of the plurality of rotary servomotors 51 outputs an encoder signal such as the rotation position of each rotary servomotor 51 to the multiplexing communication device 59 via the encoder cable 83.
  • the multi-axis rotary servo amplifier 48 controls each of the plurality of rotary servo motors 51 based on the encoder signals received via the multiplex communication devices 57 and 59.
  • the rotary type servomotor 51 is a servomotor driven by a three-phase AC having coils of U-phase, V-phase, and W-phase.
  • the coils of each phase of the rotary servomotor 51 are connected to the multi-axis rotary servo amplifier 48 via the power line 85.
  • the rotary servomotor 51 is driven by a three-phase alternating current supplied from the multi-axis rotary servo amplifier 48 through the power line 85.
  • the configuration of the multiplex communication system shown in FIG. 3 is an example.
  • the multiplex communication devices 57 and 59 may transmit and receive data of a camera (parts camera or the like), a sensor, a relay, a switch, etc. included in the head portion 25 by multiplexing the frame data FRMD.
  • the multiplex communication devices 57 and 59 may multiplex and transmit / receive only the data of the protocol conversion device 65 and the protocol conversion device 75.
  • the component mounting machine 20 may transmit and receive the data of the rotary encoder 81 on a line different from the multiplex communication.
  • the protocol conversion devices 65 and 75 included in the component mounting machine 20 of the present embodiment will be described.
  • the linear scales 61 and 71 of the present embodiment are connected to the multiplexing communication device 59 via the protocol conversion devices 65 and 75.
  • the protocol conversion devices 65 and 75 are devices that convert between the data communication protocol transmitted and received by the encoder cables 63 and 73 and the data communication protocol transmitted and received by the encoder cables 67 and 77.
  • the protocol conversion devices 65 and 75 have the same configuration as each other. Therefore, in the following description, the protocol conversion device 65 will be mainly described, and the description of the protocol conversion device 75 will be omitted as appropriate. Further, the same components of FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted as appropriate.
  • FIG. 4 shows the connection configuration of the protocol conversion device 65.
  • the protocol conversion device 65 is connected to the linear scale 61 via the encoder cable 63.
  • the protocol conversion device 65 includes a first interface 91 for connecting the encoder cable 63.
  • the first interface 91 is, for example, an interface for executing serial communication of the RS-485 communication standard.
  • the linear scale 61 transmits data to and from the protocol conversion device 65 by communication conforming to the first communication protocol CP1.
  • the first communication protocol CP1 is, for example, a communication protocol compliant with the communication standard of EnDat (registered trademark).
  • the linear scale 61 transmits and receives, for example, position information D1, error message D2, and diagnostic data D3 to and from the protocol conversion device 65 based on the data of the first communication protocol CP1.
  • the first communication protocol CP1 is not limited to EnDat (registered trademark), and may be another communication protocol that can be used with the linear scale 61.
  • the position information D1 is, for example, an encoder signal indicating a position (Y coordinate value) in the Y-axis direction detected by the linear scale 61.
  • the error message D2 is, for example, an error message when an erroneous Y coordinate position is detected, a warning message when an operation exceeding the allowable range of the internal parameters of the linear scale 61 is detected, and the like.
  • the diagnostic data D3 is data that can diagnose (can be used for diagnosis) the operating state of the linear scale 61 and the Y-axis linear motor 41.
  • the diagnostic data D3 is, for example, a value that evaluates the operation of the head of the linearly moving linear scale 61 scanning the scale (read portion), a value that evaluates the gap between the linear head and the scale, and the like.
  • the protocol conversion device 65 is connected to the Y-axis linear servo amplifier 46 via the encoder cable 94.
  • the encoder cable 94 is a representation of a communication line including the encoder cable 67 shown in FIG. 3, multiplex communication (multiplex communication devices 57, 59), and encoder cable 55.
  • the protocol conversion device 65 includes a second interface 93 for connecting the encoder cable 94 (the encoder cable 67 in the configuration of FIG. 3).
