JPH0793034A - Positioning control device and method for returning to origin of positioning control device - Google Patents

Abstract

(57) [Abstract] [Purpose] First and second drive systems having first and second motors as drive sources, and a two-phase pulse signal corresponding to the rotation amounts of the first and second motors. And the first and second encoders that respectively output the first and second timing signals at a predetermined timing according to the rotation of each output shaft of the motor, to improve the positioning accuracy of the positioning control device. It is a thing. [Structure] A first and a second encoder output a first and a second timing signal with respect to a deviation amount of timing of the first and second timing signals.
Alternatively, it is detected as a difference value between the count values of the second counter and the first
Alternatively, by offsetting the count value of the second counter by the difference value, the first and second movable bodies that move by the propulsive force provided by the first and second drive systems.
The origin position with respect to the drive system can be set to a predetermined state, and thus, the positioning control device and the origin returning method of the positioning control device that can improve the positioning accuracy can be realized.

Description

Detailed Description of the Invention

[0001]

[Table of Contents] The present invention will be described in the following order. Field of Industrial Application Conventional Technology (FIG. 6) Problem to be Solved by the Invention (FIG. 6) Means for Solving the Problem (FIGS. 1 to 5) Action (FIGS. 1 to 5) Example (1) Overall Configuration of Electronic Component Mounting Device Using the Present Invention (FIGS. 1 and 4) (2) Origin Return Method of Electronic Component Mounting Device (FIGS. 1 to 5) (3) Operation of Example (FIGS. 1 to 5) (4) Effects of Examples (FIGS. 1 to 5) (5) Other Examples (FIGS. 1 to 5) Effects of the Invention

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control device and a method for returning to the origin of the positioning control device. For example, two axes are arranged in parallel, and a load vertically attached to each axis drives the two axes (dual). The present invention is suitable for application to a positioning control device that performs positioning by driving and a method of returning to the origin of the positioning control device.

[0003]

2. Description of the Related Art Conventionally, as a positioning control device of this type,
For example, there is one configured as shown in FIG. That is, in the positioning control device 1, the pair of bases 2A arranged side by side
And 2B, the rod-shaped drive screws 4A and 4B forming the output shafts of the motors 3A and 3B are attached to the bases 2A and 2B.
The bridge members 5 are arranged so as to pass through through-holes (not shown) of the bridge members 5 that bridge the spaces between them, and the ends thereof are rotatably supported by the support members 6A and 6B.

In the bridge member 5, the internal threads 7A and 7B arranged so as to cover the through holes are respectively screwed with the drive screws 4A and 4B penetrating the through holes. Motors 3A and 3B
Is driven to rotate the drive screws 4A and 4B to move in the forward direction indicated by arrow a or in the reverse direction opposite thereto.

In this case, in each of the motors 3A and 3B, the drive screws 4A and 4B are rotated by a predetermined angle based on the control signals S1A and S1B supplied from the control circuit 8 through the cable, respectively. The member 5 is moved by an amount corresponding to the amount of rotation of the drive screws 4A and 4B.

By the way, in the positioning control device 1 of this type, normally, a reference position (hereinafter referred to as an origin position) before the movement of the bridge member 5 is set in advance, and the bridge member 5 is set with the origin position as a starting point. It is designed to be moved by a predetermined distance.

Therefore, this type of positioning control device 1 is usually used.
Then, for example, when the power of the entire apparatus 1 is turned on or a predetermined operation switch is operated, the control circuit 8 follows a predetermined program (hereinafter referred to as a first origin return processing procedure) input in advance. Then, the so-called origin returning work is performed to set the origin position of the bridge member 5.

That is, in the positioning control device 1 of this type, origin sensors 9A and 9B are provided at one end of each of the bases 2A and 2B in the longitudinal direction, and the origin sensors 9A and 9B are connected to the bridge member 5. The origin detection signals S2A and S2B are respectively sent to the control circuit 8 when has passed a predetermined position.

Further, each of the motors 3A and 3B has a two-phase pulse signal (not shown) corresponding to the rotation amount of each of the motors 3A and 3B and a predetermined position of the output shaft of the corresponding motor 3A, 3B (hereinafter Signal S3A, S3 for notifying each time a fixed position (referred to as Z-phase position) passes through a preset fixed position.
Encoders 10A and 10B for sequentially sending B (hereinafter referred to as Z-phase signals S3A and S3B) to the control circuit 8 are attached.

Thus, in the control circuit 8, for example, when the power of the entire apparatus 1 is turned on or a predetermined operation switch is operated, the first home position return processing procedure is executed, and the motors 3A and 3B are first operated at a predetermined speed. The bridge member 5 is moved in the direction of the origin by sending control signals S1A and S1B for rotational driving, respectively.

Subsequently, the control circuit 8 uses the origin sensor 9A of the first drive system (hereinafter referred to as the master side drive system) having the one motor 3A as the drive source and the other motor 3B as the drive source. The origin detection signals S2A and S2 from the origin sensor 9B of the second drive system (hereinafter referred to as slave side drive system).
After inputting 2B, one drive system encoder 10A or 1
When the Z-phase detection signal S3A or S3B is supplied from 0B, the control signal S1A is sent to the motor 3A or 3B of this drive system.
Alternatively, the rotation is stopped by sending S1B, and the count value of the counter corresponding to the encoder 10A or 10B in the control circuit 8 is set to "0" (reset).
To do.

After that, the control circuit 8 outputs the Z-phase detection signal S2B or S from the encoder 10B or 10A of the other drive system.
When 2A is supplied, this drive system motor 3B or 3A
The rotation of the encoder 10 in the control circuit 8 is stopped by sending the control signal S1B or S1A to the encoder 10.
The count value of the counter corresponding to B or 10A is set to "0" (reset).

After that, the control circuit 8 applies encoders 10A and 1 for both the master side drive system and the slave side drive system.
When it is confirmed that the count value of 0B has been reset, the first origin return processing procedure is ended.

Accordingly, in the positioning control device 1,
At this time, the point where the bridge member 5 is located is set as the origin position, and then the bridge member 5 is moved with this position as a reference.

[0015]

In the positioning control device 1 of this type, however, one of the motors 3A and 3B is slightly different when connecting the rotation shafts of the motors 3A and 3B to the corresponding drive screws 4A and 4B. Due to the rotation of the rotation shaft of No. 3, an angular deviation may occur between the Z phase positions of the motors 3A and 3B.

