| 摘要 |
<p>PURPOSE:To prevent a moving body from running away, by a method wherein a running resistance is operated based on the value of the load current of a running motor during running a given distance while the values of acceleration and deceleration are changed in accordance with the value of the operated running resistance. CONSTITUTION:A computer 21 outputs a running command, a speed command and an accelerating and decelerating command by comparing the present position of a stacker crane with an objective address. In this case, the current of a running motor 4 is detected by a running current detector 23 in respective modes with the interval of a predetermined time. When the detected value is lower than a predetermined value upon accelerating or constant speed running or higher than a predetermined value upon deceleration, a running resistance is decided that it is smaller than a specified value and the acceleration or the deceleration is changed so as to be smaller. According to this method, the failure of stopping at an objective position can be prevented.</p> |
