Conveyor system

Abstract

The conveying systems (1, 1I, 1V, 1W, 1X, 1Y, 1Z) include: a plurality of conveying path units (10, 10-1, 10-2) that impart driving force to a plurality of moving bodies (20); communication master stations (31, 31-1, 31-2, 31-3, 31-4) that are communicably connected to the conveying path communication slave stations (11) of the conveying path units; communication slave stations (32-32-1, 32-2) that are communicably connected to the communication master stations; a position command generator (33) connected to the communication master stations; a position generator (34) connected to the communication master stations; a position controller (35) connected to the communication slave stations and assigned to the moving bodies; and current command generators (36, 36Z, 36I) that generate current command values for the conveying path units.

Description

Technical Field

[0001] The present invention relates to a conveying system for moving a plurality of moving bodies along a conveying path. Background Art

[0002] In the field of FA (Factory Automation), in production lines for assembling products, packing, and packaging food, a conveying system for conveying an object to be conveyed is used between a plurality of workstations provided within and between the production lines. In recent years, as the above-described conveying system, in order to move a moving body as an object to be conveyed, the conveying path is divided into a plurality of control zones, and each control zone is provided with a control device for controlling the movement of the moving body. Thus, a conveying system that controls the movement of the moving body for each control zone by the control device to convey the object to be conveyed has attracted attention because it improves production efficiency.

[0003] Patent Document 1 below discloses a linear track control system having a plurality of linear motor modules and an operation controller, and a conveying system having a carriage as a moving body that moves on a conveying line (conveying path) constituted by a plurality of linear motor modules. In the linear track control system disclosed in Patent Document 1, each of the plurality of linear motor modules has a plurality of coil units, a plurality of control units, a position detection unit, and a distribution unit. In the linear track control system as described above, when the carriage enters a linear motor module, the position of the carriage is detected by the position detection unit, and one control unit is assigned to one carriage by the distribution unit. Then, the control unit assigned to one carriage calculates current control information, and in order to move the one carriage to which the control unit is assigned, control is performed so as to supply a drive current in accordance with the current control information to the required coil units.

[0004] In Patent Document 1, when one control unit is assigned to one carriage, when the position of the assigned carriage exists on one coil unit within the linear motor module, control is performed so as to supply a drive current to the one coil unit where the carriage exists. Further, when the position of the assigned carriage exists near the boundary between two adjacent coil units within the linear motor module, control is performed so as to supply a drive current to the two coil units near the boundary where the carriage exists. In addition, in the linear track control system disclosed in Patent Document 1, when a plurality of carriages enter one linear motor module, one control unit is assigned to one carriage by the distribution unit. However, if the carriages enter in excess of the number of control units that the linear motor module has and there is no control unit to be assigned, the distribution unit sends an error message to the operation controller.

[0005] Patent Document 1: Japanese Patent Publication No. 6490273 Summary of the Invention

[0006] In the linear track control system disclosed in the above Patent Document 1, when a carriage enters a linear motor module having a plurality of coil units and a plurality of control units, one control unit is assigned to one carriage to control the movement of the carriage. Therefore, in the linear track control system, even when the carriage is near the boundary of adjacent coil units within one linear motor module, the movement of the carriage is controlled by one control unit assigned to one carriage, thereby preventing the situation where one carriage is simultaneously controlled by a plurality of control units, and enabling the movement of the carriage with high precision to be controlled. Moreover, when the position of the carriage assigned to one control unit is near the boundary of two adjacent coil units within the linear motor module, the control is implemented in such a way as to supply drive currents to the two coil units constituting the boundary near which the carriage is located. Thus, in one linear motor module, the linear track control system prevents the driving force applied to the carriage from being halved, and there is no need to have a high-cost electrical circuit that is designed to supply the driving force to the carriage obtained from two coil units through one coil unit.

[0007] However, the conveying system moves the carriage on a conveying path constituted by a plurality of linear motor modules. Therefore, the conveying system also requires the ability to control the movement of the carriage with high precision at the boundary of adjacent linear motor modules within the conveying system, and there is no need to have a high-cost electrical circuit that is designed to supply the driving force to the carriage obtained from two coil units through one coil unit. In addition, the conveying system moves a plurality of carriages along the conveying path, but in order to improve production efficiency, it is preferably not to frequently stop the conveying system due to an error related to any control.

[0008] On the other hand, regarding the linear track control system disclosed in Patent Document 1, as described above, within one linear motor module, even when the carriage is at the boundary of adjacent coil units, it can be controlled by one control unit, and the control is carried out by one control unit in such a way as to supply drive currents to a plurality of coil units. However, regarding the linear track control system disclosed in Patent Document 1, when the carriage is at the boundary of adjacent linear motor modules, the movement of one carriage is simultaneously controlled by two control units, namely, the control unit of one linear motor module and the control unit of the other linear motor module. Therefore, there is a problem in the linear track control system disclosed in Patent Document 1, that is, it is difficult to control the movement of the carriage with high precision at the boundary of adjacent linear motor modules.

[0009] In addition, regarding the linear track control system disclosed in Patent Document 1, when the carriage is at the boundary of adjacent linear motor modules, if one control unit of the adjacent linear motor modules is used to control one carriage, the control unit of one linear motor module cannot supply drive current to the coil unit of the other linear motor module. Therefore, the driving force applied to the carriage becomes half. In the above-described case, in the linear track control system disclosed in Patent Document 1, in order to make the carriage obtain a driving force equivalent to that in the case of driving two adjacent coil units, it is necessary to supply twice the drive current to one coil unit that can be controlled to supply drive current by the control unit of one linear motor module, resulting in the problem of high cost of the electrical circuit.

[0010] Furthermore, in the linear track control system disclosed in Patent Document 1, when the carriage enters the linear motor module exceeding the number of control units of the linear motor module, if the control unit to be allocated does not exist, the distribution unit sends an error message to the operation controller, resulting in the problem that the control of the carriages in all linear motor modules stops. In addition, in the linear track control system disclosed in Patent Document 1, since the linear motor module has a control unit, in the case of avoiding the problem of the stop of the carriage control of the linear motor module, it is necessary to have the same number of control units as the number of carriages as moving bodies moving on the conveying path of the conveying system in all linear motor modules, resulting in the problems of enlargement and high cost of the control system due to the increase in the control units.

[0011] The present invention is proposed to solve the above problems, and its object is to provide a conveying system in which conveying path units having a plurality of drive elements for applying a driving force to a moving body are arranged adjacent to each other, and the movement of the high-precision moving body can also be controlled at the boundary between adjacent conveying path units, the cost increase of the electrical circuit included in one drive element can be suppressed, the control system is not enlarged and does not become highly costly, and the stop of the control of the moving body of the conveying system can be suppressed.

[0012] The conveying system according to the present invention includes: a plurality of conveying path units that form a moving path for a plurality of moving bodies and apply driving force to the moving bodies; a communication master station communicably connected to a conveying path communication slave station provided in the conveying path unit; a communication slave station communicably connected to the communication master station; a position command generator connected to the communication master station and generating a position command value for each of the plurality of moving bodies, i.e., the position command value of the moving body; a position generator connected to the communication master station and generating position information for each of the plurality of moving bodies, i.e., the position information of the moving body; a position controller connected to the communication slave station and assigned to the moving body, and generating a driving command value of the moving body based on the position command value of the moving body, the position information of the moving body, or a position deviation obtained from the position command value and the position information of the moving body; and a current command generator generating a current command value of the conveying path unit based on the driving command value of the moving body and the position information of the moving body. Moreover, the communication master station performs a first communication of sending the position command value of the moving body, the position information of the moving body, or the position deviation to the communication slave station. On this basis, when the current command generator is connected to the communication master station, the communication slave station performs a second communication of sending the driving command value of the moving body to the communication master station, and the communication master station performs a third communication of sending the current command value of the conveying path unit to the conveying path communication slave station. In addition, when the current command generator is connected to the communication slave station, the communication slave station performs a fourth communication of sending the current command value of the conveying path unit to the communication master station, and the communication master station performs the third communication. And, when the current command generator is connected to the conveying path communication slave station, the communication slave station performs the second communication, and the communication master station performs a fifth communication of sending the driving command value of the moving body and the position information of the moving body to the conveying path communication slave station.

[0013] Effects of the Invention

[0014] In the conveying system according to the present invention, conveying path units each having a plurality of drive elements for applying driving force to the moving bodies are arranged adjacent to each other, and movement of a highly accurate moving body can be controlled also at the boundary between adjacent conveying path units, and an increase in cost of the electric circuit included in the conveying path unit can be suppressed. In addition, in the conveying system according to the present invention, the control system does not become large-sized or highly costly, and stoppage of control of the moving bodies of the conveying system can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram showing an example of the structure of the conveying system according to Embodiment 1.

[0016] Figure 2 It is a diagram showing an example of the structure of the conveying path unit and the moving body according to Embodiment 1.

[0017] Figure 3 It is a diagram showing an example of the hardware structure of the conveyance path unit related to Embodiment 1.

[0018] Figure 4 It is a diagram showing an example of the structure of the control controller related to Embodiment 1.

[0019] Figure 5 It is a diagram showing an example of the communication control in the communication master station related to Embodiment 1.

[0020] Figure 6 It is a diagram showing an example of the hardware structure of the control controller related to Embodiment 1.

[0021] Figure 7 It is a flowchart showing an example of the operation of the control controller related to Embodiment 1.

[0022] Figure 8 It is a flowchart showing an example of the operation of the conveyance path unit related to Embodiment 1.

[0023] Figure 9 It is a schematic diagram showing an example of the structure of the conveyance system related to Embodiment 2.

[0024] Figure 10 It is a diagram showing an example of the hardware structure of the control controller related to Embodiment 2.

[0025] Figure 11 It is a schematic diagram showing an example of the structure of the conveyance system related to Embodiment 3.

[0026] Figure 12 It is a diagram showing an example of the hardware structure of the control controller related to Embodiment 3.

[0027] Figure 13 It is a flowchart showing an example of the operation of the control controller related to Embodiment 3.

[0028] Figure 14 It is a flowchart showing an example of the operation of the conveyance path unit related to Embodiment 3.

[0029] Figure 15 It is a schematic diagram showing an example of the structure of the conveyance system related to Embodiment 4.

[0030] Figure 16 It is a diagram showing an example of the communication control in the communication master station related to Embodiment 4.

[0031] Figure 17This is a diagram showing an example of the hardware structure of the control controller related to Embodiment 4.

[0032] Figure 18 This is a flowchart showing an example of the operation of the control controller related to Embodiment 4.

[0033] Figure 19 This is a flowchart showing an example of the operation of the conveying path unit related to Embodiment 4.

[0034] Figure 20 This is a schematic diagram showing an example of the structure of the conveying system related to Embodiment 5.

[0035] Figure 21 This is a diagram showing an example of the hardware structure of the control controller related to Embodiment 5.

[0036] Figure 22 This is a flowchart showing an example of the operation of the control controller related to Embodiment 5.

[0037] Figure 23 This is a schematic diagram showing an example of the structure of the conveying system related to Embodiment 6.

[0038] Figure 24 This is a flowchart showing an example of the operation of the control controller related to Embodiment 6.

[0039] Figure 25 This is a flowchart showing an example of the operation of the conveying path unit related to Embodiment 6.

[0040] Figure 26 This is a schematic diagram showing an example of the structure of the conveying system related to Embodiment 7.

[0041] Figure 27 This is a diagram showing an example of the structure of the current command generator of the control controller related to Embodiment 7.

[0042] Figure 28 This is a flowchart related to the learning process of the current command generator related to Embodiment 7.

[0043] Figure 29 This is a flowchart related to the inference process of the current command generator related to Embodiment 7.

[0044] Figure 30 This is a diagram showing an example of the structure of the conveying path unit and the moving body related to the modification example.

[0045] Figure 31It is a schematic diagram showing an example of the structure of the conveying system according to the modified example. Detailed implementation mode

[0046] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the present invention is not limited by the embodiments.

[0047] Embodiment 1.

[0048] Figure 1 It is a schematic diagram showing an example of the structure of the conveying system according to Embodiment 1 of the present invention. As Figure 1 shown, the conveying system 1 has: a plurality of conveying path units 10A to 10H that constitute the conveying paths of a plurality of moving bodies 20A to 20C; a control controller 30 that controls the operations of the plurality of moving bodies 20A to 20C; and a power supply unit 40 that supplies power to the conveying path units 10A to 10H. Moreover, the plurality of moving bodies 20A to 20C are arranged to move along the conveying path constituted by the conveying path units 10A to 10H. In addition, in the present invention, when the plurality of conveying path units 10A to 10H do not need to be distinguished and described, they are sometimes simply referred to as the conveying path unit 10. Further, in the present invention, when the plurality of moving bodies 20A to 20C do not need to be distinguished and described, they are sometimes simply referred to as the moving body 20.

[0049] In addition, in the conveying system 1, a PLC (Programmable logic controller) not shown that gives a command for performing sequencer control to the control controller 30 from a higher level, an HMI (Human machine interface) not shown for inputting parameters by an operator and confirming the operating state of the system, etc. can be connected to the control controller 30.

[0050] In Figure 1 the shown conveying system 1, the control controller 30 is connected to the conveying path unit 10 through the first communication line 50, and the conveying path units 10 are connected to adjacent conveying path units 10 through the second communication line 60. The conveying path units 10A to 10H are connected to the power supply unit 40 through the power line 70.

[0051] Figure 1The control controller 30 and one conveyance path unit 10 are connected by a first communication line 50, and adjacent conveyance path units 10 are connected to each other by a second communication line 60, thereby forming a communication network between the control controller 30 and the conveyance path units 10 by daisy-chain connection. However, the communication network between the control controller 30 and the conveyance path units 10 may not be a daisy-chain connection. For example, the communication network between the control controller 30 and the conveyance path units 10 may be a star connection method, that is, the control controller 30 and a communication hub are connected by a communication line, and the communication hub and each of the conveyance path units 10A to 10H are connected by communication lines extending from the communication hub in the number of the conveyance path units 10. Additionally, it may also be the following method, that is, the control controller 30 and each of the conveyance path units 10A to 10H are connected by communication lines extending from the control controller 30 in the number of the conveyance path units 10.

[0052] In addition, the connection between the control controller 30 and the conveyance path unit 10 and the connection between the conveyance path units 10 are connected by the wired first communication line 50 and second communication line 60, but they may also be connected wirelessly respectively. That is, as long as it is configured such that the connection between the control controller 30 and the conveyance path unit 10 and the connection between the conveyance path units can communicate through any communication unit.

[0053] In the power supply line 70, a positive bus bar and a negative bus bar are passed through. The positive bus bar is connected to the positive electrode of the power supply unit 40, and the negative bus bar is connected to the negative electrode of the power supply unit 40.

[0054] In addition, Figure 1 A multi-point connection method is shown, which is configured such that each of the conveyance path units 10A to 10H is connected to a common power supply line 70 and shares the power supplied from the power supply unit 40. However, the connection between the conveyance path unit 10 and the power supply unit 40 may not be a multi-point connection method. For example, the connection between the power supply unit 40 and the conveyance path unit 10 may also connect the power supply unit 40 and one conveyance path unit 10 by a power supply line, and connect adjacent conveyance path units 10 to each other by a power supply line, thereby making it a daisy-chain connection method. Additionally, it may also be the following method, that is, the conveyance system 1 has a plurality of power supply units, and a plurality of conveyance path units 10 are connected to one power supply unit by power supply lines, constituting a power supply domain in which the power supply to the conveyance path unit 10 is dispersed.

[0055] In Figure 1In the conveying system 1 shown, the plurality of conveying path units 10A to 10H include the conveying path units 10A, 10B, 10E, and 10F having a shape constituting a straight track and the conveying path units 10C, 10D, 10G, and 10H having a shape constituting a curved track. These plurality of conveying path units 10 are connected to form the conveying path of the moving body 20. Moreover, the conveying system 1 is a system in which the driving element 12 provided in the conveying path unit 10 is controlled based on control data output from the control controller 30, so that the moving body 20 can move along the conveying path.

[0056] In Figure 1 the following example is shown, that is, the conveying system 1 connects a plurality of conveying path units 10A to 10H and has a conveying path in a closed-loop shape. In addition, in Figure 1 the conveying system 1 has eight conveying path units 10, but the number of the conveying path units 10 is not particularly limited. And the conveying path unit 10 is not limited to Figure 1 the shape shown. For example, the conveying path unit 10 may also be in various track shapes such as a Y shape with branches, a T shape, and a cross shape. That is, the conveying system 1 can have various conveying paths by combining the conveying path units 10 of various shapes. And the conveying path may also be configured as a path having a starting point and an ending point. In addition, in Figure 1 the conveying system 1 has three moving bodies 20A to 20C, but the number of the moving bodies 20 is not limited to three, and any necessary number is sufficient.

[0057] In the first embodiment, each structure is described by taking a moving-magnet linear conveying system as an example, that is, the moving body 20 has a magnet, and the conveying path unit 10 has a coil. These magnet and coil constitute a moving-magnet linear motor, and thus the moving body 20 moves along the conveying path formed by the conveying path units 10.

[0058] Figure 2 is a diagram showing an example of the structure of the conveying path unit and the moving body according to the first embodiment of the present invention. As the conveying path units 10A to 10H, the number of the driving elements 12 may be different depending on the shape, but since the structures are the same except for the number of the driving elements 12, Figure 2 one conveying path unit 10 is shown in the drawing. In addition, since the moving bodies 20A to 20C have the same structure, Figure 2 one moving body 20 is shown in the drawing. In addition, Figure 2 the direction along the direction in which the conveying path formed by the conveying path unit 10 extends, that is, the path direction, is shown as the X axis.

