Abstract:
A technology is provided to enable lowering the fault generation rate related to a parts installation device. A parts installation device ( 100 ) (calculation device ( 150 )) fetches or calculates state parameter values that represent the relative position relationship or the distance of a part holder and a part during the operation of removing and holding, calculates the fluctuation values of the state parameters, and corrects parameters having a small increase in the cycle time and is effective in reducing fluctuations among the parameter values of the holding position of the part holder, stop time, operating speed, and operation acceleration when the value of the fluctuations exceeds a first threshold.

Description:
INCORPORATION BY REFERENCE 
       [0001]    This application is based upon and claims the benefit of priority from prior Japanese Patent Application No. 2012-049915, filed on Mar. 7, 2012, the entire contents of which are incorporated herein by reference. 
       TECHNICAL FIELD 
       [0002]    The present invention relates to a technique of a device (parts mounting device) for mounting parts (electronic parts) on a substrate (circuit board) required for production of electronic devices. In particular, the present invention relates to a technique of conducting arithmetic operation (information processing) to calculate, determine and modify parameter values in operation control setting of regions (a head, a part holding member, or the like) of a parts mounting device. 
       BACKGROUND ART 
       [0003]    A parts mounting device adsorbs a part held by a parts supply device (feeder) with an internally depressurized adsorption nozzle (hereafter referred to as “nozzle” as well), conveys the part to a predetermined position on a substrate, and attaches the part to the substrate (hereafter, adsorption and attachment are collectively referred to as mounting). As regards the parts mounting device, directions crossing a gravitation direction (inclusive of obliquely) are supposed to be X and Y directions (X-Y plane) and a direction crossing the X and Y directions (X-Y plane) perpendicularly is supposed to be a Z direction. At the time of the attaching operation in this case, the parts mounting device moves a nozzle to a position (a predetermined X, Y and Z position) in the vicinity of a part (adsorption target) held by a feeder by moving the nozzle (a head or the like having the nozzle) in the X and Y direction and Z direction, adsorbs the part by stopping the nozzle for a predetermined time and depressurizing inside of the nozzle, and attaches the part onto a predetermined position of a substrate by moving the nozzle adsorbing the part in the X and Y direction and the Z direction at predetermined operation velocity. 
         [0004]    There is JP-B-4607820 (Patent Literature 1). In Patent Literature 1, a method of increasing the stop time of the adsorption nozzle in a case where an occurrence rate of abnormalities at the time of part adsorption has increased is stated. 
       CITATION LIST 
     Patent Literature 
       [0000]    
       
         PATENT LITERATURE 1. JP-B-4607820 
       
     
       SUMMARY OF INVENTION 
     Technical Problem 
       [0006]    In the parts mounting device as described above, it is necessary to suitably set the position of the nozzle at the time of adsorption, the stop time of the nozzle at the time of adsorption, the operation velocity of the nozzle after the adsorption, and the like, in accordance with the position of the part mounted on and held by the feeder, and the shape, weight and the like of the part. 
         [0007]    For example, in a case where the mounting position of the part deviates to a position on an opposite side as compared with the nozzle stop position in the Z direction (a little above the part), (for example, in a case where the feeder (concave portion) mounting the part deviates a little below in the Z direction), the distance between the part and the nozzle becomes large and it becomes difficult to adsorb the part to the nozzle suitably ( FIG. 5 ). As a result, an adsorption abnormality in which the part is adsorbed in an inclined state, or an adsorption abnormality in which the part cannot be adsorbed occurs. In such a case, it is necessary to, for example, move the adsorption position (stop position) of the nozzle to a position closer to the part in the Z direction. 
         [0008]    Furthermore, for example, in a case where a pressure control mechanism concerning the nozzle is degraded, it takes a longer time until the inside of the nozzle is depressurized. As a result, the nozzle operates in a state in which the inside of the nozzle is not sufficiently depressurized. Accordingly, an adsorption abnormality in which the part is adsorbed in an inclined state, or an adsorption abnormality in which the part cannot be adsorbed occurs. In such a case, it becomes necessary to, for example, increase the stop time of the nozzle at the time of part adsorption to sufficiently depressurize the inside of the nozzle, or lower the operation velocity (the velocity of the nozzle, the head or the like) or operation acceleration according to the depressurization situation within the nozzle. 
         [0009]    For lowering the occurrence rate of abnormalities as described above, it becomes necessary to calculate the position at the time when the nozzle adsorbs the part, the stop time, the operation velocity, the operation acceleration, and the like by means of, for example, arithmetic operation and set (modify) them suitably. 
         [0010]    The prior art example has two problems described hereafter. In the technique in Patent Literature 1, parameters are changed after an adsorption abnormality has occurred and consequently it is not possible to prevent a part abnormality. Furthermore, when an adsorption abnormality has occurred, only the stop time of the nozzle at the time of part adsorption among a plurality of changeable parameters is changed. Even in a case where, for example, an adsorption abnormality can be prevented by changing the stop position of the nozzle and an increase of time required for production (cycle time) in a case where the stop position of the nozzle is changed is smaller as compared with a case where the stop time of the nozzle is changed, therefore, the stop time is increased. In this case, the quantity of production is lowered by the increase of the cycle time. 
         [0011]    In view of the circumstances described heretofore, a main object (subject) of the present invention is to provide a technique capable of preventing the occurrence of an abnormality in parts mounting devices by suitably calculating, determining and modifying the position of a part holding member in directions including the Z direction at the time when adsorbing a part, the stop time, the operation velocity, the operation acceleration and the like while considering the cycle time 
       Solution to Problem 
       [0012]    In order to achieve the object, the following configuration is provided as a feature. 
         [0013]    An arithmetic device which calculates setting of operation control in a parts mounting device which mounts parts on a substrate, the parts mounting device including a supply device which supplies the parts; an attachment device including a parts holding member to take out and hold the part, a general control device which controls operations of respective regions including the supply device and the attachment device in a mounting operation including an operation of taking out the part by using the parts holding member and an attachment operation of attaching the part taken out and held by the part holding member to a substrate, in accordance with information of the setting; and a detection device which detects a state concerning the part holding member and the part at time of the operation of taking out and holding the part, the arithmetic device including an arithmetic control unit which conducts calculation processing; and a storage unit which stores data information to be used in the calculation processing, the arithmetic control unit conducting (1) first processing of acquiring or calculating a state parameter which represents a distance between the part holding member and the part or relative positions at the time of operation of taking out and holding the part, by using the detection device and storing information thereof into the storage unit, (2) second processing of calculating a variation value of the stored state parameter in the operation of taking out and holding the part and storing information thereof into the storage unit, and (3) in response to excess of the variation value of the state parameter over a first threshold, third processing of selecting a parameter value to be modified, out of parameter values representing a holding position, stop time, an operation velocity, and operation acceleration, on the basis of information of effectiveness to variation reduction of the state parameter when modified and an increase quantity of time required for substrate production when modified, and conducting modification. 
         [0014]    Furthermore, in the third processing, in a case where a difference between a variation value of the state parameter before modification of the parameter value and a variation value of the state parameter after the modification of the parameter value exceeds a second threshold, the parameter value is determined to be a parameter value that is effective to the variation reduction. 
         [0015]    Furthermore, the second threshold used to calculate the variation value in a case where the number of data is large is made smaller in value than the second threshold used in a case where the number of data is small. Furthermore, a variance value is calculated as the variation value of the state parameter, and the variance value is utilized. Furthermore, the variation value of the state parameter and modification contents information including values before and after the modification concerning the parameter in the setting are displayed on an output device included in the parts mounting device or the arithmetic device, and the modification is executed after user&#39;s confirmation. 
       Advantageous Effects of Invention 
       [0016]    According to the present invention, it is possible to lower the occurrence rate of abnormalities while holding down the increased quantity of the cycle time. Other objects, features and advantages of the present invention will become apparent from ensuing description of embodiments of the present invention with reference to accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0017]      FIG. 1  is a diagram showing a configuration example of a parts mounting device (including an arithmetic device) which is an embodiment of the present invention; 
           [0018]      FIG. 2  is a flow diagram showing a processing example in the present parts mounting device; 
           [0019]      FIG. 3  is a diagram schematically illustrating a configuration example of regions such as a feeder and a head and a configuration example of mounting of a part to a substrate in the present parts mounting device; 
           [0020]      FIG. 4  is a diagram illustrating a configuration example of a head and a nozzle; 
           [0021]      FIG. 5  is a diagram illustrating an example of positions of a part and a nozzle at the time of adsorption when viewed from a side face; 
           [0022]      FIG. 6  is a diagram illustrating an example of an image obtained by a side face detection unit; 
           [0023]      FIG. 7  is a diagram illustrating an example of positions of the part and the nozzle at the time of adsorption when viewed from above; 
           [0024]      FIG. 8  is a diagram illustrating an example of an image obtained by a bottom face detection unit; 
           [0025]      FIG. 9  is a flow diagram showing a processing example (calculation and modification processing of operation information) in the present arithmetic device; 
           [0026]      FIG. 10  is a diagram showing a table example of attachment information, 
           [0027]      FIG. 11  is a diagram showing a table example of operation information; 
           [0028]      FIG. 12  is a diagram showing a table example of adsorption result information; 
           [0029]      FIG. 13  is a diagram showing a table example of variation information, 
           [0030]      FIG. 14  is a diagram showing a table example of threshold information; 
           [0031]      FIG. 15  is a diagram showing a table example of reduction effect information; 
           [0032]      FIG. 16  is a diagram showing a table example of cycle change quantity information, 
           [0033]      FIG. 17  is a diagram showing a screen example of confirmation, and 
           [0034]      FIG. 18  is a diagram showing relations between the occurrence rate of adsorption abnormalities and the standard deviation of the part holding position. 
       
