Patent Publication Number: US-2023163995-A1

Title: Communication system and work apparatus

Description:
TECHNICAL FIELD 
     The present specification discloses a communication system and a work apparatus. 
     BACKGROUND ART 
     Conventionally, a communication system including multiple networks in which multiple nodes are communicably connected in one direction via signal lines has been proposed (refer to Patent Literature 1, for example). In this system, utilization efficiency of a wavelength band for each path is improved by determining a wavelength and an operation timing to be assigned to each path in the network. In addition, in the communication system including the multiple nodes, it has been proposed to perform data communication by a token passing method in which tokens indicating transmission rights are circulated between nodes (refer to Patent Literatures 2 and 3, for example). 
     PATENT LITERATURE 
     
         
         Patent Literature 1: JP-A-2017-073812 
         Patent Literature 2: JP-A-2007-318593 
         Patent Literature 3: JP-A-2018-196035 
       
    
     BRIEF SUMMARY 
     Technical Problem 
     In the communication network described above, since a communication direction is limited to one direction, each node performs communication while transferring data in one direction in sequence. Therefore, depending on a disposition position of the node that transfers the data between the different networks, it takes time to transfer the necessary data, and thus, responsiveness may be reduced. In this case, there would be a problem caused by a decrease in responsiveness, such as a delay in an operation of hardware controlled by the node. 
     A main object of the present disclosure is to suppress a decrease in responsiveness in multiple token passing type networks in which a communication direction is one-way. 
     Solution to Problem 
     The present disclosure employs the following means in order to achieve the above-mentioned main object. 
     According to the present disclosure, there is provided a communication system including: multiple token passing type networks in which multiple nodes are disposed with one direction as a communication direction; and a bridge configured to communicatively connect the networks, in which the multiple nodes sequentially transmit a data frame along the communication direction, read and write data from and to the data frame, and include a specific node requiring data in the data frame transmitted by another network, the bridge transmits, in each of the networks of a connection destination, the data frame transmitted from the node on an upstream side to the node on a downstream side in the communication direction, reads data from the transmitted data frame, and writes the data to the data frame of another network to transmit the data, and in one network of the two networks connected to a common bridge, the specific node is disposed within a half circumference of disposition positions of the multiple nodes on the upstream side in the communication direction with respect to the bridge, and in the other network, the specific node is disposed within a half circumference of the disposition positions of the multiple nodes on the downstream side in the communication direction with respect to the bridge. 
     In the communication system of the present disclosure, in the one network of the two networks connected to the common bridge, the specific node is disposed within the half circumference on the upstream side in the communication direction with respect to the bridge, and in the other network, the specific node is disposed within the half circumference on the downstream side in the communication direction with respect to the bridge. As a result, it is possible to quickly transfer necessary data from the specific node of the one network to the specific node of the other network via the bridge by setting the disposition of the node as a disposition suitable for transfer of data between the specific nodes. Therefore, it is possible to promptly transfer data between specific nodes in multiple token passing type networks in which a communication direction is one-way to suppress a decrease in responsiveness. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a schematic configuration diagram of mounting system  1 . 
         FIG.  2    is a schematic configuration diagram of mounting device  10 . 
         FIG.  3    is a schematic configuration diagram of communication system  40 . 
         FIG.  4    is a flowchart illustrating an example of transmission start processing of a second network. 
         FIG.  5    is an explanatory diagram illustrating a state of transmission of data frames DF 1  and DF 2 . 
         FIG.  6    is an explanatory diagram illustrating the state of the transmission of data frames DF 1  and DF 2 . 
         FIG.  7    is an explanatory diagram illustrating the state of the transmission of data frames DF 1  and DF 2 . 
         FIG.  8    is an explanatory diagram illustrating the state of the transmission of data frames DF 1  and DF 2 . 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Next, embodiments of the present disclosure will be described with reference to the drawings.  FIG.  1    is a schematic configuration diagram of mounting system  1 .  FIG.  2    is a schematic configuration diagram of mounting device  10 . In  FIG.  1   , a right-left direction is an X-axis direction, a front-rear direction is a Y-axis direction, and an up-down direction is a Z-axis direction. 
