Return system

Abstract

The conveying system comprises a plurality of conveying path units that constitute a conveying path in which a conveyor moves. Each of the plurality of conveying path units comprises a linear motor unit (21) having one or more coils (20) that generate thrust to move the conveyor by flowing current, and a current control unit (22) having a plurality of current control devices (26) and a current control unit (32) that controls each current control device (26). Each current control device (26) is connected to the coil (20) and controls the current flowing through the coil (20). The current control unit (32) obtains information indicating the configuration of the linear motor unit (21) from the linear motor unit (21), and based on the obtained information, selects a current control device (26) that controls the current flowing through one or more coils (20) of the linear motor unit (21) from the plurality of current control devices (26) of the current control unit (22).

Description

Technology Field

[0001] The present disclosure relates to a conveying system for conveying goods. Background Technology

[0002] In production lines where factory automation is introduced, such as production lines for assembling industrial products or production lines for packaging food, conveying systems for transporting workpieces are commonly used. Recently, conveying systems that divide the conveying path into multiple zones and drive trolleys loaded with workpieces using control devices placed in each zone have become widely used. Such conveying systems are known as one of the conveying systems that excel in terms of production efficiency.

[0003] As a form of conveying system, a so-called moving magnet type linear motor is utilized, in which magnets are placed on the moving bogie and coils are placed on the stator constituting the conveying path. The moving magnet type linear motor is suitable for cases where the moving bogie is moved with a stroke long relative to the length of the moving bogie. Multiple coils are arranged in the stator in the direction of moving the moving bogie. Furthermore, by arranging multiple stators, a conveying path is formed to convey one or multiple bogies.

[0004] Conventionally, a motor is known to be equipped with a memory in which information necessary for operating the motor is stored. In the case of such a motor, when the motor is connected to a controller that controls the motor, the information stored in the memory is sent to the controller. Since the information stored in the memory is automatically sent to the controller, when the controller connected to the motor is replaced, the task of inputting information necessary for controlling the motor into the controller becomes unnecessary. Patent Document 1 discloses providing a memory capable of writing information regarding the motor to an encoder connected to the motor. Prior art literature

[0005] Japanese Special Publication No. 11-304534 The problem to be solved

[0006] The motor disclosed in Patent Document 1 is a rotary motor. In a controller connected to a rotary motor, the number of phases of the motor to be controlled is a predetermined number, and the setting of the constants in the controller is not changed. Since the number of phases of the motor to be controlled is a predetermined number, the program executed by the controller is designed to fit the motor with the predetermined number of phases. That is, in the case of the conventional technology disclosed in Patent Document 1, a program is designed to fit a motor having a predetermined number of coils.

[0007] In the case of linear motors applied to the above-described conveying system, among the multiple stators constituting the conveying path, there may be cases where stators with different numbers of coils are included. According to the above-described conventional technology, for stators with different numbers of coils, it becomes necessary to design a program tailored to the number of coils for each stator. For this reason, according to the above-described conventional technology, there was a problem that the workload in designing the conveying system was heavy.

[0008] The present disclosure is made in consideration of the above and aims to obtain a conveying system that can reduce the burden of work in the design of a conveying system. means of solving the problem

[0009] To solve the aforementioned problems and achieve objectives, a conveying system according to the present disclosure comprises a plurality of conveying path units that constitute a conveying path in which a conveyor moves. Each of the plurality of conveying path units comprises a linear motor unit having one or more coils that generate thrust for moving a conveyor by flowing current, and a current control unit having a plurality of current control devices and a current control unit that controls each current control device. Each current control device is connected to a coil and controls the current flowing through the coil. The current control unit obtains information indicating the configuration of the linear motor unit from the linear motor unit, and based on the obtained information, selects a current control device that controls the current flowing through one or more coils of the linear motor unit from among the plurality of current control devices of the current control unit. Effects of the invention

[0010] The conveying system according to the present disclosure achieves the effect of reducing the burden of work in the design of the conveying system. Brief explanation of the drawing

[0011] FIG. 1 is a drawing showing an example of the configuration of a return system according to Embodiment 1. FIG. 2 is a drawing showing an example of the configuration of a linear conveying path unit having a conveying system according to Embodiment 1. FIG. 3 is a drawing showing an example of the configuration of a curved conveying path unit of a conveying system according to Embodiment 1. FIG. 4 is a diagram showing an example of the configuration of a control circuit according to Embodiment 1. FIG. 5 is a diagram showing an example of the configuration of a dedicated hardware circuit according to Embodiment 1. FIG. 6 is a flowchart showing the procedure of a process performed by the current control unit of a current control unit in each conveying path unit of a conveying system according to Embodiment 1. FIG. 7 is a drawing showing an example of the configuration of a conveying path unit having a conveying system according to a modified example of Embodiment 1. FIG. 8 is a flowchart showing the procedure of processing performed by the controller of the return system according to embodiment 2. FIG. 9 is a drawing showing an example of the configuration of a return system according to embodiment 3. FIG. 10 is a flowchart showing the procedure of processing performed by the controller of the return system according to embodiment 3. Specific details for implementing the invention

[0012] Below, a conveying system according to an embodiment is described in detail based on the drawings.

[0013] Embodiment 1.

[0014] FIG. 1 is a drawing showing an example of the configuration of a conveying system (1) according to embodiment 1. The conveying system (1) is a system used for conveying objects. In embodiment 1, the conveying system (1) conveys objects by moving a conveyor body loaded with objects.

[0015] The conveying system (1) is equipped with a plurality of conveying path units (11A-11H), a controller (12), a direct current (DC) power supply (13), and trolleys (16A, 16B, 16C). The controller (12) operates each trolley (16A, 16B, 16C) by controlling the conveying path units (11A-11H). In the following description, the term "conveying path unit (11)" is used to refer to each of the conveying path units (11A-11H) without distinction.

[0016] A plurality of conveyor unit (11) are connected to each other and form a conveyor path (10) through which a conveyor moves. The plurality of conveyor unit (11) moves the conveyor by providing power to the conveyor. Each of the trolleys (16A, 16B, 16C) is a conveyor. In the following description, the term trolley (16) is used to refer to each of the trolleys (16A, 16B, 16C) without distinction.

[0017] The return path (10) shown in FIG. 1 is a closed path in the shape of a track. The return path (10) of the return system (1) may be an open path. That is, the return path (10) of the return system (1) may be a path having a starting point and an ending point located at separate locations.

[0018] The conveyor path units (11A, 11B, 11E, 11F) are straight conveyor path units (11) that form a straight path. The conveyor path units (11C, 11D, 11G, 11H) are curved conveyor path units (11) that form a curved path and change the direction of travel of the conveyor by 90 degrees. Additionally, the conveyor path (10) may not have conveyor path units (11) that form a straight path, but may consist only of conveyor path units (11) that form a curved path. A conveyor path (10) having a starting point and an ending point located at separate positions may consist only of conveyor path units (11) that form a straight path. The overall shape of the conveyor path (10) is to be arbitrary.