    
    
     DESCRIPTION OF EMBODIMENTS 
       [0035]    Hereafter, an embodiment (the arithmetic device, the parts mounting device and others) of the present invention will be described with reference to  FIGS. 1 to 18 . By the way, throughout all diagrams for describing the embodiment, the same unit is denoted by the same character in principle, and duplicated description thereof will be omitted. As symbols in description, for example, a feeder is denoted by F, a nozzle is denoted by N and a part is denoted by P. 
         [0036]    A parts mounting device  100  (an arithmetic device  150 ) according to the present embodiment conducts processing as shown in  FIGS. 2 and 9  (including processing of calculating, determining and modifying a part mounting method (operation control setting information) in the parts mounting device  100 ) on the basis of hardware and software configurations shown in  FIGS. 1 ,  3  and  4 . Data information as shown in  FIGS. 10 to 16  is managed. A user (such as an operator who utilizes and manages a system including the present parts mounting device  100 ) can input/output information by using the screen as shown in  FIG. 17 . 
         [0037]    As one of features, a modified value of a parameter such as a stop position (Z) of a nozzle N at the time of adsorption, stop time (T), or an operation velocity (V) (a modified value suitable for lowering the abnormality occurrence rate) is calculated by using variation information concerning a holding position (HX, HY) of a part P by a nozzle N, and a distance (KZ) between the nozzle N and the part P at processing step  109  (details are shown in  FIG. 9 ) in  FIG. 2 . A result is reflected to setting information of operation control in the parts mounting device  100 . 
       [Parts Mounting Device] 
       [0038]      FIG. 1  shows a configuration of a parts mounting device  100  and an arithmetic device  150  according to an embodiment of the present invention. The arithmetic device  150  is provided within the parts mounting device  100 . By the way, a form in which the arithmetic device  150  is provided outside the parts mounting device  100  and connected to the parts mounting device  100  may be used, or a form in which the arithmetic device  150  and a general control device  140  are unified to one body may be used. 
         [0039]    The parts mounting device  100  includes a supply device  110 , an attachment device  120 , a part detection device  130 , a general control device  140 , an arithmetic device  150 , an input device  170 , an output device  171 , and a communication IF device  172 . They are connected to each other via a bus  173 . The input device  170  is, for example, a mouse, a keyboard and the like for accepting information input by user&#39;s operation. The output device  171  is, for example, a display, a printer, and the like for outputting information to the user. The communication IF device  172  is an interface which is connected to other devices or systems (which can be connected to an existing production management system or the like) via the bus  173  and an external network to transmit and receive information. The bus  173  couples respective units ( 110  to  172 ). I/F units ( 112  to  163 ) in respective devices ( 110  to  150 ) are interfaces for transmitting and receiving information via the bus  173 . 
         [0040]    The supply device  110  includes a feeder base Ill having a plurality of feeders F, and an IF unit  112 . The supply device  110  has a physical configuration, details of which are exemplified in  FIG. 3  ( FIG. 3  shows an example, and various configurations are possible). 
         [0041]    The attachment device  120  includes a head  121 , a beam  122 , a nozzle (adsorption nozzle)  123 , a drive control unit  124 , a pressure control unit  125 , and an IF unit  126 . The attachment device  120  has a physical configuration, details of which are exemplified in  FIG. 3  ( FIG. 3  shows an example, and various configurations are possible). The drive control unit  124  controls regions ( FIGS. 3 to 5 ) such as the head  121 , the beam  122  and the nozzle  123  to attach a component to part attachment position coordinates on a substrate shown in attachment information  142  ( FIG. 10 ) described later in an attachment order shown in the attachment information  142 , in response to an instruction from the general control device  140 . The pressure control unit  125  controls the pressure within the nozzle  123  in response to an instruction from the general control device  140 . For example, the pressure control unit  125  receives an instruction for lowering the pressure within the nozzle  123  to adsorb the part P to the nozzle  123 , from the general control unit  140 . 
         [0042]    The part detection device  130  includes a side face detection unit  131 , a bottom face detection unit  132 , and an IF unit  133 . In response to an instruction from the general control unit  140 , the side face detection unit  131  picks up an image of the nozzle  123  (N) which has absorbed the part P from the side (side face), and measures and calculates a distance (KZ) between the nozzle N and the part P in the Z direction ( FIG. 5 ) by using this image and a means such as pattern matching (image processing) (as described later with reference to  FIGS. 5 and 6 ). The side face detection unit  131  includes a light reception unit  131   a  and a light emission unit  131   b  mounted on the head  121 , for example, as shown in  FIG. 4 , and has a calculation processing function of the value (KZ). 
         [0043]    Furthermore, in response to an instruction from the general control unit  140 , the bottom face detection unit  132  picks up an image of the nozzle  123  (N) which has absorbed the part P from below, and measures and calculates a position (HX, HY) in the X and Y directions ( FIG. 3 ) in which the nozzle holds the part P by using this image and a means such as pattern matching (image processing) (as described later with reference to  FIGS. 7 and 8 ). The bottom face detection unit  132  is disposed between the feeder base  111  and a substrate  90 , for example, as shown in  FIG. 3 , and has a calculation processing function of the value (HX, HY). 
         [0044]    In the present embodiment, the calculation processing of the values KZ, HX and HY is conducted by the side face detection unit  131  and the bottom face detection unit  132 , and the arithmetic device  150  acquires the result. Alternatively, the calculation processing may be conducted in another region such as the arithmetic device  150 . In a case where the arithmetic device  150  conducts the calculation processing, the arithmetic device  150  acquires each kind of data information (for example, image data) from the side face detection unit  131  and the bottom face detection unit  132 , and calculates respective values. Furthermore, means for obtaining the values are not restricted to the means such as image pickup and pattern matching, but various means can be applied. 
         [0045]    The general control device  140  is a main control unit of the parts mounting device  100 , and provided with a general control unit  144 , a storage unit  141 , an IF unit  145 , and the like. In the memory area of the storage unit  41 , attachment information D 1  (described later,  FIG. 10 ) and operation information D 2  (described later,  FIG. 11 ), and the like, are stored. 
         [0046]    The general control device  144  controls processing conducted in the supply device  110 , the attachment device  120 , the part detection device  130 , the arithmetic device  150 , the input device  170 , the output device  171 , the communication IF device  172 , and the like. The general control device  140  controls operation of respective regions (including the feeder F and the nozzle F) such as the supply device  110 , the attachment device  120 , and the part detection device  130  in accordance with the attachment information D 1  and the operation information D 2 . The general control device  144  causes a predetermined nozzle N from a predetermined F to adsorb a part P in accordance with setting stored in the operation information D 2  in accordance with an order stored in the attachment information D 1 . At the time of the adsorption, the general control device  144  causes the part detection device  130  to calculate the part holding position HX and HY, the distance KZ, and the like. And the general control device  144  causes the part P to be attached in a position on the substrate stored in the attachment information D 1 . 
         [0047]    The attachment information D 1  and the operation information D 2  (storage information of them) are one kind of information (setting information) for controlling operation (mounting operation) of respective regions in the parts mounting device  100 . 
         [0000]    [Arithmetic device] 
         [0048]    The arithmetic device  150  includes an arithmetic control unit  160 , a storage unit  160 , an input unit  161 , an output unit  162 , and an IF unit  163 . Adsorption result information D 3  (described later,  FIG. 12 ), variation information D 4  (described later,  FIG. 13 ), threshold information D 5  (described later,  FIG. 14 ), reduction effect information D 6  (described later,  FIG. 15 ), cycle change quantity information D 7  (described later,  FIG. 16 ), and the like are stored in a storage area in the storage unit  151 . 
         [0049]    The arithmetic device  150  can be implemented by using a typical computer, IC or the like. For example, the arithmetic control unit  160  can be implemented by using hardware such as a CPU and a memory (such as a ROM or RAM), software program processing using it (processing using a program in the present embodiment), or the like. Each processing function (including processing shown in  FIG. 2  and  FIG. 9 ) is implemented by, for example, causing the arithmetic control unit  160  to load and execute a program stored in the storage unit  151  or outside. The storage unit  151  can be implemented by using an external storage device such as various memories and an HDD, a reading/writing device for reading/writing information on a storage medium such as a CD or a DVD, a device for reading/writing data in an external network, or the like. The input unit  161  can be implemented by using an input device such as a keyboard or a mouse for accepting information input caused by user operation. The output unit  162  can be implemented by using an output device such as a display which outputs information to the user. The IF unit  163  can be implemented by using an interface connected to a bus  173  to transmit/receive information via the bus  173 . 
         [0050]    The arithmetic control unit  160  conducts processing of calculating variation concerning the part holding position HX and HY and the distance KZ by using information (actual result data) stored in the adsorption result information D 3  and modifying information (setting information) stored in the operation information D 2  on the basis of a decision (described later,  FIGS. 2 and 9  and the like). 
         [0051]    The adsorption result information D 3 , the variation information D 4 , the threshold information D 5 , the reduction effect information D 6 , and the cycle change quantity information D 7  stored in the arithmetic device  150  are managed as information required in processing in the arithmetic device  150 . By the way, these kinds of information may be unified with or separated from each kind of information (the attachment information D 1  and the operation information D 2 ) in the general control device  140  as occasion demands. 
       [Supply Device and Attachment Device] 
       [0052]      FIG. 3  shows a schematic configuration (top face) of the feeder base  111 , the head  121 , the beam  122 , a guide  122   a , and the like relating to the supply device  110  and the attachment device  120  in  FIG. 1 . The feeder base  111  includes a plurality of feeders  111   a  (F). The part supply device (feeder base  111 ) is, for example, a tape type. For example, a plurality of parts P to be supplied are mounted every feeder F. For example, if one part P stored in the feeder F is adsorbed by the nozzle N ( FIG. 4 ) on the head  121 , the feeder F automatically conveys the next one in the remaining parts P as far as a position where the nozzle N can adsorb (in the Y direction in  FIG. 3 ) in response to an instruction from the general control device  140 . 
         [0053]    Operation of the head  121 , the beam  122  and the like is controlled in response to an instruction from the general control device  140 . The head  121  is configured to be movable in one coordinate axis direction (in the X direction in  FIG. 3 ) along the beam  122 . The beam  122  is configured to be movable in another coordinate axis direction (in the Y direction in  FIG. 3 ) crossing the coordinate axis direction in which the head  121  moves. In addition, the head  121  (the nozzle N mounted on the head  121 ) is configured to be movable in a direction (Z direction) perpendicular to the X and Y directions. 