[0059] As Figure 2As shown, the moving body 20 has a movable magnet group 22. The movable magnet group 22 has an S-pole magnet and an N-pole magnet arranged along the X-axis direction on the moving body base material 21. In Figure 2 , the movable magnet group 22 shows one S-pole magnet and one N-pole magnet in the illustration. However, regarding the number of S-pole magnets and the number of N-pole magnets, any number can be alternately arranged and configured along the X-axis direction. The electromagnetic field generated by the coil 121 of the conveying path unit 10 described later and the magnetic field generated by the movable magnet group 22 interact with each other, whereby the moving body 20 obtains a driving force and moves.

[0060] The moving body 20 has a position detection magnet group 23 on the moving body base material 21. The position detection magnet group 23 is used to detect the position of the moving body 20 by the position sensor 131 of the scale 13 described later. In Figure 2 , the position detection magnet group 23 shows four S-pole magnets and four N-pole magnets arranged alternately along the X-axis direction. However, regarding the number of S-pole magnets and N-pole magnets of the position detection magnet group 23, any number can be alternately arranged and configured along the X-axis direction.

[0061] In the moving body 20, the movable magnet group 22 is arranged on the moving body base material 21 at a position opposite to the coil 121 described later, and the position detection magnet group 23 is arranged on the moving body base material 21 at a position opposite to the position sensor 131 described later. Therefore, the movable magnet group 22 and the position detection magnet group 23 are arranged at different positions on the moving body base material 21.

[0062] In addition, the moving body 20 does not necessarily have a position detection magnet group 23. In the case where the moving body 20 does not have a position detection magnet group 23, the movable magnet group 22 is arranged at a position where the magnetic field can be detected by the position sensor 131 described later, and the movable magnet group 22 can also serve as the position detection magnet group 23.

[0063] As Figure 2 shown, the conveying path unit 10 has: a conveying path communication slave station 11 that transmits and receives control data to and from the control controller 30 and other conveying path units 10; a plurality of drive elements 12 that apply a driving force to the moving body 20; a scale 13 that has a plurality of position sensors 131; and a position calculator 14 that calculates scale detection information based on detection signals output from the position sensors 131. In Figure 2In [the figure], for the sake of convenience in explanation, one of the drive elements 12 is shown surrounded by a dashed line. In addition, the conveyance path unit 10 has an internal power bus connected to the power supply line 70, and the internal power bus is constituted by a positive-side power bus connected to the positive bus of the power supply line 70 and a negative-side power bus connected to the negative bus of the power supply line 70. A capacitor 15 is disposed between the positive-side power bus and the negative-side power bus.

[0064] In addition, when it is necessary to separately describe the conveyance path communication slave station 11, the drive element 12, the scale 13, the position sensor 131, and the position calculator 14 for each conveyance path unit 10, in the present invention, the conveyance path communication slave station 11, the drive element 12, the scale 13, the position sensor 131, and the position calculator 14 are described by attaching the same letter labels as those attached to the conveyance path unit 10. For example, the conveyance path communication slave station 11, the drive element 12, the scale 13, the position sensor 131, and the position calculator 14 included in the conveyance path unit 10A are described as the conveyance path communication slave station 11A, the drive element 12A, the scale 13A, the position sensor 131A, and the position calculator 14A.

[0065] The conveyance path communication slave station 11 is an interface for transmitting and receiving control data to and from the control controller 30 and for transmitting and receiving control data to and from an adjacent conveyance path unit 10. When the connection between the conveyance system 1 and the control controller 30 and the conveyance path unit 10 is made by daisy-chain connection, the conveyance path communication slave station 11 of one conveyance path unit 10 connected to the control controller 30 is connected to a first communication line 50 for connecting to the control controller 30 and a second communication line 60 for connecting to an adjacent conveyance path unit 10. In addition, the conveyance path communication slave station 11 of a conveyance path unit 10 (for example, the conveyance path unit 10B sandwiched between the conveyance path unit 10A and the conveyance path unit 10C) that is not connected to the control controller 30 but is sandwiched by the conveyance path units 10 is connected to two second communication lines 60 for connecting to adjacent conveyance path units 10.

[0066] When the conveyance path communication slave station 11 transmits and receives control data to and from the control controller 30 and when it transmits and receives control data to and from an adjacent conveyance path unit 10, it can perform periodic communication in which communication is carried out at a predetermined communication cycle set arbitrarily, or non-periodic communication in which no predetermined communication cycle is set. The control data transmitted and received by the conveyance path communication slave station 11 is data for controlling the movement of the moving body 20 in the conveyance system 1, and includes a current command value and scale detection information described later.

[0067] The drive elements 12 are continuously arranged along the X-axis direction of the conveying path unit 10, and driving force is imparted to the moving body 20 entering the conveying path unit 10 based on the control data received from the conveying path communication slave station 11. In Figure 2 an example is shown in which nine drive elements 12 are arranged in the conveying path unit 10. One drive element 12 includes: a coil 121 that generates an electromagnetic field for imparting driving force to the moving body 20; an inverter circuit 122 that controls the current supplied to cause the coil 121 to generate an electromagnetic field; a current sensor 123 that detects the actual current value RA supplied to the coil 121; and a current controller 124 that controls the operation of the inverter circuit 122. Hereinafter, each structure of the drive element 12 will be described.

[0068] In addition, when it is necessary to separately describe the coil 121, the inverter circuit 122, the current sensor 123, and the current controller 124 for each conveying path unit 10, the coil 121, the inverter circuit 122, the current sensor 123, and the current controller 124 are described by attaching the same letter designations as those attached to the conveying path unit 10 in this specification. For example, the coil 121, the inverter circuit 122, the current sensor 123, and the current controller 124 included in the drive element 12A of the conveying path unit 10A are described as the coil 121A, the inverter circuit 122A, the current sensor 123A, and the current controller 124A.

[0069] The coil 121 is a wound-type coil in which a conductive winding is wound around an iron core, and a current sensor 123 is connected to one end side of the two ends of the winding. One of the two ends of the winding of the coil 121 is connected to the inverter circuit 122 via the current sensor 123, and the other end is connected to the inverter circuit 122, whereby the two ends of the winding are connected to the inverter circuit 122.

[0070] The inverter circuit 122 is an electrical circuit that controls the current supplied to the coil 121. That is, the inverter circuit 122 is the electrical circuit included in one drive element 12. One end of the inverter circuit 122 is connected to the positive-side power supply bus, and the other end is connected to the negative-side power supply bus, and power is supplied from the power supply unit 40 via the power line 70. In addition, the inverter circuit 122 is connected to the current controller 124 via an internal bus. The inverter circuit 122 operates based on a control signal output from the current controller 124 described later for controlling the operation of the inverter circuit 122, and operates in such a manner as to supply the required current to the coil 121 from the power supply unit 40. In addition, the inverter circuit 122 may adopt an electrical circuit manner in accordance with the power supplied from the power supply unit 40. For example, in the case of single-phase power, a single-phase full-bridge circuit or a single-phase half-bridge circuit may be adopted, and in the case of three-phase power, a three-phase full-bridge circuit or a three-phase half-bridge circuit may be adopted.

[0071] The current sensor 123 is connected to one end side of the winding of the coil 121, and detects the value of the actual current RA that actually flows through the coil 121 in the current supplied to the coil 121. The detected actual current value RA is output to the current controller 124 via an internal bus.

[0072] The current controller 124 is an arithmetic circuit that calculates a control signal for controlling the operation of the inverter circuit 122 so that the current supplied to the coil 121 through the inverter circuit 122 can be controlled. The current controller 124 is connected to the transport path communication slave station 11 and the current sensor 123 via an internal bus. The current controller 124 calculates the voltage value of the current supplied to the coil 121 based on the current command value included in the control data received by the transport path communication slave station 11 and the actual current value RA detected by the current sensor 123. The calculation of the voltage value by the current controller 124 can be performed, for example, by PID (Proportional-Integral-Differential) control based on the deviation between the current command value and the actual current value RA. The current controller 124 generates a PWM (Pulse-Width-Modulation) signal obtained by comparing the calculated voltage value with the triangular wave of the voltage value in the power line 70. The PWM signal is a control signal for controlling the operation of the inverter circuit 122. The current controller 124 outputs the control signal to the inverter circuit 122 via an internal bus.

[0073] The scale 13 outputs a detection signal for obtaining the position of the moving body 20 in the conveyance path unit 10. The scale 13 is arranged along the X-axis direction in the conveyance path unit 10 and has a plurality of position sensors 131 for detecting the position detection magnet group 23 or the movable member magnet group 22 provided on the moving body 20. In addition, in the following description, a structure in which the moving body 20 has the position detection magnet group 23 will be described. However, even when the moving body 20 does not have the position detection magnet group 23, the position detection magnet group 23 can be renamed as the movable member magnet group 22.

[0074] The position sensor 131 is a sensor capable of detecting the magnetic field generated from the position detection magnet group 23, and for example, a Hall sensor or a magnetoresistive sensor can be adopted. The plurality of position sensors 131 are arranged in the scale 13 at positions opposite to the position detection magnet group 23 provided on the moving body 20 and along the conveyance path formed by the conveyance path unit 10. In Figure 2 it, a method in which nine position sensors 131 are arranged along the X-axis direction on the scale 13 in one conveyance path unit 10 is illustrated. However, the number of the position sensors 131 arranged on the scale 13 in one conveyance path unit 10 may be arranged as a desired number in accordance with conditions such as the length of the conveyance path of one conveyance path unit 10, the size of the moving body 20, and the detection frequency of the moving body 20.

[0075] For example, when using a Hall sensor as the position sensor 131, one Hall sensor can be adopted, and the one Hall sensor has two Hall elements arranged at an interval of half of the magnetization pitch of the position detection magnet group 23. In addition, the magnetization pitch is the distance from one end of one N-pole magnet (or S-pole magnet) to one end of the adjacent S-pole magnet (or N-pole magnet) on the opposite side in the direction in which the N-pole magnet and the S-pole magnet of the position detection magnet group 23 are arranged. That is, Figure 2 the magnetization pitch in the position detection magnet group 23 shown is the length of one N-pole magnet or one S-pole magnet in the X-axis direction. The scale 13 having the above-described Hall sensor as the position sensor 131 outputs a SIN wave corresponding to the N-pole magnet of the position detection magnet group 23 and a COS wave corresponding to the S-pole magnet as detection signals when the moving body 20 passes one position sensor 131 of the scale 13. Moreover, the SIN wave and the COS wave output from the scale 13 are detected by an AD (Analog-to-Digital) converter (not shown) and acquired by a position calculator 14 described later. In addition, the scale 13 is an example of a position detector.

[0076] The position calculator 14 is an arithmetic circuit that calculates scale detection information based on the detection signal output from the position sensor 131. The position calculator 14 is connected to the conveyance path communication slave station 11 via an internal bus. When the detection signals output from the scale 13 are a sine wave and a cosine wave, the position calculator 14 acquires the sine wave and the cosine wave via an AD converter (not shown), and performs an arctangent function (ARCTAN) calculation based on the acquired sine wave and cosine wave. Thus, the position calculator 14 can calculate the relative position of the moving body 20 with respect to the position sensor 131 of the scale 13 as scale detection information. Further, the position calculator 14 outputs the scale detection information to the conveyance path communication slave station 11. The scale detection information is an example of the control data transmitted by the conveyance path communication slave station 11.

[0077] Figure 3 FIG. is an example showing the hardware configuration of the conveyance path unit according to the first embodiment. The hardware of the conveyance path unit 10 includes a communication interface (communication I / F) 1001 that functions as the conveyance path communication slave station 11, a processor 1002 that functions as the current controller 124 and the position calculator 14, a memory 1003 that reads and writes various data used in each operation in the processor 1002, and the above-described coil 121, inverter circuit 122, current sensor 123, and scale 13.

[0078] The processor 1002 is a processor 1002 that can calculate a control signal as the current controller 124 and calculate scale detection information as the position calculator 14. For example, a microprocessor, a single-chip microcomputer, a microcomputer, a CPU (Central Processing Unit), or a DSP (Digital Signal Processor) can be used. The memory 1003 includes a non-volatile memory that stores each operation program executed by the processor 1002 and a volatile memory that serves as a working memory during each operation in the processor 1002. Further, in Figure 3 FIG., the hardware configuration of the conveyance path unit 10 is shown with one processor 1002 as an example. However, the hardware configuration may have a structure with multiple processors, such as a processor that functions as the current controller 124 and a processor that functions as the position calculator 14. Further, the hardware configuration of the conveyance path unit 10 may have a structure with a processor that functions as the current controller 124 as multiple processors.

[0079] Figure 4 FIG. is an example showing the configuration of the control controller according to the first embodiment. As shown in Figure 4As shown in the figure, the control controller 30 includes: a communication master station 31 that communicates with a communication slave station 32 to transmit and receive various command values and information for generating control data transmitted from the control controller 30; a communication slave station 32 that communicates with the communication master station 31 to transmit and receive various command values and information for generating control data transmitted from the control controller 30; a position command generator 33 that generates a position command value for the moving body 20; a position generator 34 that generates position information of the moving body 20 in the transport path of the transport system 1 based on the scale detection information received from the transport path unit 10; a position controller 35 that generates a drive command value for the moving body 20 based on the position command value of the moving body 20 and the position information of the moving body 20; and a current command generator 36 that generates current command values for all the transport path units 10 in the transport path of the transport system 1 based on the drive command value of the moving body 20 and the position information of the moving body 20. Hereinafter, various command values and information for generating control data are sometimes referred to as generated data.

[0080] The communication master station 31 is an interface for communicating with the communication slave station 32 described later to transmit and receive generated data including various command values and information, and for communicating with the transport path communication slave station 11 included in the transport path unit 10 to transmit and receive control data. The communication master station 31 is configured to be communicably connected to the communication slave station 32 via an internal bus within the control controller 30, and to transmit and receive generated data including various command values and information to and from the communication slave station 32 at a constant communication cycle. In addition, the communication master station 31 is configured to be capable of one-to-many communication with the communication slave station 32 and the transport path communication slave station 11.

[0081] Further, the communication master station 31 is configured to be connected to the position command generator 33, the position generator 34, and the current command generator 36 described later via an internal bus within the control controller 30, and to be capable of transferring generated data including various command values and information to and from the position command generator 33, the position generator 34, and the current command generator 36. In addition, specific descriptions of the connections among the communication master station 31, the communication slave station 32, and the transport path communication slave station 11 of the transport path unit 10, and specific descriptions of the communication control related to the transmission and reception between the communication master station 31 and the communication slave station 32 and the transmission and reception between the communication master station 31 and the transport path communication slave station 11 included in the transport path unit 10 are described later.

[0082] The communication slave station 32 is an interface for communicating with the communication master station 31 to transmit and receive generated data including various command values and information, and for communicating with the transport path communication slave station 11 included in the transport path unit 10 to transmit and receive control data. The communication slave station 32 is communicably connected to the communication master station 31 via an internal bus within the control controller 30. In the present Embodiment 1, the communication slave station 32 is as Figure 4As shown, it is composed of three communication slave stations 32A, 32B, and 32C. These communication slave stations 32A, 32B, and 32C may sometimes be simply referred to as communication slave station 32 without distinguishing them separately.

[0083] The communication slave station 32 is configured to be connected to the position controller 35 described later via the internal bus within the control controller 30, and can transfer various command values and information with the position controller 35. The control controller 30 according to the first embodiment is as Figure 4 shown, and has three position controllers 35A, 35B, and 35C. The communication slave station 32A is connected to the position controller 35A via the internal bus, the communication slave station 32B is connected to the position controller 35B via the internal bus, and the communication slave station 32C is connected to the position controller 35C via the internal bus. That is, the communication slave stations 32 are provided in the same number as the number of the position controllers 35 so as to enable one-to-one communication with the position controllers 35. In addition, specific descriptions of the position controllers 35A, 35B, and 35C will be given later.

[0084] The position command generator 33 is an arithmetic circuit that generates the position command value of the moving body 20. As Figure 1 shown, when there are three moving bodies 20A, 20B, and 20C in the conveying system 1, the position command generator 33 generates the position command value of the moving body 20A, the position command value of the moving body 20B, and the position command value of the moving body 20C respectively. That is, the position command generator 33 generates the position command value of each moving body 20 in the conveying system 1, that is, the position command value of the moving body 20. In addition, the position command value is a command value indicating the target position in the conveying path of the moving body 20, etc. The position command generator 33 outputs the generated position command value to the communication master station 31. In addition, the position command value is an example of various command values for generating control data and is generated data.

[0085] When generating the position command value, the position command generator 33 can generate the position commands of the respective moving bodies 20 based on the position command generation program stored in the memory of the control controller 30. In addition, when generating the position command value, the position command generator 33 may also generate the position command values of the respective moving bodies 20 based on external information such as commands from a PLC (Programmable Logic Controller) not shown connected to the control controller 30 and operator instructions from an HMI (Human Machine Interface), for example.

[0086] The position generator 34 is an arithmetic circuit that generates the position information of the moving body 20 in the conveying path of the conveying system 1 based on the scale detection information received from the conveying path unit 10. The position generator 34 calculates the position information of the moving body 20 in the conveying path based on the scale detection information included in the control data received from all the conveying path units 10 that make up the conveying path.