In this case, in the positioning control device 1, if the home position return operation is executed with the angular deviation between the Z-phase positions of the motors 3A and 3B, the first home position return processing procedure is obtained. The origin position of the bridge member 5 in the master side drive system and the slave side drive system is deviated, and as a result, the bridge member 5 is not perpendicular to the bases 2A and 2B but remains slightly inclined. It has been possible to complete the home return operation.

The present invention has been made in consideration of the above points, and the first and second motors are drive sources, respectively.
And second drive systems, and first and second position detecting means for outputting first and second timing signals at predetermined timings corresponding to the rotations of the output shafts of the first and second motors, respectively. In a positioning control device including the above, an attempt is made to propose a positioning control device capable of improving positioning accuracy and a method for returning to the origin thereof.

[0018]

In order to solve such a problem, in the present invention, the first and second motors 3A and 3B are used.
First and second drive systems each of which is a drive source;
Position detection for sequentially outputting the first timing signal S3A at a predetermined timing according to the rotation of the output shaft of the motor 3A and for sequentially increasing or decreasing the count value according to the rotation of the output shaft of the first motor 3A Means 80A and second motor 3B
The second timing signal S3B is sequentially output at a predetermined timing according to the rotation of the output shaft of the second motor 3
The second position detecting means 80B that sequentially increases and decreases the count value according to the rotation of the output shaft of B, and the first and second motors 3
A and 3B give a propulsive force to a predetermined movable body 5 via the first and second drive systems, respectively, so that the movable body 5 is moved.
In the home position return method of the positioning control device for moving the moving body 5, the moving body 5 is moved in one predetermined direction by rotationally driving the first and second motors 3A and 3B, and the moving body 5 is moved to a predetermined reference position. After passing through, one of the first or second
When the position detecting means 80A or 80B outputs the first or second timing signal S3A or S3B, the count value of the first or second position detecting means 80A or 80B is reset to the reference value, and then the other value is reset. The second or first position detecting means 80B or 80A outputs the second or first timing signal S
When 3B or S3A is output, the count value of the second or first position detecting means 80B or 80A is set to a preset predetermined offset value, and the total value of the first or second position detecting means 80A or 80B is set. The movable body 5 is moved by rotationally driving the first and second motors 3A and 3B until the numerical value reaches a predetermined reference value.

In the present invention, the first and second motors 3A and 3B are used as drive sources, respectively.
To be moved 5 and the first and second drive systems
In the positioning control device that moves the movable body 5 by applying propulsive force to the movable body 5 via the first and second drive systems, the first and second motors 3A and 3B are A first position detection that outputs a first timing signal S3A at a predetermined timing according to the rotation of the output shaft of the first motor 3A and that increases or decreases the count value according to the rotation of the output shaft of the first motor 3A. According to the rotation of the output shaft of the second motor 3B, the second timing signal S3B is output at the second timing at a predetermined timing according to the rotation of the output shaft of the means 80A and the second motor 3B. Second position detection means 80B for increasing or decreasing the count value, and first and second
By rotating the motors 3A and 3B, the movable body 5 is moved in a predetermined direction, and after the movable body 5 has passed a predetermined reference position, one of the first or second position detecting means 80A or 80B to the first or second timing signal S
3A or S3B is supplied, the count value of the first or second position detecting means 80A or 80B is reset to the reference value, and thereafter the second or first position detecting means 80B or 80A 2 or the first timing signal S
3B or S3A is supplied, the count value of the second or first position detecting means 80B or 80A is set to a preset predetermined offset value, and then the first or second position detecting means 80A or 80B is set. The control means 50 for moving the movable body 5 is provided by rotationally driving the first and second motors 3A and 3B until the count value of 1 reaches a predetermined reference value.

Further, in the present invention, the rod-shaped first and second screw members 4A and 4B arranged in parallel and the first
And first and second motors 3A and 3B for rotationally driving the second screw members 4A and 4B around the central axis, respectively.
And sequentially outputting the first and second timing signals S3A and S3B at predetermined timings corresponding to the rotations of the output shafts of the first and second motors 3A and 3B, respectively. First and second position detecting means 80A and 80B for increasing and decreasing the count value according to the rotation of each output shaft of 3B, and the first and second screw members 4A.
And first and second origin detection means 9A and 9B for outputting first and second origin detection signals S2A and S2B corresponding to the position of the movable body 5 which are arranged so as to be screwed with each other. In the positioning control device for rotating and driving the first and second motors 3A and 3B respectively to move the movable body 5 along the first and second screw members 4A and 4B. Motors 3A and 3B
The driven body 5 is moved in one direction along the first and second screw members 4A and 4B by rotationally driving the
And after confirming that the movable body 5 has passed the preset reference position based on the second origin detection signals S2A and S2B, one of the first or second position detecting means 80A or 80B Alternatively, when the second timing signal S3A or S3B is supplied, the count value of the first or second position detecting means 80A or 80B is reset to the reference value, and thereafter the other second or first position is detected. Detecting means 80
B or 80A to second or first timing signal S3B
Alternatively, when S3A is supplied, the count value of the second or first position detecting means 80B or 80A is set to a predetermined offset value input in advance, and then the first or second position detecting means 80A or 80B is set. The control means 50 is provided to rotate and drive the first and second motors 3A and 3B until one count value reaches a predetermined reference value.

Further, in the present invention, the control means 50
Is a central processing unit 95, and a first rotation drive control means 74A for controlling the rotation of the output shaft of the first motor 3A based on the first control signal supplied from the central processing unit 95,
A second rotation drive control means 74B for controlling the rotation of the output shaft of the second motor 3B based on the second control signal supplied from the central processing unit 95 is provided, and the central processing unit 95 is input in advance. According to a program, the first and second motors 3A and 3B are rotationally driven by transmitting the first and second control signals to the first and second rotational drive control means 74A and 74B, respectively, to be moved. The body 5 is moved in one direction along the first and second screw members 4A and 4B, and the first and second origin detection signals S2A and S2A supplied from the first and second origin detection means 9A and 9B. After confirming that the movable body 5 has passed the preset reference position based on S2B, one of the first or second position detecting means 80A or 80B outputs the first or second timing signal S3A or S3B. But The when the fed first or second
By sending a third control signal to the position detecting means 80A or 80B, the count value of the counting means of the first or second position detecting means 80A or 80B is reset to the reference value, and then the other second Alternatively, the first position detecting means 80B
Alternatively, when the second or first timing signal S3B or S3A is supplied from 80A, the fourth or fourth control signal is sent to the second or first position detecting means 80B or 80A. Position detecting means 80B or 80A
After setting the count value of to the preset offset value,
By outputting the first and second control signals to the first and second rotation drive control means 74A and 74B, respectively, one of the count values of the first or second position detection means 80A or 80B is a predetermined reference value. Until the first and second motors 3
A and 3B were rotationally driven to move the movable body 5.