     Mounting system  1  includes multiple mounting devices  10  that execute a mounting process on a board, and management device  50  that manages the entire system, such as management of information on the mounting process in each mounting device  10 . Multiple mounting devices  10  are disposed from an upstream side to a downstream side in a conveyance direction (the X-axis direction) of board S to constitute a production line. Mounting device  10  includes first mounting unit  20   a  provided on a front surface side of a device main body, second mounting unit  20   b  provided on a rear surface side of device main body, and communication system  40  that performs communication within each of units  20   a  and  20   b  and between units  20   a  and  20   b . Mounting device  10  is configured to constitute a dual lane by first mounting unit  20   a  and second mounting unit  20   b , and to perform mounting process on board S conveyed to the dual lane in parallel. 
     First mounting unit  20   a  includes first component supply section  22   a , first board conveyance section  24   a , first head  25   a , first mark camera  28   a , first head moving section  32   a , first part camera  36   a , and first control section  38   a . Similarly, second mounting unit  20   b  includes second component supply section  22   b , second board conveyance section  24   b , second head  25   b , second mark camera  28   b , second head moving section  32   b , second part camera  36   b , and second control section  38   b . Since each configuration of second mounting unit  20   b  is the same as each configuration of first mounting unit  20   a , detailed descriptions thereof will be omitted. 
     First component supply section  22   a  is a section for supplying a component to be mounted mainly by first mounting unit  20   a , and includes a feeder including a reel around which a tape accommodating the components is wound, a tray unit accommodating a tray on which the component is placed, and the like. Second component supply section  22   b  mainly supplies a component to be mounted on second mounting unit  20   b . Mounting device  10  includes first component supply section  22   a  on a front surface of the device main body, and second component supply section  22   b  on a rear surface. 
     First board conveyance section  24   a  carries in, fixes, and unloads board S in the right-left direction (the X-axis direction) of one lane of the dual lanes. First board conveyance section  24   a  conveys board S by a pair of conveyor belts provided at intervals in the front-rear direction (the Y-axis direction) and spanned in the right-left direction. 
     First head  25   a  includes one or more suction nozzles  26  that picks up and holds the component removably mounted on a lower surface, and first Z-axis actuator  27   a  that moves suction nozzles  26  in the up-down direction (the Z-axis direction). Although not illustrated, first head  25   a  includes an actuator for rotating suction nozzle  26  about the Z-axis, an actuator for moving each suction nozzle  26  in the circumferential direction when multiple suction nozzles  26  are mounted, and the like. First mark camera  28   a  images a reference mark or the like attached to board S from the upper side. First mark camera  28   a  is provided on a lower surface of a slider of first head moving section  32   a . It should be noted that first mark camera  28   a  may be provided on first head  25   a.    
     First head moving section  32   a  includes first X-axis actuator  33   a  that moves the slider in the X-axis direction along the guide rail, and first Y-axis actuator  34   a  that moves the slider in the Y-axis direction along the guide rail. First head  25   a  is attached to the slider of the first head moving section  32   a , and is moved in an XY direction by first head moving section  32   a . It should be noted that a front side of an area defined by approximately the center of mounting device  10 , that is, an area defined by a front-rear portion between first board conveyance section  24   a  and second board conveyance section  24   b  is defined as first area  10   a , and a rear side thereof is defined as second area  10   b . First head moving section  32   a  mainly moves first head  25   a  in first area  10   a , and second head moving section  32   b  mainly moves second head  25   b  in second area  10   b . However, depending on a component type to be supplied and board S to be mounted, first head moving section  32   a  may move first head  25   a  in second area  10   b , or second head moving section  32   b  may move second head  25   b  in first area  10   a.    
     For example, first part camera  36   a  images the component or the like held by suction nozzle  26  of first head  25   a  from below. First part camera  36   a  is disposed between first component supply section  22   a  and first board conveyance section  24   a  (refer to  FIG.  2   ). 
     First control section  38   a  is configured as a microprocessor centered on CPU, and includes ROM for storing a processing program, RAM used as a work area, and the like. First control section  38   a  controls first component supply section  22   a , first board conveyance section  24   a , first head  25   a  (first Z-axis actuator  27   a  or the like), first mark camera  28   a , first head moving section  32   a  (first X-axis actuator  33   a  or first Y-axis actuator  34   a ), first part camera  36   a , and the like based on production information. 