[0087] As Figure 1 shown, the moving path of the conveying system 1 is composed of the conveying path units 10A to 10H. When there are three moving bodies 20A, 20B, and 20C in the conveying path, the position generator 34 calculates and generates the position information of the moving bodies 20A, 20B, and 20C, which represents the positions where the moving bodies 20A, 20B, and 20C exist in the conveying path, based on the scale detection information included in all the control data received from the conveying path units 10A to 10H. That is, the position generator 34 generates the position information of each moving body 20 in the conveying system 1, namely, the position information of the moving body 20. The position information of the moving body 20 is the information that represents the position of the moving body 20 in the conveying path of the conveying system 1 by an absolute position. The position generator 34 outputs the generated position information of the moving body 20 to the communication master station 31. In addition, the position information of the moving body 20 is an example of the information used to generate the control data and is generated data.

[0088] The generation of the position information of the moving body 20 by the position generator 34 can be, for example, an operation of adding all the received scale detection information by an adder, or an operation of comparing all the received scale detection information with a record table stored in advance in the memory of the control controller 30, which records the number of the conveying path units 10 that make up the conveying path and the identification information. Various operation methods can be adopted.

[0089] The position controller 35 is an arithmetic circuit that generates a drive command value for the moving body 20 based on the position command value of the moving body 20 generated by the position command generator 33 and the position information of the moving body 20 generated by the position generator 34. In the first embodiment, as Figure 4 shown, the position controller 35 is composed of three position controllers 35A, 35B, and 35C. These position controllers 35A, 35B, and 35C are sometimes simply referred to as the position controller 35 without distinction. The position controller 35 is configured to be assigned to the moving body 20 in the conveying system 1 and generate a drive command value for the assigned moving body 20.

[0090] Embodiment 1 illustrates a mode in which three moving bodies 20A, 20B, and 20C are provided in a conveying system 1, and one position controller 35 is assigned to each moving body 20. Specifically, the position controller 35A generates a drive command value for the moving body 20A, the position controller 35B generates a drive command value for the moving body 20B, and the position controller 35C generates a drive command value for the moving body 20C. Moreover, the position controller 35A outputs the generated drive command value of the moving body 20A to the communication slave station 32A, the position controller 35B outputs the generated drive command value of the moving body 20B to the communication slave station 32B, and the position controller 35C outputs the generated drive command value of the moving body 20C to the communication slave station 32C. In addition, the drive command value of the moving body 20 is an example of various command values for generating control data and is data generation.

[0091] In addition, the number of moving bodies 20 assigned to the position controller 35 can be arbitrarily determined and can be set before operating the conveying system 1. As Figure 1 shown, in the case where three moving bodies 20A, 20B, and 20C are provided in the conveying system 1, for example, all three moving bodies 20A, 20B, and 20C can be assigned to one position controller 35. Further, for example, in the case where nine moving bodies are provided in the conveying system 1, the control controller 30 can have nine position controllers 35, and one moving body can be assigned to each position controller 35, whereby nine moving bodies can be assigned to nine position controllers 35. Alternatively, it can have three position controllers 35, and three moving bodies can be assigned to each position controller 35, whereby nine moving bodies can be assigned to three position controllers 35. Or it can have one position controller 35, and nine moving bodies can be assigned to each position controller 35, whereby nine moving bodies can be assigned to one position controller 35. That is, the position controller 35 can be configured to have, as a whole for the conveying system 1, at most the same number as the number of moving bodies 20 provided in the conveying system 1.

[0092] One method for generating the drive command value of the moving body 20 by the position controller 35 is to calculate a position deviation based on the position command value of the moving body 20 generated by the position command generator 33 and the position information of the moving body 20 generated by the position generator 34, and use the calculated position deviation to generate a speed command value of the specified moving body 20 through the operation of PID (Proportional-Integral-Differential) control. The speed command value is a value obtained by calculating the speed given to the moving body 20 based on the position deviation. The speed command value of the moving body 20 is an example of the drive command value.

[0093] A method for generating a drive command value for the moving body 20 by the above-mentioned position controller 35 will be specifically described by taking the moving body 20A as an example. The position controller 35A assigned to the moving body 20A calculates the position deviation based on the position command value of the moving body 20A generated by the position command generator 33 and the position information of the moving body 20 generated by the position generator 34, and generates the speed command value of the moving body 20A by performing PID control operation using the position deviation. In addition, for the moving bodies 20B and 20C, the speed command values of the moving bodies 20B and 20C are also generated by the assigned position controllers 35B and 35C according to their respective position command values and position information.

[0094] In addition, for another method of generating the drive command value for the moving body 20 by the position controller 35, the speed command value of the specified moving body 20 is generated as described above, and the differential calculation is performed on the position information of the specified moving body 20, thereby calculating the speed of the specified moving body 20. Moreover, in this other method, the speed deviation is calculated based on the speed command value of the specified moving body 20 and the speed of the specified moving body 20, and the calculated speed deviation is used to generate the thrust command value of the specified moving body 20 through the operation of PID (Proportional-Integral-Differential) control. The thrust command value is a value obtained by operating on the speed given to the moving body 20 based on the speed deviation. In addition, the generation of the drive command value of the moving body 20 in this other method is based on the position command value of the moving body 20 generated by the position command generator 33 and the position information of the moving body 20 generated by the position generator 34 to generate the drive command value, and is the generation of the drive command value based on the position command value of the moving body 20 generated by the position command generator 33 and the position information of the moving body 20 generated by the position generator 34. The thrust command value of the moving body 20 is an example of the drive command value.

[0095] Another method for generating the drive command value for the moving body 20 by the above-mentioned position controller 35 will be specifically described by taking the moving body 20A as an example. The position controller 35A assigned to the moving body 20A generates the speed command value of the moving body 20A as described above, and calculates the speed of the moving body 20A by performing differential calculation on the position information of the moving body 20. Moreover, in this other method, the speed deviation is calculated based on the speed command value of the moving body 20A and the speed of the moving body 20A, and the calculated speed deviation is used to generate the thrust command value of the moving body 20A through the operation of PID control. In addition, for the moving bodies 20B and 20C, the thrust command values of the moving bodies 20B and 20C are also generated by the assigned position controllers 35B and 35C according to their respective position command values and position information.

[0096] The position controller 35 generates either the speed command value of the moving body 20 or the thrust command value of the moving body 20, and outputs either the speed command value of the moving body 20 or the thrust command value of the moving body 20 to the communication slave station 32 as the drive command value of the moving body 20.

[0097] The current command generator 36 is an arithmetic circuit that generates the current command values for all the conveyance path units 10 in the conveyance path of the conveyance system 1 based on the drive command value of the moving body 20 and the position information of the moving body 20. That is, the current command generator 36 generates the current command values with multiple conveyance path units 10 as one control target. The current command value is a command value that indicates the magnitude of the current supplied to the coil 121 included in each drive element 12 of the conveyance path unit 10. The current command generator 36 generates the current command value based on the drive command value of the moving body 20 and the position information of the moving body 20. However, when the drive command value of the moving body 20 is the speed command value, it is generated as a command value that indicates the magnitude of the current supplied to the coil 121 for imparting the speed specified by the speed command value to the moving body 20 as the driving force. On the other hand, when the drive command value of the moving body 20 is the thrust command value, the current command generator 36 generates it as a command value that indicates the magnitude of the current supplied to the coil 121 for imparting the speed specified by the thrust command value to the moving body 20 as the driving force. The current command generator 36 generates the current command values for all the conveyance path units 10 in the conveyance path of the conveyance system 1.

[0098] When generating the current command value, the current command generator 36 uses the arithmetic expression stored in the memory of the control controller 30 to calculate and generate the current command values for all the coils 121 included in all the conveyance path units 10. Specifically, in the case of the conveyance system 1 as shown in Figure 1 which has 8 conveyance path units 10, and as shown in Figure 2 one conveyance path unit 10 has 9 coils 121, the current command generator 36 generates the current command values for 72 coils 121. In addition, the arithmetic expression used here only needs to be an arithmetic expression that transforms the speed of the moving body 20 indicated by the speed command value or the thrust command value as the drive command value into the magnitude of the current supplied to the coil 121, and an arithmetic expression used in known motor control can be adopted.

[0099] The current command generator 36 outputs all the generated current command values to the communication master station 31. The communication master station 31 that has obtained the current command values sends the current command values to the conveyance path communication slave station 11 of the conveyance path unit 10. In addition, the current command value is an example of the control data transmitted by the control controller 30.

[0100] Here, the connection of the communication master station 31, the communication slave station 32, and the conveyance path communication slave station 11 of the conveyance path unit 10 in the control controller 30 according to the first embodiment will be described. As Figure 4 shown, the communication master station 31 is connected to the communication slave station 32A via the internal bus. The communication slave station 32A is connected to the communication slave station 32B via the internal bus. Moreover, the communication slave station 32B is connected to the communication slave station 32C via the internal bus. That is, the communication master station 31 and the communication slave stations 32A, 32B, and 32C are connected by daisy-chain connection, and generated data including various command values and information for generating control data can be transmitted and received between the communication master station 31 and the communication slave station 32. By adopting the daisy-chain connection as described above, the transmission and reception of various command values and information between the communication master station 31 and the communication slave station 32 can use serial communication, and an increase in the internal bus can be suppressed.

[0101] Moreover, as Figure 4 shown, in the structure where the communication master station 31 and the communication slave station 32 are connected by daisy-chain connection, when the communication master station 31 transmits and receives generated data with the communication slave station 32A, it transmits and receives via the internal bus connecting the communication master station 31 and the communication slave station 32A. When the communication master station 31 transmits and receives generated data with the communication slave station 32B, it transmits and receives via the internal bus connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, and the internal bus connecting the communication slave station 32A and the communication slave station 32B. In other words, the communication slave station 32B transmits and receives with the communication master station 31 via the communication slave station 32A. When the communication master station 31 transmits and receives generated data with the communication slave station 32C, it transmits and receives via the internal bus connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, the internal bus connecting the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, and the internal bus connecting the communication slave station 32B and the communication slave station 32C. In other words, the communication slave station 32C transmits and receives with the communication master station 31 via the communication slave station 32A and the communication slave station 32B. In the structure as described above, it can also be said that the communication master station 31 transmits and receives generated data with the communication slave stations 32A, 32B, and 32C. In addition, the communication master station 31 is configured to have two channels, a transmission channel and a reception channel.

[0102] In addition, as Figure 4As shown, communication slave station 32C is connected to communication slave station 32B and is also connected to the first communication line 50 connected to the conveying path unit 10. Specifically, the communication slave station 32C of the control controller 30 and the conveying path communication slave station 11 of the conveying path unit 10 are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30 and the conveying path unit 10. That is, the communication slave station 32 and the conveying path communication slave station 11 are connected by daisy-chain connection, and control data can be transmitted and received between the communication master station 31 and the conveying path communication slave station 11 via the communication slave station 32.

[0103] In addition, the control controller 30 does not necessarily need to connect the communication slave station 32C and the first communication line 50, as long as a communication network for transmitting and receiving control data between the control controller 30 and the conveying path unit 10 can be formed. For example, the control controller 30 can also be such that the communication master station 31 and the conveying path communication slave station 11 of the conveying path unit 10 are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30 and the conveying path unit 10.

[0104] On this basis, as Figure 4 shown, in the structure where the communication master station 31, the communication slave station 32, and the conveying path communication slave station 11 are connected by daisy-chain connection, when the communication master station 31 transmits and receives control data with the conveying path communication slave station 11 of the conveying path unit 10, it transmits and receives via the internal bus connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, the internal bus connecting the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, the internal bus connecting the communication slave station 32B and the communication slave station 32C, the communication slave station 32C, and the first communication line 50. In other words, the communication master station 31 transmits and receives with the conveying path communication slave station 11 of the conveying path unit 10 via the first communication line 50. In the structure described above, it can also be said that the control controller 30 transmits and receives control data with the conveying path communication slave station 11 of the conveying path unit 10. By adopting the above-mentioned daisy-chain connection, the transmission and reception of control data between the communication master station 31 and the conveying path communication slave station 11 can adopt serial communication, and the increase of communication lines can be suppressed.

[0105] Figure 5 is a diagram showing an example of communication control in the communication master station according to Embodiment 1. Using Figure 5 , the communication control of the communication master station 31 related to the transmission and reception with the communication slave station 32 by the communication master station 31 and the transmission and reception with the conveying path communication slave station 11 of the conveying path unit 10 by the communication master station 31 will be specifically described.

[0106] The communication master station 31 is configured to transmit the generated data to the communication slave station 32. As an example, the communication master station 31 is configured to specify a desired communication slave station 32 as a communication target for a plurality of communication slave stations 32A to 32C, and transmit the generated data to the specified communication slave station 32. The communication master station 31 is configured to transmit control data to the conveyance path communication slave station 11. As an example, the communication master station 31 is configured to specify a desired conveyance path communication slave station 11 for a plurality of conveyance path communication slave stations 11A to 11H, and transmit control data to the specified conveyance path communication slave station 11. In addition, the communication master station 31 is configured to receive the generated data from one or more communication slave stations 32. The communication master station 31 is configured to receive control data from a plurality of conveyance path communication slave stations 11. As Figure 5 shown in (A), the communication master station 31 uses the transmission channel SC and the reception channel RC to transmit and receive the generated data including various instruction values and information for generating control data to and from the communication slave station 32, and transmit and receive the control data to and from the conveyance path communication slave station 11. The communication master station 31 performs communication control in such a manner that the transmission and reception of each communication frame of the communication slave station 32 and the conveyance path communication slave station 11 are carried out once within a predetermined constant communication cycle CTn (n is a natural number).

[0107] Specifically, as Figure 5As shown in (A), within communication cycle CT1, communication master station 31 uses transmission channel SC to specify communication slave station 32A, and transmits communication frame T1A towards communication slave station 32A; specifies communication slave station 32B, and transmits communication frame T1B towards communication slave station 32B; specifies communication slave station 32C, and transmits communication frame T1C towards communication slave station 32C. The transmission of these communication frames T1A, T1B, and T1C is an example of the first communication. In addition, when communication master station 31 transmits communication frames T1A, T1B, and T1C towards communication slave stations 32A - 32C, communication master station 31 may not specify communication slave stations 32A - 32C if it is not necessary to specify each of them. Regarding the case where communication master station 31 may not specify communication slave station 32, for example, it can be cited that there is only one communication slave station 32 in conveying system 1, or the communication slave station 32 as the transmission target is predetermined in conveying system 1, etc. Also, within the same communication cycle CT1, communication master station 31 uses transmission channel SC to specify conveyance path communication slave station 11A, and transmits communication frame T2A towards conveyance path communication slave station 11A; specifies conveyance path communication slave station 11B, and transmits communication frame T2B towards conveyance path communication slave station 11B. Similarly, it specifies conveyance path communication slave stations 11C - 11H, and transmits communication frames T2C - T2H towards conveyance path communication slave stations 11C - 11H. The transmission of these communication frames T2A - T2H is an example of the third communication. In addition, when communication master station 31 transmits communication frames T2A - T1H towards conveyance path communication slave stations 11A - 11H, communication master station 31 may not specify conveyance path communication slave stations 11A - 11H if it is not necessary to specify each of them. Regarding the case where communication master station 31 may not specify conveyance path communication slave station 11, for example, it can be cited that there is only one conveyance path communication slave station 11 in conveying system 1, or the conveyance path communication slave station 11 as the transmission target is predetermined in conveying system 1, etc. Communication master station 31 controls in such a way that it divides communication cycle CT1 by time slots and transmits each communication frame time - divisionally.

[0108] In addition, as Figure 5 As shown in (A), within communication cycle CT1, communication master station 31 uses reception channel RC to receive communication frame R1A from communication slave station 32A, receive communication frame R1B from communication slave station 32B, and receive communication frame R1C from communication slave station 32C. In other words, communication slave station 32A transmits communication frame R1A towards communication master station 31, communication slave station 32B transmits communication frame R1B towards communication master station 31, and communication slave station 32C transmits communication frame R1C towards communication master station 31. The transmission of these communication frames R1A, R1B, and R1C is an example of the second communication.

[0109] And, asFigure 5 As shown in (A), within the same communication cycle CT1, the communication master station 31 uses the reception channel RC to receive the communication frame R2A from the conveyance path communication slave station 11A, the communication frame R2B from the conveyance path communication slave station 11B, and similarly receives the communication frames R2C to R2H from the conveyance path communication slave stations 11C to 11H. In other words, the conveyance path communication slave station 11A transmits the communication frame R2A toward the communication master station 31, the conveyance path communication slave station 11B transmits the communication frame R2B toward the communication master station 31, and similarly the conveyance path communication slave stations 11C to 11H transmit the communication frames R2C to R2H toward the communication master station 31. The transmission of these communication frames R2A to R2H is an example of the sixth communication. The communication master station 31 controls in such a manner that the communication cycle CT1 is divided into time slots and each communication frame is received time-divisionally.

[0110] As Figure 5 As shown in (B), the communication frame T1A transmitted by the communication master station 31 toward the communication slave station 32A is composed of a header, a tail, and a payload section. The communication frame T1A is a communication frame for designating the communication slave station 32A and transmitting generated data toward the communication slave station 32A. The communication frame T1A has attached thereto, as the header, designation information (transmission destination address, etc.) of the communication slave station 32A, and designates the communication slave station 32A by the information in the header. The payload section contains the position command value of the moving body 20A and the position information of the moving body 20A. The tail has attached thereto frame check sequence data, etc. for confirming that the communication frame has been accurately received at the reception destination. The communication frames T1B, T1C (not shown) are communication frames for designating the communication slave stations 32B, 32C and transmitting generated data toward the communication slave stations 32B, 32C, have attached thereto, as the header, designation information of the communication slave stations 32B, 32C, and contain, as the payload section, the position command values of the moving bodies 20B, 20C and the position information of the moving bodies 20B, 20C. Moreover, the tail has attached thereto frame check sequence data, etc. Thus, the communication master station 31 designates a desired communication slave station 32 as the communication target and can transmit generated data toward the designated communication slave station 32.