[0019] The trolley (16) is mounted on the side of the conveyor path (10). The trolley (16) moves along a guide rail provided on the side of the conveyor path (10). The trolley (16) moves along the side of the conveyor path (10) and stops on the side of the conveyor path (10). The conveyor system (1) according to Embodiment 1 is equipped with a linear motor of the moving magnet type. The trolley (16) may move along a guide rail provided on the upper surface of the conveyor path (10). Additionally, the trolley (16) may be mounted on the conveyor path (10) so as to be able to move along the conveyor path (10). The trolley (16) is equipped with a permanent magnet constituting a movable, a permanent magnet for a linear scale, and a guide roller that moves along the guide rail by rotation. In FIG. 1, the illustration of the guide rail, the guide roller, the permanent magnet constituting the movable, and the permanent magnet for the linear scale is omitted.

[0020] The direction of travel of each bogie (16) is clockwise in FIG. 1 or counterclockwise in FIG. 1. Among the directions of travel, the clockwise direction in FIG. 1 is designated as the forward direction. Among the directions of travel, the counterclockwise direction in FIG. 1 is designated as the reverse direction. Arrow 17A indicates the forward direction. Arrow 17B indicates the reverse direction.

[0021] In the example shown in FIG. 1, the conveying system (1) is equipped with eight conveying path units (11) and three trolleys (16). The number of conveying path units (11) provided in the conveying system (1) is arbitrary. That is, the number of conveying path units (11) constituting the conveying path (10) is arbitrary. The conveying system (1) may be equipped with a plurality of conveying path units (11). The number of trolleys (16) moving along the conveying path (10) is arbitrary. The conveying system (1) may be equipped with one or a plurality of trolleys (16).

[0022] The DC power supply (13) is connected to each carrier unit (11) via a DC power bus (15). The DC power supply (13) is a power supply device or power circuit that outputs a DC voltage. The DC power supply (13) supplies power to each carrier unit (11). Each carrier unit (11) shares the DC power supply (13).

[0023] The transport system (1) is configured such that each transport path unit (11) is connected to a DC power source (13) by a multi-drop connection. The connection type between each transport path unit (11) and the DC power source (13) is not limited to a multi-drop connection and may be a daisy-chain connection. In the example shown in FIG. 1, there is only one DC power source (13) provided in the transport system (1), but the number of DC power sources (13) provided in the transport system (1) may be multiple. That is, the transport system (1) may be configured with multiple power domains.

[0024] The controller (12) controls each of the plurality of carrier units (11). The controller (12) is connected to each carrier unit (11) via a data communication line (14). The data communication line (14) is composed of a line connecting the controller (12) to a carrier unit (11A), which is one of the plurality of carrier units (11), and a line connecting neighboring carrier units (11). The carrier system (1) is configured such that each carrier unit (11) is connected to the controller (12) by a daisy chain connection.

[0025] The connection type between each carrier unit (11) and the controller (12) is not limited to a daisy-chain connection. The connection type between each carrier unit (11) and the controller (12) may be a star connection in which each carrier unit (11) is connected to the controller (12) through a communication hub. Alternatively, the carrier system (1) may be equipped with a plurality of data communication lines (14), and each carrier unit (11) and the controller (12) may be directly connected by the data communication lines (14).

[0026] The controller (12) generates a position command indicating the position where the bogie (16) is moved. The controller (12) calculates the position of each bogie (16) based on position sensor information transmitted from each conveyor unit (11). The controller (12) generates position information for each bogie (16) indicating the actual position of the bogie (16) in the conveyor (10). The position sensor information will be described later.

[0027] The controller (12) generates a thrust command for each bogie (16), which is a thrust command for moving the bogie (16), based on the difference between the position command and the position information. The controller (12) generates a current command to control the current flowing through the coil of each conveyor unit (11), based on the thrust command of each bogie (16) and the position information of each bogie (16). The controller (12) controls each conveyor unit (11) by outputting the current command to each conveyor unit (11).

[0028] A control device superior to the controller (12), such as a programmable logic controller, may be connected to the controller (12). Such a control device outputs commands for sequence control to the controller (12). A human machine interface may be connected to the controller (12). Such a human machine interface receives input from an operator. In addition, such a human machine interface outputs information indicating the status of the transport system (1) by means of a display, etc. The controller (12) may acquire operation information of each bogie (16) from the superior control device or the human machine interface and generate position commands for each bogie (16) based on the operation information. The operation information is information indicating the schedule for the movement of each bogie (16) on the transport route (10).

[0029] Next, the configuration of the linear conveyor unit (11) will be described. Here, the configuration of the linear conveyor unit (11) will be described using the conveyor unit (11A) as an example. The conveyor units (11B, 11E, 11F) have the same configuration as the conveyor unit (11A) described below.

[0030] FIG. 2 is a diagram showing an example of the configuration of a linear conveying path unit (11A) of a conveying system (1) according to embodiment 1. FIG. 2 schematically shows a conveying path unit (11A) and a trolley (16) that moves along the conveying path unit (11A). The trolley (16) has a permanent magnet (41) that acts as a movable element and a permanent magnet (42) used for detecting the position of the trolley (16).

[0031] The conveyor unit (11A) is equipped with a linear motor section (21) and a current control unit (22). The linear motor section (21) is equipped with a linear scale (23) and a coil section (24). The linear scale (23) functions as a position detection section for detecting the position of the bogie (16). Additionally, the linear conveyor unit (11A) has a linear motor section (21).

[0032] The linear scale (23) is equipped with a plurality of position sensors (25) and a control unit (31) that controls the linear scale (23). The control unit (31) has a memory unit (33). The memory unit (33) stores information indicating the configuration of the linear motor unit (21). By this, the linear motor unit (21) maintains information indicating the configuration of the linear motor unit (21).

[0033] One example of information indicating the configuration of the linear motor unit (21) is shape information. The shape information is information regarding the shape of the linear motor unit (21), and indicates whether it is a straight type or a curved type. Shape information indicating a straight type is stored in the memory unit (33) of the conveyor unit (11A).

[0034] A plurality of position sensors (25) are arranged in a portion of the conveyor path (10) that constitutes the conveyor path unit (11A). Each position sensor (25) is a sensor that detects a magnetic field, such as a Hall sensor or a magnetoresistance sensor. Each position sensor (25) detects the magnetic field of a permanent magnet (41) or the magnetic field of a permanent magnet (42). The position sensor (25) shown in FIG. 2 is a Hall sensor equipped with two Hall elements. Each Hall element of the position sensor (25) converts the magnetic field into an electrical signal and outputs an electrical signal. The electrical signal output by each Hall element changes in accordance with the movement of the bogie (16).

