PURPOSE: To improve the positioning precision of a conveyance means traveling between multi-layered compartment stockers by preparing a deviation-from-the- shelf memory and a current stocker location memory in order to obtain the actual positioning of the stocker from the current location and the deviation from the shelf.
CONSTITUTION: Upon receiving a lift delocalization command (LDC), a lift operation controller 21 inputs a pulse S2 representing the turning angle value of a motor 27 through a transducer 29 into a current location counter 30 which identifies the current position of a conveyor lift and outputs the integrated value T2. Then the controller 21 instructs through a computation circuit 25 the motor 27 to drive the unillustrated conveyor lift toward the designated direction in such a way that T2 falls on in between another integrated values T2p and T2p' stored in the stocker location memory 22. Upon reaching the target stocker, the controller 21 reads the deviation-from-the-shelf value δK, and instructs the lift through the computation circuit 25 to make a movement for positioning. Thus the location precision is improved.
HATSUTORI SHIN
MURASE TOMIO
| JPS57189906A | 1982-11-22 | |||
| JPS5682708A | 1981-07-06 |