[0111] Next, as Figure 5As shown in (C), the communication frame T2A sent by the communication master station 31 to the conveyance path communication slave station 11A is composed of a header, a tail, and a payload section. The communication frame T2A is a communication frame for designating the conveyance path communication slave station 11A and sending control data to the conveyance path communication slave station 11A. The communication frame T2A has attached thereto, as a header, designation information (transmission destination address, etc.) of the conveyance path communication slave station 11A, and designates the conveyance path communication slave station 11A by the information in the header. The payload section contains current command values for controlling energization or non-energization of all the coils 121A included in the conveyance path unit 10A having the conveyance path communication slave station 11A. The tail has attached thereto frame check sequence data, etc. for confirming that the communication frame has been accurately received at the reception destination. The communication frames T2B to T2H (not shown) are communication frames for designating the conveyance path communication slave stations 11B to 11H and sending current command values to the conveyance path communication slave stations 11B to 11H, the current command values being for controlling energization or non-energization of all the coils 121B to all the coils 121H respectively included in the respective conveyance path units 10B to 10H having the conveyance path communication slave stations 11B to 11H. The communication frames T2B to T2H have attached thereto, as a header, designation information of the conveyance path communication slave stations 11B to 11H, and designate the conveyance path communication slave stations 11B to 11H by the information in the header. The payload section contains current command values for controlling energization or non-energization of all the coils 121B to all the coils 121H respectively included in the respective conveyance path units 10B to 10H having the conveyance path communication slave stations 11B to 11H. Moreover, the tail has attached thereto frame check sequence data, etc. Thus, the communication master station 31 can send control data to a desired conveyance path communication slave station 11.

[0112] As Figure 5As shown in (D), the communication frame R1A received by the communication master station 31 from the communication slave station 32A is composed of a header, a tail, and a payload section. The communication frame R1A is a communication frame for transmitting generated data from the communication slave station 32A to the communication master station 31. The communication frame R1A has the specified information (such as the destination address) of the communication master station 31 attached as the header, and includes the drive instruction value of the mobile body 20A as the payload section. The tail is attached with frame check sequence data and the like for confirming that the communication frame is accurately received at the receiving destination. The communication frames R1B and R1C (not shown) are communication frames for the communication master station 31 to receive generated data from the communication slave stations 32B and 32C, and are communication frames transmitted from the communication slave stations 32B and 32C to the communication master station 31. The communication frames R1B and R1C have the specified information of the communication master station 31 attached as the header, and include the drive instruction values of the mobile bodies 20B and 20C as the payload section. Moreover, the tail is attached with frame check sequence data and the like. Thus, each of the communication slave stations 32 can transmit generated data to the communication master station 31, and the communication master station 31 can receive generated data from each communication slave station 32.

[0113] Next, as Figure 5 shown in (E), the communication frame R2A received by the communication master station 31 from the conveyance path communication slave station 11A is composed of a header, a tail, and a payload section. The communication frame R2A is a communication frame for transmitting control data from the conveyance path communication slave station 11A to the communication master station 31. The communication frame R2A has the specified information (such as the destination address) of the communication master station 31 attached as the header, and includes scale detection information indicating the relative position of the mobile body 20A with respect to all the position sensors 131A output by the position calculator 14A included in the conveyance path unit 10A having the conveyance path communication slave station 11A as the payload section. The tail is attached with frame check sequence data and the like for confirming that the communication frame is accurately received at the receiving destination. The communication frames R2B to R2H (not shown) are communication frames for transmitting respective scale detection information output by the position calculators 14B to 14H included in the respective conveyance path units 10B to 10H having the conveyance path communication slave stations 11B to 11H from the conveyance path communication slave stations 11B to 11H to the communication master station 31. The communication frames R2B to R2H have the specified information of the communication master station 31 attached as the header, and include the scale detection information calculated by the position calculator 14B to the scale detection information calculated by the position calculator 14H as the payload section. Moreover, the tail is attached with frame check sequence data and the like. Thus, each of the conveyance path communication slave stations 11 can transmit control data to the communication master station 31, and the communication master station 31 can receive control data from each conveyance path communication slave station 11.

[0114] In addition, in Figure 5(A) shows an example in which the communication master station 31 performs communication control in such a way that the transmission and reception of each communication frame with the communication slave station 32 and the transport path communication slave station 11 are carried out once within a constant communication cycle CTn (n is a natural number). However, the communication control is not limited to the above description. The communication master station 31 may also make the communication cycle CTn different for each category of communication frames, or may separate the communication cycle CTn for each category of frames. For example, when the processing time for generating the position command value in the position command generator 33 is longer than other processing times, the communication master station 31 may transmit the communication frames T1A to T1C once in N communication cycles. In addition, for example, the communication master station 31 may perform the transmission and reception of the communication frames T1A to T1C and the reception of the communication frames R1A to R1C in the same communication cycle CT1, and perform the transmission and reception of the communication frames T2A to T2H and the reception of the communication frames R2A to R2H in the same communication cycle CT2. If the above-described communication control can be performed, the communication bandwidth can be effectively used, the communication cycle for one time can be shortened, and thus the control performance of the moving body 20 can also be improved.

[0115] Figure 6 This is a diagram showing an example of the hardware structure of the control controller according to the first embodiment. The hardware of the control controller 30 includes a first communication interface (first communication I / F) 3001 that functions as the communication master station 31, a second communication interface (second communication I / F) 3002 that functions as the communication slave station 32A, a third communication interface (third communication I / F) 3003 that functions as the communication slave station 32B, a fourth communication interface (fourth communication I / F) 3004 that functions as the communication slave station 32C, a first processor 3005 that functions as the position command generator 33, the position generator 34, and the current command generator 36, a second processor 3006 that functions as the position controller 35A, a third processor 3007 that functions as the position controller 35B, a fourth processor 3008 that functions as the position controller 35C, and a memory 3009 that reads and writes various data used for the operations in the first processor 3005 to the fourth processor 3008.

[0116] The first processor 3005 is a processor capable of operating on the position command value, position information, and current command value of the conveyance path unit 10 as the position command generator 33, position generator 34, and current command generator 36. For example, it can be a microprocessor, a single-chip microcomputer, a microcomputer, a CPU (Central Processing Unit), or a DSP (Digital Signal Processor), etc. In addition, the second processor 3006 to the fourth processor 3008 are processors capable of operating on the drive command value as the position controllers 35A to 35C. For example, they can be a microprocessor, a single-chip microcomputer, a microcomputer, a CPU (Central Processing Unit), or a DSP (Digital Signal Processor), etc. The memory 3009 includes a non-volatile memory for storing various operation programs executed by the first processor 3005 to the fourth processor 3008, and a volatile memory that becomes a working memory during each operation in the processor 1002.

[0117] In addition, in Figure 6 the hardware structure of the control controller 30, as an example, the processor that functions as the position command generator 33, position generator 34, and current command generator 36 is illustrated as the first processor 3005. However, it can also be configured to have multiple processors, such as a processor that functions as the position command generator 33, a processor that functions as the position generator 34, and a processor that functions as the current command generator 36. In addition, regarding the hardware structure of the control controller 30, three processors, the second processor 3006 to the fourth processor 3008, are illustrated as the processors that function as the position controllers 35A to 35C. However, for example, when one position controller 35 is assigned to multiple moving bodies 20, it can also be a structure having one processor that functions as the position controller 35. And the hardware structure of the control controller 30 illustrates one memory 3009 that is shared among the first processor 3005 to the fourth processor 3008. However, the memory can also be configured to have multiple memories instead of being shared among the processors.

[0118] Figure 7 is a flowchart showing an example of the operation of the control controller according to Embodiment 1 of the present invention. Figure 8 is a flowchart showing an example of the operation of the conveyance path unit according to Embodiment 1 of the present invention. Using Figure 7 and Figure 8 the control of the moving body 20 in the conveyance system 1 will be described.

[0119] The control controller 30 executes the functions of the position command generator 33, the position generator 34, the position controllers 35A to 35C, and the current command generator 36 by causing each processor of the control controller 30 to execute each program stored in the memory 3009.

[0120] In Figure 7 In step S701 shown, the position command generator 33 of the control controller 30 generates position command values for each of the three moving bodies 20A, 20B, and 20C that the conveying system 1 has. Further, the position command generator 33 outputs the generated position command values for the moving bodies 20A, 20B, and 20C to the communication master station 31 of the control controller 30.

[0121] In step S702, the position generator 34 of the control controller 30 generates position information for each of the moving bodies 20A, 20B, and 20C indicating the positions of the moving bodies 20A, 20B, and 20C on the conveying path based on the scale detection information included in the control data received from the conveying path units 10A to 10H using the communication frames R2A to R2H. Further, the position generator 34 outputs the generated position information for each of the moving bodies 20A, 20B, and 20C to the communication master station 31 of the control controller 30.

[0122] In step S703, the communication master station 31 of the control controller 30 performs the first communication of transmitting the acquired position command values and position information for each of the moving bodies 20A, 20B, and 20C to the communication slave stations 32. Specifically, the communication master station 31 uses the communication frame T1A composed of a header, a tail, and a payload part to transmit the position command value and position information of the moving body 20A to the communication slave station 32A, uses the communication frame T1B to transmit the position command value and position information of the moving body 20B to the communication slave station 32B, and uses the communication frame T1C to transmit the position command value and position information of the moving body 20C to the communication slave station 32C.

[0123] In step S704, the position controllers 35A, 35B, and 35C of the control controller 30 generate drive command values for the mobile bodies 20A, 20B, and 20C respectively based on the position command values and position information of the mobile bodies 20A, 20B, and 20C received by the communication slave stations 32A, 32B, and 32C through communication. Moreover, the position controllers 35A, 35B, and 35C output the generated drive command values for the mobile bodies 20A, 20B, and 20C respectively to the communication slave stations 32A, 32B, and 32C. Specifically, the position controller 35A obtains the position command value and position information of the mobile body 20A from the communication slave station 32A connected via the internal bus, generates the drive command value of the mobile body 20A based on the position command value and position information of the mobile body 20A, and outputs the generated drive command value of the mobile body 20A to the communication slave station 32A. Similarly, the position controllers 35B and 35C generate the drive command values of the mobile bodies 20B and 20C respectively, and output them to the communication slave stations 32B and 32C connected via the internal bus respectively.

[0124] In step S705, the communication slave stations 32A, 32B, and 32C of the control controller 30 perform the second communication to send the obtained drive command values of the mobile bodies 20A, 20B, and 20C respectively to the communication master station 31. Specifically, the communication slave station 32A uses the communication frame R1A composed of a header, a tail, and a payload part to send the drive command value of the mobile body 20 to the communication master station 31. In addition, similarly, the communication slave stations 32B and 32C use the communication frames R1B and R1C to send the drive command values of the mobile bodies 20B and 20C respectively to the communication master station 31.

[0125] In step S706, the current command generator 36 of the control controller 30 generates current command values for the conveying path units 10A to 10H based on the position information of the mobile bodies 20A, 20B, and 20C generated by the position generator 34 and the drive command values of the mobile bodies 20A, 20B, and 20C received by the communication master station 31. In addition, the position information of the mobile bodies 20A, 20B, and 20C can be obtained by reading from the memory of the control controller 30. The current command generator 36 obtains the drive command values of the mobile bodies 20A, 20B, and 20C from the communication master station 31 connected via the internal bus. Moreover, the current command generator 36 obtains the position information of the mobile bodies 20A, 20B, and 20C from the memory of the control controller 30. The current command generator 36 generates current command values for the conveying path units 10A to 10H based on the drive commands and position information of the mobile bodies 20A, 20B, and 20C respectively, and outputs them to the communication master station 31.

[0126] More specifically, the current command generator 36 generates a current command value with the conveyance path units 10A to 10H as one control target. For example, with respect to Figure 1In the conveying path units 10A to 10H in the conveying system 1 shown, when the moving body 20A is on the conveying path unit 10A, the moving body 20B is at a position straddling the conveying path units 10C and 10D, and the moving body 20C is at a position straddling the conveying path units 10E and 10F, the current command generator 36 generates, as the current command value for the conveying path unit 10A, a current command value indicating the magnitude of the current supplied to the coils 121A included in the plurality of drive elements 12A of the opposing conveying path unit 10A, based on the drive command and position information of the moving body 20A. As the current command value for the remaining conveying path units 10 other than the conveying path unit 10A, a current command value is generated that sets the magnitude of the current supplied to the coils 121 included in the plurality of drive elements 12 of the remaining conveying path units 10 to 0 (zero). Similarly, the current command generator 36 generates, as the current command values for the conveying path units 10C and 10D, current command values indicating the magnitudes of the currents supplied to the coils 121C and 121D included in the plurality of drive elements 12C and 12D of the opposing conveying path units 10C and 10D respectively, based on the drive command and position information of the moving body 20B. As the current command value for the remaining conveying path units 10 other than the conveying path units 10C and 10D, a current command value is generated that sets the magnitude of the current supplied to the coils 121 included in the plurality of drive elements 12 of the remaining conveying path units 10 to 0 (zero). And similarly, the current command generator 36 generates, as the current command values for the conveying path units 10E and 10F, current command values indicating the magnitudes of the currents supplied to the coils 121E and 121F included in the plurality of drive elements 12E and 12F of the opposing conveying path units 10E and 10F respectively, based on the drive command and position information of the moving body 20C. As the current command value for the remaining conveying path units 10 other than the conveying path units 10E and 10F, a current command value is generated that sets the magnitude of the current supplied to the coils 121 included in the plurality of drive elements 12 of the remaining conveying path units 10 to 0 (zero). Moreover, the current command generator 36 combines all the current command values generated based on the drive command values and position information of the moving bodies 20A, 20B, and 20C. As the current command values for the conveying path units 10A, 10C, 10D, 10E, and 10F, current command values indicating the magnitudes of the currents supplied to the coils 121 included in the respective drive elements 12 are generated. As the current command values for the conveying path units 10B, 10G, and 10H, current command values are generated that set the magnitudes of the currents supplied to the coils 121 included in the respective drive elements 12 to 0 (zero), thereby generating the current command values for all the conveying path units 10 in the conveying path of the conveying system 1.

[0127] In step S707, the communication master station 31 of the control use controller 30 performs the third communication of transmitting the obtained current command values of the respective conveyance path units 10A to 10H to the conveyance path communication slave stations 11. Specifically, the communication master station 31 uses a communication frame T2A composed of a header, a tail, and a payload section to transmit the current command value of the conveyance path unit 10A to the conveyance path communication slave station 11A. Similarly, the communication master station 31 uses communication frames T2B to T2H to transmit the current command values of the conveyance path units 10B to 10H to the conveyance path communication slave stations 11B to 11H, respectively.

[0128] In Figure 8 In step S801 shown, each current controller 124 of the conveyance path unit 10 calculates a control signal for controlling the operation of the inverter circuit 122 based on the current command value received through the conveyance path communication slave station 11 and the actual current value RA detected by the current sensor 123 of the conveyance path unit 10, and outputs the calculated control signal to the inverter circuit 122. Specifically, the current controller 124A included in each drive element 12A of the conveyance path unit 10A obtains, via an internal bus, the actual current value RA detected by the current sensor 123A of the drive element 12A including itself, and obtains, from the current command value, a command value indicating the magnitude of the current supplied to the coil 121A of the drive element 12A including itself. Each current controller 124 calculates a control signal for controlling the operation of the inverter circuit 122 based on the command value indicating the magnitude of the current and the actual current value RA, and outputs the control signal to the inverter circuit 122A of the drive element 12A including itself. Similarly, for the current controllers 124B to 124H of the conveyance path units 10B to 10H, control signals are also output to the inverter circuits 122B to 122H of the drive elements 12B to 12H including themselves.

[0129] In step S802, each inverter circuit 122 of the conveyance path unit 10 acquires the control signal output from the current controller 124 via the internal bus and operates in such a manner as to supply the required current to the coil 121. Specifically, the inverter circuit 122A included in each drive element 12A of the conveyance path unit 10A acquires the control signal output from the current controller 124A via the internal bus and operates based on the control signal in such a manner as to supply the required current to the coil 121A from the power supply unit 40. That is, each inverter circuit 122A transforms the current from the power supply unit 40 in accordance with the magnitude of the current indicated by the current command value included in the control data transmitted from the control controller 30 and applies power or non-power to the coil 121A. Similarly, regarding the inverter circuits 122B to 122H of the conveyance path units 10B to 10H, they also operate based on the control signal in such a manner as to supply the required current to the coils 121B to 121H from the power supply unit 40.

[0130] If power is applied or non-powered to the coil 121 of the conveyance path unit 10 in accordance with the current command value in step S802, an electromagnetic field is generated in the energized coil 121 of the conveyance system 1. By the interaction between the electromagnetic field generated by the coil 121 and the magnetic field generated by the movable magnet group 22, the moving body 20 obtains a driving force and moves along the conveyance path constituted by the conveyance path unit 10.

[0131] In step S803, the scale 13 of each transport path unit 10 detects the moving body 20 through the position sensor 131 provided in the scale 13 and outputs a detection signal. As described above, when the position sensor 131 is a Hall element, if the moving body 20 passes by the Hall element, the position sensor 131 outputs the waveform signals of the SIN wave and the COS wave as the detection signal. In addition, the Hall element that the moving body 20 does not pass by outputs a signal without a waveform signal as the detection signal. That is, all the scales 13 of each transport path unit 10 output detection signals from all the position sensors 131 provided in the scale 13. Specifically, the scale 13A of the transport path unit 10A outputs the waveform signals of the SIN wave and the COS wave as the detection signal from the position sensor 131A passed by the moving body 20 among the multiple position sensors 131A provided in the scale 13A, and outputs a signal without a waveform signal (for example, "0 (zero)") as the detection signal from the position sensor 131A not passed by the moving body 20. Similarly, regarding the scales 13B to 13H of the transport path units 10B to 10H, the waveform signals of the SIN wave and the COS wave are output as the detection signal from the position sensors 131B to 131H passed by the moving body 20 among the multiple position sensors 131B to 131H provided in the scales 13B to 13H respectively, and a signal without a waveform signal is output as the detection signal from the position sensors 131B to 131H not passed by the moving body 20.