[0035] The electrical signal from each position sensor (25) of the linear scale (23) is input to the control unit (31). The control unit (31) detects the position of the bogie (16) relative to the position sensor (25) based on the electrical signal from the position sensor (25). By doing so, the control unit (31) obtains position sensor information indicating the relative position of the bogie (16) relative to the position sensor (25). The control unit (31) transmits the position sensor information obtained by each position sensor (25) to the controller (12) through the data communication line (14). Also, the illustration of the data communication line (14) is omitted in FIG. 2.

[0036] The coil section (24) has a plurality of coils (20). Each coil (20) generates thrust that moves the bogie (16) by interacting with the magnetic field generated by the permanent magnet (41) when current flows through the coil (20). In this way, each coil (20) generates thrust that moves the bogie (16) by flowing current.

[0037] In the linear motor section (21), a plurality of coils (20) are arranged in a linear direction. In the example shown in FIG. 2, the coil section (24) of the conveyor unit (11A) has 12 coils (20). The number of coils (20) in the conveyor unit (11A) is arbitrary. The conveyor unit (11A) only needs to have one or more coils (20).

[0038] The current control unit (22) comprises a plurality of current control devices (26) and a current control section (32) that controls each current control device (26). Each current control device (26) is connected to a coil (20). The current control device (26) connected to the coil (20) controls the current flowing through the coil (20). Each current control device (26) has a similar configuration to one another. In the example shown in FIG. 2, the current control unit (22) of the carrier unit (11A) has 12 current control devices (26).

[0039] An inverter circuit is connected to each coil (20). The inverter circuit converts the direct current supplied from the DC power source (13) to the carrier unit (11A) via the DC power bus (15) into alternating current. Alternating current flows through the coil (20). Additionally, the inverter circuit regulates the current flowing through the coil (20). The inverter circuit is a component included in the current control device (26). A current sensor is connected to each coil (20) to detect the actual coil current value, which is the current value of the current flowing through the coil (20). The current sensor outputs the detected actual coil current value to the current control device (26). Additionally, in FIG. 2, the inverter circuit, the current sensor, and the DC power bus (15) are omitted from the illustration.

[0040] A current command transmitted from the controller (12) to each carrier unit (11) via a data communication line (14) is input to the current control unit (32) of each carrier unit (11). The current control unit (32) outputs the current command value indicated by the current command to each current control device (26). The current control device (26) calculates the voltage value of the voltage applied to the coil (20) based on the current command value and the actual coil current value. The current control device (26) outputs a Pulse Width Modulation (PWM) signal obtained by comparing the calculated voltage value with a triangular wave to the inverter circuit. By the inverter circuit performing switching according to the PWM signal, a voltage is applied to the coil (20) to flow a current of the desired current value into the coil (20). By this, each current control device (26) controls the current flowing through the coil (20). Additionally, the current control device (26) may calculate the voltage value of the voltage applied to the coil (20) by performing PID (Proportional Integral Differential) control of the voltage applied to the coil (20) based on the deviation between the current command value and the actual coil current value.

[0041] In the conveyor unit (11A) shown in FIG. 2, the control unit (31) of the linear motor unit (21) transmits shape information stored in the memory unit (33) to the current control unit (32) of the current control unit (22). The current control unit (32) of the current control unit (22) acquires shape information from the linear motor unit (21) and, based on the acquired shape information, selects a current control device (26) that controls the current flowing through the coil (20) of the linear motor unit (21) from among the plurality of current control devices (26) of the current control unit (22). That is, the current control unit (32) acquires shape information from the linear motor unit (21) and, based on the acquired shape information, selects a current control device (26) to which the coil (20) is connected among all the current control devices (26) of the current control unit (22).

[0042] In the carrier unit (11A), one coil (20) is connected to each current control device (26). In the example shown in FIG. 2, there are a total of 12 coils (20) for the current control device (26) of the current control unit (22) and the linear motor unit (21). All 12 current control devices (26) are connected to the coils (20). That is, in the example shown in FIG. 2, all current control devices (26) of the current control unit (22) are selected as current control devices (26) that control the current flowing through the coils (20) of the linear motor unit (21). That is, in the carrier unit (11A), all current control devices (26) of the current control unit (22) are used for current control of the coils (20).

[0043] Next, the configuration of the curved conveyor unit (11) will be described. Here, the configuration of the curved conveyor unit (11) will be described using the conveyor unit (11C) as an example. The conveyor units (11D, 11G, 11H) have the same configuration as the conveyor unit (11C) described below.

[0044] FIG. 3 is a drawing showing an example of the configuration of a curved conveyor unit (11C) of a conveyor system (1) according to embodiment 1. FIG. 3 schematically shows a conveyor unit (11C) and a trolley (16) passing through the conveyor unit (11C). Hereinafter, the description of a conveyor unit (11C) with a configuration similar to the conveyor unit (11A) shown in FIG. 2 will be omitted.

[0045] The curved conveyor unit (11C) has a curved linear motor section (21). In the curved linear motor section (21), a plurality of coils (20) are arranged along the curve. In FIG. 3, the arrangement of the plurality of coils (20) is shown as being changed to a linear arrangement. The memory section (33) of the conveyor unit (11C) stores shape information indicating the curved shape.

[0046] In the example shown in FIG. 3, the coil section (24) of the carrier unit (11C) has 10 coils (20). The number of coils (20) in the carrier unit (11C) is arbitrary. The carrier unit (11C) only needs to have one or more coils (20). Also, in the example shown in FIG. 3, the current control unit (22) of the carrier unit (11C) has 12 current control devices (26).

[0047] In the example shown in FIG. 3, the current control unit (22) has 12 current control devices (26), whereas the linear motor unit (21) has 10 coils (20). 10 of the 12 current control devices (26) are connected to the coils (20). That is, in the example shown in FIG. 3, only 10 of the current control devices (26) of the current control unit (22) are selected as current control devices (26) that control the current flowing through the coils (20) of the linear motor unit (21). In the conveyor unit (11C), only 10 of the current control devices (26) of the current control unit (22) are used for current control of the coils (20), and the remaining 2 current control devices (26) are not used.

[0048] In the above example, the linear motor section (21) of the linear conveyor unit (11) is provided with 12 coils (20). The memory section (33) of the linear conveyor unit (11) stores shape information indicating a linear shape. The linear motor section (21) of the curved conveyor unit (11) is provided with 10 coils (20). The memory section (33) of the curved conveyor unit (11) stores shape information indicating a curved shape. The current control section (32) of the current control unit (22) determines whether the linear motor section (21) is linear or curved based on the shape information read from the linear motor section (21).