     As illustrated in  FIG.  3   , communication system  40  includes first network  41 , second network  45 , and bridge  48 . First network  41  includes multiple nodes  42  disposed in a ring shape, and each node  42  is connected to be able to perform communication based on a token passing method via communication line  43 . Each node  42  sequentially transmits, from an upstream side to a downstream side in a communication direction, data frame DF 1  in which data is stored, for example, with one direction such as the clockwise direction (refer to arrow) in  FIG.  3    as the communication direction. In addition, first network  41  includes, as multiple nodes  42 , one master node Ma responsible for communication control such as a transmission start of data frame DF 1 , and multiple slave nodes Sa (Sa 1  to Sa 6  or the like). For example, first control section  38   a  corresponds to master node Ma, and a control section that controls the motors and actuators of first component supply section  22   a , first board conveyance section  24   a , first head  25   a , and first head moving section  32   a , and a control section that controls imaging of first mark camera  28   a  and first part camera  36   a  correspond to slave nodes Sa 1  to Sa 6 , respectively. In the present embodiment, a control section such as a servo controller for controlling first X-axis actuator  33   a  and first Y-axis actuator  34   a  of first head moving section  32   a  is disposed at a position adjacent to the upstream side in the communication direction with respect to bridge  48 , that is, as slave node Say. The disposition positions of other nodes  42  (slave nodes Sa) are appropriately determined in consideration of wiring efficiency of communication line  43 . 
     Here, in the example of  FIG.  3   , master node Ma transmits data frame DF 1  to neighboring slave node Sa 1 . In data frame DF 1 , data necessary for each slave node Sa is stored together with a slave ID or the like of a destination. When data frame DF 1  is transmitted from upstream node  42 , each slave node Sa reads data corresponding to the slave ID or writes necessary data in association with the slave ID. For example, slave node Sa 5  reads data relating to the control of first X-axis actuator  33   a  and first Y-axis actuator  34   a  from data frame DF 1 . In addition, slave node Sa 5  writes position data or the like relating to the position of first head  25   a  moved under the control of first X-axis actuator  33   a  and first Y-axis actuator  34   a  to data frame DF 1 . That is, slave node Sa 5  can write the latest position data of first head  25   a  to data frame DF 1  and transmit the same to downstream bridge  48 . 
     Similarly to first network  41 , second network  45  includes multiple nodes  46  disposed in a ring shape, and each node  46  is connected to be able to perform communication based on a token passing method via communication line  47 . Each node  46  sequentially transmits, from the upstream side to the downstream side in the communication direction, data frame DF 2 , for example, with one direction such as the clockwise direction in  FIG.  3    as the communication direction. Similarly to first network  41 , second network  45  includes one master node Mb responsible for communication control and multiple slave nodes Sb (Sb 1  to Sb 6  or the like). For example, second control section  38   b  corresponds to master node Mb, and a control section that controls the motors and actuators of second component supply section  22   b , second board conveyance section  24   b , second head  25   b , and second head moving section  32   b , and a control section that controls the imaging of second mark camera  28   b  and second part camera  36   b  correspond to multiple slave nodes Sb 1  to Sb 6 , respectively. In the present embodiment, a control section such as a servo controller for controlling second X-axis actuator  33   b  and second Y-axis actuator  34   b  of second head moving section  32   b  is disposed at a position adjacent to the downstream side in the communication direction with respect to bridge  48 , that is, as slave node Sb 2 . The disposition positions of other nodes  46  (slave nodes Sb) are appropriately determined in consideration of wiring efficiency of communication line  47 . Since data frame DF 2  has the same configuration as data frame DF 1 , a description thereof will be omitted. 
     Bridge  48  communicably connects first network  41  and second network  45 . Bridge  48  transmits data frame DF 1  transmitted from slave node Sa 5  on the upstream side in the communication direction to slave node Sa 6  on the downstream side in first network  41 . In addition, bridge  48  transmits data frame DF 2  transmitted from slave node Sb 1  on the upstream side in the communication direction to slave node Sb 2  on the downstream side in second network  45 . Bridge  48  can read necessary data from data frame DF 1  and write the data to data frame DF 2 , and can read necessary data from data frame DF 2  and write the data to data frame DF 1 . 
     First network  41  and second network  45  have the same communication cycle, and perform communication at several hundred μsec (predetermined time) such as 200 μsec. In the present embodiment, by dividing the network into two networks such as first network  41  and second network  45 , it is possible to shorten the communication cycle and suppress occurrence of an operation delay or the like as compared with one network. In the present embodiment, master node Ma of first network  41  and master node Mb of second network  45  are connected by communication line  49  so as to be able to communicate with each other. 