         [0054]    In the configuration, the head  121  and the beam  122  are moved in the X and Y directions. The nozzle N included in the head  121  is moved in the Z direction. A predetermined part P ( 50 ) can be adsorbed from a predetermined feeder F by a predetermined nozzle N. In addition, respective portions are moved in the X, Y and Z directions in the same way. As a result, the part P ( 50 ) can be attached to a predetermined position on the substrate  90 . 
       [Head, Nozzle] 
       [0055]      FIG. 4  shows a bottom face as a configuration example of the head  121 . The head  121  includes a plurality of nozzles  123  (N) on a bottom face portion thereof. In addition, the light reception unit  131   a  and the light emission unit  131   b  which are components of the side face detection unit  131  are mounted on the bottom face portion of the head  121 . In the present example, a plurality of (for example, twelve) nozzles are disposed in a circular form. The head  121  is a mechanism capable of utilizing a desired nozzle N by rotation control or the like. Furthermore, the head  121  is a mechanism capable of picking up an image of a desired nozzle N with the light reception unit  131   a  by rotation control or the like in the same way. The position of each nozzle is identified by a number. 
         [0056]    Besides, various forms can be applied as regards the head  121  and the nozzle N. For example, a configuration in which a plurality of heads  121  and nozzles N are mounted on one unit can be mentioned. 
       [Side Face Detection Unit, Distance KZ] 
       [0057]    In the side face detection unit  131 , the light reception unit  131   a  ( FIG. 4 ) receives light emitted from the light emission unit  131   b  and creates (picks up) an image, for example, as shown in  FIG. 6  from a portion that becomes a shadow of light. And the side face detection unit  131  calculates a relative distance KZ of the part P from the nozzle N on the basis of the image picked up. 
         [0058]      FIG. 5  shows an example in which positions of the part P and the nozzle N on the feeder F at the time of adsorption are viewed from the side face. This is a case where the part  50  (P) is stored in each concave portion  520  of the feeder F. In  FIG. 5 , (a) shows a case where, for example, the part  50  (P) is in a standard position (stop position L) on setting, and (b) shows a case where the part  50  (P) deviates from (a) a little. 
         [0059]    In  FIG. 5(   a ), reference numeral  500  denotes a stop position of the nozzle N at the time of movement of the head  121 . Reference numeral  501  denotes a reference line (Z direction position (z)=0) in the Z direction concerning the position (stop position L) of the nozzle N. For example, a downward direction (downward direction of the nozzle N) with reference to the reference line  501  is denoted by + (positive) direction and an upward direction is referred to as − (negative). A distance between  500  and  501  is LZ. Numeral  503  denotes a line of the nozzle stop position L determined by a tip (bottom end) of the nozzle N. Numeral  502  denotes a Z direction position (z) of the nozzle N corresponding to the stop position L  503 . Numeral  504  denotes a line of a part position determined by a top end of the part P Numeral  505  denotes a distance between the bottom end of the nozzle N and the top end of the part P. Numeral  506  denotes a distance between the bottom end of the nozzle N and a bottom end of the part P (a base of a concave portion  520 ). 
         [0060]    As for the position of the part P in the feeder F (concave portion  520 ), a deviation or variation might occur in directions including the Z direction. For example, in a case where the feeder is moved by conveyer, it is considered that the face of the concave portion  520  deviates in the Z direction a little. As a result, the relative position (distance) of the part P as compared with the nozzle N deviates a little. 
         [0061]      FIG. 5 , (b) shows a case where the position of the part P deviates to an opposite side (+Z direction) from the position of the nozzle N to apart from the nozzle N. Numeral  509  denotes a line of the part position determined by the top end of the part P. A distance between the lines  504  and  509  corresponds to the magnitude of the deviation. In this case, a distance ( 507  or  508 ) between the nozzle N and the part P is larger as compared with  FIG. 5 , (a) In other words, it becomes difficult for the nozzle N to adsorb the part P, and an abnormality (an abnormality such as oblique adsorption of the part P, adsorption of an end of the part P, impossibility of adsorption of the part P, or falling after adsorption) becomes apt to occur 
         [0062]      FIG. 6  shows an example of an image picked up by the side face detection unit  131 . A case of bi-value image data is shown. In an image  700   a  shown in  FIG. 6(   a ), numeral  711  denotes a portion corresponding to the nozzle N and numeral  712  denotes a portion corresponding to the part P Numeral  701  denotes a measurement reference line in the Z direction, which is a straight line passing through the tip (bottom end) of the nozzle N. Numeral  702  denotes a straight line of the bottom end of the part P. Numeral  703  denotes a distance KZ between  701  and  702 . In an image  700   b  in  FIG. 6 . (b), a case where inclination of the part P at the time of adsorption is large is shown to make the concept of the distance KZ easy to understand. Numeral  704  denotes a straight line passing through a bottom end of the part P. Numeral  705  denotes a distance KZ between  701  and  704 . 
         [0063]    As for the distance KZ defined here, there is a relation that the KZ value becomes large as the inclination of the part P when absorbed by the nozzle N becomes larger as shown in  FIG. 6 , (b) as compared with  FIG. 6 , (a) As the KZ value becomes large as shown in  FIG. 6 , (b), the abnormality occurrence rate becomes higher. In the present embodiment, modification concerning the position of the nozzle N and the like at the time of adsorption is conducted depending upon whether the variation value of the distance KZ is large or small. 
         [0064]    In the present embodiment, the distance KZ is defined simply as a distance from the nozzle N to the part P in the Z direction. As for a calculation method of the distance KZ, the distance KZ is calculated as a distance from the tip ( 701 ) of the nozzle N to the bottom end ( 702  or the like) of the part P in the examples shown in  FIG. 6 , 
         [0065]    As for the distance KZ, other definitions (calculation methods) may be used. For example, an end of the distance is not restricted to a bottom end or a top end, but the distance may be a distance between reference points. In addition, a value calculated by a predetermined formula with a distance value or the like given as an input may be used. Furthermore, the distance value is not restricted to the Z direction, but the distance value may be calculated inclusive of the X and Y directions. 
       [Bottom Face Detection Unit, Part Holding Position HX and HY] 
       [0066]    The bottom face detection unit  132  calculates part holding position HX and HY on the basis of a difference between the center of the part P and the center of the nozzle N in the X and Y directions obtained from an image picked up. 
         [0067]      FIG. 7  shows an example of positions of the part P and the nozzle N at the time of adsorption when viewed from above. In this case, the center of a circular nozzle N lies upon the center of a rectangular part P in the X and Y directions (the same as  FIG. 3 ) The outer circle is the external shape of the nozzle N, and the inner circle is the inside diameter of the nozzle N. CP denotes the center point of the part P and CN denotes the center point of the nozzle N. Numerals  601  and  602  denote reference lines in the X and Y directions passing through CP. In a large number of parts, the case where CN coincides with CP is an ideal adsorption state. 
         [0068]      FIG. 8  shows an example of an image picked up by the bottom face detection unit  132  (in correspondence relation to  FIG. 7 ). C is a measurement reference point, and is a point that coincides with CP. Numerals  801  and  802  pass through C, and they are not reference lines in an absolute coordinate system but denote measurement reference lines in conformity with a coordinate system in the part P unit (for example, in the case of  FIGS. 7 and 8 , a direction parallel to a long side is X and a direction parallel to a short side is Y). The measurement reference line  801  in the X and Y directions is a straight line that is the same as  601  in  FIG. 7  in relative relation to the part. For example, in  FIG. 7 , the line  601  is a straight line parallel to the short side of the part. In this case, the line  801  also becomes a straight line parallel to the short side of the part. In the same way, the line  802  is a straight line that is the same as  602  in  FIG. 7  in relative relation to the part. The lines  801  and  802  are not reference lines in the absolute coordinate system, but reference lines in conformity with the coordinate system (for example, the long side is in the X direction and the short side is in the Y direction) in the part P unit. Numeral  820  denotes a portion corresponding to the part P. Numeral  810  (an area indicated by dashed lines) denotes a portion corresponding to the nozzle N. Numerals  803  and  804  denote straight lines which pass through the nozzle center CN and which are parallel to the measurement reference lines  801  and  802  in the X and Y directions. The portion  810  is hidden by the part P ( 820 ) and does not come out on the image  800  because the image is picked up from below. However, the nozzle center CN can be grasped by moving the nozzle N to a predetermined position (for example, the center of an image region picked up). 
         [0069]    PX and PY in  FIG. 7  correspond to the part holding position HX and HY in FIG.  8 . HX and HY become differences in associated directions that coincide in directions with the X and Y directions of the part P at the time when the part P is mounted on the feeder F (the X and Y directions in the absolute coordinate system). For example, when a rectangular shaped part P is mounted on the feeder F, it is supposed that the long side of the part P is parallel to the X direction in  FIG. 3  and the short side is parallel to the Y direction in  FIG. 3 . In this case, the part holding position HX represents a difference between the part center CP and the nozzle center CN in a direction parallel to the long side of the part P, and in the same way, the part holding position HY represents a difference between CP and CN in a direction parallel to the short side of the part P. 
         [0070]    As the HX and HY values become large, deviations are large and it becomes difficult for the nozzle N to adsorb the part P, and an abnormality (an abnormality such as oblique adsorption of the part P, adsorption of an end of the part P, impossibility of adsorption of the part P, or falling after adsorption) becomes apt to occur. 
       [Processing Outline (FIG. 2)] 
       [0071]      FIG. 2  shows a flow of general processing outline in the parts mounting device  100  including features of the present embodiment (S 101  and the like indicate processing steps). In particular, a detailed configuration example of S 109  will be described later with reference to  FIG. 9 . 
         [0072]    (S 101 ) The general control unit  144  in the general control device  140  instructs respective units including the supply device  110  and the attachment device  120  to conduct mounting operation by using the attachment information D 1  ( FIG. 10 ) and the operation information D 2  ( FIG. 11 ). 
         [0073]    (S 102 ) On the basis of the instruction at S 101 , the supply device  110  causes the feeders ( 111   a ) and the like to operate, and the attachment device  120  causes the head  121 , the beam  122 , the nozzle N ( 123 ) and the like to operate. In particular, the target head  121  and the nozzle N are moved in the X and Y directions ( FIG. 3 ) and moved as far as the position of the target feeder F-part P (adsorption target). 
         [0074]    (S 103 ) Subsequently, the nozzle  123  (N) is moved (lowered) in the 7 direction ( FIG. 5 ), moved as far as a predetermined position (the stop position Z of the nozzle N) on the center of the target part P, and stopped. By the way, in the present embodiment, S 2  (movement in the X and Y directions) and S 3  (movement in the Z direction) are separated. However, it is also possible to collect S 2  and S 3  to one and exercise simultaneous control (movement in the X, Y and Z directions). 