[0049] When the current control unit (32) determines that the linear motor unit (21) is linear, it selects 12 current control devices (26) connected to the coil (20) as current control devices (26) used for current control of the coil (20). When the current control unit (32) determines that the linear motor unit (21) is curved, it selects 10 current control devices (26) connected to the coil (20) as current control devices (26) used for current control of the coil (20). The shape information indicating a linear shape indicates that there are 12 coils (20) of the linear motor unit (21). Also, the shape information indicating a curved shape indicates that there are 10 coils (20) of the linear motor unit (21). That is, the shape information, which is information indicating the configuration of the linear motor unit (21), can be said to include information indicating the number of coils (20) that the linear motor unit (21) has. By this, the current control unit (32) recognizes the number of coils (20) that the linear motor unit (21) has from the shape information and selects a current control device (26) used for current control of the coils (20). That is, the current control unit (32) obtains shape information from the linear motor unit (21) and, based on the obtained shape information, selects a current control device (26) to which the coil (20) is connected from among all current control devices (26) that the current control unit (22) has.

[0050] In addition, the current control unit (22) in all of the transport path units (11) of the transport system (1) has 12 current control devices (26). Thus, each current control unit (22) provided in a plurality of transport path units (11) has the same number of current control devices (26). In the transport system (1), the configuration of the current control unit (22) is common in all of the transport path units (11) of the transport system (1).

[0051] Additionally, if there is a conveying path unit (11) having a linear motor part (21) of a shape other than a straight or curved shape in the conveying system (1), shape information indicating the other shape is stored in the memory part (33) of the conveying path unit (11). When the shape information indicating the other shape is read by the current control part (32), the current control part (32) selects a number of current control devices (26) according to the other shape as current control devices (26) used for current control of the coil (20).

[0052] If N is the maximum value of the number of coils (20) in each transport unit (11) of the transport system (1), then when the number of current control devices (26) in each current control unit (22) is equal to each other, then each current control unit (22) is equipped with N or more current control devices (26). By this, the transport system (1) can control the current flowing through all coils (20) of each transport unit (11) by using current control units (22) that have a common configuration. In the above example, N=12, so the number of current control devices (26) in each current control unit (22) is 12, but the number of current control devices (26) can be any number greater than N.

[0053] The current control unit (32) of the current control unit (22) may determine the value of a parameter used to control the current flowing through each coil (20) of the linear motor unit (21) based on shape information obtained from the control unit (31) of the linear motor unit (21). In this case, each current control device (26) of the current control unit (22) controls the current flowing through the coil (20) based on the value of the parameter determined by the current control unit (32). The parameter whose value is determined based on the shape information is a parameter whose value changes depending on the shape of the linear motor unit (21), for example, an induced voltage constant, a threshold value for determining overcurrent, or a threshold value for determining overload. The parameter whose value is determined based on the shape information may also be a control gain used for PID control. For example, the current control unit (32) maintains a relationship between the shape information and the value of the parameter, and determines the value of the parameter from the shape information based on the said relationship. In addition, the method by which the current control unit (32) determines the value of the parameter from the shape information is arbitrary.

[0054] Each conveyor unit (11) is assembled by connecting a linear motor unit (21) and a current control unit (22) to each other. In each of the multiple conveyor units (11) in the conveyor system (1), the current control unit (22) can be separated from the linear motor unit (21). In each conveyor unit (11), if only one of the linear motor unit (21) and the current control unit (22) fails, it is possible to replace only the failed side. By doing so, the cost required for recovery from failure can be reduced compared to a case where the current control unit (22) cannot be separated from the linear motor unit (21).

[0055] Next, the hardware for realizing the control unit (31) of the linear motor unit (21) will be described. The control unit (31) is realized by a processing circuit. The processing circuit may be a circuit in which a processor executes software, or it may be a dedicated circuit.

[0056] When the processing circuit is realized by software, the processing circuit is, for example, the control circuit shown in FIG. 4. FIG. 4 is a diagram showing an example of the configuration of a control circuit (50) according to Embodiment 1. The control circuit (50) comprises an input unit (51), a processor (52), a memory (53), and an output unit (54). The input unit (51) is an interface circuit that receives data input from outside the control circuit (50) and gives it to the processor (52). The output unit (54) is an interface circuit that sends data from the processor (52) or the memory (53) to the outside of the control circuit (50).

[0057] When the processing circuit is the control circuit (50) shown in FIG. 4, the control unit (31) is realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in memory (53). The processing circuit realizes the function of the control unit (31) by having the processor (52) read and execute the program stored in memory (53). That is, the processing circuit is equipped with memory (53) for storing a program that results in the processing of the control unit (31) being executed. Furthermore, these programs can also be said to execute the procedures and methods of the control unit (31) on a computer.

[0058] The processor (52) is a CPU (Central Processing Unit). The processor (52) may be a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a DSP. The memory (53) is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc., a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc). The memory unit (33) shown in FIGS. 2 and 3 is realized by a non-volatile memory constituting the memory (53).

[0059] FIG. 4 is an example of hardware in which the control unit (31) is realized by a general-purpose processor (52) and memory (53), but the control unit (31) may be realized by a dedicated hardware circuit. FIG. 5 is a diagram showing an example of the configuration of a dedicated hardware circuit (55) according to embodiment 1.

[0060] The dedicated hardware circuit (55) is equipped with an input section (51), an output section (54), and a processing circuit (56). The processing circuit (56) is a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit that combines these. The control section (31) may be realized as a processing circuit (56) by function, or each function may be integrated to be realized as a processing circuit (56). Additionally, the control section (31) may be realized by combining the control circuit (50) and the hardware circuit (55).

[0061] Next, hardware for realizing the current control section (32) of the current control unit (22) will be described. The current control section (32) is realized by a processing circuit, similar to the control section (31) of the linear motor section (21). The processing circuit realizing the current control section (32) has a configuration similar to the control circuit (50) shown in FIG. 4. Alternatively, the processing circuit realizing the current control section (32) has a configuration similar to the hardware circuit (55) shown in FIG. 5. The current control section (32) may be realized by combining the configuration similar to the control circuit (50) and the configuration similar to the hardware circuit (55).

[0062] Next, hardware for realizing the current control device (26) will be described. The current control device (26) is also realized by a processing circuit, just like the control unit (31) or the current control unit (32). The processing circuit for realizing the current control device (26) has a configuration similar to the control circuit (50) shown in FIG. 4. Alternatively, the processing circuit for realizing the current control device (26) has a configuration similar to the hardware circuit (55) shown in FIG. 5. The current control device (26) may be realized by combining a configuration similar to the control circuit (50) and a configuration similar to the hardware circuit (55).

