| 摘要 |
In a stacker crane, servomotors are travel motors causing a vehicle main body to travel, and include brakes. A travel controller includes a malfunction detecting unit to detect malfunctions in the servomotors, and a deceleration pattern storage unit to store deceleration patterns based on combinations of some of the servomotors. If a malfunction with a servomotor is detected by the malfunction detecting unit, the malfunctioning servomotor is no longer subject to deceleration control, a deceleration pattern including a combination of normal servomotors is read from the deceleration pattern storage unit, and then braking control is performed by using this deceleration pattern. |
