| 摘要 |
PROBLEM TO BE SOLVED: To accurately and quickly convey an article to be conveyed to a target position.SOLUTION: A conveying apparatus includes a conveying roller for conveying an article to be conveyed, a conveying motor for allowing the conveying roller to convey the article to be conveyed, a detecting part for detecting the amount of rotation of the conveying roller, and a control part for controlling the conveying motor to rotate the conveying roller. The control part compares the target amount of rotation of the conveying roller for allowing the article to be conveyed to arrive at a target position with the present amount of rotation of the conveying roller and determines whether the article to be conveyed has arrived at the target position. The control part performs position feedback control of the drive of the conveying motor based on the target amount of rotation and the present amount of rotation at least before determining that the article to be conveyed has arrived at the target position. After the control part has determined that the article to be conveyed has arrived at the target position, the control part performs position feedback control using a first feedback gain and then performs position feedback control using a second feedback gain smaller than the first feedback gain. |