  • the second interface 93 is, for example, an interface for executing serial communication of the RS-485 communication standard.
  • the protocol conversion device 65 transmits data to and from the Y-axis linear servo amplifier 46 by communication conforming to the second communication protocol CP2.
  • the second communication protocol CP2 is a communication protocol that can be used in the Y-axis linear servo amplifier 46, and is a communication protocol different from the first communication protocol CP1 of the linear scale 61 (encoder cable 63).
  • the second communication protocol CP2 is, for example, a communication protocol conforming to the communication standard of ⁇ -LINK (registered trademark) -I.
  • the second communication protocol CP2 is not limited to ⁇ -LINK (registered trademark) -I, and may be another communication protocol that can be used in the servo amplifier.
  • the protocol conversion device 65 includes a conversion processing unit 95 as a processing circuit for converting a communication protocol.
  • the conversion processing unit 95 is, for example, a processing block constructed by a field programmable gate array (FPGA) 97.
  • the protocol conversion device 65 reads the configuration information from the ROM (not shown) included in the protocol conversion device 65 and constructs the processing block of the conversion processing unit 95.
  • the conversion processing unit 95 protocol-converts the data of the first communication protocol CP1 input from the first interface 91 into the data of the second communication protocol CP2, and outputs the data from the second interface 93.
  • the logic circuit for constructing the conversion processing unit 95 of the present disclosure is not limited to the FPGA 97, and may be another logic circuit such as a programmable logic device (PLD) or a composite programmable logic device (CPLD). Further, the conversion processing unit 95 is not limited to a logic circuit, and may be, for example, an integrated circuit (ASIC) for a specific application specialized in processing communication data. Further, the conversion processing unit 95 may execute the program on the CPU and execute the protocol conversion by software processing. Further, the conversion processing unit 95 may have a configuration in which a logic circuit, an ASIC, and software processing are combined.
  • PLD programmable logic device
  • CPLD composite programmable logic device
  • the Y-axis linear servo amplifier 46 of the present embodiment is manufactured by, for example, a manufacturer different from the manufacturer of the linear scale 61.
  • the types of data supported by the linear scale 61 (first communication protocol CP1) and the types of data supported by the Y-axis linear servo amplifier 46 (second communication protocol CP2) are different. In this case, information may be lost due to protocol conversion.
  • the Y-axis linear servo amplifier 46 uses, for example, diagnostic data D3 among the three data (position information D1, error message D2, and diagnostic data D3) included in the data of the first communication protocol CP1. Not supported. Therefore, even if the protocol conversion device 65 converts the diagnostic data D3 into a protocol, it cannot be output from the second interface 93, or even if it is output, the Y-axis linear servo amplifier 46 cannot be processed. The diagnostic data D3 may be lost by protocol conversion due to the difference in communication protocol.
  • the protocol conversion device 65 of the present embodiment includes a third interface 99 as an interface for outputting the diagnostic data D3 that may be lost due to the protocol conversion on another line.
  • the third interface 99 is connected to the controller 45 via the communication cable 101.
  • the protocol conversion device 65 transmits the diagnostic data D3 to the controller 45 via the third interface 99 and the communication cable 101.
  • the communication method for transmitting the diagnostic data D3 is not particularly limited, but for example, a communication method by communication of an industrial network can be adopted.
  • the industrial network referred to here is, for example, EtherCAT (registered trademark).
  • the industrial network of the present disclosure is not limited to EtherCAT (registered trademark), and other industrial networks (communication standards) such as MECHATROLINK (registered trademark) -III and Profinet (registered trademark) can be adopted.
  • the FPGA 97 includes, for example, an IP core that functions as a slave of EtherCAT (registered trademark), and can communicate with the master (not shown) of the controller 45 via the communication cable 101.
  • the FPGA 97 controls the slave, writes the diagnostic data D3 in the communication data writing area of EtherCAT (registered trademark), and transmits the diagnostic data D3 to the controller 45.