         [0075]    (S 104 ) The nozzle N is stopped in the stop position for a predetermined time (stop time T) The part P is adsorbed and held by depressurization within the nozzle N conducted by the pressure control unit  125 . 
         [0076]    (S 105 ) The nozzle N is moved (raised) from the stop position L as far as  500  in the Z direction ( FIG. 5 ) at a predetermined operation velocity VZ. 
         [0077]    Furthermore, in the present embodiment, the distance KZ is calculated by picking up an image of the nozzle N in a state in which the nozzle N adsorbs and holds the part P from the side face with the side face detection unit  131  at the time of S 4  and S 5 . 
         [0078]    (S 106 ) In addition, the head  121 , the nozzle N and the like are moved in the X, Y and Z directions, moved as far as a part attachment position of the substrate. The part P is attached by canceling the adsorption ( FIG. 3 ). 
         [0079]    Furthermore, in the present embodiment, the part holding position HX and HY are calculated by picking up an image of the nozzle N in a state in which the nozzle N adsorbs and holds the part P from below with the bottom face detection unit  132  at the time of S 106 . 
         [0080]    (S 107 ) As regards the combination of the feeder F, the nozzle N, and the like caused to operate at S 1  to S 6  described above, adsorption result information  152  which becomes actual result data is created and stored in the storage unit  151  in the arithmetic device  150 . The adsorption result information  152  includes information of the distance KZ and the part holding position HX and HY. This storage may be conducted at other timing. For example, the arithmetic device  150  may acquire the adsorption result information  152  and the like from external (such as the general control device  140 ) as occasion demands. Actual result data is stored in the same way whenever each of a plurality of times of part mounting operation is conducted. 
         [0081]    (S 108 ) After attachment of the part P, the general control unit  144  in the general control device  140  instructs the arithmetic device  150  to conduct modification of the operation information D 2  (including determination as to whether modification is necessary) as to the combination of the feeder F, the nozzle N, and the like caused to operate at S 1  to S 7 . 
         [0082]    (S 109 ) The arithmetic control unit  160  in the arithmetic device  150  conducts processing for calculating and modifying the operation information D 2  by using the adsorption result information  152  on the basis of the instruction (details are shown in  FIG. 9 ). The stop position Z ( 11   c ), the stop time T ( 11   d ) and the operation velocity VZ ( 11   e ) of the nozzle N are included as targets and candidates to be modified. 
         [0083]    (S 110 ) The arithmetic control unit  160  and the like in the arithmetic device  150 , for example, displays modification contents information obtained at S 109  on a screen and causes a user to confirm execution of the modification (described later,  FIG. 17 ). Upon confirmation, the arithmetic control unit  160  transmits the modification contents information obtained at S 109  (including whether modification is necessary) to the general control device  140  as a response. As a result, the general control unit  144  updates (resets) the contents of the operation information  143 . By the way, a form in which the user&#39;s confirmation using the screen is omitted may be used. In that case, a form in which setting information within the general control device  140  is automatically updated is obtained. 
       [Attachment Information] 
       [0084]      FIG. 10  shows an example of an attachment information table which is an embodiment of the attachment information D 1 . The attachment information table includes fields such as order  10   a , part attachment position coordinate  10   b , feeder number  10   c , and adsorption nozzle number  10   d . D 1  (its storage information) includes information such as order, position, feeder F, and the nozzle N at the time when the nozzle N adsorbs the part P from the feeder F and at the time when the part P is attached onto the substrate. By the way, although not illustrated, D 1  may include other fields such as a part ID. 
         [0085]    The order  10   a  stores information indicating an attachment order of the part P to the substrate, and information indicating an adsorption order of the part P by the nozzle N. In the present embodiment, the attachment order and the adsorption order are configured to become the same. However, they may be different from each other. As for the part attachment position coordinate  10   b , information of a coordinate in the X and Y directions on the substrate is stored as information indicating a position where the part P is attached to the substrate ( 90  in  FIG. 3 ). 
         [0086]    The feeder number  10   c  stores information indicating the feeder F (position) that holds the part P. In the present embodiment, a feeder number that uniquely identifies the mounting position of the feeder F ( 111   a ) in the feeder base  111  ( FIG. 3 ) is stored. The adsorption nozzle number  10   d  stores information indicating the nozzle N that adsorbs the part P. In the present embodiment, an adsorption nozzle number (for example, 1 to 12) assigned to uniquely identify a mounting position of the nozzle N is used as information identifying the position of the nozzle N in the head  121  ( FIG. 4 ) associated with the nozzle N. 
       [Operation Information] 
       [0087]      FIG. 11  shows an example of an operation information table which is an embodiment of the operation information D 2 . The operation information table includes fields such as feeder number  11   a , adsorption nozzle number  11   b , stop position (L)  11   c  (X direction position (x), Y direction position (y), and Z direction position (z)), stop time (T)  11   d , and operation velocity (VZ)  11   e  (modification coefficient). D 2  (its storage information) includes information such as the stop position L, the stop time T, and the operation velocity V of the nozzle N at the time when the nozzle N adsorbs the part P from the feeder F. 
         [0088]    The feeder number  11   a  stores information identifying the position of the feeder F (that mounts the target part P) (in the same way as  10   c ). The adsorption nozzle number  11   b  stores information identifying the position of the nozzle N (that adsorbs the target part P) (in the same way as  10   d ). The stop position  11   c  (L(x, y, z)) stores information identifying the stop position Z (in other words, the adsorption position) in a case where the nozzle N indicated by  11   b  adsorbs the part P mounted in the position (feeder F) indicated by  11   a . The stop position Z indicates a position in the Z direction in  FIG. 5 . For example, as shown in  FIG. 5 , the nozzle N is lowered to a position where the distance from the reference line  501  (z=0) becomes the same as the value of z stored in  11   c , and stopped. 
         [0089]    The stop time (T)  11   d  stores information of a modified value concerning the stop time T of the nozzle N (corresponding head  121  and the like) in the stop position Z in  11   c  at the time when the nozzle adsorbs the part P in the pertinent position (feeder F). In the present example, the nozzle N is stopped for a time corresponding to a value in  11   d , For example, in a case where the value in  11   d  is 1, T is set to T=0.01 second. 
         [0090]    In the operation velocity (VZ)  11   e  (modification coefficient), information that identifies the operation velocity V of the nozzle N at the time when the nozzle N adsorbs the part P in the pertinent position (feeder) is stored. In the present embodiment, at least an operation velocity VZ is included as the operation velocity V. The operation velocity VZ is an operation velocity at the time when raising the nozzle N, in a state in which the nozzle N adsorbs the part P, in the Z direction. The operation velocity  11   e  is represented by a modification coefficient. A value obtained by multiplying a predetermined standard operation velocity value in setting by the value indicated in  11   e  becomes an actually used operation velocity (modified value). The control of  11   e  (VZ) may be applied to the time of other movement. For example, the control may be applied to the movement in the X and Y directions, and the movement of the head  121 , the beam  122  and the like. 
       [General Control Example] 
       [0091]    Hereafter, an example of control of a part mounting operation conducted by the general control device  140  (the general control unit  144 ) using the attachment information D 1  ( FIG. 10 ) and the operation information D 2  ( FIG. 11 ) will be described. The general control unit  144  instructs the supply device  110 , the attachment device  120 , and the like to adsorb the part P mounted in the feeder F position (d 10 ) in the feeder number  10   c  in the order  10   a  in the attachment information D 1  with the nozzle N (d 11 ) in the adsorption nozzle number  10   d , move the part P to the part attachment position coordinate  10   d  on the substrate, and attach the part P. Characters such as d 10  are characters for distinction. 
         [0092]    The general control unit  144  positions (stops) the nozzle N (d 11 ) in a position in the X and Y directions where the center of the nozzle coincides with the center of the part and in the stop position Z (d 12 ) in  11   c  in the operation information D 2  in the Z direction. The general control unit  144  instructs the pressure control unit  125  to depressurize the inside of the nozzle N (d 11 ). The general control unit  144  causes the nozzle N (d 11 ) to adsorb the part P by stopping the nozzle N (d 11 ) for the stop time T (d 13 ) in  11   d . After elapse of the stop time T (d 13 ), the general control unit  144  moves the nozzle N (d 11 ) at the operation velocity VZ (d 14 ) in  11   e.    
         [0093]    After the adsorption, the general control unit  144  moves the nozzle N (d 11 ), in a state in which the nozzle N (d 11 ) adsorbs the part P, to a position where an image can be picked up by the side face detection unit  131  ( FIG. 4 ) and causes the side face detection unit  131  to pick up an image from the side face. As a result, the general control unit  144  causes the distance KZ (d 15 ) to be calculated. Furthermore, the general control unit  144  moves the nozzle N (d 11 ), in a state in which the nozzle N (d 11 ) adsorbs the part P, to a predetermined position where an image can be picked up by the bottom face detection unit  132  ( FIG. 3 ) and causes the bottom face detection unit  132  to pick up an image from below. As a result, the general control unit  144  causes the part holding position HX (d 16 ) and HY (d 17 ) to be calculated. 
         [0094]    The general control unit  144  stores values of the feeder position in  10   c  (d 10 ), the nozzle N in  10   d  (d 11 ), the stop position Z in  11   c  (d 12 ), the stop time T in  11   d  (d 13 ), the operation velocity VZ (d 14 ) in the operation, and the distance KZ (d 15 ) and the part holding position HX (d 16 ) and HY (d 17 ) calculated as described above, into fields ( 12   a  to  12   h ) in the final row in the adsorption result information D 3  ( FIG. 12 ). 
         [0095]    And the general control unit  144  moves the nozzle N (d 11 ) to the part attachment position coordinate  10   b  on the substrate and instructs the pressure control unit  125  to cancel the depressurization of the inside of the nozzle N (d 11 ), and thereby attaches the part P to the position. 
       [Adsorption Result Information] 
       [0096]      FIG. 12  shows an example of an adsorption result information table which is an embodiment of the adsorption result information  152 . The adsorption result information D 3  stores information (actual result data) of a part adsorption result including information detected and calculated by using the part detection device  130 . The adsorption result information table includes fields such as feeder number ( 12   a ), adsorption nozzle number ( 12   b ), stop position (Z) ( 12   c ), stop time (T) ( 12   d ), operation velocity (VZ) ( 12   e ), part holding position HX ( 12   f ), part holding position HY ( 12   g ), and distance KZ ( 12   h ). The fields  12   a  to  12   e  are fields corresponding to  11   a  to  11   e  in  FIG. 11 . The values (d 10  to d 17 ) as described above are stored in the fields  12   a  to  12   e  as described in S 7  and [general control example]. 
         [0097]    Information identifying the part holding positions HX and HY detected and calculated by the bottom face detection unit  132  as described earlier ( FIGS. 7 and 8 ) is stored in the part holding positions HX ( 12   f ) and HY( 12   g ) In the present example, a value obtained by setting equal to 0 when CP=CN in  FIG. 7  is stored. Information identifying the distance KZ detected and calculated by the side face detection unit  131  described earlier ( FIGS. 5 and 6 ) is stored in the distance KZ ( 12   h ). In the present example, a distance in the Z direction between the tip of the nozzle N and the tip of the part P is stored. 