Further, in the present invention, first and second drive systems having the first and second motors 3A and 3B as drive sources, respectively, and a two-phase pulse signal corresponding to the rotation amount of the first motor 3A. And an encoder 10A that sequentially outputs the first timing signal S3A at a predetermined timing according to the rotation of the output shaft of the motor, and a first that sequentially increases or decreases the count value according to the rotation of the output shaft of the first motor 3A. Encoder 80B that sequentially outputs the two-phase pulse signal corresponding to the rotation amount of the counter 80A and the second motor 3B and the second timing signal S3B at a predetermined timing according to the rotation of the output shaft of the motor.
And a second counter 80B that sequentially increases or decreases the count value according to the rotation of the output shaft of the second motor 3B, and the first and second motors 3A and 3B are respectively the first and second drive systems. In the method of returning to the origin of the positioning control device, in which the moving body 5 is moved by applying a propulsive force to a predetermined moving body 5 via the first and second motors 3A and 3B.
Is driven to move in a predetermined one direction, and after the moved body 5 has passed a predetermined reference position, one of the first or second encoder 10A or 10B is set to the first or second When the timing signal S3A or S3B is output, the count value of the first or second counter 80A or 80B is set or reset to the reference value (set to "0"),
After this, the other second or first encoder 10B or 10
When A outputs the second or first timing signal S3B or S3A, the second or first counter 80B or 80
The count value of A is set to a preset preset offset value, and the first and second motors 3A until the count value of the first or second counter 80A or 80B reaches a preset reference value.
The driven body 5 is moved by rotationally driving 3 and 3B.

In the present invention, the first and second motors 3A and 3B are used as drive sources, respectively.
To be moved 5 and the first and second drive systems
In the positioning control device that moves the movable body 5 by applying propulsive force to the movable body 5 via the first and second drive systems, the first and second motors 3A and 3B are An encoder 1 that outputs a two-phase pulse signal according to the rotation amount of the first motor 3A and a first timing signal S3A at a predetermined timing according to the rotation of the output shaft of the motor.
0A, a first counter 80A that increases or decreases the count value according to the rotation of the output shaft of the first motor 3A, and the second motor 3
An encoder 10 that outputs a two-phase pulse signal according to the rotation amount of B and a second timing signal S3B at a second timing at a predetermined timing according to the rotation of the output shaft of the motor.
B, a second counter 80B that increases / decreases a count value according to the rotation of the output shaft of the second motor 3B, and the first and second motors 3A and 3B are rotationally driven to predetermined the movable body 5. In one direction, and after the moving body 5 has passed a predetermined reference position, one of the first and second encoders 10A
Alternatively, when the first or second timing signal S3A or S3B is supplied from 10B, the first or second counter 8
The count value of 0A or 80B is set or reset (set to "0") to the reference value, and thereafter, the second or first encoder 10B or 10A outputs the second or first timing signal S3B or S3A. When the count value of the second or first counter 80B or 80A is set to a predetermined preset offset value when supplied, the count value of the first or second counter 80A or 80B is set to a predetermined reference value. And the control means 50 for moving the movable body 5 by rotationally driving the first and second motors 3A and 3B.

Further, in the present invention, the rod-shaped first and second screw members 4A and 4B arranged in parallel and the first
And first and second motors 3A and 3B for rotationally driving the second screw members 4A and 4B around the central axis, respectively.
And a two-phase pulse signal corresponding to the rotation amount of the output shafts of the first and second motors 3A and 3B, and the first and second timing signals S3A at a predetermined timing corresponding to the rotation of the motor.
And an encoder 10A that sequentially outputs S3B,
10B and 1st and 2nd which respectively increase / decrease a count value according to rotation of each output shaft of 1st and 2nd motor 3A and 3B.
Counters 80A and 80B and first and second origin detection signals S corresponding to the positions of the movable body 5 arranged so as to be screwed into the first and second screw members 4A and 4B, respectively.
First and second origin detecting means 9A and 9B for outputting 2A and S2B, respectively, are provided, and the first and second motors 3A and 3B are rotationally driven to move the movable body 5 to the first position.
In the positioning control device that moves along the first and second screw members 4A and 4B, the movable body 5 is rotated by driving the first and second motors 3A and 3B. 4B is moved in one direction, and after confirming that the moved body 5 has passed a preset reference position based on the first and second origin detection signals S2A and S2B, one of the first or Second encoder 1
From 0A or 10B to the first or second timing signal S3
When A or S3B is supplied, the count value of the first or second counter 80A or 80B is reset to the reference value, and thereafter the other second or first encoder 10 is used.
B or 10A to second or first timing signal S3B
Alternatively, when S3A is supplied, the count value of the second or first counter 80B or 80A is set to a predetermined offset value input in advance, and then the first or second counter 8
The control means 50 is provided to rotate and drive the first and second motors 3A and 3B until one of the count values of 0A or 80B reaches a predetermined reference value.

Further, in the present invention, the control means 50 is
From the central processing unit 95, the first rotation drive control means 74A for controlling the rotation of the output shaft of the first motor 3A based on the first control signal supplied from the central processing unit 95, and the central processing unit 95. Second rotation drive control means 74B for controlling the rotation of the output shaft of the second motor 3B on the basis of the supplied second control signal is provided, and the central processing unit 95 is configured to operate in accordance with a program input in advance. From the first and second rotation drive control means 81A and 81B, respectively, first and second
Control signal is sent to the first and second motors 3A and 3B to be rotationally driven to move the movable body 5 in one direction along the first and second screw members 4A and 4B, and the first and second motors 3A and 3B are driven. Two
After confirming that the movable body 5 has passed the preset reference position based on the first and second origin detection signals S2A and S2B supplied from the origin detection means 9A and 9B, one of the first Alternatively, the second encoder 10A or 10B
When the first or second timing signal S3A or S3B is supplied from, the count value of the first or second counter 80A or 80B is set or reset to the reference value (set to "0") and The count value of the second or first counter 80B or 80A is previously input when the second or first timing signal S3B or S3A is supplied from the other second or first encoder 10B or 10A. After setting the offset value, the first and second rotary drive control means 74A and 74B are set to the first and second rotary drive control means 74A and 74B.
By outputting the control signal of each of the first or second
The first and second motors 3A and 3B are rotationally driven to move the movable body 5 until one of the counters 80A or 80B has a predetermined reference value.