[0132] In step S804, the position calculator 14 of each conveyance path unit 10 acquires a detection signal via the internal bus, calculates the scale detection information based on the detection signal, and outputs the scale detection information to the conveyance path communication slave station 11. The position calculator 14 calculates the relative position of the moving body 20 with respect to the position sensors 131 of the scale 13 based on the detection signals of all the position sensors 131 output from the scale 13 of the conveyance path unit 10 including itself as the scale detection information. Specifically, the position calculator 14A of the conveyance path unit 10A calculates the relative position of the moving body 20 with respect to the position sensors 131A of the scale 13A based on the detection signals of all the position sensors 131A output from the scale 13A as the scale detection information. In addition, when the moving body 20 does not pass over the conveyance path unit 10A, the position calculator 14A calculates information indicating that the moving body 20 does not pass over any of the position sensors 131A as the scale detection information indicating the relative position of the moving body 20 with respect to the position sensors 131 of the scale 13A. In the above-described case, the scale information can be, for example, information representing 0 (zero) or information of any word. The position calculator 14A outputs the calculated scale detection information to the conveyance path communication slave station 11A. Similarly, for the position calculators 14B to 14H of the conveyance path units 10B to 10H, the scale detection information is calculated based on the detection signals output from the respective position sensors 131B to 131H provided in the scales 13B to 13H of the conveyance path units 10B to 10H including themselves, and is output to the conveyance path communication slave stations 11B to 11H, respectively.

[0133] In step S805, the conveyance path communication slave station 11 of each conveyance path unit 10 performs the sixth communication of transmitting the acquired scale detection information to the communication master station 31. Specifically, the conveyance path communication slave station 11A uses a communication frame R2A composed of a header, a tail, and a payload section to transmit the scale detection information calculated by the position calculator 14A of the conveyance path unit 10A to the communication master station 31 of the control controller 30. Similarly, the conveyance path communication slave stations 11B to 11H of the conveyance path units 10B to 10H sequentially transmit the scale detection information calculated by the position calculators 14B to 14H of the conveyance path units 10B to 10H to the communication master station 31 of the control controller 30 using the communication frames R2B to R2H.

[0134] As described above, the conveying system 1 according to the first embodiment has a position controller 35 in the control controller 30, and the position controller 35 of the control controller 30 is allocated to all the moving bodies 20 moving in the conveying system 1. Further, the position controller 35 is connected to the communication slave station 32. Moreover, the communication master station 31 of the control controller 30 is configured to transmit and receive generated data to and from the communication slave station 32. Thus, the current command generator 36 of the control controller 30 can generate a current command value for applying a driving force to all the moving bodies 20 moving in the conveying system 1 based on the generated data, and can generate a current command value for all the conveying path units 10. Therefore, in the conveying system 1 according to the first embodiment, the current command generator 36 can generate a current command value for all the conveying path units 10. Thus, even when the moving body 20 moving in the conveying system 1 is located at the boundary between the conveying path units 10, it is possible to control the movement of the highly accurate moving body 20, and it is possible to suppress an increase in the cost of an electric circuit such as the inverter circuit 122 included in one drive element.

[0135] Moreover, the conveying system 1 according to the first embodiment is configured such that, as described above, it has a position controller 35 in the control controller 30, the position controller 35 is allocated to all the moving bodies 20 moving in the conveying system 1, and a current command value for all the conveying path units 10 can be generated by the current command generator 36. Thus, the conveying system 1 according to the first embodiment does not need to have a position controller 35 in each of the conveying path units 10, and the number of position controllers 35 can be set to be less than or equal to the number of moving bodies 20 at most. Thereby, it is possible to suppress the enlargement and high cost of the control controller 30 and the control system of the conveying path unit 10. Further, in the conveying system 1, since a prescribed position controller 35 is always allocated to the moving body 20, a process such as allocating the control of the moving body 20 is not required during the operation of the conveying system 1. Therefore, in the conveying system 1 according to the first embodiment, the control system is not enlarged and highly cost, and it is possible to suppress the control stop of the moving body 20 of the conveying system 1.

[0136] Embodiment 2.

[0137] The conveying system according to the second embodiment of the present invention will be described. In addition, the same reference numerals are used for the same structures as those in the first embodiment above, and the detailed description thereof is omitted. Hereinafter, the structures different from those in the first embodiment will be specifically described.

[0138] Figure 9 is a schematic diagram showing an example of the structure of the conveying system according to the second embodiment of the present invention. As Figure 9As shown, the conveyor system 1W, similar to the first embodiment, includes multiple conveyor path units 10A to 10H that form the conveyor path for multiple moving bodies 20A to 20C, and a power supply unit 40 that supplies power to the conveyor path units 10A to 10H. Furthermore, in the conveyor system 1W according to the second embodiment, a control controller 30W is provided in place of the control controller 30 to control the operation of the multiple moving bodies 20A to 20C. The control controller 30W, unlike the control controller 30, is comprised of a position command controller 301 and a drive controller 302. Specifically, the position command controller 301 and the drive controller 302 are configured as separate housings, and these controllers operate to function as the control controller 30W.

[0139] like Figure 9 As shown, the position command controller 301 includes a communication master station 31, a position command generator 33, a position generator 34, and a current command generator 36. The position command generator 33, the position generator 34, and the current command generator 36 are connected to the communication master station 31 via an internal bus within the position command controller 301. The communication master station 31, the position command generator 33, the position generator 34, and the current command generator 36 have the same functions as those in the first embodiment described above. Specifically, the position command generator 33 generates a position command value for the movable body 20, the position generator 34 generates position information for the movable body 20, and the current command generator 36 generates a current command value for the conveyance path unit 10. The position command value and the position information for the movable body 20 are examples of generated data, while the current command value for the conveyance path unit 10 is an example of control data.

[0140] The drive controller 302 includes a communication slave station 32 and a position controller 35. The position controller 35 is connected to the communication slave station 32 via an internal bus within the drive controller 302. The communication slave station 32 and the position controller 35 have the same functions as those in the first embodiment described above. The position controller 35 generates a drive command value for the movable body 20. The drive command value for the movable body 20 is an example of generated data.

[0141] The drive controller 302 is a controller that generates a drive command value for the moving body 20 based on the position command value of the moving body 20 generated by the position command generator 33 and the position information of the moving body 20 generated by the position generator 34 through the position controller 35. In this embodiment 2, the drive controller 302 is as follows: Figure 9 As shown, there are three drive controllers 302A, 302B, and 302C.

[0142] The drive controller 302A includes a communication slave station 32A and a position controller 35A. The drive controller 302B includes a communication slave station 32B and a position controller 35B. The drive controller 302C includes a communication slave station 32C and a position controller 35C. Without specific distinction, these drive controllers 302A, 302B, 302C, communication slave stations 32A, 32B, 32C, and position controllers 35A, 35B, 35C are sometimes simply referred to as the drive controller 302, communication slave station 32, and position controller 35, respectively. The position controller 35 of the drive controller 302 is configured to be assigned to the moving body 20 of the conveying system 1W and generate a drive command value for the assigned moving body 20.

[0143] The second embodiment of the present invention illustrates a mode in which three moving bodies 20A, 20B, and 20C are provided in the conveying system 1W, and one position controller 35 is assigned to one moving body 20. Specifically, the position controller 35A generates a drive command value for the moving body 20A, the position controller 35B generates a drive command value for the moving body 20B, and the position controller 35C generates a drive command value for the moving body 20C for assignment. Moreover, the position controller 35A outputs the generated drive command value for the moving body 20A to the communication slave station 32A, the position controller 35B outputs the generated drive command value for the moving body 20B to the communication slave station 32B, and the position controller 35C outputs the generated drive command value for the moving body 20C to the communication slave station 32C. That is, the drive controller 302 is a controller that generates a drive command value for the moving body 20 assigned to the position controller 35 it has.

[0144] In addition, the number of moving bodies 20 assigned to the position controller 35 of the drive controller 302 can be arbitrarily determined and can be assigned in the same manner as the assignment of the moving body 20 to the position controller 35 described in the first embodiment. That is, as a whole for the conveying system 1W, the drive controller 302 can be configured to have a maximum number equal to the number of moving bodies 20 of the conveying system 1W.

[0145] In addition, the number of communication slave stations 32 and position controllers 35 included in one drive controller 302 can be arbitrarily configured and determined during the hardware design of the drive controller 302. For example, it can be configured such that one drive controller 302 includes one communication slave station 32 and multiple position controllers 35, and the one communication slave station 32 and the multiple position controllers 35 are each connected via an internal bus. Alternatively, it can also be configured such that one drive controller 302 includes multiple communication slave stations 32 and multiple position controllers 35, the communication slave stations 32 and the position controllers 35 are connected via an internal bus, and the communication slave stations 32 are connected to each other via an internal bus. Even with the above configurations, the drive controller 302 as a whole for the conveying system 1W can be configured to have a maximum number equal to the number of moving bodies 20 included in the conveying system 1W.

[0146] Here, the connection of the communication master station 31 of the position command controller 301, the communication slave station 32 of the drive controller 302, and the conveyance path communication slave station 11 of the conveyance path unit 10 in the control controller 30W according to the second embodiment will be described. In the conveyance system 1W of the second embodiment, the position command controller 301 and the drive controller 302 that constitute the control controller 30W are connected via a third communication line 80. Moreover, the drive controllers 302 are connected to each other via a drive controller communication line 90. The control controller 30W and the conveyance path unit 10 are connected via a first communication line 50.

[0147] Specifically, as Figure 9As shown, the communication master station 31 of the position command controller 301 is connected to the communication slave station 32A of the drive controller 302A via the third communication line 80. The communication slave station 32A of the drive controller 302A is connected to the communication slave station 32B of the drive controller 302B via the drive controller communication line 90. Moreover, the communication slave station 32B of the drive controller 302B is connected to the communication slave station 32C of the drive controller 302C via the drive controller communication line 90. Thus, the position command controller 301 and the drive controller 302 can communicate with each other, forming the control controller 30W. Also, the communication master station 31 of the position command controller 301 and the communication slave stations 32A, 32B, 32C of the drive controllers 302A, 302B, 302C are connected by daisy chain connection, enabling the transmission and reception of generated data including various command values and information for generating control data between the communication master station 31 and the communication slave station 32. By adopting the daisy chain connection as described above, the transmission and reception of the generated data between the communication master station 31 and the communication slave station 32 can use serial communication, suppressing the increase in communication lines. In addition, the communication slave station 32C of the drive controller 302C is connected to the conveyance path communication slave station 11A of the conveyance path unit 10A via the first communication line 50. Thus, the control controller 30W and the conveyance path unit 10 form a communication network capable of communicating with each other.

[0148] Moreover, as Figure 9 shown, in the structure where the communication master station 31 and the communication slave station 32 are connected by daisy chain connection, when the communication master station 31 transmits and receives generated data with the communication slave station 32A, it transmits and receives via the third communication line 80 connecting the communication master station 31 and the communication slave station 32A. When the communication master station 31 transmits and receives generated data with the communication slave station 32B, it transmits and receives via the third communication line 80 connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, and the drive controller communication line 90 connecting the communication slave station 32A and the communication slave station 32B. In other words, the communication slave station 32B transmits and receives with the communication master station 31 via the communication slave station 32A. When the communication master station 31 transmits and receives generated data with the communication slave station 32C, it transmits and receives via the third communication line 80 connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, the drive controller communication line 90 connecting the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, and the drive controller communication line 90 connecting the communication slave station 32B and the communication slave station 32C. In other words, the communication slave station 32C transmits and receives with the communication master station 31 via the communication slave station 32A and the communication slave station 32B. In the structure as described above, it can be said that the communication master station 31 transmits and receives generated data with the communication slave stations 32A, 32B, 32C. In addition, the communication master station 31 is configured to have two channels, a transmission channel and a reception channel.

[0149] In addition, as Figure 9 shown, the communication slave station 32C is connected to the communication slave station 32B and is also connected to the first communication line 50 connected to the conveying path unit 10. Specifically, the communication slave station 32C included in the drive controller 302C and the conveying path communication slave station 11 included in the conveying path unit 10 are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30W and the conveying path unit 10. That is, the communication slave station 32 and the conveying path communication slave station 11 are connected by daisy-chain connection, and it is possible to transmit and receive control data between the communication master station 31 and the conveying path communication slave station 11 via the communication slave station 32.

[0150] Furthermore, the control controller 30W does not necessarily need to connect the communication slave station 32C of the drive controller 302C and the first communication line 50, as long as a communication network for transmitting and receiving control data between the control controller 30W and the conveying path unit 10 can be formed. For example, the control controller 30W can connect the communication master station 31 of the position command controller 301 and the conveying path communication slave station 11 included in the conveying path unit 10 via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30W and the conveying path unit 10.

[0151] On this basis, as Figure 9 shown, in the structure where the communication master station 31 and the communication slave station 32 are connected by daisy-chain connection, when the communication master station 31 transmits and receives control data with the conveying path communication slave station 11 of the conveying path unit 10, it transmits and receives via the third communication line 80 connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, the drive controller communication line 90 connecting the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, the drive controller communication line 90 connecting the communication slave station 32B and the communication slave station 32C, the communication slave station 32C, and the first communication line 50. In other words, the communication master station 31 transmits and receives with the conveying path communication slave station 11 of the conveying path unit 10 via the first communication line 50. In the above-described structure, it can also be said that the control controller 30W transmits and receives control data with the conveying path communication slave station 11 of the conveying path unit 10. By adopting the above-described daisy-chain connection, the transmission and reception of control data between the communication master station 31 and the conveying path communication slave station 11 can use serial communication, and an increase in communication lines can be suppressed.

[0152] The communication master station 31 of the position command controller 301 according to the second embodiment is configured to transmit generated data to the communication slave station 32, similarly to the first embodiment. In addition, the communication master station 31 of the position command controller 301 is configured to transmit control data to the conveyance path communication slave station 11, similarly to the first embodiment. Further, the communication master station 31 of the position command controller 301 is configured to receive generated data from a plurality of communication slave stations 32. Moreover, the communication master station 31 of the position command controller 301 is configured to receive control data from a plurality of conveyance path communication slave stations 11. On this basis, the communication control in the communication master station 31 of the position command controller 301 is performed in the same manner as in the first embodiment, using a transmission channel, a reception channel, and a communication frame. That is, the control controller 30W according to the second embodiment functions in the same manner as the control controller 30 described above.

[0153] Figure 10 FIG. is an example of the hardware configuration of the control controller according to the second embodiment. The hardware of the control controller 30W is divided into a position command controller 301 and a drive controller 302. The position command controller 301 includes a first communication interface (first communication I / F) 3001 that functions as a communication master station 31, a first processor 3005 that functions as a position command generator 33, a position generator 34, and a current command generator 36, and a memory 3009 that reads and writes various data used in the operations of the first processor 3005. The drive controller 302A includes a second communication interface (second communication I / F) 3002 that functions as a communication slave station 32A, a second processor 3006 that functions as a position controller 35A, and a memory 3009A that reads and writes various data used in the operations of the second processor 3006. The drive controller 302B includes a third communication interface (third communication I / F) 3003 that functions as a communication slave station 32B, a third processor 3007 that functions as a position controller 35B, and a memory 3009B that reads and writes various data used in the operations of the third processor 3007. The drive controller 302C includes a fourth communication interface (fourth communication I / F) 3004 that functions as a communication slave station 32C, a fourth processor 3008 that functions as a position controller 35C, and a memory 3009C that reads and writes various data used in the operations of the fourth processor 3008.

[0154] The first processor 3005 to the fourth processor 3008 are the same as those in the above-described Embodiment 1, and thus the description thereof is omitted. The memories 3009, 3009A to 3009C include a non-volatile memory that stores various operation programs and the like executed by the first processor 3005 to the fourth processor 3008, and a volatile memory that serves as a working memory during each operation in the first processor 3005 to the fourth processor 3008.

[0155] In addition, in Figure 10 as an example of the hardware structure of the position instruction controller 301, the processor that functions as the position instruction generator 33, the position generator 34, and the current instruction generator 36 is illustrated as the first processor 3005. However, it may be a structure having multiple processors, such as a processor that functions as the position instruction generator 33, a processor that functions as the position generator 34, and a processor that functions as the current instruction generator 36.

[0156] The control controller 30W and the conveyance path unit 10 according to the second embodiment operate in the same manner as the operations described in Figure 7 and Figure 8 above, and control the moving body 20 in the conveyance system 1W. Therefore, the specific description thereof is omitted.

[0157] As described above, the conveyance system 1W according to the second embodiment, like the conveyance system 1 according to the above-described Embodiment 1, can control the movement of the highly accurate moving body 20 even when the moving body 20 moving in the conveyance system 1W is located at the boundary between the conveyance path units 10, and can suppress an increase in the cost of electric circuits such as the inverter circuit 122 included in one drive element. In addition, the conveyance system 1W according to the second embodiment, like the conveyance system 1 according to the above-described Embodiment 1, does not need to have the position controller 35 in each of the conveyance path units 10, and the maximum number of drive controllers 302 having the position controller 35 can be set to be less than or equal to the number of moving bodies 20. Therefore, it is possible to suppress the enlargement and high cost of the control system of the control controller 30W and the conveyance path unit 10. In addition, in the conveyance system 1W, a prescribed position controller 35 is always assigned to the moving body 20. Therefore, there is no need to perform a process of allocating the control of the moving body 20 during the operation of the conveyance system 1W. Therefore, in the conveyance system 1W according to the second embodiment, the control system does not become large-sized and highly costly, and it is possible to suppress the stop of the control of the moving body 20 in the conveyance system 1W.