       [Variation Information] 
       [0098]      FIG. 13  shows an example of a variation information table which is an embodiment of the variation information D 4 . The variation information table includes fields such as feeder number ( 13   a ), adsorption nozzle number ( 13   b ), pre-modification part holding position variance VarXY(B) ( 13   c ), pre-modification distance variance VarZ(B) ( 13   d ), pre-modification number of data M(B) ( 13   e ), post-modification part holding position variance VarXY (A) ( 13   f ), pre-modification distance variance VarZ(A) ( 13   g ), and post-modification number of data M(A) ( 13   h ). Information calculated in the processing shown in  FIG. 9  is stored in the variation information D 4 . 
         [0099]    Information of the position of the feeder F is stored in the feeder number  13   a  (in the same way as  10   c ) Information of the position of the nozzle N is stored in the adsorption nozzle number  13   b  (in the same way as  10   d ). 
         [0100]    Information of a variance value (denoted by VarXY(B)) calculated from the part holding positions HX ( 12   f ) and HY ( 12   g ) before the operation information modification is stored in the pre-modification part holding position variance VarXY(B) ( 13   c ). Information of a variance value (denoted by VarZ(B)) calculated from the distance KZ ( 12   h ) before the operation information modification is stored in the pre-modification distance variation VarZ(B) ( 13   d ). These variance values (VarXY, VarZ) represent the degrees of variations. By the way, variance of each of  13   c  and  13   d  is obtained for a unit (combination) of the feeder F, the part P, and the nozzle N. (Variance may be obtained for the same feeder F irrespective of the feeder F. Furthermore, variance for the same nozzle N may be obtained irrespective of the feeder F.) Furthermore, variance based on actual result data of mounting operations a plurality of times in the past is obtained. 
         [0101]    Information of the number of data in the part holding positions HX and HY and the distance KZ used to calculate VarXY(B) and VarZ(B) is stored in the pre-modification number of data M(B) ( 13   e ). 
         [0102]    Information of a variance value (denoted by VarXY(A)) calculated from the part holding positions HX ( 12   f ) and HY ( 12   g ) after the operation information modification is stored in the post-modification part holding position variance VarXY(A) ( 13   f ) Information ofa variance value (denoted by VarZ(A)) calculated from the distance KZ ( 12   h ) after the operation information modification is stored the post-modification distance variance VarZ(A) ( 13   g ). These variances (VarXY and VarZ) represent the degree of variation. By the way, variance of each of  13   f  and  13   g  is obtained for a unit (combination) of the feeder F, the part P, and the nozzle N. (Variance may be obtained for the same feeder F irrespective of the feeder F. Furthermore, variance for the same nozzle N may be obtained irrespective of the feeder F.) Furthermore, variance based on actual result data of mounting operations a plurality of times in the past is obtained. 
         [0103]    Information of the number of data in the part holding positions HX and HY and the distance KZ used to calculate VarXY(A) and VarZ(A) is stored in the post-modification number of data M(A) ( 13   h ). 
       [Threshold Information] 
       [0104]      FIG. 14  shows an example of a threshold information table which is an embodiment of the threshold information D 5 . The threshold information table includes fields such as execution determination threshold Th 1  ( 14   a ), effect determination threshold (the number of data  20 ) ThE 20  ( 14   b ), effect determination threshold (the number of data  40 ) ThE 40  ( 14   c ), and effect determination threshold (the number of data  60 ) ThE 60  ( 14   d ). The threshold information D 5  is setting information used in determination (s 203  and s 210 ) relating to modification of the operation of the nozzle N at the time of adsorption. Each field value can be changed in setting by the user. 
         [0105]    Information for determining (s 203 ) whether to execute modification processing on the position (z) in the Z direction of the nozzle N, the stop time (T), the operation velocity (VZ) and the like is stored in the execution determination threshold Th 1  ( 14   a ). 
         [0106]    Information for determining whether modification of the operation information has brought about a variation reduction effect is stored in the effect determination threshold (the number of data  20 ) ThE 20  ( 14   b ), the effect determination threshold (the number of data  40 ) ThE 40  ( 14   c ), and the effect determination threshold (the number of data  60 ) ThE 60  ( 14   d ). If the number of data M(B) ( 13   e ) used to calculate the variance before modification of the operation information is at least 20 and less than 40, the effect determination threshold (the number of data  20 ) ThE 20  ( 14   b ) is utilized. If the number of data M(B) ( 13   e ) used to calculate the variance before modification of the operation information is at least 40 and less than 60, the effect determination threshold (the number of data  40 ) ThE 40  ( 14   c ) is utilized. If the number of data M(B) ( 13   e ) used to calculate the variance before modification of the operation information is at least 60, the effect determination threshold (the number of data  60 ) ThE 60  ( 14   d ) is utilized. If the value of the number of data M(B) becomes large, the value of the threshold for effect determination becomes small. This represents that in a case where the number of data is large it is determined that there is a variation reduction effect even if the difference in magnitude of variation between before the operation modification and after the operation modification is small. By the way, in the present embodiment, the number of data before the operation modification M(B) is used to change over the utilized threshold. In a case where the number of data after the operation modification M(A) is used, however, it is also possible to set a threshold that becomes small in value if the number of data M(A) becomes large, in the same way 
       [Reduction Effect Information] 
       [0107]      FIG. 15  shows an example of a reduction effect information table which is an embodiment of the reduction effect information D 6 . The reduction effect information table includes fields such as stop position (Z) effect ( 15   a ), stop time (T) effect ( 15   b ), and operation velocity (VZ) effect  15   c . Information utilized for determination in the processing shown in  FIG. 9  is stored in the reduction effect information D 6 . 
         [0108]    Information indicating whether there is a variation reduction effect in the modification of the stop position (Z), which is one of the operation information, is stored in the stop position (Z) effect ( 15   a ). Information indicating whether there is a variation reduction effect in the modification of the stop time (T), which is one of the operation information, is stored in the stop time (T) effect ( 15   b ). Information indicating whether there is a variation reduction effect (effectiveness to variation reduction) in the modification of the operation velocity (VZ), which is one of the operation information, is stored in the operation velocity (VZ) effect ( 15   c ). 
         [0109]    For example, in a case where the mounting device is started, “−” is stored in each field of the reduction effect information D 6  as an initial value to indicate that determination as to whether there is an effect is not yet executed. As a result of the processing shown in  FIG. 9 , a value in each field of the reduction effect information D 6  is modified to “O” to indicate that there is a reduction effect or “X” to indicate that there is not a reduction effect 
       [Cycle Change Quantity Information] 
       [0110]      FIG. 16  shows an example of a cycle change quantity information table which is an embodiment of the cycle change quantity information D 7 . The cycle change quantity information table includes fields such as stop position (Z) cycle change quantity ( 16   a ), stop time (T) cycle change quantity ( 16   b ), and operation velocity (VZ) cycle change quantity ( 16   c ). Values are stored in the cycle change quantity information D 7  by the processing shown in  FIG. 9 . The stored values are utilized for determination in the processing shown in  FIG. 9 . 
         [0111]    Information indicating a cycle time increase quantity per adsorption operation at the time when the stop position (Z), which is one of operation information, is modified is stored in the stop position (Z) cycle change quantity ( 16   a ). Information indicating a cycle time increase quantity per adsorption operation at the time when the stop time (T), which is one of operation information, is modified is stored in the stop time (T) cycle change quantity ( 16   b ). Information indicating a cycle time increase quantity per adsorption operation at the time when the operation velocity (VZ), which is one of operation information, is modified is stored. As for the cycle time increase quantity in each field, plus indicates an increase and minus indicates a decrease. In the present embodiment, information indicating a cycle time increase quantity per adsorption operation is stored. However, information indicating a cycle time increase quantity per produced substrate may be stored. 
       [Details of Processing (FIG. 9)] 
       [0112]      FIG. 9  shows an example of processing, concerning S 109  in  FIG. 2 , conducted by the arithmetic device  150  (mainly the arithmetic control unit  160 ) to calculate and modify the operation information D 2  (s 201  and the like represent processing steps). Upon receiving information specifying a combination of the feeder F (feeder position) (d 201 ) and the nozzle N (nozzle position) (d 202 ), which becomes a target of modification of the operation information D 2  (table) and an instruction of modification processing of the operation information D 2 , from, for example, the general control device  140  (the general control unit  144 ) via the IF unit  163  and the like, the arithmetic control unit  160  executes the processing shown in  FIG. 9 . 
         [0113]    (s 201 ) 
         [0114]    The arithmetic control unit  160  calculates an average value (AveX) of the part holding position HX, an average value (AveY) of the part holding position HY, and an average value (AveZ) of the distance KZ. By the way, an average (Ave) in a unit such as the feeder F, the nozzle N, and the part P is obtained. 
         [0115]    First, the arithmetic control unit  160  identifies a row having a feeder number ( 11   a ) equal to d 201  and an adsorption nozzle number ( 11   b ) equal to d 202  in the table of the operation information D 2 , and reads the stop position (Z) ( 11   c ) (MIold 1 ), the stop time (T) ( 11   d ) (MIold 2 ), and the operation velocity (VZ) ( 11   e ) (MIold 3 ) stored in the row. In addition, the arithmetic control unit  160  conducts retrieval in all rows in the table of the adsorption result information D 3 , identifies a row satisfying the following condition 1, and reads information of the part holding positions HX ( 12   f ) and HY ( 12   g ) and the distance KZ ( 12   h ) in the row satisfying the condition 1. 
         [0116]    (Condition 1) 
         [0117]    A value stored in the feeder number  12   a  is equal to d 201 , a value stored in the adsorption nozzle number  12   b  is equal to d 202 , a value stored in the stop position (z) is equal to MIold 1 , a value stored in the stop time (T) is equal to MIold 2 , and a value stored in the operation velocity (VZ) is equal to MIold 3 . 
         [0118]    Here, in an ith row from the top among rows satisfying the condition 1, information of the part holding position HX ( 12   f ) is referred to as Xi, information of the part holding position HY ( 12   g ) is referred to as Vi, and information of the distance KZ ( 12   h ) is referred to as Zi. The number of rows satisfying the condition 1 is referred to as n. 
         [0119]    In addition, the arithmetic control unit  160  calculates the average value (AveX) of the part holding position HX, the average value (AveY) of the part holding position HY, and the average value (AveZ) of the distance KZ. In a case where the number n of data is a predetermined threshold Th 0  (for example, 20) or less, the number of data is determined to be small and the processing proceeds to next S 202  and the processing is finished. In a case where n is larger than Th 0 , the arithmetic control unit  160  calculates AveX, AveY and AveZ in accordance with the following Expression (1), Expression (2) and Expression (3). 
         [0000]    
       
