| 摘要 |
PURPOSE:To position a carrier, by stopping a servomotor after drawing the carrier at a smaller speed in a coating distance where the carrier goes forward by inertial force along, than allowable slippage to a pallet exchange position at a time when the carrier comes nearer to this pallet exchange position. CONSTITUTION:During crawling rotation, backlash in a driving system is put aside to one direction, coming into a backlash eliminated state. Afterward, if rotational output to a servomotor 5 is stopped, inertial force to make a carrier 4 go forward and running resistance force to make it stop both act on the carrier 4. At this time, rotational frequency in the servomotor 5 just before stoppage is decelerated to the extent that a coasting distance where the carrier 4 is advanced by inertial force becomes smaller than allowable slippage to a pallet exchange position C, so that after stopping the rotational output to the servomotor, the carrier 4 is stoppage at the specified accuracy. Therefore, total rotational frequency and speed of the servomotor 5 is controlled whereby the carrier 4 can be positioned at the said exchange position C at the specified accuracy.
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