[0158] Moreover, the conveying system 1W according to the second embodiment includes a control controller 30W constituted by a position command controller 301 and a drive controller 302. The drive controller 302 is configured to generate a drive command value for the assigned moving body 20. As described above, the control controller 30W is separately constituted by the position command controller 301 and the drive controller 302, whereby the control load of one controller can be reduced, and the control delay of the control controller 30W can be suppressed.

[0159] In addition, the control controller 30W is separately constituted by the position command controller 301 and the drive controller 302. The drive controller 302 and the position command controller 301 are connected by a third communication line 80, and the drive controllers 302 are connected to each other by a drive controller communication line 90. Therefore, the number of drive controllers 302 can be easily changed. Thus, even when the number of moving bodies 20 moving in the conveying path of the conveying system 1W is changed, the control system structure of the conveying system 1W can be easily changed by changing the number of drive controllers 302. For example, when the number of moving bodies 20 moving in the conveying path of the conveying system 1W increases, the conveying system 1W can easily change the control system structure by increasing the number of drive controllers 302 of the control controller 30W. In addition, when the number of moving bodies 20 moving in the conveying path of the conveying system 1W decreases, the conveying system 1W can easily change the control system structure by decreasing the number of drive controllers 302 of the control controller 30W. That is, the conveying system 1W according to the second embodiment can provide a conveying system in which system expansion and change can be easily performed.

[0160] Embodiment 3.

[0161] The conveying system according to the third embodiment of the present invention will be described. In addition, the same reference numerals are used for the same structures as those in the first and second embodiments, and the detailed description thereof is omitted. Hereinafter, the structures different from those in the first and second embodiments will be specifically described.

[0162] Figure 11 is a schematic diagram showing an example of the structure of the conveying system according to the third embodiment of the present invention. As Figure 11As shown, the conveying system 1X, like the first embodiment, has a plurality of conveying path units 10A to 10H that constitute the conveying paths of a plurality of moving bodies 20A to 20C, and a power supply unit 40 that supplies power to the conveying path units 10A to 10H. In addition, in the conveying system 1X according to the third embodiment, instead of the control controllers 30 and 30W, there is a control controller 30X that controls the operations of the plurality of moving bodies 20A to 20C. The control controller 30X is composed of a position command controller 301X, a drive controller 302, and a track controller 303. That is, the position command controller 301X, the drive controller 302, and the track controller 303 are each configured as a different housing, and these controllers operate to function as the control controller 30X that implements multi-master communication control.

[0163] As Figure 11 shown, the position command controller 301X has a first communication master station 31-1 and a position command generator 33. The position command generator 33 is connected to the first communication master station 31-1 via an internal bus within the position command controller 301X. The position command generator 33 has the same function as in the first embodiment and generates a position command value for the moving body 20. In addition, the position command value of the moving body 20 is an example of generated data.

[0164] The drive controller 302, like the second embodiment, has a communication slave station 32 and a position controller 35. The position controller 35 is connected to the communication slave station 32 via an internal bus within the drive controller 302. The drive controller 302 has the same function as in the second embodiment.

[0165] In the third embodiment, as Figure 11 shown, the drive controller 302 has three drive controllers 302A, 302B, and 302C. Moreover, the drive controller 302A has a communication slave station 32A and a position controller 35A, the drive controller 302B has a communication slave station 32B and a position controller 35B, and the drive controller 302C has a communication slave station 32C and a position controller 35C. When there is no need to distinguish between these drive controllers 302A, 302B, 302C, communication slave stations 32A, 32B, 32C, and position controllers 35A, 35B, 35C for explanation, they are sometimes simply referred to as the drive controller 302, the communication slave station 32, and the position controller 35. The position controller 35 of the drive controller 302 is configured to be assigned to the moving body 20 of the conveying system 1X and generates a drive command value for the assigned moving body 20. In addition, the drive command value of the moving body 20 is an example of generated data.

[0166] In the same manner as in the second embodiment, the third embodiment illustrates a mode in which the conveying system 1X has three moving bodies 20A, 20B, and 20C, and one position controller 35 is assigned to one moving body 20. In addition, the number of moving bodies 20 assigned to the position controller 35 of the drive controller 302 can be arbitrarily determined in the same manner as in the second embodiment. Further, the number of communication slave stations 32 and position controllers 35 included in one drive controller 302 can be arbitrarily configured in the same manner as in the second embodiment.

[0167] The track controller 303 includes a second communication master station 31-2, a position generator 34, and a current command generator 36. The position generator 34 and the current command generator 36 are connected to the second communication master station 31-2 via an internal bus within the track controller 303. The position generator 34 and the current command generator 36 have the same functions as those in the first embodiment. The position generator 34 generates position information of the moving body 20, and the current command generator 36 generates a current command value for the conveying path unit 10. In addition, the position information of the moving body 20 is an example of generated data, and the current command value of the conveying path unit 10 is an example of control data.

[0168] As described above, in the control controller 30X according to the third embodiment, the communication master station 31 described in the first embodiment is divided into a first communication master station 31-1 and a second communication master station 31-2, and the same operations as those of the communication master station 31 are performed by the first communication master station 31-1 and the second communication master station 31-2.

[0169] Here, the connection of the first communication master station 31-1 of the position command controller 301X, the communication slave station 32 of the drive controller 302, the second communication master station 31-2 of the track controller 303, and the conveying path communication slave station 11 of the conveying path unit 10 in the control controller 30X according to the third embodiment will be described. In the conveying system 1X of the third embodiment, the position command controller 301X and the drive controller 302 that constitute the control controller 30X are connected via a third communication line 80. In addition, the drive controllers 302 are connected to each other via a drive controller communication line 90. Further, the drive controller 302 and the track controller 303 are connected via a fourth communication line 100. The control controller 30X and the conveying path unit 10 are connected via a first communication line 50.

[0170] Specifically, as Figure 11As shown, the first communication master station 31-1 of the position command controller 301X is connected to the communication slave station 32A of the drive controller 302A via the third communication line 80. The communication slave station 32A of the drive controller 302A is connected to the communication slave station 32B of the drive controller 302B via the drive controller communication line 90. Further, the communication slave station 32B of the drive controller 302B is connected to the communication slave station 32C of the drive controller 302C via the drive controller communication line 90. And the communication slave station 32C of the drive controller 302C is connected to the second communication master station 31-2 of the track controller 303 via the fourth communication line 100. Thus, the position command controller 301X, the drive controller 302, and the track controller 303 can communicate with each other, forming the control controller 30X. Also, the first communication master station 31-1 of the position command controller 301X, the communication slave stations 32A, 32B, 32C of the drive controllers 302A, 302B, 302C, and the second communication master station 31-2 of the track controller 303 are connected by daisy-chain connection, and generated data including various command values and information for generating control data can be transmitted and received between the first communication master station 31-1, the communication slave stations 32, and the second communication master station 31-2. By adopting the daisy-chain connection as described above, the serial communication can be used for the transmission and reception of the generated data between the first and second communication master stations 31-1, 31-2 and the communication slave stations 32, and the increase in communication lines can be suppressed. In addition, the second communication master station 31-2 of the track controller 303 is connected to the conveyance path communication slave station 11A of the conveyance path unit 10A via the first communication line 50. Thus, the control controller 30X and the conveyance path unit 10 form a communication network capable of communicating with each other.

[0171] Further, as Figure 11As shown, in the structure where the first communication master station 31-1 and the communication slave stations 32 are connected in a daisy chain, when the first communication master station 31-1 transmits and receives generated data with the communication slave station 32A, it transmits and receives via the third communication line 80 that connects the first communication master station 31-1 and the communication slave station 32A. When the first communication master station 31-1 transmits and receives generated data with the communication slave station 32B, it transmits and receives via the third communication line 80 that connects the first communication master station 31-1 and the communication slave station 32A, the communication slave station 32A, and the drive controller communication line 90 that connects the communication slave station 32A and the communication slave station 32B. In other words, the communication slave station 32B transmits and receives with the first communication master station 31-1 via the communication slave station 32A. When the first communication master station 31-1 transmits and receives generated data with the communication slave station 32C, it transmits and receives via the third communication line 80 that connects the first communication master station 31-1 and the communication slave station 32A, the communication slave station 32A, the drive controller communication line 90 that connects the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, and the drive controller communication line 90 that connects the communication slave station 32B and the communication slave station 32C. In other words, the communication slave station 32C transmits and receives with the first communication master station 31-1 via the communication slave station 32A and the communication slave station 32B. In the structure as described above, it can be said that the first communication master station 31-1 transmits and receives generated data with the communication slave stations 32A, 32B, and 32C. In addition, the first communication master station 31-1 is configured to have two channels, a transmission channel and a reception channel.

[0172] And, as Figure 11As shown, in the structure where the second communication master station 31-2 and the communication slave stations 32 are connected in a daisy chain, when the second communication master station 31-2 transmits and receives generated data with the communication slave station 32C, it transmits and receives via the fourth communication line 100 that connects the second communication master station 31-2 and the communication slave station 32C. When the second communication master station 31-2 transmits and receives generated data with the communication slave station 32B, it transmits and receives via the fourth communication line 100 that connects the second communication master station 31-2 and the communication slave station 32C, the communication slave station 32C, and the drive controller communication line 90 that connects the communication slave station 32C and the communication slave station 32B. In other words, the communication slave station 32B transmits and receives with the second communication master station 31-2 via the communication slave station 32C. When the second communication master station 31-2 transmits and receives generated data with the communication slave station 32A, it transmits and receives via the fourth communication line 100 that connects the second communication master station 31-2 and the communication slave station 32C, the communication slave station 32C, the drive controller communication line 90 that connects the communication slave station 32C and the communication slave station 32B, the communication slave station 32B, and the drive controller communication line 90 that connects the communication slave station 32B and the communication slave station 32A. In other words, the communication slave station 32A transmits and receives with the second communication master station 31-2 via the communication slave station 32C and the communication slave station 32B. In the structure as described above, it can be said that the second communication master station 31-2 transmits and receives generated data with the communication slave stations 32A, 32B, and 32C. In addition, the second communication master station 31-2 is configured to have two channels, a transmission channel and a reception channel.

[0173] In addition, as Figure 11 shown, the second communication master station 31-2 is connected to the communication slave station 32C and is also connected to the first communication line 50 connected to the transport path unit 10. Specifically, the second communication master station 31-2 included in the track controller 303 and the transport path communication slave station 11 included in the transport path unit 10 are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30X and the transport path unit 10. That is, the communication slave stations 32 and the transport path communication slave station 11 are connected by daisy chain connection, and control data can be transmitted and received between the second communication master station 31-2 and the transport path communication slave station 11. In the structure as described above, it can be said that the control controller 30X transmits and receives control data with the transport path communication slave station 11 of the transport path unit 10. Moreover, by adopting daisy chain connection, the transmission and reception of control data between the second communication master station 31-2 and the transport path communication slave station 11 can use serial communication, and the increase in communication lines can be suppressed.

[0174] The first communication master station 31-1 of the position command controller 301X and the second communication master station 31-2 of the track controller 303 according to the present Embodiment 3 are configured to transmit generated data to the communication slave station 32. As an example, the first communication master station 31-1 and the second communication master station 31-2 are configured to specify a desired communication slave station 32 from among a plurality of communication slave stations 32A to 32C as a communication target, and transmit the generated data to the specified communication slave station 32. Further, the plurality of communication slave stations 32A to 32C are configured to specify the desired first communication master station 31-1 and the second communication master station 31-2 as communication targets for the first communication master station 31-1 of the position command controller 301X and the second communication master station 31-2 of the track controller 303, and transmit and receive the generated data to and from the specified first communication master station 31-1 and the second communication master station 31-2. Further, the second communication master station 31-2 of the track controller 303 is configured to transmit control data to the conveyance path communication slave station 11. As an example, the second communication master station 31-2 is configured to specify a desired conveyance path communication slave station 11 from among a plurality of conveyance path communication slave stations 11A to 11H as a communication target, and transmit the control data to the specified desired conveyance path communication slave station 11. Further, the second communication master station 31-2 of the track controller 303 is configured to receive control data from the plurality of conveyance path communication slave stations 11. On this basis, the communication control in the first communication master station 31-1 of the position command controller 301X and the second communication master station 31-2 of the track controller 303 is the same as that in the above-described Embodiments 1 and 2, and communication control using a transmission channel, a reception channel, and a communication frame is performed. That is, in the control controller 30X, the communication master stations are divided into the first communication master station 31-1 of the position command controller 301X and the second communication master station 31-2 of the track controller 303, but the same functions as the communication master station 31 described in the above Embodiments 1 and 2 are also achieved by the first communication master station 31-1 and the second communication master station 31-2.

[0175] Figure 12This is a diagram showing an example of the hardware configuration of the control controller according to Embodiment 3. The hardware of the control controller 30X is divided into a position command controller 301X, a drive controller 302, and a trajectory controller 303. The position command controller 301X includes a fifth communication interface (fifth communication I / F) 3001-1 that functions as a first communication master station 31-1, a fifth processor 3005-1 that functions as a position command generator 33, and a memory 3009-1 that reads and writes various data used in the operations of the fifth processor 3005-1. The drive controller 302A includes a second communication interface (second communication I / F) 3002 that functions as a communication slave station 32A, a second processor 3006 that functions as a position controller 35A, and a memory 3009A that reads and writes various data used in the operations of the second processor 3006. The drive controller 302B includes a third communication interface (third communication I / F) 3003 that functions as a communication slave station 32B, a third processor 3007 that functions as a position controller 35B, and a memory 3009B that reads and writes various data used in the operations of the third processor 3007. The drive controller 302C includes a fourth communication interface (fourth communication I / F) 3004 that functions as a communication slave station 32C, a fourth processor 3008 that functions as a position controller 35C, and a memory 3009C that reads and writes various data used in the operations of the fourth processor 3008. The trajectory controller 303 includes a sixth communication interface (sixth communication I / F) 3001-2 that functions as a second communication master station 31-2, a sixth processor 3005-2 that functions as a position generator 34 and a current command generator 36, and a memory 3009-2 that reads and writes various data used in the operations of the sixth processor 3005-2.

[0176] The second processor 3006 to the fourth processor 3008 are the same as those in the above-described Embodiment 1, and thus the description thereof is omitted. 3009A to 3009C are the same as those in the above-described Embodiment 2, and thus the description thereof is omitted. The fifth processor 3005-1 is a processor that can calculate a position command value as the position command generator 33, and for example, a microprocessor, a single-chip microcomputer, a microcomputer, a CPU, a DSP, or the like can be adopted. The sixth processor 3005-2 is a processor that can calculate the position information and the current command value of the conveyance path unit 10, and for example, a microprocessor, a single-chip microcomputer, a microcomputer, a CPU, a DSP, or the like can be adopted. The memory 3009-1 includes a non-volatile memory that stores various operation programs executed by the fifth processor 3005-1 and a volatile memory that becomes a working memory during various operations in the fifth processor 3005-1. The memory 3009-2 includes a non-volatile memory that stores various operation programs executed by the sixth processor 3005-2 and a volatile memory that becomes a working memory during various operations in the sixth processor 3005-2.

[0177] In addition, in Figure 12 as an example of the hardware structure of the orbit controller 303, the processor that functions as the position generator 34 and the current command generator 36 is illustrated as the sixth processor 3005-2, but it may be a structure having multiple processors as in the case of the processor that functions as the position generator 34 and the processor that functions as the current command generator 36.

[0178] Figure 13 is a flowchart showing an example of the operation of the control controller according to Embodiment 3 of the present invention. The operation of the control controller 30X is described using Figure 13

[0179] In Figure 13 in the shown step S1301, the position command generator 33 of the position command controller 301X configured by the control controller 30X generates the position command values of the three moving bodies 20A, 20B, and 20C included in the conveyance system 1X. Further, the position command generator 33 outputs the generated position command values of the moving bodies 20A, 20B, and 20C to the first communication master station 31-1 of the position command controller 301X.

[0180] In step S1302, the position generator 34 of the rail controller 303 constituted by the control controller 30X generates the position information of each of the moving bodies 20A, 20B, and 20C indicating the positions on the conveying paths of the moving bodies 20A, 20B, and 20C based on the scale detection information included in the control data received from the conveying path units 10A to 10H using the communication frames R2A to R2H. Further, the position generator 34 outputs the generated position information of each of the moving bodies 20A, 20B, and 20C to the second communication master station 31-2 of the rail controller 303.

[0181] In step S1303, the first communication master station 31-1 performs the first communication of transmitting the obtained position command values of each of the moving bodies 20A, 20B, and 20C to the communication slave station 32. The second communication master station 31-2 performs the first communication of transmitting the obtained position information of each of the moving bodies 20A, 20B, and 20C to the communication slave station 32. Specifically, the first communication master station 31-1 transmits the position command value of the moving body 20A to the communication slave station 32A using the communication frame T1A, transmits the position command value of the moving body 20B to the communication slave station 32B using the communication frame T1B, and transmits the position command value of the moving body 20C to the communication slave station 32C using the communication frame T1C. On the other hand, the second communication master station 31-2 transmits the position information of the moving body 20A to the communication slave station 32A using the communication frame T1A, transmits the position information of the moving body 20B to the communication slave station 32B using the communication frame T1A, and transmits the position information of the moving body 20C to the communication slave station 32C using the communication frame T1A.