         
           
             
               
                 
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                   ( 
                   3 
                   ) 
                 
               
             
           
         
       
     
         [0120]    (S 202 ) 
         [0121]    In a case where the number n of data is a predetermined threshold Th 0  (for example, 20) or less, the arithmetic control unit  160  determines the number of data to be small and finishes the processing. In a case where n is larger than Th 0 , the arithmetic control unit  160  proceeds to next S 203 . 
         [0122]    (s 203 ) 
         [0123]    The arithmetic control unit  160  calculates variance (VarXY) of HX and HY as a value indicating variation of the part holding positions HX and HY. The arithmetic control unit  160  calculates variance (VarZ) of KZ as a value indicating variation of the distance KZ. The arithmetic control unit  160  calculates VarXY and VarZ in accordance with the following Expression (4) and Expression (5). 
         [0000]    
       
         
           
             
               
                 
                   [ 
                   
                     MATH 
                     . 
                     
                         
                     
                      
                     4 
                   
                   ] 
                 
               
               
                 
                     
                 
               
             
             
               
                 
                   
                     Var 
                      
                     
                         
                     
                      
                     XY 
                   
                   = 
                   
                     
                       ( 
                       
                         
                           ∑ 
                           
                             i 
                             = 
                             1 
                           
                           n 
                         
                          
                         
                           { 
                           
                             
                               
                                 ( 
                                 
                                   
                                     X 
                                     i 
                                   
                                   - 
                                   AveX 
                                 
                                 ) 
                               
                               2 
                             
                             + 
                             
                               
                                 ( 
                                 
                                   
                                     Y 
                                     i 
                                   
                                   - 
                                   AveY 
                                 
                                 ) 
                               
                               2 
                             
                           
                           } 
                         
                       
                       ) 
                     
                      
                     
                       / 
                     
                      
                     
                       ( 
                       
                         n 
                         - 
                         1 
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   4 
                   ) 
                 
               
             
             
               
                 
                   [ 
                   
                     MATH 
                     . 
                     
