Method and program for obtaining positioning errors of printed-wiring board, and electronic-circuit-component mounting system

A program for obtaining positioning errors of a printed-wiring board on which components are to be mounted by a plurality of component mounting units each of which includes a mounting head, a head drive device operable to move the mounting head, and a recognition device, comprising:

• a board-positioning step of positioning said printed-wiring board relative to said plurality of component mounting units such that areas of movements of the mounting heads of said plurality of component mounting units cover respective parts of said printed-wiring board, in a direction of arrangements of said component mounting units;
• a recognition-result obtaining step of operating said recognition device of each of at least two of said plurality of component mounting units to recognize at least one of a plurality of fiducial portions of said printed-wiring board, which is recognizable by said recognition device, and obtaining information indicative of results of recognition of each of said at least one of said plurality of fiducial portions by said recognition devices of said at least two component mounting units;
• a specific-position obtaining step of obtaining specific positions of said each of said at least one of said plurality of fiducial portions, in respective coordinate systems respectively specific to said at least two component mounting units, on the basis of said results of recognition obtained in said recognition-result obtaining step;
• and
• a positioning-error obtaining step of obtaining positioning errors of said printed-wiring board relative to said specific coordinate systems of said plurality of component mounting units, on the basis of said specific positions of said each of said at least one of said plurality of fiducial portions, which specific positions have been obtained in said specific-position obtaining step.

A program for obtaining positioning errors of a printed-wiring board on which electronic circuit components are to be mounted by an electronic-circuit-component mounting system comprising (a) a plurality of component mounting units arranged along a straight line and including respective mounting heads and head drive devices operable to move the respective mounting heads, (b) a conveying device operable to transfer said printed-wiring board along said straight line and stop said printed-wiring board at a predetermined position relative to at least two units of said plurality of component mounting units such that areas of movement of the mounting heads of said at least two units cover respective parts of the printed-wiring board, (c) a plurality of individual control devices including respective computers and operable to control said plurality of component mounting units, respectively, and (d) a plurality of recognition devices respectively provided for said plurality of component mounting units and operable to recognize fiducial portions of said printed-wiring board stopped at said predetermined position, said program being executed by each of said computers and comprising:

• a positioning-error obtaining step of obtaining positioning errors of said printed-wiring board stopped at said predetermined position, with respect to a specific coordinate system specific to one of said at least two units, on the basis of a position of at least one of said fiducial portions of the printed-wiring board in said specific coordinate system for said one of said at least two units, and a position of at least one other of said fiducial portions in a specific coordinate system specific for another of said at least two units, said positions of said at least one and at least one other of said fiducial portions being obtained on the basis of results of recognition of said at least one and at least one other of said fiducial portions by the recognition devices corresponding to said one and another of said at least two units.

A program for mounting electronic circuit components on a printed-wiring board by an electronic-circuit-component mounting system comprising (a) a plurality of component mounting units arranged along a straight line and including respective mounting heads and head drive devices operable to move the respective mounting heads, (b) a conveying device operable to transfer said printed-wiring board along said straight line and stop said printed-wiring board at a predetermined position relative to at least two units of said plurality of component mounting units such that areas of movement of the mounting heads of said at least two units cover respective parts of the printed-wiring board, (c) a plurality of individual control devices including respective computers and operable to control said plurality of component mounting units, respectively, and (d) a plurality of recognition devices respectively provided for said plurality of component mounting units and operable to recognize fiducial portions of said printed-wiring board stopped at said predetermined position, said program being executed by each of said computers and comprising:

• a positioning-error obtaining step of obtaining positioning errors of said printed-wiring board stopped at said predetermined position, with respect to a specific coordinate system specific to one of said at least two units, on the basis of a position of at least one of said fiducial portions of the printed-wiring board in said specific coordinate system for said one of said at least two units, and a position of at least one other of said fiducial portions in a specific coordinate system specific for another of said at least two units, said positions of said at least one and at least one other of said fiducial portions being obtained on the basis of results of recognition of said at least one and at least one other of said fiducial portions by the recognition devices corresponding to said one and another of said at least two units;
• and
• a mounting controlling step of compensating a plurality of nominal mounting points of said electronic circuit components predetermined for a nominal printed-wiring board, for at least the positioning errors of said printed-wiring board obtained in said positioning-error obtaining step, and controlling said at least two units of said plurality of component mounting units to mount the electronic circuit components at the compensated nominal mounting points.

An electronic-circuit-component mounting system arranged to mount electronic circuit components on a printed-wiring board, comprising:

• a plurality of component mounting units arranged along a straight line and including respective mounting heads and head drive devices operable to move the respective mounting heads;
• a conveying device operable to transfer said printed-wiring board along said straight line and stop said printed-wiring board at a predetermined position relative to at least two units of said plurality of component mounting units such that areas of movement of the mounting heads of said at least two units cover respective parts of the printed-wiring board;
• a plurality of individual control devices including respective computers and operable to control said plurality of component mounting units, respectively;
• a plurality of recognition devices respectively provided for said plurality of component mounting units and operable to recognize fiducial portions of said printed-wiring board stopped at said predetermined position:
• a positioning-error obtaining device connected to said plurality of recognition devices, to obtain positioning errors of said printed-wiring board stopped at said predetermined position, with respect to a specific coordinate system specific to one of said at least two units, on the basis of a position of at least one of said fiducial portions of the printed-wiring board in said specific coordinate system for said one of said at least two units, and a position of at least one other of said fiducial portions in a specific coordinate system specific for another of said at least two units, said positions of said at least one and at least one other of said fiducial portions being obtained on the basis of results of recognition of said at least one and at least one other of said fiducial portions by the recognition devices corresponding to said one and another of said at least two units;
• and
• a compensating device operable to compensate a plurality of nominal mounting points of said electronic circuit components predetermined for a nominal printed-wiring board, for at least the positioning errors of said printed-wiring board obtained by said positioning-error obtaining device,
• and wherein at least two control devices of said at least two units of said plurality of component mounting units are operable to control said at least two units to mount the electronic circuit components at the nominal mounting points as compensated by said compensating device.