Positioning control method and positioning control device, and electronic part mounting device using this

A positioning control device for controlling movement of a movable body (28) from an original position (P0) to a target position (P2) by individually driving a plurality of drive units (5M, 6M) for moving the movable body in direction orthogonal to each other while avoiding passing of the movable body through a passing avoiding region (PAR), comprising:

• a setting section (120) for setting an operation passing position (P1) that is a passing point in a middle of a travel route of the movable body for avoiding the passing avoiding region;
• a calculation section (121) for calculating a necessary driving time for each travel distance in each drive direction for moving the movable body from the original position to the operation passing position;
• and
• a command section (122) for outputting a command for starting driving of the drive unit having a smaller travel distance from the original position to the operation passing position, later than operation timing of the drive unit having a longer travel distance by a calculated difference of necessary times for driving the respective drive units.

A component mounting apparatus, comprising:

• a component feed unit (30, 32) for feeding components;
• a transfer head (28) for placing the component fed from the component feed unit on a circuit board (12);
• a plurality of drive units (5M, 6M) for driving in direction orthogonal to each other for moving the transfer head;
• and
• a positioning control device (60) for controlling movement of the transfer head from an original position to a target position (P2) by performing individual driving control of each of the drive units while avoiding passing of the transfer head through a passing avoiding region (PAR),
• wherein the positioning control device comprises:
• a setting section (120) for setting an operation passing position (P1) that is a passing point in a middle of a travel route of the movable body for avoiding the passing avoiding region;
• a calculation section (121) for calculating a necessary driving time for each travel distance in each drive direction for moving the movable body from the original position to the operation passing position;
• and
• a command section (122) for outputting a command for starting driving of the drive unit having a smaller travel distance from the original position to the operation passing position (P1), later than driving start timing of the drive unit having a longer travel distance by a calculated difference of necessary times for driving the respective drive units.