                         
                     
                      
                     5 
                   
                   ] 
                 
               
               
                 
                     
                 
               
             
             
               
                 
                   
                     Var 
                      
                     
                         
                     
                      
                     Z 
                   
                   = 
                   
                     
                       ( 
                       
                         
                           ∑ 
                           
                             i 
                             = 
                             1 
                           
                           n 
                         
                          
                         
                           { 
                           
                             
                               Z 
                               i 
                             
                             - 
                             AveZ 
                           
                           } 
                         
                       
                       ) 
                     
                      
                     
                       / 
                     
                      
                     
                       ( 
                       
                         n 
                         - 
                         1 
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   5 
                   ) 
                 
               
             
           
         
       
     
         [0124]    The information control unit  160  stores the above-described VarXY into  13   c  in the table of variation information D 4  and stores VarZ into  13   d . Furthermore, the information control unit  160  stores the number n of data into  13   e  in the table of the variation information D 4 . 
         [0125]    (s 204 ) 
         [0126]    The arithmetic control unit  160  makes a decision for determining processing to be conducted subsequently by using data of variation (variance VarXY) of HX and HY and variation (variance VarZ) of the distance KZ calculated at s 203  and an execution determination threshold Th 1  ( 14   a ) of the threshold information D 5 . In a case where VarXY or VarZ is larger  10  than the execution determination threshold Th 1  ( 14   a ), the arithmetic control unit conducts processing at s 205  and subsequent steps. In a case where both VarXY and VarZ are the execution determination threshold Th 1  ( 14   a ) or less, the arithmetic control unit determines that variation reduction is not necessary and finishes the processing. 
         [0127]    (s 205 ) 
         [0128]    The arithmetic control unit  160  makes a decision for determining processing to be conducted subsequently by using the reduction effect information D 6 . In a case where X indicating no effect is stored in all fields ( 15   a ,  15   b  and  15   c ) in the table of the reduction effect information D 6 , the arithmetic control unit  160  regards a variation reduction effect as unexpected even if any operation information is changed and finishes the processing. In a case where “O” indicating that there is an effect or “−” indicating that effect determination is not yet executed is stored in some field, the arithmetic control unit  160  executes processing at s 206  and subsequent steps. In the processing at s 206  and subsequent steps, the stop position Z, the stop time T, or the operation velocity VZ of the nozzle N is modified. 
         [0129]    (s 206 ) 
         [0130]    The arithmetic control unit  160  calculates a change quantity of the cycle time in a case where each kind of operation information is changed, and updates the cycle change information D 7 . The arithmetic control unit  160  calculates the cycle time change quantity in the case where each kind of operation information is changed by using IV 1  (indicating a modification quantity of the stop position (Z), IV 2  (indicating a modification quantity of the stop time (T)) and IV 3  (indicating a modification quantity of the operation velocity (VZ)), which are modification quantities of the operation information set by the user, in accordance with the following Expression (6), Expression (7) and Expression (8). In the present embodiment, IV 1 =0.1, IV 2 =0.5 and IV 3 =−0.1 
         [0000]      [MATH. 6] 
         [0000]        TC 1 =IV 1 /MI old1  (6)
 
         [0000]      [MATH. 7] 
         [0000]        TC 2 =IV 2  (7)
 
         [0000]      [MATH. 8] 
         [0000]        TC 3=( LZ+MI old1)/{ V Max×( MI old3 +IV 3)}−( LZ+MI old1)/( V Max× MI old3)  (8)
 
         [0131]    In Expression (6), Expression (7), and Expression (8), TC 1  indicates a change quantity of the cycle time caused by modification of the stop position (Z), TC 2  indicates a change quantity of the cycle time caused by modification of the stop time (T), and TC 3  indicates a change quantity of the cycle time caused by modification of the operation velocity (VZ). VMax indicates a maximum value of the operation velocity. 
         [0132]    In addition, the arithmetic control unit  160  stores TC 1  into  16   a , TC 2  into  16   b , and TC 3  into  16   c.    
         [0133]    (s 207 ) 
         [0134]    The arithmetic control unit  160  identifies operation information to be modified, by using the reduction effect information D 6  and the cycle change quantity information D 7 . The arithmetic control unit  160  selects one of the stop position (Z), the stop time (T), and the operation velocity (VZ) that has O or − in the corresponding one of the fields  15   a ,  15   b  and  15   c  of the reduction effect information and that has a minimum value in the corresponding one of the fields  15   a ,  16   b  and  16   c  of the cycle change quantity information, as the operation information to be modified. In the example shown in  FIG. 16  and  FIG. 17 , the operation velocity (T) is selected. 
         [0135]    (s 208 ) 
         [0136]    The arithmetic control unit  160  calculates a modified value of the operation information. The arithmetic control unit  160  calculates the operation information selected at s 207  by using the following Expression (9). MInewi represents a modified value of each kind of operation information. In Expression (9), 1 is input to i in a case where the stop position (Z) is selected, 2 is input to i in a case where the stop time (T) is selected, and 3 is input to i in a case where the operation velocity (VZ) is selected. 
         [0000]      [MATH. 9] 
         [0000]        MI new i=MI old i+IVi   (9)
 
         [0137]    By the way, the modification method may be multiplication or the like instead of the addition. 
         [0138]    (s 209 ) 
         [0139]    The arithmetic control unit  160  conducts part adsorption and measurement of the part holding position by using the modified value of the operation information. The arithmetic control unit  160  uses setting values obtained by setting the operation information selected at s 207  to MInewi and setting operation information that is not selected at s 207  to MIoldi, conducts adsorption operation from the feeder in d 201  with the nozzle in d 202 , and measures the part holding positions HX and HY and the distance KZ. The present operation is processing similar to the measurement operation in a 102 , s 103 , s 104 , s 105  and s 106 . The arithmetic control unit  160  creates adsorption result information  152  which becomes actual result data from measured results and stores the adsorption result information  152  into the storage unit  151  in the arithmetic device  150 . The adsorption result information  152  includes information of the distance KZ and the part holding positions HX and HY. By the way, this storage may be conducted at other timing. The adsorption operation and the measurement operation are executed a predetermined number of times (twenty times in the present embodiment). By the way, in the present embodiment, the part adsorbed here is discarded. The part may be mounted on the substrate or may be withdrawn. 
         [0140]    (s 210 ) 
         [0141]    The arithmetic control unit  160  calculates the variance VarXY of the part holding position and the variance VarZ of the distance in the setting values after the operation information modification. Processing conducted here is processing similar to that at s 201  and s 203 . 
         [0142]    The arithmetic control unit  160  conducts retrieval in all rows in the table of the adsorption result information D 3 , identifies a row satisfying the following condition 1, and reads information of the part holding positions HX ( 12   f ) and HY ( 12   g ) and the distance KZ ( 12   h ) in the row satisfying the condition 2. 
         [0143]    (Condition 2) 
         [0144]    A value stored in the feeder number  12   a  is equal to d 201 , a value stored in the adsorption nozzle number  12   b  is equal to d 202 , a value stored in the stop position (z) is equal to MIold 1  (MInew 1  in the case where the stop position (z) is selected at s 207 ), a value stored in the stop time (T) is equal to MIold 2  (MInew 2  in the case where the stop position (z) is selected at s 207 ), and a value stored in the operation velocity (VZ) is equal to MIold 3  (MInew 3  in the case where the stop position (z) is selected at s 207 ). 
         [0145]    Here, in an ith row from the top among rows satisfying the condition 2, information of the part holding position HX ( 12   f ) is referred to as Xi, information of the part holding position HY ( 12   g ) is referred to as Yi, and information of the distance KZ ( 12   h ) is referred to as Zi. Values of Xi, Yi and Zi are updated. Furthermore, the number of data satisfying the condition 2 is referred to as n. The value of n is updated. 
         [0146]    The arithmetic control unit  160  calculates the average value (AveX) of the part holding position HX, the average value (AveY) of the part holding position HY, and the average value (AveZ) of the distance KZ. The arithmetic control unit  160  calculates AveX, AveY and AveZ in accordance with Expression (1), Expression (2) and Expression (3). 
         [0147]    In addition, the arithmetic control unit  160  calculates variance (VarXY) of HX and HY as a value indicating variation of the part holding positions HX and HY in accordance with Expression (4), and calculates variance (VarZ) of KZ as a value indicating variation of the distance KZ in accordance with Expression (5). 
         [0148]    The arithmetic control unit  160  stores VarXY described above into  13   f  in the table of the variation information D 4 , and stores VarZ into  13   g . Furthermore, the arithmetic control unit  160  stores the number n of data into  13   h  in the table of the variation information D 4 . 
         [0149]    (s 211 ) 
         [0150]    The arithmetic control unit  160  determines whether the modification of the operation information selected at s 207  has brought about a variation reduction effect, by using the following Expression (10). 
         [0000]      [MATH. 10] 
         [0000]      Var B /Var A &gt;ThE  (10)
 