  • the controller 45 can perform control based on the diagnostic data D3 by reading the diagnostic data D3 from the communication data received by the master.
  • the communication cable 101 may have multiplex communication in which a part or all of the communication is via the multiplex communication devices 57 and 59.
  • the diagnostic data D3 may be multiplexed and transmitted to the frame data FRMD together with the position information D1, the error message D2, the signal of the rotary encoder 81, and the like.
  • the protocol conversion device 65 and the multiplexing communication device 59 are connected by a communication cable 101 to multiplex the diagnostic data D3.
  • the multiplexing communication device 57 may output the diagnostic data D3 separated from the frame data FRMD to the controller 45.
  • the communication for transmitting the diagnostic data D3 is not limited to the wired communication, and may be wireless communication.
  • FIG. 6 shows the connection configuration of the protocol conversion device 65 of the comparative example.
  • the protocol conversion device 65 does not have an interface for outputting the diagnostic data D3
  • the diagnostic data D3 is discarded by the protocol conversion device 65 or the like. Further, even if the diagnostic data D3 is output from the second interface 93, it will be discarded on the Y-axis linear servo amplifier 46 side. As a result, the protocol conversion causes the loss of diagnostic data D3, which is not supported by the second communication protocol CP2.
  • FIG. 7 shows the connection configuration of the second comparative example.
  • the linear scale 61 includes a processing circuit (eg, ASIC) capable of performing protocol conversion.
  • the linear scale 61 converts, for example, the data of the first communication protocol CP1 compliant with the communication standard of EnDat (registered trademark) into the second communication protocol CP2 compliant with the communication standard of ⁇ -LINK (registered trademark) -I. Then output to the encoder cable 94. Also in this case, there is no interface for outputting the diagnostic data D3, and the diagnostic data D3 is discarded on the linear scale 61. Further, even if the diagnostic data D3 is output from the linear scale 61, it will be discarded on the Y-axis linear servo amplifier 46 side.
  • the protocol conversion device 65 of the present embodiment converts the data of the first communication protocol CP1 (position information D1, error message D2) into the data of the second communication protocol CP2. Output to the Y-axis linear servo amplifier 46.
  • the Y-axis linear servo amplifier 46 transfers the power of the Y-axis linear motor 41 based on the position information D1 received from the linear scale 61 and the command input from the controller 45 via the field network cable 53. Can be controlled (feedback control, etc.). Further, the controller 45 can execute an error notification to the user based on the error message D2 input from the Y-axis linear servo amplifier 46 via the field network cable 53.
  • the operation display device 105 is connected to the controller 45 via the communication cable 103.
  • the communication cable 103 is, for example, a communication cable that performs communication conforming to the RS-232C standard.
  • the operation display device 105 is provided on the front surface of the device of the component mounting machine 20, for example, and includes a touch panel, an operation switch, and the like.
  • the controller 45 Based on the error message D2 input from the Y-axis linear servo amplifier 46, the controller 45 displays an error message for notifying the operation error of the Y-axis linear motor 41 and a warning message for notifying the abnormality of the detection position. It can be displayed on 105.
  • the protocol conversion device 65 transmits the diagnostic data D3, which may be lost by the protocol conversion, to the controller 45 via the industrial network (communication cable 101).
  • the controller 45 can determine the operating state of the linear scale 61 and the Y-axis linear motor 41 based on the diagnostic data D3, and can predict a failure based on the determination result. For example, when the controller 45 detects that the operation abnormality of the linear scale 61 or the Y-axis linear motor 41 is increasing based on the diagnostic data D3, or is predicted to increase (linear scale 61). (It is expected that a failure will occur), a message requesting maintenance and a message prompting the replacement of parts can be displayed on the operation display device 105.
