Component mounter and clamp control method

A clamp control method for use in a clamp device that includes a fixed side clamp member, a movable side clamp member, and a moving device configured to move up and down the movable side clamp member by driving of a motor, the clamp device being configured to sandwich and clamp the board from both sides by moving the movable side clamp member with the moving device and bringing the board conveyed by a conveyance device into contact with the fixed side clamp member, the method comprising:

• measuring a thickness of the board;
• and
• setting a target position of the movable side clamp member configured to move a contacting surface of the board to a contacted surface of the fixed side clamp member based on the measured thickness of the board, and driving and controlling the motor by position control such that a position of the movable side clamp member coincides with the target position.

A clamp control method for use in a clamp device that includes a fixed side clamp member, a movable side clamp member, and a moving device configured to move up and down the movable side clamp member by driving of a motor, the clamp device being configured to sandwich and clamp the board from both sides by moving the movable side clamp member with the moving device and bringing the board conveyed by a conveyance device into contact with the fixed side clamp member, the method comprising:

• measuring a thickness of the board;
• and
• setting a target position of the movable side clamp member configured to move a contacting surface of the board to a predetermined distance ahead of a contacted surface of the fixed side clamp member based on the measured thickness of the board, driving and controlling the motor by position control such that a position of the movable side clamp member coincides with the target position, and driving and controlling, in a case where the position of the movable side clamp member reaches the target position, the motor by torque control instead of the position control such that the board comes into contact with the fixed side clamp member with a constant torque.