Further, in the present invention, the control means 50 is
A first clutch 100A inserted between the first motor 3A and the first screw 4A, and a second clutch 100B inserted between the second motor 3B and the second screw 4B, By controlling the first and second clutches 100A and 100B based on a predetermined clutch control signal, the first motor 3A and the first screw 4A, and the second motor 3
B and the second screw 4B are connected or disconnected, respectively.

[0027]

The offset value is output to the second or first encoder 10B or 10A after the first or second encoder 10A or 10B outputs the first or second timing signal S3A or S3B. 1 timing signal S
The first counter 80A before outputting 3B or S3A
By selecting a value equal to the value counted by, the movable body 5 can be accurately returned to the origin.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) Overall Configuration of Electronic Component Mounting Device Using the Present Invention In FIG. 1 in which parts corresponding to those in FIG. 4 are assigned the same reference numerals, 20 indicates an electronic component mounting device as a whole, and a bridge member 5 A rod-shaped drive screw 22 forming the output shaft of the motor 3C is mounted on the upper surface of the moving member 2 mounted on the bridging member 5.
It is arranged in a state in which it is screwed into a screw hole 23A penetrating the side surface of No. 3 and has its tip end rotatably supported by a support member 24.

As a result, in the moving member 23,
By driving the motor 3C to rotate the drive screw 22, the motor 3C is moved in the right direction indicated by the arrow b and the left direction opposite thereto in accordance with the rotation of the drive screw 22.

At the front edge of the upper surface of the moving member 23, as shown in FIG. 2, the rod-shaped drive screw 2 forming the output shaft of the motor 3D.
5 is disposed with one end rotatably supported by the support member 26.

In this case, a plate-shaped panel member 30 is arranged on the front surface side of the moving member 25, and the panel member 30 is adapted to be screwed with the drive screw 25 on the back surface of the projection 31 protruding from the upper portion. , Thus motor 3D
The panel member 30 can be moved in the left-right direction by driving and driving the drive screw 25.

On the front surface of the panel member 30, the motor 3
A rod-shaped drive screw 33 extending in the downward direction, which forms the output shaft of E and is indicated by an arrow c, is arranged so that its tip end is rotatably supported by a support member 34.

The drive screw 33 penetrates in a state of being screwed with a plate-shaped female screw 35, and the female screw 35 sticks to a nozzle 36 as a conveying means for adsorbing and conveying an electronic component chip (not shown) in a rod shape. The nozzles 36 are connected via a member 37, and thus the motor 3E is driven to rotate the drive screw 33, so that the nozzle 36 can be moved upward and downward.

At this time, the lower end of the moving member 23 opposes the lower part of the nozzle 36 and the mirror member 40 that moves in the left-right direction in response to the rotation of a motor (not shown) and the mirror member 40. As described above, the fixed reflection members 41 are respectively arranged so that the image of the semiconductor chip (not shown) sucked by the nozzle 36 is reflected by the camera 42 via the mirror member 40 and the reflection member 41. ing.

As a result, in the electronic component mounting apparatus 20, an image of the semiconductor chip taken by each camera 42 and each camera 42 and a cable (not shown).
It is displayed on a monitor (not shown) connected via the so that the state of the semiconductor chip can be monitored as needed.

Here, in the electronic component mounting apparatus 20,
The rotation of each of the motors 3A to 3E is controlled by the position control calculation device 50. That is, in the position control calculation device 50, as shown in FIG. 3, a target value generation unit 51 and a position control calculation unit 52 are provided, and a timer 60 of the target value generation unit 51 outputs a start signal S10 every 4 [ms]. Target value generation circuit 6
It is designed to be sent to 1.

The target value generation circuit 61 of each of the motors 3A to 3E is based on the operation data of each movable member 5, 23, 30, 36 including the bridging member 5, which is preprogrammed in response to the input of the start signal S10. A target value of the rotation angle after 4 [ms] is formed, and this is sequentially sent to the target value interpolation circuit 71 as a target value signal S11 via the target value transmission circuit 62 and the target value receiving circuit 70 of the position control calculation unit 52. To do.

In this case, in the target value receiving circuit 70,
Each time the target value signal S11 is input, the timer 72 receives the received signal S1.
By sending 2, the activation signal S13 is sent to the target value interpolation circuit 71 by the timer 72 every 1 [ms].

Thus, the target value interpolation circuit 71 sequentially forms a target value (hereinafter referred to as an interpolated value) of the rotation angle of each motor after 1 [ms] based on the target value signal S11 (hereinafter, this operation is interpolated). In addition, the obtained interpolated values are sent to the position control arithmetic circuit 73 as the interpolated target value signal S14 for each input of the start signal S13.

At this time, in the position control arithmetic circuit 73, the counters 80A, 80B, 80C, 80D, and 80E of the encoders 10A, 10B, 10C, 10D, and 10E attached to the motors 3A to 3E are connected to the motor 3A. The current rotation angles of 3E (hereinafter referred to as current values) are current value signals S15A, S15B and S15, respectively.
They are sequentially supplied as C, S15D, and S15E.

Thus, the position control calculation circuit 73 sequentially calculates the difference between the current value of each motor 3A to 3E and the interpolation target value at this time based on the interpolation target value signal S14 and the current value signals S15A to S15E. Drive control signals S16A, S16B, S1 for matching the current values of the respective motors 3A to 3E with the corresponding interpolation target values based on the result.
6C, S16D and S16E are formed and these are respectively driven by respective motor drive command generating circuits 74A, 74B, 74C and 7C.
Send to 4D and 74E.

Each motor drive command generation circuit 74A to 74E
Drive-converts the drive control signals S16A to S16E after digital-analog conversion.
17A, S17B, S17C, S17D and S17E are motor drive circuits 81A, 81B, 81C and 81D,
Send to 81E.

Each of the motor drive circuits 81A to 81E sends control signals S1A to S1E to the corresponding motor based on the drive signals S17A to S17E, and the motors 3A to 3E.
E is sequentially rotated, and thus each of the movable members 5, 23, 3
By sequentially moving 0 and 36 by a predetermined distance according to a program, the electronic component to be moved is carried to a predetermined position, and the electronic component is mounted at a predetermined position on a substrate (not shown). There is.