[0182] In step S1304, the position controllers 35A, 35B, and 35C of the drive controllers 302A, 302B, and 302C generate the drive command values of each of the moving bodies 20A, 20B, and 20C based on the position command values and position information of each of the moving bodies 20A, 20B, and 20C received by the communication slave stations 32A, 32B, and 32C. Further, the position controllers 35A, 35B, and 35C output the generated drive command values of each of the moving bodies 20A, 20B, and 20C to the communication slave stations 32A, 32B, and 32C. Specifically, the position controller 35A obtains the position command value and position information of the moving body 20A from the communication slave station 32A connected via the internal bus, generates the drive command value of the moving body 20A based on the position command value and position information of the moving body 20A, and outputs the generated drive command value of the moving body 20A to the communication slave station 32A. Similarly, the position controllers 35B and 35C generate the drive command values of the moving bodies 20B and 20C, respectively, and output them to the communication slave stations 32B and 32C connected via the internal bus, respectively.

[0183] In step S1305, communication slaves 32A, 32B, and 32C of drive controllers 302A, 302B, and 302C perform second communication for sending the obtained drive command values of mobile bodies 20A, 20B, and 20C respectively to second communication master station 31-2. Specifically, communication slave 32A uses communication frame R1A composed of a header, a tail, and a payload part to send the drive command value of mobile body 20A to second communication master station 31-2. In addition, communication slaves 32B and 32C use communication frames R1B and R1C to send the drive command value of mobile body 20B and the drive command value of mobile body 20C to second communication master station 31-2.

[0184] In step S1306, current command generator 36 of track controller 303 generates current command values for conveying path units 10A to 10H based on the position information of mobile bodies 20A, 20B, and 20C generated by position generator 34 and the drive command values of mobile bodies 20A, 20B, and 20C received by second communication master station 31-2. In addition, the position information of mobile bodies 20A, 20B, and 20C can be obtained by reading from the memory possessed by track controller 303. Current command generator 36 obtains the drive command value of mobile body 20A, the drive command value of mobile body 20B, and the drive command value of mobile body 20C from second communication master station 31-2 connected via an internal bus. Moreover, current command generator 36 obtains the position information of mobile body 20A, the position information of mobile body 20B, and the position information of mobile body 20C from the memory of track controller 303. Current command generator 36 generates current command values for conveying path units 10A to 10H based on the drive commands and position information of mobile bodies 20A, 20B, and 20C respectively, and outputs them to communication master station 31. The generation of the current command values by current command generator 36 is implemented in the same way as in Embodiment 1, so detailed description is omitted.

[0185] In step S1307, second communication master station 31-2 of track controller 303 performs third communication for sending the obtained current command values of conveying path units 10A to 10H respectively to conveying path communication slave 11. Specifically, second communication master station 31-2 uses communication frame T2A composed of a header, a tail, and a payload part to send the current command value of conveying path unit 10A to conveying path communication slave 11A. Similarly, second communication master station 31-2 uses communication frames T2B to T2H to send the current command values of conveying path units 10B to 10H respectively to conveying path communication slaves 11B to 11H.

[0186] The conveying path unit 10 according to the present Embodiment 3 is used in the above Embodiment 1 Figure 8The operations of steps S801 to S804 for explanation are performed in the same manner, and the control of the moving body 20 in the conveying system 1X is implemented. Since the operation of step S805 of the conveying path unit 10 according to the third embodiment is different, the following explanation will be given.

[0187] Figure 14 FIG. is a flowchart showing an example of the operation of the conveying path unit according to the third embodiment. After the conveying path unit 10 according to the third embodiment operates in the same manner as steps S801 to S804, it implements Figure 14 step S1405 shown. In step S1405, the conveyance path communication slave station 11 of each conveyance path unit 10 performs the sixth communication of transmitting the acquired scale detection information to the second communication master station 31-2. Specifically, the conveyance path communication slave station 11A uses a communication frame R2A composed of a header, a tail, and a payload part to transmit the scale detection information calculated by the position calculator 14A of the conveyance path unit 10A to the second communication master station 31-2 included in the control controller 30X. Similarly, the conveyance path communication slave stations 11B to 11H of the conveyance path units 10B to 10H sequentially transmit the scale detection information calculated by the position calculators 14B to 14H of the conveyance path units 10B to 10H to the second communication master station 31-2 included in the control controller 30X using the communication frames R2B to R2H.

[0188] As described above, the control controller 30X according to the third embodiment is configured to function in the same manner as the above communication master station 31 through the first communication master station 31-1 and the second communication master station 31-2, and thus function in the same manner as the control controllers 30 and 30W. Therefore, similar to the above-described first and second embodiments, even when the moving body 20 moving in the conveying system 1X is located at the boundary between the conveying path units 10, it is possible to control the movement of the highly accurate moving body 20 and suppress the cost increase of electrical circuits such as the inverter circuit 122 included in one driving element. In addition, the conveying system 1X according to the third embodiment does not need to have a position controller 35 in each of the conveying path units 10, and the maximum number of driving controllers 302 having a position controller 35 can be set to be less than or equal to the number of moving bodies 20. Therefore, it is possible to suppress the enlargement and high cost of the control system of the control controller 30X and the conveying path unit 10. In addition, in the conveying system 1X, a predetermined position controller 35 is always assigned to the moving body 20. Therefore, during the operation of the conveying system 1X, there is no need to perform a process such as allocating the control of the moving body 20. Therefore, in the conveying system 1X according to the third embodiment, the control system does not become large and costly, and it is possible to suppress the control stop of the moving body 20 of the conveying system 1X.

[0189] Moreover, the conveying system 1X according to the third embodiment includes a control controller 30X composed of a position command controller 301X, a drive controller 302, and a track controller 303. The position command controller 301X is configured to generate a position command value for the moving body 20 that moves along the conveying path of the conveying system 1X. The drive controller 302 is configured to generate a drive command value assigned to the moving body 20. The track controller 303 is configured to generate position information of the moving body 20 that moves along the conveying path of the conveying system 1X and a current command value for all the conveying path units 10 that constitute the conveying path of the conveying system 1X. As described above, the control controller 30X is separately composed of three controllers, namely, the position command controller 301X, the drive controller 302, and the track controller 303, thereby reducing the control load of one controller and suppressing the control delay of the control controller 30X.

[0190] On this basis, the control controller 30X connects the position command controller 301X and the drive controller 302 through the third communication line 80, and connects the track controller 303 and the drive controller 302 through the fourth communication line 100. As described above, by separating the communication lines for transmitting and receiving generated data, the control controller 30X can expand the communication bandwidth, and can shorten the communication cycle between the position command controller 301X and the drive controller 302, and the communication cycle between the track controller 303 and the drive controller 302. Therefore, the control controller 30X can suppress the control delay and improve the control performance of the moving body 20.

[0191] In addition, the control controller 30X connects the drive controller 302 and the position command controller 301X through the third communication line 80, and connects the drive controllers 302 to each other through the drive controller communication line 90. Therefore, similar to the second embodiment, the number of drive controllers 302 can be easily changed. Therefore, even when the number of moving bodies 20 moving in the conveying path of the conveying system 1X changes, by changing the number of drive controllers 302, the control system structure of the conveying system 1X can also be easily changed. That is, the conveying system 1X according to the third embodiment can provide a conveying system that can be easily expanded and changed.

[0192] Embodiment 4.

[0193] The conveying system according to the fourth embodiment of the present invention will be described. In addition, the same reference numerals are used to denote the same structures as those in the first to third embodiments, and the specific descriptions are omitted. Hereinafter, the structures different from those in the first to third embodiments will be specifically described.

[0194] Figure 15 This is a schematic diagram showing an example of the structure of the transport system according to Embodiment 4 of the present invention. As Figure 15 shown, the transport system 1Y, similar to Embodiment 1, has a plurality of transport path units 10A to 10H that constitute the transport paths of a plurality of mobile bodies 20A to 20C, and a power supply unit 40 that supplies power to the transport path units 10A to 10H. Further, in the transport system 1Y according to the present Embodiment 4, instead of the control controllers 30, 30W, and 30X, there is a control controller 30Y that controls the operations of the plurality of mobile bodies 20A to 20C. The control controller 30Y is composed of a position command controller 301X, a drive controller 302Y, and a track controller 303Y. That is, the position command controller 301X, the drive controller 302Y, and the track controller 303Y are each configured as a different housing, and these controllers operate to function as the control controller 30Y.

[0195] As Figure 15 shown, the position command controller 301X, similar to the above-described Embodiment 3, has a first communication master station 31-1 and a position command generator 33. The position command generator 33 is connected to the first communication master station 31-1 via an internal bus within the position command controller 301X. The position command generator 33 has the same function as that in the above-described Embodiment 1 and generates a position command value for the mobile body 20. Further, the position command value of the mobile body 20 is an example of generated data.

[0196] The drive controller 302Y has a first communication slave station 32-1, a second communication slave station 32-2, and a position controller 35. The position controller 35 is connected to the first communication slave station 32-1 and the second communication slave station 32-2 via an internal bus within the drive controller 302Y. The position controller 35 has the same function as that in the above-described Embodiment 1. The drive controller 302Y according to the present Embodiment 4 is configured by dividing the communication slave station 32 described in Embodiment 3 into two, namely, a first communication slave station 32-1 and a second communication slave station 32-2, and the first communication slave station 32-1 and the second communication slave station 32-2 perform the same operations as the communication slave station 32.

[0197] In the present Embodiment 4, the drive controller 302Y is as Figure 15As shown, there are three drive controllers 302YA, 302YB, and 302YC. Moreover, the drive controller 302YA has a first communication slave station 32-1A, a second communication slave station 32-2A, and a position controller 35A. The drive controller 302YB has a first communication slave station 32-1B, a second communication slave station 32-2B, and a position controller 35B. The drive controller 302YC has a first communication slave station 32-1C, a second communication slave station 32-2C, and a position controller 35C. These drive controllers 302YA, 302YB, 302YC, the first communication slave stations 32-1A, 32-1B, 32-1C, the second communication slave stations 32-2A, 32-2B, 32-2C, and the position controllers 35A, 35B, 35C may sometimes be simply referred to as the drive controller 302Y, the first communication slave station 32-1, the second communication slave station 32-2, and the position controller 35 without the need for separate explanation. The position controller 35 of the drive controller 302Y is configured to be assigned to the moving body 20 of the conveying system 1Y and generate a drive command value for the assigned moving body 20. In addition, the drive command value of the moving body 20 is an example of generated data.

[0198] In the same way as in the above-described Embodiments 1 to 3, the present Embodiment 4 illustrates a mode in which there are three moving bodies 20A, 20B, and 20C in the conveying system 1Y, and one position controller 35 is assigned to one moving body 20. In addition, the number of moving bodies 20 assigned to the position controller 35 of the drive controller 302Y can be arbitrarily determined in the same way as in the above-described Embodiments 1 to 3.

[0199] The track controller 303Y has a third communication master station 31-3, a fourth communication master station 31-4, a position generator 34, and a current command generator 36. The position generator 34 and the current command generator 36 are connected to the third communication master station 31-3 and the fourth communication master station 31-4 via an internal bus in the track controller 303Y. The position generator 34 and the current command generator 36 have the same functions as those in the above-described Embodiment 1. The position generator 34 generates position information of the moving body 20, and the current command generator 36 generates a current command value for the conveying path unit 10. In addition, the position information of the moving body 20 is an example of generated data, and the current command value of the conveying path unit 10 is an example of control data.

[0200] The track controller 303Y according to the fourth embodiment is formed by dividing the second communication master station 31-2 described in the third embodiment into two, namely, the third communication master station 31-3 and the fourth communication master station 31-4, and the third communication master station 31-3 and the fourth communication master station 31-4 perform the same operations as the second communication master station 31-2. Moreover, the control controller 30Y according to the fourth embodiment is formed by dividing the communication master station 31 described in the first embodiment into three, namely, the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4, and the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 perform the same operations as the communication master station 31.

[0201] Here, the connection between the first communication master station 31-1 of the position command controller 301X and the first communication slave station 32-1 of the drive controller 302Y in the control controller 30Y according to the fourth embodiment, the connection between the third communication master station 31-3 of the track controller 303Y and the second communication slave station 32-2 of the drive controller 302Y, and the connection between the fourth communication master station 31-4 of the track controller 303Y and the conveyance path communication slave station 11 of the conveyance path unit 10 will be described. In the conveyance system 1Y of the fourth embodiment, the position command controller 301X and the drive controller 302Y that constitute the control controller 30Y are connected via the third communication line 80. In addition, the drive controllers 302Y are connected to each other via the first drive controller communication line 91 and the second drive controller communication line 92. Moreover, the drive controller 302Y and the track controller 303Y are connected via the fourth communication line 100. The control controller 30Y and the conveyance path unit 10 are connected via the first communication line 50.

[0202] Specifically, as Figure 15As shown, the first communication master station 31-1 of the position command controller 301X is connected to the first communication slave station 32-1A of the drive controller 302YA via the third communication line 80. The first communication slave station 32-1A of the drive controller 302YA is connected to the first communication slave station 32-1B of the drive controller 302YB via the first drive controller communication line 91. Further, the first communication slave station 32-1B of the drive controller 302YB is connected to the first communication slave station 32-1C of the drive controller 302YC via the first drive controller communication line 91. On this basis, the third communication master station 31-3 of the track controller 303Y is connected to the second communication slave station 32-2A of the drive controller 302YC via the fourth communication line 100. The second communication slave station 32-2A of the drive controller 302YC is connected to the second communication slave station 32-2B of the drive controller 302YB via the second drive controller communication line 92. Further, the second communication slave station 32-2B of the drive controller 302YB is connected to the second communication slave station 32-2C of the drive controller 302YA via the second drive controller communication line 92. Thus, the position command controller 301X, the drive controller 302Y, and the track controller 303Y can communicate with each other, forming the control controller 30Y.

[0203] Moreover, the first communication master station 31-1 of the position command controller 301X and the first communication slave stations 32-1A, 32-1B, 32-1C of the drive controllers 302YA, 302YB, 302YC are connected by daisy chain connection, and generated data including various command values and information for generating control data can be transmitted and received between the first communication master station 31-1 and the first communication slave stations 32-1A, 32-1B, 32-1C. In addition, the third communication master station 31-3 of the track controller 303Y and the second communication slave stations 32-2A, 32-2B, 32-2C of the drive controllers 302YA, 302YB, 302YC are connected by daisy chain connection, and generated data including various command values and information for generating control data can be transmitted and received between the third communication master station 31-3 and the second communication slave stations 32-2A, 32-2B, 32-2C. By adopting the daisy chain connection as described above, the transmission and reception of generated data between the first and third communication master stations 31-1, 31-3 and the first and second communication slave stations 32-1, 32-2 can use serial communication, and the increase in communication lines can be suppressed. In addition, the fourth communication master station 31-4 of the track controller 303Y is connected to the transport path communication slave station 11A of the transport path unit 10A via the first communication line 50. Thus, the control controller 30Y and the transport path unit 10 form a communication network capable of communicating with each other.

[0204] As Figure 15As shown, in the structure where the first communication master station 31-1 and the first communication slave station 32-1 are connected in a daisy chain, the first communication master station 31-1 performs transmission and reception with the first communication slave station 32-1 through the following communication paths. When the first communication master station 31-1 performs transmission and reception of generated data with the first communication slave station 32-1A, it performs transmission and reception via the third communication line 80 that connects the first communication master station 31-1 and the first communication slave station 32-1A. When the first communication master station 31-1 performs transmission and reception of generated data with the first communication slave station 32-1B, it performs transmission and reception via the third communication line 80 that connects the first communication master station 31-1 and the first communication slave station 32-1A, the first communication slave station 32-1A, and the first drive controller communication line 91 that connects the first communication slave station 32-1A and the first communication slave station 32-1B. In other words, the first communication slave station 32-1B performs transmission and reception with the first communication master station 31-1 via the first communication slave station 32-1A. When the first communication master station 31-1 performs transmission and reception of generated data with the first communication slave station 32-1C, it performs transmission and reception via the third communication line 80 that connects the first communication master station 31-1 and the first communication slave station 32-1A, the first communication slave station 32-1A, the first drive controller communication line 91 that connects the first communication slave station 32-1A and the first communication slave station 32-1B, the first communication slave station 32-1B, and the first drive controller communication line 91 that connects the first communication slave station 32-1B and the first communication slave station 32-1C. In other words, the first communication slave station 32-1C performs transmission and reception with the first communication master station 31-1 via the first communication slave station 32-1A and the first communication slave station 32-1B. In the structure as described above, it can be said that the first communication master station 31-1 performs transmission and reception of generated data with the first communication slave stations 32-1A, 32-1B, and 32-1C. In addition, the first communication master station 31-1 is configured to have two channels, a transmission channel and a reception channel.