[0063] Next, hardware for realizing the controller (12) shown in FIG. 1 will be described. The controller (12) is also realized by a processing circuit, just like the control unit (31) or the current control unit (32). The processing circuit for realizing the controller (12) has a configuration similar to the control circuit (50) shown in FIG. 4. Alternatively, the processing circuit for realizing the controller (12) has a configuration similar to the hardware circuit (55) shown in FIG. 5. The controller (12) may be realized by combining a configuration similar to the control circuit (50) and a configuration similar to the hardware circuit (55).

[0064] Additionally, as described above, shape information is stored in the memory unit (33) of the linear scale (23). In each transport unit (11), shape information may be stored in a component other than the linear scale (23) among the linear motor unit (21). For example, shape information may be stored in the coil unit (24).

[0065] Next, the procedure of the processing performed by the current control section (32) of the current control unit (22) will be described. FIG. 6 is a flowchart showing the procedure of the processing performed by the current control section (32) of the current control unit (22) in each conveyor unit (11) of the conveyor system (1) according to Embodiment 1. The procedure shown in FIG. 6 is the procedure of the processing when the current control unit (22) is connected to the linear motor section (21) and the initial setting of the conveyor unit (11) is performed.

[0066] In step S1, the current control unit (32) requests the linear motor unit (21) to transmit shape information. When the control unit (31) of the linear motor unit (21) receives the request from the current control unit (32), it transmits the shape information stored in the memory unit (33) to the current control unit (32). In step S2, the current control unit (32) receives the shape information.

[0067] In step S3, the current control unit (32) selects a current control device (26) that controls the current flowing through each coil (20) of the linear motor unit (21) based on shape information.

[0068] In step S4, the current control unit (32) determines the value of a parameter used to control the current flowing through each coil (20) of the linear motor unit (21) based on shape information. Based on the above, the current control unit (32) terminates the processing according to the procedure shown in FIG. 6.

[0069] In this way, in each conveying path unit (11) of the conveying system (1), the current control section (32) of the current control unit (22) selects a current control device (26) that controls the current flowing through one or more coils (20) of the linear motor section (21) from among the plurality of current control devices (26) of the current control unit (22), based on shape information obtained from the linear motor section (21). That is, the current control section (32) obtains shape information from the linear motor section (21) and, based on the obtained shape information, selects a current control device (26) to which the coil (20) is connected from among all the current control devices (26) of the current control unit (22). In the conveying system (1), when there are conveying units (11) that differ in the constant of the linear motor part (21) to be controlled, that is, the number of coils (20) of the linear motor part (21), it is not necessary to design the program executed by the current control unit (32) to match the constant, and it is possible to make the program executed by the current control unit (32) common. When the conveying system (1) includes multiple conveying units (11) that have different types of linear motor parts (21), the program executed by the current control unit (32) of each conveying unit (11) can be made common.

[0070] The shape information may be information indicating the shape of the linear motor unit (21), and may be information different from the information described above. For example, the shape information may be information indicating the length of the linear motor unit (21) in the direction of moving the bogie (16). In this case, the current control unit (32) recognizes the number of coils (20) that the linear motor unit (21) has from the information indicating the length of the linear motor unit (21), and selects a current control device (26) used for current control of the coils (20). Additionally, the shape information may be the board ID (IDentifier) ​​of the board on which the coils (20) of the linear motor unit (21) are mounted. In this case, the current control unit (32) recognizes the number of coils (20) that the linear motor unit (21) has from the board ID and selects a current control device (26) used for current control of the coils (20).

[0071] In the above description, the information indicating the configuration of the linear motor unit (21) stored in the linear motor unit (21) is defined as shape information indicating the shape of the linear motor unit (21). The information indicating the configuration of the linear motor unit (21) is not limited to shape information.

[0072] Information indicating the configuration of the linear motor unit (21) may be information that the current control unit (32) of the current control unit (22) can obtain from the linear motor unit (21), and is not limited to information stored in the linear motor unit (21). Information indicating the configuration of the linear motor unit (21) may be information obtained, for example, by applying voltage to a component provided in the linear motor unit (21). Here, two examples of obtaining information indicating the configuration of the linear motor unit (21) using a resistor provided in the linear motor unit (21) will be described.

[0073] In the first example, the current control unit (32) of the current control unit (22) measures the voltage division of a resistor by applying voltage to a resistor provided in the linear motor unit (21) when the current control unit (22) is connected to the linear motor unit (21). The current control unit (32) determines the shape of the linear motor unit (21) based on the value of the measured voltage division. In this case, the current control unit (32) obtains the value of the voltage division, which is information indicating the configuration of the linear motor unit (21), from the linear motor unit (21). For example, the current control unit (32) maintains a relationship between the shape of the linear motor unit (21) and the value of the voltage division, and determines the shape of the linear motor unit (21) from the value of the voltage division based on the relationship. Furthermore, the method by which the current control unit (32) determines the shape of the linear motor unit (21) from the value of the voltage division is to be arbitrary.

[0074] In the second example, the current control unit (22) of the current control unit (22) has a terminal for determining the shape of the linear motor unit (21). A resistor provided in the linear motor unit (21) is connected to the terminal of the current control unit (32). The arrangement of the resistor in the linear motor unit (21) is to be pull-up or pull-down. When the current control unit (22) is connected to the linear motor unit (21), the current control unit (32) flows current through the resistor of the linear motor unit (21). The current control unit (32) determines whether the arrangement of the resistor is pull-up or pull-down based on whether the signal at the terminal is H (High) or L (Low). The current control unit (32) maintains a relationship between the shape of the linear motor unit (21) and the arrangement of the resistor, and based on that relationship, determines the shape of the linear motor unit (21) from the signal value at the terminal. In this case, the current control unit (32) obtains a signal value from the linear motor unit (21), which is information indicating the configuration of the linear motor unit (21). Furthermore, the method by which the current control unit (32) determines the shape of the linear motor unit (21) from the signal value is to be arbitrary. The method by which the current control unit (32) obtains information indicating the configuration of the linear motor unit (21) is not limited to the method according to the first or second example above, but is to be arbitrary. Additionally, when the current control unit (32) selects a current control device (26) based on information other than the shape information, it may determine the value of the parameter based on the corresponding information other than the shape information.

[0075] In the above description, each transport unit (11) of the transport system (1) is configured to have the same number of current control devices (26). The transport system (1) is not limited to having the same number of current control devices (26) in each transport unit (11). Among the multiple transport units (11) of the transport system (1), transport units (11) having different numbers of current control devices (26) may be included together.