In practice, the position control computing unit 52 of the positioning control device 20 is constructed as shown in FIG. 4, and the network processing unit 90 of the target value receiving circuit 70 is targeted at the optical receiving circuit 91. When the target value signal S11 is supplied from the value generator 51 via the optical fiber 93, the target value signal S11 is written in the dual port RAM 94, and the target value interpolation circuit 71 and the position control arithmetic circuit 73 are configured via the dual port RAM 94. CPU to
A predetermined interrupt signal S20 is sent to 95.

The CPU 95 executes a predetermined interpolation target value processing procedure for forming an interpolation target value after 1 [ms] of each of the motors 3A to 3E in response to the input of the interrupt signal S20, and is written in the dual port RAM 94. Each motor 3 after 4 [ms]
Target values of A to 3E and 4 written in the RAM 96
[Ms] The target value of each of the motors 3A to 3E (hereinafter referred to as the preceding target value) is compared with 1 of each of the motors 3A to 3E.
Interpolation target values for each [ms] are sequentially formed, and these motor drive circuits 81A to 81A through the bus 97 and the corresponding motor drive command generation circuits 74A to 74E, respectively.
Each motor 3A to 3E by sending to 1E (Fig. 3)
It is designed to rotate.

In the case of this embodiment, each encoder 10A-
10E is an increment encoder, which has a pulse signal (not shown) and Z-phase detection signals S3A to S3E having a phase difference of 90 degrees with each other at a repetition frequency corresponding to the moving speed of the bridge member 5 in addition to the current value signal. And are sequentially output to the control circuit 50.

(2) Returning method to the origin of electronic component mounting apparatus In an apparatus that requires particularly high positioning accuracy, such as the electronic component mounting apparatus 20, the bridge member 5 is driven by the master side drive system and the slave side drive system. It is necessary to surely return the origin so that no deviation occurs in each origin position in the system.

Therefore, when the bridge member 5 of the electronic component mounting apparatus 20 is returned to its original position, the clutch signal (not shown) is first turned off and the motors 3A and 3B (FIG. 1) and the drive screws 4A are turned on in the first step. By disconnecting the clutches 100A and 100B from the clutches 100A and 4B, the rotation shafts (not shown) of the motors 3A and 3B can be freely rotated regardless of the drive screws 4A and 4B.

In the subsequent second step, the rotary shafts of the motors 3A and 3B are corrected so that the Z-phase positions of the rotary shafts come to predetermined positions, and from this state, the rotary shafts of the motors 3A and 3B are rotated. Lock it so that it does not move.

Further, by turning on the clutch signal and connecting the clutches 100A and 100B in the third step, the rotation shafts of the respective motors 3A and 3B, the drive screws, and
A and 4B are connected to each other, and in the subsequent fourth step, the first home-return processing procedure is executed according to the program previously input to the control circuit 50.

Incidentally, the first to fourth steps are almost the same as the conventional origin return work. Therefore, in the third step for connecting the output shafts of the motors 3A and 3B and the drive screws 4A and 4B, A deviation of several pulses to several tens of pulses occurs between the Z-phase position of the motor 3A of the master side drive system and the Z-phase position of the motor 3B of the slave side drive system.

This deviation causes the deviation of the origin position in the master side drive system and the slave side drive system of the bridge member 5 after the completion of the origin return work in the fifth step as described above.

Therefore, the operator releases the external force applied to the bridge member 5 from each of the motors 3A and 3B by stopping the control by the control circuit 50 in the following fifth step. In this case, the bridge member 5 is not distorted by the release of the external force applied from the motors 3A and 3B, that is, the state changes so as to be perpendicular to the bases 2A and 2B.

Therefore, in this electronic component mounting apparatus 20, in this state (that is, the bridge member 5 is perpendicular to the bases 2A and 2B), the encoders 10A and 10B of the master side drive system and the slave side drive system are measured. If the numerical values match, it is possible to prevent the origin position of the bridge member 5 in the master-side drive system and the slave-side drive system from deviating.

However, in practice, the count values of the encoders 10A and 10B of the master side drive system and / or the slave side drive system change from the state of "0" in the fourth step as the state of the bridge member 5 changes. ing.

Therefore, in the following sixth step, the worker operates the counter 8 corresponding to the encoder of the master side drive system.
When the count value of 0A is read and the count value is "0", the count value of the counter 80B of the slave drive system at this time is input to the control circuit 50 as the dual offset value, and "0" Otherwise, the value obtained by subtracting the count value of the encoder 10A of the master side drive system from the count value of the encoder 10B of the slave side drive system is input to the control circuit 50 as the dual offset value. Further, in the following seventh step, the worker causes the CPU 95 (FIG. 4) of the position control calculation section 52 of the control circuit 50 to execute the second origin return processing procedure based on the program input in advance.

That is, when the second origin return processing procedure is started, the CPU 95 first passes through the bus 97 (FIG. 4) and the motor drive command generation circuits 74A and 74B to the respective motors of the master side drive system and the slave side drive system. Drive circuit 81A
And drive signals S17A and S17B to 81B,
By sending control signals S1A and S1B to the motors 3A and 3B, the motors 3A and 3B are rotated, and thus the bridge member 5 is moved by a predetermined distance in the direction opposite to the origin direction.

Subsequently, the CPU 95 sends the control signals S1A and S1B to the respective motor drive circuits 81A and 81B to reversely rotate the motors 3A and 3B, and thus the bridge member 5 to the position indicated by the point P1 in FIG. From the origin sensor 9A, 9B of the master side drive system and the slave side drive system to the origin detection signals S2A, S2.
Wait for B to be supplied.

Further, when the CPU 95 confirms that the origin detection signals S2A and S2B are supplied from the origin sensors 9A and 9B of the master side drive system and the slave side drive system at the point P2 in FIG. 5, the motors 3A and 3B are detected. While the bridge member 5 is moved at the Z-phase detection speed of the predetermined speed by sending the control signals S1A and S1B to the Z-phase detection signals S3A and S3B from the respective encoders 10A and 10B.
Await supply.

Subsequently, at the point P3 in FIG. 5, the CPU 95 responds to the Z-phase detection signal S3A supplied from the encoder 10A of either the master side drive system or the slave side drive system in response to the Z phase detection signal S3A. The count value of the counter 80A is reset (set to "0") by sending the control signal S30A (FIG. 4) to the counter 80A corresponding to the encoder that has output the phase detection signal S3A.