  • the controller 45 detects that the gap between the linear head and the scale is fluctuating based on the diagnostic data D3, the controller 45 indicates that the width of the gap, the fixed state of the head, etc. should be confirmed. It may be displayed on the device 105. Further, when the controller 45 detects a decrease in sensitivity of the linear scale 61 (decrease in output value, etc.) based on the diagnostic data D3, the controller 45 displays on the operation display device 105 that the sensitivity should be adjusted. Is also good. As a result, the user can perform appropriate maintenance such as inspection, adjustment, and parts replacement of the linear scale 61 and the Y-axis linear motor 41. It is possible to prevent stopping due to an abnormal operation.
  • the diagnostic data D3 that diagnoses the operating state of the linear scale 61 is used as the unconverted information.
  • the operating state of the linear scale 61 can be determined by processing the diagnostic data D3 in the controller 45 connected to the third interface 99. It is possible to detect an operation abnormality of the linear scale 61, which could not be detected when the diagnostic data D3 was lost, based on the diagnostic data D3.
  • the content of the processing based on the above-mentioned diagnostic data D3 is an example.
  • the controller 45 may transmit the diagnostic data D3 to the management computer 15 shown in FIG. Further, the controller 45 may transmit the determination result based on the diagnostic data D3 to the management computer 15. Further, when the controller 45 detects a decrease in sensitivity based on the diagnostic data D3, the controller 45 may automatically adjust the sensitivity by changing the amplification factor of the amplifier included in the linear scale 61 or the like.
  • the types of protocols of the first communication protocol CP1 and the second communication protocol CP2 described above are examples, and various communication protocols capable of transmitting the encoder signal of the linear scale 61 can be adopted.
  • the content of data transmitted / received by the first communication protocol CP1 and the second communication protocol CP2 is also an example.
  • the unconverted information of the present disclosure is not limited to the diagnostic data D3. Therefore, any information that may be lost due to the difference between the first communication protocol CP1 and the second communication protocol CP2 and that can be utilized by a device other than the Y-axis linear servo amplifier 46 such as the controller 45 is disclosed in the present disclosure. It may be transmitted to the outside from the third interface 99 as unconverted information.
  • FIG. 5 shows a connection configuration of another example protocol conversion device 65A.
  • the protocol conversion device 65A may be provided in the controller 45.
  • the first interface 91 of the protocol conversion device 65A and the linear scale 61 may be connected to the encoder cable 63, that is, the linear scale 61 may be connected to the controller 45.
  • the encoder cable 63 may be a communication path via multiplex communication (multiplex communication devices 57, 59).
  • the linear scale 61 and the controller 45 may be directly connected by a communication cable conforming to the communication standard of EnDat (registered trademark).
  • the third interface 99 of the protocol conversion device 65A is connected to the CPU 107 included in the controller 45 via the communication bus 109.
  • the communication bus 109 is, for example, an Avalon® bus.
  • the CPU 107 can receive the diagnostic data D3 from the protocol conversion device 65A via the communication bus 109. Therefore, the communication line for transmitting the diagnostic data D3 is not limited to the wired communication cable 101 (see FIG. 4), but may be a CPU bus such as the communication bus 109. Also in this case, the controller 45 can determine the operating state of the linear scale 61 from the diagnostic data D3 received from the protocol conversion device 65A to the CPU 107.
  • an interface that outputs diagnostic data D3 can be adopted by communication via an industrial network or a bus. According to this, the diagnostic data D3 can be output to an external device and processed by the communication of the industrial network or the bus.
  • the component mounting machine 20 of the present embodiment includes protocol conversion devices 65 and 65A, and executes control based on the data (position information D1, error message D2) of the second communication protocol CP2 and the diagnostic data D3. According to this, while performing the work based on the data of the second communication protocol CP2, the diagnostic data D3 which is not supported by the device (Y-axis linear servo amplifier 46) connected to the second interface 93 is utilized. It is possible to execute processing such as determination of the operating state.
  • the component mounting machine 20 is connected to the third interface 99, inputs diagnostic data D3, predicts a failure of the linear scale 61 based on the input diagnostic data D3, and executes a response according to the predicted result.