     As illustrated in  FIG.  1   , management device  50  includes control section  51 , storage section  52 , and communication section  53 . Control section  51  is configured as a microprocessor centered on a CPU, and includes a ROM for storing a processing program, a RAM used as a work area, and the like. Storage section  52  is configured by an HDD or the like that stores various information. Communication section  53  is an interface for exchanging information with mounting device  10  or the like. Storage section  52  stores production information and the like in the mounting process of mounting device  10 . The production information includes types of components to be mounted on board S, the number of components, a disposition position of the component, a mounting order of the components, and the like. Management device  50  outputs the production information to first control section  38   a  and second control section  38   b  of mounting device  10  before the mounting process is started. Master node Ma serving as first control section  38   a  writes necessary data based on the production information to data frame DF 1  to start communication in first network  41 . In addition, master node Mb serving as second control section  38   b  writes necessary data based on production information to data frame DF 2  to start communication in second network  45 . 
     Communication processing in communication system  40  of mounting device  10  configured as described above will be described below.  FIG.  4    is an explanatory diagram illustrating an example of the transmission start processing of the second network. The transmission start processing in  FIG.  4    is executed by master node Mb of second network  45 . In this processing, first, master node Mb waits until the transmission of data frame DF 1  is started in first network  41  (S 100 ). It should be noted that master node Ma notifies master node Mb of transmission start of data frame DF 1  via communication line  49 . Master node Mb recognizes that the transmission of data frame DF 1  is started in first network  41  by the notification. It should be noted that master node Ma and master node Mb may notify the transmission start by direct I/O or the like. 
     When the transmission of data frame DF 1  is started, master node Mb waits until a predetermined time (delay time) elapses (S 110 ). The predetermined time is defined as a time period for adjusting the timing so that data frame DF 2  is transmitted to bridge  48  after data frame DF 1  is transmitted to bridge  48  in one communication cycle. For example, the predetermined time is determined based on a difference between an average time required for data frame DF 1  transmitted from master node Ma to reach bridge  48  and an average time required for data frame DF 2  transmitted from master node Mb to reach bridge  48 . When the predetermined time elapses in S 110 , master node Mb transmits data frame DF 2  to slave node Sb 1  (S 120 ), and terminates the transmission start processing. 
       FIGS.  5  to  8    are explanatory diagrams illustrating how data frames DF 1  and DF 2  are transmitted. Since the transmission of data frames DF 1  and DF 2  is started with a predetermined time difference, for example, when data frame DF 1  is in slave node Sa 5 , the transmission of data frame DF 2  is started (refer to  FIG.  5   ). As described above, slave node Sa 5  writes data D 5  such as the latest position data of first head  25   a  to data frame DF 1  and transmits the same to bridge  48 . When data frame DF 1  is transmitted, bridge  48  reads data that needs to be transferred, such as data D 5 , from data frame DF 1  (refer to  FIG.  6   ). In addition, when data frame DF 2  is transmitted after data frame DF 1  is transmitted, bridge  48  writes necessary data such as data D 5  to data frame DF 2  (refer to  FIG.  7   ), and then transmits the same to slave node Sb 2  on the downstream side (refer to  FIG.  8   ). As a result, data frame DF 2  to which the necessary data such as data D 5  is copied from data frame DF 1  reaches slave node Sb 2 . Therefore, slave node Sb 2  can grasp the latest position data of first head  25   a  by reading data D 5  from data frame DF 2 . 
     As described above, first head moving section  32   a  may move first head  25   a  in second area  10   b , or second head moving section  32   b  may move second head  25   b  in first area  10   a . Even in this case, the disposition positions and the mounting order of the respective components are determined by the production information so that first head  25   a  and second head  25   b  do not interfere with each other. However, in order to reliably protect the facility, mounting device  10  needs to monitor the movement positions of first head  25   a  and second head  25   b  during mounting, and urgently stop both heads when there is a risk of collision. Since slave node Sb 2  can grasp the latest position data of first head  25   a  from data frame DF 2 , it is possible to promptly and urgently stop second head  25   b  in a case where there is a risk of collision between the two heads. It should be noted that bridge  48  is assumed to read the position data of second head  25   b  from data frame DF 2  and write the position data to data frame DF 1 . Therefore, slave node Sb 1  can grasp the position data of second head  25   b  one cycle before data frame DF 1 , and can urgently stop first head  25   a . In the present embodiment, it is disposed so as to cause slave node Sb  2  to detect the risk of collision first, and thus, an early response can be made so as to urgently stop second head  25   b.    