Further, the CPU 95 thereafter determines the point P in FIG.
When the Z-phase detection signal S3B is supplied from the encoder 10B of the other drive system in 4, the Z-phase detection signal S3B
By sending the control signal S30B to the counter 80B corresponding to the encoder that has output the phase detection signal S3B, the count value of the counter 80B is set to the previously input dual offset value and the master side drive system and The movement of the bridge member 5 is stopped by sending control signals S1A and S1B for stopping the rotation to the respective motors 3A and 3B of the slave side drive system.

Incidentally, in this case, the count values of the counters 80A and 80B corresponding to the encoders of the master side drive system and the slave side drive system are the same. Motor 3A
And 3B, the bridge member 5 is moved in the direction of the point P3 by sending control signals S1A and S1B for moving the bridge member 5 to the point P3 (FIG. 5).

Thereafter, when the CPU 95 confirms that the count value of the encoder 10A or 10B, which is one of the master side drive system and the slave side drive system, has become "0", the second origin return processing procedure is ended. . At this time, since the bridge member 5 is moving in parallel from the fifth step to the end of the second home position return processing procedure, each base 2A is also in the stage of ending the second home position return processing procedure. And 2B
And is in a vertical state.

Thus, after this, when the worker confirms that the CPU 95 has completed the second origin processing procedure in the following eighth step, each motor 3A by the CPU 95 is confirmed.
And 3B control is stopped, and each encoder 10A and 10B of the master side drive system and the slave side drive system
Check whether the count value of has reached "0".

At this time, the encoders 10A and 10
If there is a difference in the count value of B, the operator adds or subtracts the difference to or from the dual offset value in the following ninth step, and then the CPU 95 of the position control calculation unit 52 of the control circuit 50 again. The second home position return processing procedure is executed in (FIG. 4), whereby the home position of the bridge member 5 is accurately returned.

(3) Operation of the Embodiment In the above configuration, when the bridge member 5 of the electronic component mounting apparatus 20 is returned to the origin, the clutch signal is first turned off and each motor 3 of the master side drive system and the slave side drive system.
The clutches 100A and 100B connecting A and 3B and the drive screws 4A and 4B are disconnected (first step), and in this state, the origin of each motor 3A and 3B is restored, and then the output of each motor 3A and 3B is output. Lock with the control turned on so that the axis does not move (2nd step).

Next, the clutch signal is turned on to turn on the clutches 100A and 1A of the master side drive system and the slave side drive system.
00B to connect the rotation shafts of the motors 3A and 3B to the corresponding drive screws 4A and 4B (3rd
After that, the control circuit 50 is caused to execute the first home position return processing procedure to return the home position of the bridging member 5 (fourth step).

Further, when the first home position return processing procedure by the control circuit 50 is completed, the control of the motors 3A and 3B is turned off so that the rotation shafts of the motors 3A and 3B can freely rotate. After the unnecessary external force is not applied to the member 51 (fifth step), the count values of the encoders 10A and 10B of the master side drive system are automatically read, and if the count value is "0", the slave side drive is performed. The count value of the encoder 10B of the system is input to the control circuit as a dual offset value. On the other hand, when the count value is other than "0", the count value of the encoder 10B of the slave drive system is used to drive the master side. System encoder 1
The difference obtained by subtracting the count value of 0 A is input to the control circuit as a dual offset value (6th step).

Subsequently, the control circuit 50 is made to execute the second origin return processing procedure (seventh step). At this time, in the control circuit 50, the CPU 95 sends the control signals S1A, S1B to the respective motors 3A, 3B of the master side drive system and the slave side drive system in accordance with the second home position return processing procedure, so that the bridge member 5 is moved. It is moved from the predetermined point P1 (FIG. 5) toward the origin at a predetermined speed.

Subsequently, the CPU 95 controls the encoders 10A to Z of one of the master side drive system and the slave side drive system.
When the phase detection signal S3A is supplied, the encoder 10 concerned
The count value of A is set to "0".

Further, when the Z-phase detection signal S3B is supplied from the other encoder 10B thereafter, the CPU 95 sets the count value of the encoder 10B to the previously input dual offset value, and then the master side drive system and the slave side. A control signal S1A is applied to each motor 3A, 3B of the side drive system,
By sending S1B, the bridge member 5 is moved to the position where the count value of the encoder 10A or 10B becomes “0”, and then the second origin return processing procedure is ended.

Thereafter, after confirming that the second origin return processing procedure is completed, the control of the motors 3A and 3B of the master side drive system and the slave side drive system is stopped, and the encoders 10A and 10B at this time are stopped. It is confirmed that the count value of is 0 (8th step).

In this case, the encoders 10A and 1
If there is a difference between the count values of 0B, the operator inputs a new dual offset value obtained by adding or subtracting the difference to the registered dual offset value, and thereafter, the control circuit 50 again. To execute the second origin return processing procedure (9th step).

(4) Effects of the Embodiments According to the above configuration, the magnitude of the deviation of the origin position in the master side drive system and the slave side drive system of the bridge member 5 caused by the first origin return processing procedure is determined. Encoders 10A and 10 of the master side drive system and the slave side drive system
The difference in the count value of B (dual offset value) is detected, and the count value of one of the encoders 10A or 10B is offset by the amount corresponding to the dual offset value. It is possible to eliminate the deviation of the origin position in the master side drive system and the slave side drive system, and thus to realize an electronic component mounting apparatus capable of improving the positioning accuracy.

Further, each motor 3A and 3B and each drive screw 4
A and 4 are electromagnetic clutches 100A and 100, respectively.
Since the connection is made by using B, the clutches 100A and 100B can be connected or disconnected by the clutch signal, whereby the bridge member 5 can be operated.
Can be automatically returned to the home position.

Further, the respective motors 3A and 3B of the master side drive system and the slave side drive system are accurately set to the Z-phase position, and thereafter, the respective motors 3A and 3B are accurately set so that the Z-phase position does not shift to the drive screw. When it is connected to the electronic parts mounting apparatus, it is possible to realize an electronic component mounting apparatus which does not require complicated work and which can remarkably improve usability.

(5) Other Embodiments In the above-described embodiments, the case where the origin returning work of the electronic component mounting apparatus 20 is performed manually is described, but the present invention is not limited to this. It may be automatically performed using a predetermined device.