[0076] FIG. 7 is a drawing showing an example of the configuration of a conveying path unit (11) of a conveying system (1) according to a modified example of Embodiment 1. In the conveying system (1) according to the modified example, the current control unit (22) of the linear conveying path unit (11) has 12 current control devices (26), similar to the conveying path unit (11A) shown in FIG. 2. Meanwhile, in the conveying system (1) according to the modified example, the current control unit (22) of the curved conveying path unit (11) has 10 current control devices (26). Thus, among the plurality of conveying path units (11) of the conveying system (1) according to the modified example, conveying path units (11) with different numbers of current control devices (26) in the current control unit (22) are included.

[0077] FIG. 7 shows an example of the configuration of a conveyor unit (11C), which is a curved conveyor unit (11). The conveyor units (11D, 11G, 11H) have the same configuration as the conveyor unit (11C) shown in FIG. 7.

[0078] In the example shown in FIG. 7, the coil section (24) of the carrier unit (11C) has 10 coils (20). Also, in the example shown in FIG. 7, the current control unit (22) of the carrier unit (11C) has 10 current control devices (26). The memory section (33) of the carrier unit (11C) stores shape information indicating a curved shape.

[0079] In the example shown in FIG. 7, there are a total of 10 current control devices (26) in the current control unit (22) and 10 coils (20) in the linear motor unit (21). All 10 current control devices (26) are connected to the coils (20). That is, in the example shown in FIG. 7, all current control devices (26) in the current control unit (22) are selected as current control devices (26) that control the current flowing through the coils (20) in the linear motor unit (21). That is, in the carrier unit (11C), all current control devices (26) in the current control unit (22) are used for current control of the coils (20). Even in a conveying system (1) according to a modified example, when there are conveying units (11) with different numbers of coils (20) of the linear motor unit (21), there is no need to design the program executed by the current control unit (32) to match the constant, and the program executed by the current control unit (32) can be commonized.

[0080] According to Embodiment 1, the current control unit (32) of the current control unit (22) obtains information indicating the configuration of the linear motor unit (21) from the linear motor unit (21), and based on the obtained information, selects a current control device (26) that controls the current flowing through one or more coils (20) of the linear motor unit (21) from the plurality of current control devices (26) of the current control unit (22). Since the current control device (26) is selected based on the information indicating the configuration of the linear motor unit (21), even if the number of coils (20) differs between the transport unit (11), a program tailored to the number of coils (20) does not need to be designed for each transport unit (11). Because of this, the transport system (1) can reduce the burden of work in the design of the transport system (1).

[0081] Additionally, each current control unit (22) provided in a plurality of conveyor units (11) of the conveyor system (1) has the same number of current control devices (26). In the conveyor system (1), the configuration of the current control unit (22) is common in all conveyor units (11) of the conveyor system (1). That is, the type of current control unit (22) used in the conveyor unit (11) can be limited to one. For this reason, the manufacturing cost of the conveyor system (1) can be reduced compared to the case where current control units (22) with different numbers of current control devices (26) are applied to different types of conveyor units (11). If the current control unit (22) is interchangeable, one type of current control unit (22) can be used in all conveyor units (11). Because of this, the cost required for replacing the current control unit (22) and the cost required for managing the inventory of the current control unit (22) can be reduced.

[0082] Additionally, information indicating the configuration of the linear motor unit (21) includes information indicating the number of coils (20) that the linear motor unit (21) has. By this, the current control unit (32) of the current control unit (22) can select a number of current control devices (26) equal to the number of coils (20) that the linear motor unit (21) has as current control devices (26) used for current control of the coils (20).

[0083] Additionally, the current control section (32) of the current control unit (22) determines the value of a parameter used to control the current flowing through each coil (20) of the linear motor section (21) based on information indicating the configuration of the linear motor section (21). Each current control device (26) of the current control unit (22) controls the current flowing through the coil (20) based on the determined parameter value. By doing so, each carrier unit (11) can control the current flowing through each coil (20) according to the shape of the linear motor section (21).

[0084] Additionally, the linear motor unit (21) maintains information indicating the configuration of the linear motor unit (21). By this, the current control unit (32) of the current control unit (22) can obtain information indicating the configuration of the linear motor unit (21) from the linear motor unit (21) by connecting the current control unit (22) to the linear motor unit (21).

[0085] Additionally, the linear scale (23), which is the position detection unit, has a memory unit (33) that stores information indicating the configuration of the linear motor unit (21). The transport system (1) can maintain and transmit information indicating the configuration of the linear motor unit (21) by utilizing the configuration provided in the linear scale (23). By doing so, the transport path unit (11) can be made simple compared to the case where a separate configuration is provided for maintaining and transmitting information indicating the configuration of the linear motor unit (21).

[0086] In addition, in each of the multiple conveyor units (11), the current control unit (22) can be separated from the linear motor unit (21). If only one of the linear motor unit (21) and the current control unit (22) fails in the conveyor unit (11), it is possible to replace only the failed one. By doing so, the cost required for recovery from the failure of the conveyor unit (11) can be reduced.

[0087] Embodiment 2.

[0088] In Embodiment 2, an example is described in which the controller (12) acquires information indicating the configuration of the linear motor unit (21) and calculates the configuration of the transport path (10) based on the information acquired from each of the plurality of transport path units (11). The transport system (1) according to Embodiment 2 has the same configuration as the transport system (1) according to Embodiment 1. In Embodiment 2, the same reference numerals are assigned to components identical to those in the above Embodiment 1, and operations different from those in Embodiment 1 are mainly described.

[0089] FIG. 8 is a flowchart showing the procedure of processing performed by the controller (12) of the transport system (1) according to embodiment 2. The procedure shown in FIG. 8 is the procedure of processing when the controller (12) is connected to each transport path unit (11) of the transport system (1) and the initial setting of the controller (12) is performed.

[0090] In step S11, the controller (12) requests each transport unit (11) to transmit shape information, which is information indicating the configuration of the linear motor unit (21). When the control unit (31) of the linear motor unit (21) receives the request from the controller (12), it transmits the shape information stored in the memory unit (33) to the controller (12).

[0091] In step S12, the controller (12) receives form information. The controller (12) identifies each carrier unit (11) by the order in which each carrier unit (11) is arranged in the forward direction and corresponds the received form information to each carrier unit (11). As shown in FIG. 1, when each carrier unit (11) is connected to the controller (12) by a daisy chain connection, the controller (12) identifies the carrier unit (11A), which is the first in the order of connection via the data communication line (14) as viewed from the controller (12), as the first carrier unit (11). For carrier units (11B-11H) other than carrier unit (11A), the controller (12) identifies the order according to the arrangement order in the forward direction from the carrier unit (11A). By this, the controller (12) obtains shape information corresponding to the order of the transport units (11), from the first transport unit (11A) to the eighth transport unit (11H).