  • the controller 45 is provided. According to this, the controller 45 connected to the third interface 99 can predict the failure of the linear scale 61 and take an appropriate response (prompting the replacement of the linear scale 61, etc.) according to the predicted result. For example, it is possible to give notice of a failure of the linear scale 61, control to prevent the failure (sensitivity adjustment, etc.), and notify specific measures to prevent the failure (confirmation of a gap, etc.).
  • the component mounting machine 20 is connected to the Y-axis linear motor 41, the linear scale 61, and the second interface 93, and is connected to the second interface 93, and the Y-axis linear is based on the linear scale signal (position information D1 or the like) detected by the linear scale 61. It includes a Y-axis linear servo amplifier 46 that controls the operation of the motor 41. According to this, communication between the linear scale 61 and the Y-axis linear servo amplifier 46 is performed while the protocol conversion device 65 converts the protocol. The diagnostic data D3 that is not converted by this protocol conversion is output from the protocol conversion device 65.
  • the protocol conversion device 65 diagnoses it. It can be output as data D3.
  • Information on the Y-axis linear motor 41 and the linear scale 61 can be detected and processed from the diagnostic data D3.
  • the protocol conversion device 65A shown in FIG. 5 may output an error message D2 to the CPU 107 via the communication bus 109, for example.
  • the controller 45 can execute processing based on the error message D2 (display processing of the operation display device 105, etc.).
  • the protocol conversion device 65A may output the error message D2 to the CPU 107 in the first communication protocol CP1 format, or may convert the error message D2 into the second communication protocol CP2 and then output the error message D2 to the CPU 107.
  • the protocol conversion device 65A is connected to the Y-axis linear servo amplifier 46 by the encoder cable 111 connected to the second interface 93.
  • the encoder cable 111 is, for example, a communication cable arranged in the device main body 21 (see FIG. 3) and connecting the controller 45 and the Y-axis linear servo amplifier 46.
  • the protocol conversion device 65A outputs the position information D1 converted to the second communication protocol CP2 to the Y-axis linear servo amplifier 46 via the encoder cable 111.
  • the Y-axis linear servo amplifier 46 can execute the control of the Y-axis linear motor 41 based on the position information D1.
  • the protocol conversion device 65A may convert the error message D2 into the data of the second communication protocol CP2 and output it to the Y-axis linear servo amplifier 46 via the encoder cable 111.
  • the parts mounting machine 20 is an example of a working machine.
  • the Y-axis linear motor 41 and the X-axis linear motor 43 are examples of linear motors.
  • the controller 45 is an example of a processing device.
  • the Y-axis linear servo amplifier 46 and the X-axis linear servo amplifier 47 are examples of servo amplifiers.
  • the linear scales 61 and 71 are examples of devices to be converted.
  • the diagnostic data D3 is an example of unconverted information.
  • the protocol conversion device 65 converts the data of the first interface 91 for inputting the data of the first communication protocol CP1 from the linear scale 61 and the data of the first communication protocol CP1 into the data of the second communication protocol CP2.
  • a conversion processing unit 95 for conversion is provided.
  • the protocol conversion device 65 outputs diagnostic data D3 that does not execute protocol conversion from the third interface 99 to the controller 45.
  • the protocol conversion device 65 converts the data of the first communication protocol CP1 input from the linear scale 61 to be converted into the data of the second communication protocol CP2 and outputs the data from the second interface 93. Further, the protocol conversion device 65 uses the third interface 99 to provide diagnostic data D3 that is included in the data of the first communication protocol CP1 before conversion but is not included in the data of the second communication protocol CP2 after conversion. Output from. As a result, the diagnostic data D3 that is not converted by the protocol conversion of the conversion processing unit 95 can be output from the third interface 99 to the controller 45. Therefore, even if the information not supported by the second communication protocol CP2 is included in the data of the first communication protocol CP1, the information can be transferred to the device connected to the third interface 99 as unconverted information.
  • the present disclosure is not limited to the above-described embodiment, and various improvements and changes can be made without departing from the spirit of the present disclosure.
