| 摘要 |
PURPOSE:To locate highly accurately a movable body by memorizing the distance between a reference position detecting mechanism and each stop position and replacing the displacement of the movable body for the previously memorized displacement to correct accumulated errors. CONSTITUTION:A stacker crane 1 is provided with photo-electric switches 11a, 11b as detectors for detecting a reference position detecting mechanism 10, and driven by the power of a drive unit 17 through a drive mechanism 18 and braked by a braking mechanism 20. Also, a relay circuit 19 sends the input shut- off signal output to the drive unit 17 and is controlled such that the deflection of the actal speed of the crane obtained through a tachogenerator 13 from a desired speed of a speed pattern generator 16 is corrected through a comparator 21. A computer 14 sends the speed commanding signal output to a speed pattern generator 16 so as to reduce the deflection of the displacement of the crane shown by a counter 15 from desired address A and a counter 15, while generating the signal R to compensate for accumulated errors on the basis of the signal from a photoelectric switch 11. |