     Here, correspondences between constituent elements of the present embodiment and constituent elements of the present disclosure will be clarified. Communication system  40  of the present embodiment corresponds to a communication system, first network  41  and second network  45  correspond to a network, bridge  48  corresponds to a bridge, nodes  42  and  46  correspond to nodes, and slave nodes Sa 5  and Sb 2  correspond to specific nodes. Master nodes Ma and Mb correspond to master nodes. First head  25   a  and second head  25   b  correspond to a working section, first head moving section  32   a  and second head moving section  32   b  correspond to moving sections, and mounting device  10  corresponds to a work apparatus. 
     In communication system  40  of the embodiment described above, slave node Sa 5  for controlling first head moving section  32   a  is disposed at a position adjacent to bridge  48  on the upstream side in the communication direction, and slave node Sb 2  for controlling second head moving section  32   b  is disposed at a position adjacent to bridge  48  on the downstream side in the communication direction. Therefore, it is possible to promptly transfer necessary data such as the latest position data of first head  25   a  from slave node Sa 5  to slave node Sb 2  via bridge  48 . Slave node Sb  2  can grasp the latest position data of first head  25   a , and control second head  25   b  so as to prevent collision between first head  25   a  and second head  25   b.    
     In addition, first network  41  and second network  45  have the same communication cycle, and are adjusted so that the timings at which data frames DF 1  and DF 2  are transmitted to bridge  48  are delayed in second network  45  with respect to first network  41 . As a result, since the latest data can be transferred from slave node Sa 5  to slave node Sb 2  within one communication cycle, the responsiveness can be improved. 
     In addition, master node Mb transmits data frame DF 2  with a predetermined time delay after receiving the notification that data frame DF 1  has been transmitted from master node Ma. Therefore, with a simple configuration for communicably connecting master nodes Ma and Mb, it is possible to appropriately adjust the timings at which data frames DF 1  and DF 2  are transmitted to bridge  48 . 
     Needless to say, the present disclosure is not limited to the embodiment that has been described heretofore in any way, and hence, the present disclosure can be carried out in various aspects without departing from the technical scope of the present disclosure. 
     For example, in the above-described embodiment, the timing is adjusted by communicably connecting master nodes Ma and Mb, but the configuration is not limited to this, and the timing may be adjusted by other configurations and methods. For example, bridge  48  may adjust the timing by changing the opening/closing timing of a communication port and shifting changing the timing of transmitting/receiving data frame DF 1  of first network  41  and the timing of transmitting/receiving data frame DF 2  of second network  45 . Alternatively, the configuration is not limited to such timing adjustment, and the timing adjustment may not be performed. In addition, although the communication cycles between first network  41  and second network  45  are assumed to be the same, the configuration is not limited to this, and the communication cycles of multiple networks may be different from each other. 
     In the above embodiment, slave node Sa 5  for controlling first head moving section  32   a  is disposed at the position adjacent to bridge  48  on the upstream side in the communication direction in first network  41 , but the configuration is not limited to this. For example, the slave node for controlling first head moving section  32   a  may be disposed at a position within a half circumference on the upstream side in the communication direction with respect to bridge  48 . That is, in the disposition of  FIG.  3   , the node for controlling first head moving section  32   a  may be any of slave nodes Sa 2  to Sa 5 , and slave node Sa 5  closest to bridge  48  is most preferable. 
     In the above embodiment, slave node Sb 2  for controlling second head moving section  32   b  is disposed at the position adjacent to bridge  48  on the downstream side in the communication direction in second network  45 , but the configuration is not limited to this. For example, the slave node for controlling second head moving section  32   b  may be disposed at a position within a half circumference on the downstream side in the communication direction with respect to bridge  48 . That is, in the disposition of  FIG.  3   , the node for controlling second head moving section  32   b  may be any of slave nodes Sb 2  to Sb 5 , and slave node Sb 2  closest to bridge  48  is most preferable. 
     In the above embodiment, the slave node for controlling first head moving section  32   a  is disposed on the upstream side of bridge  48  in first network  41 , and the slave node for controlling second head moving section  32   b  is disposed on the downstream side of bridge  48  in second network  45 , but the configuration is not limited to this. For example, in first network  41 , the slave node (that is, Sa 6 ) for controlling first head moving section  32   a  may be disposed on the downstream side of bridge  48 , and in second network  45 , the slave node (that is, Sb 1 ) for controlling second head moving section  32   b  may be disposed on the upstream side of bridge  48 . In such a case, when there is a risk that both heads collide with each other, first head moving section  32   a  may be controlled so as to urgently stop first head  25   a.    