[0092] In step S13, the controller (12) calculates the configuration of the conveyor path (10) based on shape information obtained from each conveyor path unit (11). Here, calculation of the configuration of the conveyor path (10) refers to determining the overall shape of the conveyor path (10). The controller (12) recognizes from the shape information obtained from each conveyor path unit (11) that four conveyor path units (11A, 11B, 11E, 11F) are straight conveyor path units (11), and four conveyor path units (11C, 11D, 11G, 11H) are curved conveyor path units (11) that change the direction of travel of the conveyor by 90 degrees. The controller (12) recognizes that the conveyor path (10) is a closed path in the shape of a track, as shown in FIG. 1, based on the shape of each conveyor path unit (11) and the order of each conveyor path unit (11). In this way, the controller (12) determines the shape of the entire conveyor path (10). Based on the above, the controller (12) finishes processing according to the procedure shown in FIG. 8.

[0093] In Embodiment 2 as well, similar to Embodiment 1, information indicating the configuration of the linear motor unit (21) is not limited to shape information indicating the shape of the linear motor unit (21). Furthermore, information indicating the configuration of the linear motor unit (21) may be information that can be obtained from the linear motor unit (21) by the controller (12) and the current control unit (32) of the current control unit (22), and is not limited to information stored in the linear motor unit (21). Information indicating the configuration of the linear motor unit (21) may be, for example, information obtained by applying voltage to a component provided in the linear motor unit (21).

[0094] According to Embodiment 2, the controller (12) obtains information indicating the configuration of the linear motor unit (21) from each of the plurality of conveyor units (11) and calculates the configuration of the conveyor (10) based on the information obtained from each of the plurality of conveyor units (11). When the controller (12) is connected to each conveyor unit (11) of the conveyor system (1) and the initial setting of the controller (12) is performed, the controller (12) automatically performs the setting for the configuration of the conveyor (10). By doing so, the input operation for the initial setting of the controller (12) can be simplified.

[0095] Embodiment 3.

[0096] In Embodiment 3, an example is described in which the controller (12) acquires information indicating the configuration of the linear motor unit (21), calculates the configuration of the conveyor path (10) based on the acquired information, and compares the calculated configuration of the conveyor path (10) with the configuration of the conveyor path (10) stored in the controller (12). In Embodiment 3, the same reference numerals are assigned to components identical to those in Embodiment 1 or 2, and configurations different from those in Embodiment 1 or 2 are mainly described.

[0097] FIG. 9 is a drawing showing an example of the configuration of a conveying system (60) according to embodiment 3. The conveying system (60) is equipped with a plurality of conveying path units (11A-11H), a DC power source (13), a trolley (16A, 16B, 16C), and a controller (61).

[0098] The controller (61) controls each of the plurality of transport unit (11). The controller (61) is connected to each transport unit (11) via a data communication line (14), just like the controller (12) shown in FIG. 1. The controller (61) has a memory unit (62). The memory unit (62) stores information representing the shape of the entire transport path (10). In the controller (61), a setting is made for the arrangement of each of the plurality of transport unit (11). By this setting, configuration information representing the configuration of the transport path (10), which is information representing the shape of the entire transport path (10), is stored in the memory unit (62). Furthermore, this setting is made, for example, by an input operation to the controller (61) by a user of the transport system (60).

[0099] The controller (61) obtains shape information, which is information indicating the configuration of the linear motor unit (21), from each of the plurality of conveyor units (11). The controller (61) calculates the configuration of the conveyor (10) based on the shape information obtained from each of the plurality of conveyor units (11), and compares the calculated configuration of the conveyor (10) with configuration information indicating the configuration of the conveyor (10) stored in the memory unit (62) of the controller (61). Specifically, the controller (61) compares the shape of the conveyor (10) calculated based on the shape information with the shape of the conveyor (10) indicated by the configuration information stored in the memory unit (62). If the configuration of the conveyor (10) calculated based on the shape information does not match the configuration of the conveyor (10) indicated by the configuration information stored in the memory unit (62), the controller (61) outputs an alarm.

[0100] FIG. 10 is a flowchart showing the procedure of processing performed by the controller (61) of the return system (60) according to embodiment 3. The procedure shown in FIG. 10 is the procedure of processing when the controller (61) is connected to each return path unit (11) of the return system (60) during the initial setup of the return system (60) or maintenance of the return system (60).

[0101] In step S21, the controller (61) requests each transport unit (11) to transmit shape information, which is information indicating the configuration of the linear motor unit (21). When the control unit (31) of the linear motor unit (21) receives the request from the controller (61), it transmits the shape information stored in the memory unit (33) to the controller (61).

[0102] In step S22, the controller (61) receives shape information. The controller (61), similar to step S12 shown in FIG. 8, identifies each carrier unit (11) by the order in which each carrier unit (11) is arranged in the forward direction, and corresponds the received shape information to each carrier unit (11). The controller (61) acquires the shape information corresponding to the order of each carrier unit (11).

[0103] In step S23, the controller (61) determines whether the configuration of the carrier path (10) calculated based on the shape information obtained from each carrier path unit (11) matches the configuration of the carrier path (10) indicated by the configuration information stored in the controller (61). If the configuration of the carrier path (10) calculated based on the shape information obtained from each carrier path unit (11) matches the configuration of the carrier path (10) indicated by the configuration information stored in the controller (61) (step S23, Yes), the controller (61) terminates the processing according to the procedure shown in FIG. 10.

[0104] Meanwhile, if the configuration of the transport path (10) calculated based on the shape information obtained from each transport path unit (11) does not match the configuration of the transport path (10) indicated by the configuration information stored in the controller (61) (step S23, No), then in step S24, the controller (61) outputs an alarm. By outputting the alarm, the controller (61) notifies the user of the transport system (60) that the configuration of the transport path (10) calculated based on the shape information is different from the configuration indicated by the configuration information stored in the controller (61). By ending step S24, the controller (61) ends the processing according to the procedure shown in FIG. 10.

[0105] Next, the hardware for realizing the controller (61) will be described. The controller (61) is realized by a processing circuit, similar to the controller (12) shown in FIG. 1. The processing circuit for realizing the controller (61) has a configuration similar to the control circuit (50) shown in FIG. 4. Alternatively, the processing circuit for realizing the controller (61) has a configuration similar to the hardware circuit (55) shown in FIG. 5. The controller (61) may be realized by combining the configuration similar to the control circuit (50) and the configuration similar to the hardware circuit (55). In addition, the output unit (54) of the controller (61) is provided with a means for outputting an alarm. The memory unit (62) is realized by a non-volatile memory constituting the memory (53).

