PURPOSE: To transfer the pallet of a linear conveying device correctly and smoothly by obtaining the present conveying speed, remaining distance and remaining time of the pallet in real time, and controlling the speed of the pallet when it reaches the transfer start position to be equal to the constant speed of a conveyor type conveying device.

CONSTITUTION: A linear coil 8 is controlled based on commands from a host computer 40, when the output of a proximity switch 13 is read and the switch 13 is turned on, the output of a rotary encoder 12 and the output of an absolite coder 24 are read and stored in a memory. The distance and the present conveying speed Vn are calculated based on the output of the encoder 12 and the count-up value and stored in the memory. The remaining time T3 is calculated with the time T2 calculated based on the output of the absolite coder 24, the remaining distance is calculated with the above distance, and they are stored in the memory. A speed curve VF is calculated with the conveying speed Vn, VS, remaining distance and remaining time T3, and the conveying speed of a linear conveying device is controlled in real time.