         [0151]    In Expression (10), information stored in  13   c  or  13   d  is input to VarB, and information stored in  13   f  or  13   g  is input to VarA. If the number M(B) ( 13   e ) of data used to calculate the variance before modification of the operation information is at least 20 and less than 40,  14   b  is input to ThE. If the number M(B) ( 13   e ) of data is at least 40 and less than 60,  14   c  is input to ThE. If the number M(B) ( 13   e ) of data is at least 60,  14   d  is input to ThE. In a case where Expression (10) is satisfied in the combination of  13   c  and  13   f  or in the combination of  13   d  and  13   g , the arithmetic device  160  determines that there is a variation reduction effect. In a case where Expression (10) is not satisfied in any combination, the arithmetic device  160  determines that there is not a variation reduction effect. In a case where it is determined that there is a variation reduction effect, the arithmetic device  160  updates one of the fields  15   a ,  15   b  and  15   c  in the reduction effect information D 6  corresponding to the operation information selected at s 207  to O which indicates that there is an effect. In a case where it is determined that there is not a variation reduction effect, the arithmetic device  160  updates one of the fields  15   a ,  15   b  and  15   c  in the reduction effect information D 6  corresponding to the operation information selected at s 207  to X which indicates that there is not an effect. Fields that are included in the fields  15   a ,  15   b  and  15   c  in the reduction effect information D 6 , that do not correspond to the operation information selected at s 207 , and that store O, which indicates that there is an effect, are updated to −, which indicates that determination as to whether there is an effect is not yet executed. 
         [0152]    The reason why it is determined whether there is a variation reduction effect is to prevent the cycle time from being lowered by changing operation information that does not bring about a variation reduction effect. 
         [0153]    (s 212 ) 
         [0154]    In a case where it is determined at s 211  that there is a variation reduction effect, the arithmetic control unit  160  then executes processing at s 213 . In a case where it is determined at s 211  that there is not a variation reduction effect, the arithmetic control unit  160  conducts the processing at s 205  again. 
         [0155]    (s 213 ) 
         [0156]    The arithmetic control unit  160  outputs information (modification contents information), such as the modified value of the Z direction position (z), the modified value of the stop time T, and the modified value of the operation velocity VZ, on the basis of the result of processing conducted as far as s 10 . In the present embodiment, processing of displaying the modification contents information on the screen is conducted, and it is made possible for the user to confirm modification contents and execute modification ( FIG. 17 ) The screen is displayed in the output device  171  in the parts mounting device  100  (or the output unit  162  in the arithmetic device  150 ). 
         [0157]      FIG. 17  shows an example of the screen displayed at s 213 . The present screen displays a number of the feeder F (g 11 ) and a number of the nozzle N (g 12 ) that become a modification target, the variation (variance value) of the part holding position HX and HY (g 13 ) and variation (variance value) of the distance KZ (g 14 ) before operation information modification, the operation information D 2  before modification (such as the stop position (Z) (g 15 ), the stop time (T) (g 16 ), and the operation velocity (VZ) (g 17 )), the operation information D 2  after modification (such as the stop position (Z) (g 18 ), the stop time (T) (g 19 ), and the operation velocity (VZ) (g 20 )), a change quantity of variation of the part holding positions HX and HY (g 21 ), a change quantity of variation of the distance KZ (g 22 ), and a change quantity of cycle time (g 23 ) caused by modification of the operation information, information as to whether there is a variation reduction effect brought about by modification of the stop position (Z) (g 24 ), whether there is a variation reduction effect brought about by modification of the stop time (T) (g 25 ), and whether there is a variation reduction effect brought about by modification of the operation velocity (VZ) (g 26 ), and buttons for specifying whether to execute modification (g 27  and g 28 ) 
         [0158]    The arithmetic device  160  displays d 201  in g 11 , d 202  in g 12 ,  13   c  in g 13 , and  13   d  in g 14 . The arithmetic device  160  displays MIold 1  in g 15  before modification, MIold 2  in g 16  before modification, and MIold 3  in g 17  before modification. In a case where  15   a  is O, the arithmetic device  160  displays MInew 1  in g 18  after modification. In a case where  15   a  is X or −, the arithmetic device  160  displays MIold 1  in g 18  after modification. In a case where  15   b  is O, the arithmetic device  160  displays MInew 2  in g 19  after modification. In a case where  15   b  is X or −, the arithmetic device  160  displays MIold 2  in g 19  after modification. In a case where  15   c  is O, the arithmetic device  160  displays MInew 3  in g 20  after modification. In a case where  15   c  is X or −, the arithmetic device  160  displays MIold 3  in g 20  after modification. The arithmetic device  160  displays a value obtained by dividing  13   f  by  13   c  in g 21  in the change by modification, and a value obtained by dividing  13   g  by  13   d  in g 22  in the change by modification. In a case where O is stored in  15   a , the arithmetic device  160  displays  16   a  in g 23  in the change by modification. In a case where O is stored in  15   b , the arithmetic device  160  displays  16   b  in g 23  in the change by modification. In a case where O is stored in  15   c , the arithmetic device  160  displays  16   c  in g 23  in the change by modification. The arithmetic device  160  displays  15   a  in g 24  in modification effect,  15   b  in g 25  in modification effect, and  16   c  in g 26  in modification effect 
         [0159]    (s 214 ) 
         [0160]    The arithmetic control unit  160  accepts a result of user&#39;s input (for example, “execute modification” using “Yes” button) at s 213  (the screen in  FIG. 17 ). In the case of “execute modification” (Yes) (Y), the arithmetic control unit  160  conducts processing of s 215 . In the case of “don&#39;t execute modification” (No), the arithmetic control unit  160  does not conduct processing of s 215  and finishes By the way, it is also possible to omit s 213  and s 214  and execute the modification at s 215  automatically as described earlier (for example, it is made possible to previously set automatic execution). 
         [0161]    (s 215 ) 
         [0162]    The arithmetic control unit  160  modifies the operation information D 2  (such as Z, T and VZ) by using the above-described processing result (modification contents information). For example, the arithmetic control unit  160  identifies a row in the table of the operation information D 2  that is equal in stored value in the feeder number  11   a  to d 201  and equal in stored value in the adsorption nozzle number  11   b  to d 202 . In a case where  15   a  is O, the arithmetic control unit  160  modifies data in the stop position (Z) in  11   c  in the row to MInew 1 . In a case where  15   b  is O, the arithmetic control unit  160  modifies data in the stop time T ( 11   d ) in the row to MInew 2 . In a case where  15   c  is O, the arithmetic control unit  160  modifies data in the operation velocity VZ ( 11   e ) in the row to MInew 3 . Then, the arithmetic control unit  160  finishes the processing. 
         [0163]    By the way, it is also possible to set a parameter (AZ) that controls acceleration (operation acceleration) of the nozzle rising in the Z direction at s 105  and reduce the parameter (AZ) instead of the operation velocity VZ or together with the operation velocity VZ in the processing in  FIG. 9 . 
         [0164]    Furthermore, in a case where an adsorption abnormality occurs even if the stop position (Z), the stop time (T), the operation velocity (VZ), or the operation acceleration (AZ) is modified in the processing shown in  FIG. 9 , the processing shown in  FIG. 9  is executed again and the stop position (Z), the stop time (T), the operation velocity (VZ), or the operation acceleration (AZ) is further modified. 
       [Effects and the Like] 
       [0165]    A plurality of adsorption operations conducted during a determinate time is regarded as one set. A ratio of occurrence of adsorption abnormality in the set (occurrence rate of adsorption abnormality) and standard deviation of the part holding position in the adsorption operation will be considered. In a plurality of sets, the occurrence rate of adsorption abnormality and standard deviation of the part holding position are calculated. The standard deviation of the part holding position is represented as a value on the X axis, and the occurrence rate of adsorption abnormality is represented as a value on the Y axis. A graph as shown in  FIG. 18  is obtained by plotting respective sets on the XY plane. If the standard deviation of the part holding position is small, the occurrence rate of adsorption abnormality is also small as appreciated from the graph shown in  FIG. 18 , 
         [0166]    In the parts mounting device  100  (the arithmetic device  150 ) in the present embodiment, therefore, the part holding position HX and HY of the nozzle N after adsorption of the part P and the Z-direction position (z) of the nozzle N at the time of adsorption based on actual result data (the adsorption result information D 3 ) are used as input information, and the stop position (Z), the stop time (T), the operation velocity (VZ) and the like are suitably calculated and modified as described heretofore. As a result, the standard deviation of the part holding position can be reduced while suppressing the increase of the cycle time. Accordingly, the occurrence rate of the adsorption abnormality can be reduced. 
         [0167]    The embodiment has been described by taking a nozzle as an example of the part holding member which takes out and hold a part. However, the present invention can also be applied to a case where a chuck which sandwiches and takes out a part is used besides the nozzle, 
         [0168]    Heretofore, the invention made by the present inventor has been described specifically on the basis of embodiments. However, the present invention is not restricted to the embodiments. It is a matter of course that various changes can be made without departing from the spirit of the present invention. 
       REFERENCE SIGNS LIST 
       [0000]    
       
         
           
               50 : Part (P) 
               90 : Substrate 
               100 : Parts mounting device 
               110 : Supply device 
               111 : Feeder base 
               111   a : Feeder (F) 
               112 ,  125 ,  133 ,  145 ,  163 : IF unit 
               120 : Attachment device 
               121 : Head 
               122 : Beam 
               122   a : Guide 
               123 : Nozzle (adsorption nozzle) (N) 
               124 : Drive control unit 
               125 : Pressure control unit 
               130 : Part detection device 
               131 : Side face detection unit 
               132 : Bottom face detection unit 
               140 : General control device 
               141 : Storage unit 
               144 : General control unit 
               150 : Arithmetic device 
               151 : Storage unit 
             D 1 : Attachment information 
             D 2 : Operation information 
             D 3 : Adsorption result information 
             D 4 : Variation information 
             D 5 : Threshold information 
               160 : Arithmetic control unit 
               161 : Input unit 
               162 : Output unit 
               170 : Input device 
               171 : Output device 
               172 : Communication IF device 
               173 : Bus