[0106] In Embodiment 3 as in Embodiment 1, information indicating the configuration of the linear motor unit (21) is not limited to shape information indicating the shape of the linear motor unit (21). Furthermore, information indicating the configuration of the linear motor unit (21) may be information that can be obtained from the linear motor unit (21) by the controller (61) and the current control unit (32) of the current control unit (22), and is not limited to information stored in the linear motor unit (21). Information indicating the configuration of the linear motor unit (21) may be, for example, information obtained by applying voltage to a component provided in the linear motor unit (21).

[0107] According to Embodiment 3, the controller (61) obtains information indicating the configuration of the linear motor unit (21) from each of the plurality of conveyor units (11), calculates the configuration of the conveyor (10) based on the information obtained from each of the plurality of conveyor units (11), and outputs an alarm if the calculated configuration of the conveyor (10) does not match the configuration of the conveyor (10) indicated by the configuration information stored in the controller (61). If the configuration of the conveyor (10) calculated based on the information obtained from each conveyor unit (11) is different from the configuration indicated by the configuration information stored in the controller (61), a defect may occur in the operation of the conveyor system (60). By outputting an alarm, the controller (61) notifies the user that the actual configuration of the conveyor (10) is different from the configuration indicated by the configuration information stored in the controller (61). By doing this, defects in the operation of the return system (60) can be prevented in advance.

[0108] The configurations shown in each of the above embodiments represent examples of the present disclosure. The configurations of each embodiment may be combined with other known technologies. The configurations of each embodiment may be appropriately combined with each other. It is possible to omit or modify parts of the configurations of each embodiment without departing from the gist of the present disclosure. Explanation of the symbols

[0109] 1, 60 : Return system 10 : Return path 11, 11A, 11B, 11C, 11D, 11E, 11F, 11G, 11H : Return path unit 12, 61: Controller 13: DC Power 14: Data communication line 15: DC power bus 16, 16A, 16B, 16C : Bogie 17A, 17B : Arrow 20 : Coil 21 : Linear motor part 22: Current control unit 23: Linear scale 24: Coil section 25: Position sensor 26 : Current control device 31 : Control unit 32: Current control unit 33, 62: Memory unit 41, 42: Permanent magnets 50: Control circuit 51 : Input section 52 : Processor 53 : Memory 54 : Output section 55: Hardware circuit 56: Processing circuit

Claims

Claim 1 A conveying system comprising a plurality of conveying path units constituting a conveying path in which a carrier moves, wherein each of the plurality of conveying path units comprises a linear motor unit having one or more coils that generate thrust for moving the carrier by flowing current, and a current control unit having a plurality of current control devices and a current control unit that controls each of the current control devices, wherein the current control device connected to the coil controls the current flowing through the coil, and the current control unit acquires information indicating the configuration of the linear motor unit from the linear motor unit, and based on the acquired information, if the number of coils of the linear motor unit is less than the number of current control devices of the current control unit, selects the same number of current control devices as the coils of the linear motor unit from among all the current control devices of the current control unit. Claim 2 A conveying system according to claim 1, wherein each of the current control units provided in a plurality of conveying path units has the same number of current control devices. Claim 3 A conveying system according to claim 1, wherein the information indicating the configuration of the linear motor unit includes information indicating the number of coils having the linear motor unit. Claim 4 A conveying system according to claim 1, wherein the current control unit determines the value of a parameter used to control the current flowing through each coil of the linear motor unit based on the information indicating the configuration of the linear motor unit, and the current control device connected to the coil controls the current flowing through the coil based on the determined value of the parameter. Claim 5 A conveying system according to any one of claims 1 to 4, wherein the linear motor part maintains the information indicating the configuration of the linear motor part. Claim 6 A conveying system according to claim 5, wherein the linear motor unit has a position detection unit that detects the position of the conveyor, and the position detection unit has a memory unit that stores information indicating the configuration of the linear motor unit. Claim 7 A conveying system according to any one of claims 1 to 4, characterized in that, in each of the plurality of conveying path units, the current control unit can be separated from the linear motor unit. Claim 8 A conveying system according to any one of claims 1 to 4, comprising a controller for controlling each of a plurality of conveying path units, wherein the controller acquires information indicating the configuration of the linear motor unit from each of the plurality of conveying path units and calculates the configuration of the conveying path based on the information acquired from each of the plurality of conveying path units. Claim 9 A conveying system according to any one of claims 1 to 4, wherein configuration information indicating the configuration of a conveying path composed of a plurality of conveying path units is stored therein, and a controller for controlling each of the plurality of conveying path units is provided therein, wherein the controller acquires the information indicating the configuration of the linear motor unit from each of the plurality of conveying path units, calculates the configuration of the conveying path based on the information acquired from each of the plurality of conveying path units, and outputs an alarm when the calculated configuration of the conveying path does not match the configuration of the conveying path indicated by the configuration information stored in the controller. Claim 10 A conveying system according to any one of claims 1 to 4, wherein the carrier is provided with a permanent magnet, and each coil having a linear motor unit generates the thrust that moves the carrier by means of interaction with the magnetic field generated by the permanent magnet. Claim 11 A conveying system comprising a plurality of conveying path units constituting a conveying path in which a carrier moves, and a controller for controlling each of the plurality of conveying path units, wherein each of the plurality of conveying path units comprises a linear motor unit having one or more coils that generate thrust for moving the carrier by flowing current, and a current control unit having a plurality of current control devices and a current control unit for controlling each of the current control devices, wherein the current control device connected to the coil controls the current flowing through the coil, and the current control unit acquires information indicating the configuration of the linear motor unit from the linear motor unit, and based on the acquired information, selects the current control device to which the coil is connected from among all the current control devices having the current control unit, and the controller acquires the information indicating the configuration of the linear motor unit from the linear motor unit of each of the plurality of conveying path units, and calculates the configuration of the conveying path based on the information acquired from each of the plurality of conveying path units. Claim 12 A plurality of conveyor units constituting a conveyor path in which a carrier moves, and configuration information indicating the configuration of the conveyor path composed of the plurality of conveyor units are stored therein, and a controller for controlling each of the plurality of conveyor units is provided, and each of the plurality of conveyor units is provided with a linear motor part having one or more coils that generate thrust to move the carrier by flowing current, and a current control unit having a plurality of current control devices and a current control part that controls each of the current control devices, wherein the current control device connected to the coil controls the current flowing through the coil, and the current control part acquires information indicating the configuration of the linear motor part from the linear motor part, and based on the acquired information, selects the current control device to which the coil is connected from among all the current control devices having the current control unit, and the controller acquires the information indicating the configuration of the linear motor part from the linear motor part of each of the plurality of conveyor units, and calculates the configuration of the conveyor path based on the information acquired from each of the plurality of conveyor units, and the calculated configuration of the conveyor path is the A conveying system characterized by outputting an alarm when the configuration information stored in the controller does not match the configuration of the conveying path indicated therein.

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