In the above embodiment, the case where the present invention is applied to the electronic component mounting apparatus 20 has been described. However, the present invention is not limited to this, and various other apparatuses using the positioning control apparatus are also described. It is suitable for application.

Further, in the above embodiment, each drive system of the present invention comprises motors 3A, 3B and drive screws 4A, 4B, etc., and each motor 3A, 3B has its drive screw 4A, 4B.
The case where the present invention is applied to the positioning control device 20 that moves the bridge member 5 by applying a propulsive force via B has been described, but the present invention is not limited to this, and the pair of drive systems each use a motor as a drive source. , If each of the motors applies a propulsive force to the moving body via the drive system,
Besides, it can be applied to various devices.

[0081]

As described above, according to the present invention, the first and second drive systems using the first and second motors as drive sources, respectively, and the rotation of the output shafts of the first and second motors. The first and second encoders that output the first and second timing signals at predetermined timings, respectively, and the count values are sequentially increased / decreased according to the rotation of the output shafts of the first and second motors. A positioning control device including a first counter and a second counter
When the first or second encoder outputs the first or second timing signal, the first or second encoder outputs the first or second timing signal by rotating and driving the second motor. The count value of the second counter is set to 0, and when the other second or first encoder outputs the second or first timing signal thereafter, the count value of the second or first counter is set in advance. By setting the preset offset value and rotating the first and second motors until the count value of the first or second counter becomes 0, the movable body is moved. , The offset value is set by one of the first or second encoders as the first or second
By selecting the value equal to the value counted by the first counter before the second or first encoder outputs the second or first timing signal after the timing signal is output. A home position return method for a positioning control device and a positioning control device capable of accurately returning to the home position and thus improving the positioning accuracy can be realized.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overall configuration of an electronic component mounting apparatus using the present invention.

FIG. 2 is a perspective view showing a moving member.

FIG. 3 is a block diagram showing a configuration of a control unit.

FIG. 4 is a block diagram showing a detailed configuration of a position control arithmetic circuit unit.

5A and 5B are a waveform diagram and a time chart used for explaining a second origin return processing procedure.

FIG. 6 is a perspective view for explaining a conventional positioning control device.

[Explanation of symbols]

1, 20 ... Positioning control device, 3A to 3E ... Motor, 4A, 4B ... Drive screw, 5 ... Bridge member, 8, 5
0 ... Control circuit, 9A, 9B ... Origin sensor, 10A,
10B ... encoder, 80A-80E ... counter,
74A to 74E ... Motor drive command generation circuit, 95 ...
CPU, 100A, 100B ... Coupling, S1A
~ S1E ... control signal, S2A, S2B ... origin detection signal, S3A, S3B ... Z phase detection signal.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location G05D 3/00 Q 9179-3H

Claims (9)

