Method for moving a mounting head unit

Abstract

In component feeding head apparatus, a head unit having a holding unit for releasably holding a component and a rotating unit for rotating the holding unit around its center of axis is set as an object of an up-and-down operation and an inverting operation, and a head lifting device for moving the head unit up and down and a head inverting device for inverting the head unit are provided as constructions independent from the head unit that is the object.

1 . A method in which from an upper side of a substrate mounting region where components are mounted on a substrate by a mounting head unit, the mounting head unit is moved to a component transfer position where the component held by an inverting head unit is transferred to the mounting head unit, comprising:
 determining a pass point between the substrate mounting region and the component transfer position, at which the mounting head unit will not interfere with the inverting head unit during movement of the mounting head unit;   calculating movement times taken for the mounting head unit, when the mounting head unit is moved, to pass the determined pass point both in a case of movement in a direction along a surface of the substrate and in a case of movement in a direction almost orthogonal to the surface of the substrate;   starting the movement of a longer time among the calculated movement times and calculating a difference between the respective movement times; and   starting the other movement so as to move the mounting head unit to the component transfer position via the pass point, after holding up start of the other movement for the difference between the movement times.