  • the component mounting machine 20 does not have to be provided with a multiplex communication system (multiplex communication devices 57, 59, etc.).
  • the Y-axis linear servo amplifier 46 and the protocol conversion device 65, the X-axis linear servo amplifier 47 and the protocol conversion device 75, the multi-axis rotary servo amplifier 48 and the rotary encoder 81 may be connected by separate wired cables. ..
  • the linear scales 61 and 71 are adopted as the device to be converted in the present disclosure, but the present invention is not limited to this.
  • the rotary encoder 81 may be adopted as the device to be converted.
  • a protocol conversion device 65 is provided between the rotary encoder 81 and the multiplex communication device 59, and is supported by the first communication protocol CP1 of the rotary encoder 81, and is supported by the second communication protocol CP2 of the multi-axis rotary servo amplifier 48. Unsupported unconverted information may be transmitted to the controller 45.
  • a sensor, a camera, or the like may be adopted as the device to be converted, and the protocol conversion device 65 may be provided between the non-control target such as the sensor and the control device that controls the sensor or the like. Then, the protocol conversion device 65 may transfer unconverted information that is not supported by the control device to another device.
  • linear scales 61 and 71 and the rotary encoder 81 may be, for example, an encoder of a method of serially transmitting data such as position information (serial transmission method), and transmit pulses of each phase of A, B, and Z in parallel.
  • An encoder of a method parallel transmission method
  • the component mounting machine 20 for mounting electronic components on the substrate 17 has been described as an example of the working machine of the present disclosure, but the present invention is not limited to this.
  • the working machine for example, a solder printing device for applying solder to the substrate 17, a machine tool for cutting or the like, an articulated robot provided with an arm, or the like may be adopted.

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  • Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un dispositif de conversion de protocole et une machine de travail avec lesquels, même lorsque des informations sur lesquelles le protocole doit être converti contiennent des informations qui ne sont pas prises en charge par un protocole de communication converti, les informations peuvent être délivrées à un autre dispositif.　Le dispositif de conversion de protocole comprend : une première interface qui entre des données d'un premier protocole de communication à partir d'un dispositif à convertir ; une unité de traitement de conversion qui convertit les données du premier protocole de communication entrées par la première interface en données d'un second protocole de communication ; une seconde interface qui délivre en sortie les données du second protocole de communication qui ont été converties par l'unité de traitement de conversion ; et une troisième interface qui délivre des informations non converties qui sont des informations contenues dans les données du premier protocole de communication avant conversion et n'est pas contenue dans les données du second protocole de communication qui a été convertie par l'unité de traitement de conversion.
PCT/JP2019/043007 2019-11-01 2019-11-01 Dispositif de conversion de protocole et machine de travail WO2021084734A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008134774A (ja) * 2006-11-28 2008-06-12 Nec Corp プロトコル変換装置
WO2011033611A1 (fr) * 2009-09-15 2011-03-24 株式会社 東芝 Appareil de communication
JP2011228951A (ja) * 2010-04-20 2011-11-10 Nec Corp デジタル放送信号伝送システム、変換装置、変換装置の伝送回路、送信装置及び方法
JP2014068321A (ja) * 2012-09-27 2014-04-17 Nec Access Technica Ltd 転送装置、通信システム、転送方法およびプログラム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5086663B2 (ja) * 2007-02-28 2012-11-28 株式会社東芝 放送素材管理システム、およびその素材管理方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008134774A (ja) * 2006-11-28 2008-06-12 Nec Corp プロトコル変換装置
WO2011033611A1 (fr) * 2009-09-15 2011-03-24 株式会社 東芝 Appareil de communication
JP2011228951A (ja) * 2010-04-20 2011-11-10 Nec Corp デジタル放送信号伝送システム、変換装置、変換装置の伝送回路、送信装置及び方法
JP2014068321A (ja) * 2012-09-27 2014-04-17 Nec Access Technica Ltd 転送装置、通信システム、転送方法およびプログラム

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