     In the above embodiment, communication system  40  includes two ring-type networks (first network  41  and second network  45 ), and bridge  48  that connects the networks, but the configuration is not limited to this. For example, communication system  40  may include three or more ring-type networks and the bridge that connect the networks. For example, in the disposition of  FIG.  3   , a bridge for connecting to a third network may be provided at a position adjacent to a downstream side in the communication direction of slave node Sb 2  which is the specific node, and the specific node may be provided at a position adjacent to the bridge on the downstream side in the communication direction in the third network. In addition, although a ring type network is exemplified, the configuration is not limited to this, and any network that performs communication by a token passing method may be used. 
     In the above embodiment, mounting device  10  for mounting components on board S is exemplified as the work apparatus, but the configuration is not limited to this, but mounting device  10  may include any device as long as it includes two heads for performing a work on board S, such as a printing device for performing printing on board S or an inspection device for performing inspection on board S. In addition, the configuration is not limited to performing a work on board S. As the work apparatus, any device may be used as long as it includes multiple work units including a working section for executing a predetermined work and a moving section for moving the working section, and a communication unit for performing communication through a token passing type network for controlling each work unit. For example, the work apparatus may be applied to a work robot in which the working section is an end effector at a distal end of a robot arm and the moving section is a robot arm may be used as a work unit, and a work range (moving range of the end effector) of each work robot may overlap with each other. 
     Here, the communication system of the present disclosure may be configured as follows. For example, in the communication system of the present disclosure, the specific node may be disposed at a position adjacent to the bridge on the upstream side in the communication direction in the one network. According to this configuration, since the data frame can be transmitted from the specific node to the bridge in one network promptly, it is possible to perform the transfer of data between the specific nodes more promptly. 
     In the communication system of the present disclosure, the specific node may be disposed at a position adjacent to the bridge on the downstream side in the communication direction in the other network. According to this configuration, since the data frame can be transmitted from the bridge to the specific node promptly in the other network, it is possible to perform the data transfer between the specific nodes more promptly. 
     In the communication system of the present disclosure, the one network and the other network may have the same communication cycle, and a timing at which the data frame is transmitted from the node on the upstream side in the communication direction to the bridge may be adjusted to be later in the other network than the one network. This makes it possible to transfer data from the specific node of one network to the specific node of the other network via the bridge within one communication cycle. Therefore, the latest data can be transferred between specific nodes, and thus, the responsiveness can be improved. 
     In the communication system of the present disclosure, the network may have a master node configured to control transmission start of the data frame, the one network and the other network may be connected such that the master nodes thereof communicate with each other separately from the bridge, and the master node of the other network may adjust the timing by transmitting the data frame with a predetermined time delay after receiving a notification that the data frame has been transmitted from the master node of the one network. Accordingly, by connecting the master nodes to each other, it is possible to appropriately adjust the timing of transmission to the bridge to suppress a decrease in the responsiveness. 
     The work apparatus of the present disclosure is a work apparatus including: multiple work units including a working section configured to execute a predetermined work and a moving section configured to move the working section; and 
     any of the communication systems described above, in which the specific node reads and writes data relating to a movement position of the working section in the data frame and controls the moving section. 
     Similar to any of the communication systems described above, the work apparatus of the present disclosure can promptly exchange data between the specific nodes to suppress a decrease in responsiveness. Therefore, it is possible to prevent the movements of the working sections from interfering with each other due to the decrease of the responsiveness. 
     INDUSTRIAL APPLICABILITY 
     The present disclosure can be applied to a manufacturing industry of a work apparatus such as a communication system or a mounting device. 
     REFERENCE SIGNS LIST 
       1 : mounting system,  10 : mounting device,  10   a : first area,  10   b : second area,  20   a : first mounting unit,  20   b : second mounting unit,  22   a : first component supply section,  22   b : second component supply section,  24   a : first board conveyance section,  24   b : second board conveyance section,  25   a : first head,  25   b : second head,  26 : suction nozzle,  27   a : first Z-axis actuator,  27   b : second Z-axis actuator,  28   a : first mark camera,  28   b : second mark camera,  32   a : first head moving section,  32   b : second head moving section,  33   a : first X-axis actuator,  33   b : second X-axis actuator,  34   a : first Y-axis actuator,  34   b : second Y-axis actuator,  36   a : first part camera,  36   b : second part camera,  38   a : first control section,  38   b : second control section,  40 : communication system,  41 : first network,  42 ,  46 : node,  43 ,  47 : communication line,  45 : second network,  48 : bridge,  49 : communication line,  50 : management device,  51 : control section,  52 : storage section,  53 : communication section, S: board