[Claims] 1. A first timing signal at a predetermined timing according to rotation of an output shaft of the first motor, and first and second drive systems having first and second motors as drive sources, respectively. At a predetermined timing corresponding to the rotation of the output shaft of the second motor, and the first position detecting means for sequentially increasing or decreasing the count value according to the rotation of the output shaft of the first motor. The second position detecting means sequentially outputs the second timing signal and sequentially increases or decreases the count value according to the rotation of the output shaft of the second motor, and each of the first and second motors includes In the origin returning method of a positioning control device for moving a movable body by applying a propulsive force to a predetermined movable body via the first and second drive systems, respectively, the first and second motors are By rotating The movable body is moved in one predetermined direction, and after the movable body has passed a predetermined reference position, one of the first or second position detecting means outputs the first or second timing signal. Then, the count value of the first or second position detecting means is reset to the reference value, and then the other second or first position detecting means outputs the second or first timing signal. Sometimes the second above
Alternatively, the count value of the first position detecting means is set to a preset predetermined offset value, and the first and second positions are detected until the count value of the first or second position detecting means reaches a predetermined reference value. A method for returning the origin of a positioning control device, wherein the movable body is moved by rotationally driving the motor. 2. A first and a second drive system having a first and a second motor as drive sources, respectively, and a movable body which engages with the first and the second drive system. And a positioning control device that moves the movable body by applying a propulsive force to the movable body via the first and second drive systems, wherein the output shaft of the first motor is First position detecting means for outputting a first timing signal at a predetermined timing according to rotation, and increasing or decreasing a count value according to rotation of the output shaft of the first motor; and the second motor. A second position for outputting a second timing signal at a second timing at a predetermined timing according to the rotation of the output shaft of the second motor, and increasing or decreasing the count value according to the rotation of the output shaft of the second motor. Detecting means and the first and second motors The driven body is moved in a predetermined direction by being rotationally driven, and after the moved body has passed a predetermined reference position, one of the first or second position detecting means is used to move the first or second position detecting means. When the timing signal is supplied, the count value of the first or second position detecting means is reset to the reference value, and thereafter, the second or first position detecting means of the other is reset to the second or second position detecting means. When the count value of the second or first position detecting means is set to a preset predetermined offset value when the first timing signal is supplied, the count value of the first or second position detecting means is set. And a control means for moving the movable body by rotationally driving the first and second motors up to a predetermined reference value. 3. Rod-shaped first and second screw members that are arranged in parallel, first and second motors that rotate and drive the first and second screw members, respectively, around a central axis, The first and second timing signals are sequentially output at predetermined timings corresponding to the rotations of the output shafts of the first and second motors, and the rotations of the output shafts of the first and second motors are rotated. First and second position detecting means for increasing / decreasing the count value, respectively, and first and second position detecting means according to the position of the movable body arranged so as to be respectively screwed into the first and second screw members. The first and second origin detecting means for outputting two origin detecting signals, respectively.
In the positioning control device for rotatably driving each of the motors to move the object to be moved along the first and second screw members, the object to be moved is rotatably driven by the first and second motors. The body is moved in one direction along the first and second screw members, and it is confirmed that the body to be moved has passed a preset reference position based on the first and second origin detection signals. After that, when the first or second timing signal is supplied from one of the first or second position detecting means, the count value of the first or second position detecting means is reset to the reference value. At the same time, the count value of the second or first position detecting means is previously input when the second or first timing signal is supplied from the other second or first position detecting means. Set to a predetermined offset value Control means for rotating the first and second motors to move the movable body until the count value of one of the first or second position detecting means reaches a predetermined reference value. A positioning control device comprising: 4. The first rotation drive for controlling rotation of an output shaft of the first motor based on the central processing unit and a first control signal supplied from the central processing unit. The central processing unit includes a control unit and a second rotation drive control unit that controls the rotation of the output shaft of the second motor based on a second control signal supplied from the central processing unit. The first and second control signals are respectively sent to the first and second rotation drive control means in accordance with the inputted program, whereby the first and second motors are rotationally driven to drive the target motor. The movable body is moved in one direction along the first and second screw members, and the target object is detected based on the first and second origin detection signals supplied from the first and second origin detection means. The moving body moves to the preset reference position After confirming that the time has passed, when the first or second timing signal is supplied from one of the first or second position detecting means, the third position is detected by the first or second position detecting means. By sending a control signal, the count value of the counting means of the first or second position detecting means is reset to a reference value, and thereafter, the second or first position detecting means of the other one of the second or the second position detecting means is reset. When the first timing signal is supplied, the count value of the second or first position detecting means is input in advance by sending the fourth control signal to the second or first position detecting means. After the offset value is set, the count value of one of the first or second position detecting means is output by outputting the first and second control signals to the first and second rotary drive control means, respectively. Until it reaches the predetermined reference value The first and second motors are rotationally driven claim 3, characterized in that moving the movable body
The positioning control device according to. 5. A first timing signal at a predetermined timing according to rotation of an output shaft of the first motor, and first and second drive systems having first and second motors as drive sources, respectively. A first encoder that sequentially outputs a first counter, a first counter that sequentially increases or decreases a count value according to the rotation of the output shaft of the first motor, and a predetermined counter that corresponds to the rotation of the output shaft of the second motor. A second encoder that sequentially outputs a second timing signal at a timing, and a second counter that sequentially increases or decreases a count value according to the rotation of the output shaft of the second motor. In the method for returning to the origin of the positioning control device, the motors are moved by applying a propulsive force to a predetermined object to be moved by the respective motors 2 through the first and second drive systems, respectively. Rotate the second motor By moving the movable body in a predetermined one direction, and after the movable body has passed a predetermined reference position, one of the first or second encoders outputs the first or second timing signal. Is output, the count value of the first or second counter is set or reset (set to "0") to the reference value, and then the other second or first encoder is set to the second value.
Alternatively, when the first timing signal is output, the count value of the second or first counter is set to a preset predetermined offset value, and the count value of the first or second counter is set to a predetermined reference value. The origin returning method of the positioning control device according to claim 1, wherein the movable body is moved by rotationally driving the first and second motors until the value becomes a value. 6. A first and a second drive system having a first and a second motor as drive sources, respectively, and a movable body engaging with the first and the second drive system. And a positioning control device that moves the movable body by applying a propulsive force to the movable body via the first and second drive systems, wherein the output shaft of the first motor is A first encoder that outputs a first timing signal at a predetermined timing according to rotation; a first counter that increases or decreases a count value according to rotation of the output shaft of the first motor; A second encoder that outputs a second timing signal at a second timing at a predetermined timing according to the rotation of the output shaft of the motor, and a count value according to the rotation of the output shaft of the second motor. A second counter that increases and decreases and the first counter And the second motor are rotated to move the movable body in a predetermined direction, and after the movable body has passed a predetermined reference position, one of the first or second encoder When the first or second timing signal is supplied, the count value of the first or second counter is set or reset to the reference value (set to "0"), and then the other second or first timing signal is set. From the encoder of the second
Alternatively, when the first timing signal is supplied, the second
Alternatively, after the count value of the first counter is set to a predetermined preset offset value, the first and second counters are set until the count value of the first or second counter reaches a predetermined reference value.
3. The control means for moving the object to be moved by rotationally driving the motor of claim 2.
The positioning control device according to. 7. Rod-shaped first and second screw members that are arranged in parallel, and first and second motors that rotate and drive the first and second screw members, respectively, about a central axis. First and second encoders that sequentially output first and second timing signals at predetermined timings corresponding to the rotations of the output shafts of the first and second motors, respectively, and the first and second motors. The first and second counters that increase and decrease the count value in accordance with the rotation of each of the output shafts, and the position of the movable body that is arranged to be screwed into the first and second screw members, respectively. First and second origin detecting means for outputting corresponding first and second origin detecting signals respectively, and rotationally driving the first and second motors respectively to move the movable body to the first. And a position to move along the second screw member. In the control device, the driven body is moved in one direction along the first and second screw members by rotationally driving the first and second motors to detect the first and second origins. After confirming that the movable body has passed the preset reference position based on the signal, when the first or second timing signal is supplied from one of the first or second encoders. The count value of the first or second counter is set or reset (set to "0") to a reference value, and thereafter, the second or first encoder of the other side is set to the second value.
Alternatively, when the first timing signal is supplied, the second
Alternatively, after the count value of the first counter is set to a predetermined offset value that is input in advance, the first counter is set until the count value of one of the first and second counters reaches a predetermined reference value.
The positioning control device according to claim 3, further comprising a control unit that rotationally drives the second motor to move the movable body. 8. The first rotation drive for controlling rotation of an output shaft of the first motor based on the central processing unit and a first control signal supplied from the central processing unit. The central processing unit includes a control unit and a second rotation drive control unit that controls the rotation of the output shaft of the second motor based on a second control signal supplied from the central processing unit. The first and second control signals are respectively sent to the first and second rotation drive control means in accordance with the inputted program, whereby the first and second motors are rotationally driven to drive the target motor. The movable body is moved in one direction along the first and second screw members, and the target object is detected based on the first and second origin detection signals supplied from the first and second origin detection means. The moving body moves to the preset reference position After confirming that the count value has passed, when one of the first or second encoders supplies the first or second timing signal, the count value of the counting means of the first or second counter is used as a reference. Set or reset to value (set to "0")
In addition, after this, when the second or first timing signal is supplied from the other second or first encoder, the offset value previously input with the count value of the second or first counter. After that, by outputting the first and second control signals to the first and second rotation drive control means, respectively, the count value of one of the first and second counters is a predetermined reference value. The positioning control device according to claim 7, wherein the first and second motors are rotationally driven to move the object to be moved until it becomes. 9. The control means is interposed between a first clutch inserted between the first motor and the first screw, and a second clutch inserted between the second motor and the second screw. A second clutch, and controlling the first and second clutches based on a predetermined clutch control signal to provide the first motor, the first screw, and the second screw.
The positioning control device according to claim 3, wherein the motor and the second screw are connected or disconnected, respectively.