[0205] And, as Figure 15As shown, in the structure where the third communication master station 31-3 and the second communication slave station 32-2 are connected in a daisy chain, the third communication master station 31-3 communicates with the second communication slave station 32-2 through the following communication paths. When the third communication master station 31-3 exchanges generated data with the second communication slave station 32-2C, the communication is carried out via the fourth communication line 100 that connects the third communication master station 31-3 and the second communication slave station 32-2C. When the third communication master station 31-3 exchanges generated data with the second communication slave station 32-2B, the communication is carried out via the fourth communication line 100 that connects the third communication master station 31-3 and the second communication slave station 32-2C, the second communication slave station 32-2C, and the second drive controller communication line 92 that connects the second communication slave station 32-2C and the second communication slave station 32-2B. In other words, the second communication slave station 32-2B communicates with the third communication master station 31-3 via the second communication slave station 32-2C. When the third communication master station 31-3 exchanges generated data with the second communication slave station 32-2A, the communication is carried out via the fourth communication line 100 that connects the third communication master station 31-3 and the second communication slave station 32-2C, the second communication slave station 32-2C, the second drive controller communication line 92 that connects the second communication slave station 32-2C and the second communication slave station 32-2B, the second communication slave station 32-2B, and the second drive controller communication line 92 that connects the second communication slave station 32-2B and the second communication slave station 32-2A. In other words, the second communication slave station 32-2A communicates with the third communication master station 31-3 via the second communication slave station 32-2C and the second communication slave station 32-2B. In the structure described above, it can be said that the third communication master station 31-3 exchanges generated data with the second communication slave stations 32-2A, 32-2B, and 32-2C. In addition, the third communication master station 31-3 is configured to have two channels, a transmission channel and a reception channel.

[0206] In addition, as Figure 15As shown, the fourth communication master station 31-4 is connected to the first communication line 50 connected to the conveying path unit 10. Specifically, the fourth communication master station 31-4 included in the track controller 303Y and the conveying path communication slave station 11 included in the conveying path unit 10 are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30Y and the conveying path unit 10. That is, the fourth communication master station 31-4 and the conveying path communication slave station 11 are connected by daisy chain connection, and control data can be transmitted and received between the fourth communication master station 31-4 and the conveying path communication slave station 11. In the structure as described above, it can be said that the control controller 30Y transmits and receives control data with the conveying path communication slave station 11 of the conveying path unit 10. Moreover, by adopting daisy chain connection, the transmission and reception of control data between the fourth communication master station 31-4 and the conveying path communication slave station 11 can adopt serial communication, and the increase of communication lines can be suppressed.

[0207] The first communication master station 31-1 of the position command controller 301X according to the fourth embodiment is configured to transmit generated data to the first communication slave station 32-1. As an example, the first communication master station 31-1 is configured to specify a desired first communication slave station 32-1 among a plurality of first communication slave stations 32-1A to 32-1C as a communication target, and transmit the generated data to the specified first communication slave station 32-1. In addition, the third communication master station 31-3 of the track controller 303Y is configured to transmit generated data to the second communication slave station 32-2. As an example, the third communication master station 31-3 is configured to specify a desired second communication slave station 32-2 among a plurality of second communication slave stations 32-2A to 32-2C as a communication target, and transmit the generated data to the specified second communication slave station 32-2. And a plurality of second communication slave stations 32-2A to 32-2C are configured to transmit generated data to the third communication master station 31-3 of the track controller 303Y. Moreover, the fourth communication master station 31-4 of the track controller 303Y is configured to transmit control data to the conveying path communication slave station 11. As an example, the fourth communication master station 31-4 is configured to transmit control data to a desired conveying path communication slave station 11 among a plurality of conveying path communication slave stations 11A to 11H. The fourth communication master station 31-4 of the track controller 303Y is configured to receive control data from a plurality of conveying path communication slave stations 11.

[0208] That is, the communication master stations of the control controller 30Y are divided into the first communication master station 31-1 of the position command controller 301X, the third communication master station 31-3 and the fourth communication master station 31-4 of the track controller 303Y. However, the same functions as those of the communication master station 31 described in the above Embodiments 1 and 2 are achieved through the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4. Hereinafter, the communication master station composed of the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 is sometimes referred to as the communication master station 31Y. In addition, the communication slave stations of the control controller 30Y are divided into the first communication slave station 32-1 and the second communication slave station 32-2 of the drive controller 302Y. However, the same functions as those of the communication slave station 32 described in the above Embodiments 1 to 3 are achieved through the first communication slave station 32-1 and the second communication slave station 32-2. Hereinafter, the communication slave station composed of the first communication slave station 32-1 and the second communication slave station 32-2 is sometimes referred to as the communication slave station 32Y.

[0209] Figure 16 FIG. is an example of communication control in the communication master station according to the present Embodiment 4. Using Figure 16 , the communication control of the communication master station related to the transmission and reception between the communication master station 31Y and the communication slave station 32Y, and the transmission and reception between the communication master station 31Y and the transport path communication slave station 11 included in the transport path unit 10 will be specifically described.

[0210] The communication master station 31Y is configured to transmit generated data to the communication slave station 32Y. As an example, the communication master station 31Y is configured to specify a desired communication slave station 32Y as a communication target among a plurality of communication slave stations 32Y, and transmit the generated data to the specified communication slave station 32Y. The communication master station 31Y is configured to transmit control data to the transport path communication slave station 11. As an example, the communication master station 31Y is configured to specify a desired transport path communication slave station 11 as a communication target among a plurality of transport path communication slave stations 11A to 11H, and transmit the control data to the specified transport path communication slave station 11. In addition, the communication master station 31Y is configured to receive generated data from a plurality of communication slave stations 32Y. The communication master station 31Y is configured to receive control data from a plurality of transport path communication slave stations 11.

[0211] As shown in Figure 16As shown in (A), the first communication master station 31-1 that constitutes the communication master station 31Y uses the transmission channel SC-1 to send the generated data including the command values and information for generating control data to the first communication slave station 32-1. The third communication master station 31-3 that constitutes the communication master station 31Y uses the transmission channel SC-3 and the reception channel RC-3 to send and receive the generated data including various command values and information for generating control data with the second communication slave station 32-2. The fourth communication master station 31-4 that constitutes the communication master station 31Y uses the transmission channel SC-4 and the reception channel RC-4 to send and receive control data with the conveyance path communication slave station 11. The first communication master station 31-1 performs communication control in the following manner: at intervals of once every two communication cycles CTn (n is a natural number) of a predetermined constant communication cycle CTn, it uses a communication frame to send the generated data including the command values and information for generating control data to the first communication slave station 32-1. That is, the communication cycle of the communication performed by the first communication master station 31-1 is defined as the communication cycle 2CTn. In addition, the third communication master station 31-3 performs communication control in the following manner: at intervals of once every communication cycle CTn of a predetermined constant communication cycle CTn, it uses a communication frame to send and receive the generated data including the command values and information for generating control data with the second communication slave station 32-2. The fourth communication master station 31-4 performs communication control in the following manner: at intervals of once every communication cycle CTn of a predetermined constant communication cycle CTn, it uses a communication frame to send and receive control data with the conveyance path communication slave station 11.

[0212] Specifically, as Figure 16 shown in (A), within the communication cycle 2CT1, the first communication master station 31-1 uses the transmission channel SC-1 to specify the first communication slave station 32-1A as the communication target and performs the first communication of sending the communication frame TY1A to the first communication slave station 32-1A. In addition, the first communication master station 31-1 specifies the first communication slave station 32-1B as the communication target and performs the first communication of sending the communication frame TY1B to the first communication slave station 32-1B, and specifies the first communication slave station 32-1C as the communication target and performs the first communication of sending the communication frame TY1C to the first communication slave station 32-1C. In addition, similar to the above-described Embodiment 1, when the first communication master station 31-1 performs the first communication, if it is not necessary to specify each of the first communication slave stations 32-1A to 32-1C, the first communication master station 31-1 may not specify the first communication slave stations 32-1A to 32-1C. The first communication master station 31-1 sends a communication frame at intervals of once every communication cycle 2CTn. Therefore, if the communication cycle 2CT2 starts, the communication frames TY1A to TY1C are sent within the communication cycle 2CT2.

[0213] In addition, the 3rd communication master station 31-3 uses the transmission channel SC-3 within the communication cycle CT1, designates the 2nd communication slave station 32-2A as the communication target, and performs the 1st communication of transmitting the communication frame TY2A to the 2nd communication slave station 32-2A. The 3rd communication master station 31-3 designates the 2nd communication slave station 32-2B and performs the 1st communication of transmitting the communication frame TY2B to the 2nd communication slave station 32-2B, designates the 2nd communication slave station 32-2C and performs the 1st communication of transmitting the communication frame TY2C to the 2nd communication slave station 32-2C. In addition, similar to the above-described Embodiment 1, when the 3rd communication master station 31-3 performs the 1st communication, if it is not necessary to designate each of the 2nd communication slave stations 32-2A to 32-2C, the 3rd communication master station 31-3 may not designate the 2nd communication slave stations 32-2A to 32-2C. The 3rd communication master station 31-3 transmits communication frames at intervals of once per communication cycle CTn. Therefore, if the communication cycle CT2 starts, the communication frames TY2A to TY2C are transmitted within the communication cycle CT2.

[0214] In addition, the 3rd communication master station 31-3 uses the reception channel RC-3 within the communication cycle CT1, receives the communication frame RY2A from the 2nd communication slave station 32-2A, receives the communication frame RY2B from the 2nd communication slave station 32-2B, and receives the communication frame RY2C from the 2nd communication slave station 32-2C. In other words, the 2nd communication slave station 32-2A performs the 2nd communication of transmitting the communication frame R1A to the 3rd communication master station 31-3, the 2nd communication slave station 32-2B performs the 2nd communication of transmitting the communication frame R1B to the 3rd communication master station 31-3, and the 2nd communication slave station 32-2C performs the 2nd communication of transmitting the communication frame R1C to the 3rd communication master station 31-3. In addition, the 3rd communication master station 31-3 receives communication frames at intervals of once per communication cycle CTn. Therefore, if the communication cycle CT2 starts, the communication frames RY2A to RY2C are received within the communication cycle CT2.

[0215] The fourth communication master station 31-4 uses the transmission channel SC-4 within the communication cycle CT1, designates the conveyance path communication slave station 11A as the communication target, and performs the third communication of transmitting the communication frame TY3A toward the designated conveyance path communication slave station 11A. The fourth communication master station 31-4 designates the conveyance path communication slave station 11B and performs the third communication of transmitting the communication frame TY3B toward the conveyance path communication slave station 11B. Similarly, the fourth communication master station 31-4 designates the conveyance path communication slave stations 11C to 11H and performs the third communication of transmitting the communication frames TY3C to TY3H toward the conveyance path communication slave stations 11C to 11H. In addition, similar to the first embodiment described above, when the fourth communication master station 31-4 performs the third communication, if it is not necessary to designate each of the conveyance path communication slave stations 11A to 11H, the fourth communication master station 31-4 may not designate the conveyance path communication slave stations 11A to 11H. The fourth communication master station 31-4 transmits the communication frame at intervals of once per communication cycle CTn. Therefore, if the communication cycle CT2 starts, the communication frames TY3A to TY3H are transmitted within the communication cycle CT2.

[0216] In addition, the fourth communication master station 31-4 uses the reception channel RC-4 within the communication cycle CT1, receives the communication frame RY3A from the conveyance path communication slave station 11A, receives the communication frame RY3B from the conveyance path communication slave station 11B, and similarly receives the communication frames RY3C to RY3H from the conveyance path communication slave stations 11C to 11H. In other words, the conveyance path communication slave station 11A performs the sixth communication of transmitting the communication frame R2A toward the communication master station 31, the conveyance path communication slave station 11B performs the sixth communication of transmitting the communication frame R2B toward the communication master station 31, and similarly the conveyance path communication slave stations 11C to 11H perform the sixth communication of transmitting the communication frames R2C to R2H toward the communication master station 31. In addition, the fourth communication master station 31-4 receives the communication frame at intervals of once per communication cycle CTn. Therefore, if the communication cycle CT2 starts, the communication frames RY3A to RY3H are received within the communication cycle CT2.

[0217] The communication master station 31Y controls in such a manner that the communication cycle CTn is divided by time slots and each communication frame is transmitted and received in a time-division manner.

[0218] As Figure 16As shown in (B), the communication frame TY1A transmitted by the first communication master station 31-1 to the first communication slave station 32-1A is composed of a header, a tail, and a payload section. The communication frame TY1A is a communication frame for transmitting generated data to the first communication slave station 32-1A. The communication frame TY1A has the specified information (transmission target address, etc.) of the first communication slave station 32-1A attached as the header, and the first communication slave station 32-1A is specified by the information in the header. The payload section contains the position command value of the mobile body 20A. The tail is attached with frame check sequence data, etc. for confirming that the communication frame is accurately received at the receiving destination. The communication frames TY1B and TY1C are communication frames for transmitting generated data to the first communication slave stations 32-1B and 32-1C. The communication frames TY1B and TY1C have the specified information of the first communication slave stations 32-1B and 32-1C attached as the header, and the first communication slave stations 32-1B and 32-1C are specified by the information in the header. The payload section contains the position command values of the mobile bodies 20B and 20C. Moreover, the tail is attached with frame check sequence data, etc. Thus, the communication master station 31Y specifies the desired communication slave station 32Y as the communication target, and can transmit the generated data to the specified communication slave station 32Y.

[0219] As Figure 16 As shown in (C), the communication frame TY2A transmitted by the third communication master station 31-3 to the second communication slave station 32-2A is composed of a header, a tail, and a payload section. The communication frame TY2A is a communication frame for specifying the second communication slave station 32-2A and transmitting generated data to the second communication slave station 32-2A. The communication frame TY2A has the specified information (transmission target address, etc.) of the second communication slave station 32-2A attached as the header, and the second communication slave station 32-2A is specified by the information in the header. The communication frame TY2A contains the position information of the mobile body 20A as the payload section. The tail is attached with frame check sequence data, etc. for confirming that the communication frame is accurately received at the receiving destination. The communication frames TY2B and TY2C are communication frames for transmitting generated data to the second communication slave stations 32-2B and 32-2C. The communication frames TY2B and TY2C have the specified information of the second communication slave stations 32-2B and 32-2C attached as the header, and contain the position information of the mobile bodies 20B and 20C as the payload section. Moreover, the tail is attached with frame check sequence data, etc. Thus, the communication master station 31Y specifies the desired communication slave station 32Y, and can transmit the generated data to the specified communication slave station 32Y.

[0220] Next, as Figure 16As shown in (D), the communication frame TY3A transmitted by the fourth communication master station 31-4 to the transport path communication slave station 11A is composed of a header, a tail, and a payload section. The communication frame TY3A is a communication frame that designates the transport path communication slave station 11A and is used to transmit control data to the transport path communication slave station 11A. The communication frame TY3A has the designation information (transmission destination address, etc.) of the transport path communication slave station 11A attached as a header, and the transport path communication slave station 11A is designated by the information in the header. The payload section contains current command values for controlling energization or non-energization of all the coils 121A included in the transport path unit 10A having the transport path communication slave station 11A. The tail is attached with frame check sequence data, etc. for confirming that the communication frame is accurately received at the receiving destination. The communication frames TY3B to TY3H are communication frames for transmitting current command values to the transport path communication slave stations 11B to 11H, and these current command values are used to control energization or non-energization of all the coils 121B to all the coils 121H included in each of the transport path units 10B to 10H having the transport path communication slave stations 11B to 11H. The communication frames TY3B to TY3H have the designation information of the transport path communication slave stations 11B to 11H attached as a header, and each of the transport path units 10B to 10H is designated by the information in the header. The payload section contains current command values for controlling energization or non-energization of all the coils 121B to all the coils 121H included in each of the transport path units 10B to 10H having the transport path communication slave stations 11B to 11H. Moreover, the tail is attached with frame check sequence data, etc. Thus, the communication master station 31Y designates the desired transport path communication slave station 11 and can transmit control data to the designated transport path communication slave station 11.

[0221] As Figure 16As shown in (E), the communication frame RY2A received by the third communication master station 31-3 from the second communication slave station 32-2A is composed of a header, a tail, and a payload section. The communication frame RY2A is a communication frame for transmitting generated data from the second communication slave station 32-2A. The communication frame RY2A has the designated information (such as the destination address) of the third communication master station 31-3 attached as the header, and includes the drive instruction value of the moving body 20A as the payload section. The tail has frame check sequence data, etc. attached for confirming that the communication frame is accurately received at the receiving destination. The communication frames RY2B and RY2C are communication frames for transmitting generated data from the second communication slave stations 32-2B and 32-2C, have the designated information of the third communication master station 31-3 attached as the header, and include the drive instruction values of the moving bodies 20B and 20C as the payload section. Moreover, frame check sequence data, etc. are attached to the tail. Thus, each of the communication slave stations 32Y can transmit generated data toward the communication master station 31Y, and the communication master station 31Y can receive generated data from multiple communication slave stations 32Y.

[0222] Next, as Figure 16 shown in (F), the communication frame RY3A received by the fourth communication master station 31-4 from the transport path communication slave station 11A is composed of a header, a tail, and a payload section. The communication frame RY3A is a communication frame for transmitting control data from the transport path communication slave station 11A, has the designated information (such as the destination address) of the fourth communication master station 31-4 attached as the header, and includes scale detection information indicating the relative position of the moving body 20A with respect to all the position sensors 131A output by the position calculator 14A included in the transport path unit 10A having the transport path communication slave station 11A as the payload section. The tail has frame check sequence data, etc. attached for confirming that the communication frame is accurately received at the receiving destination. The communication frames RY3B to RY3H are communication frames for transmitting respective scale detection information output by the position calculators 14B to 14H included in the respective transport path units 10B to 10H having the transport path communication slave stations 11B to 11H from the transport path communication slave stations 11B to 11H, have the designated information of the fourth communication master station 31-4 attached as the header, and include the scale detection information calculated by the position calculator 14B to the scale detection information calculated by the position calculator 14H as the payload section. Moreover, frame check sequence data, etc. are attached to the tail. Thus, each of the transport path communication slave stations 11 can transmit control data toward the communication master station 31Y, and the communication master station 31Y can receive control data from multiple transport path communication slave stations 11.

[0223] The communication master station 31Y of the transport system 1Y disclosed in the present Embodiment 4 is composed of a first communication master station 31-1, a third communication master station 31-3, and a fourth communication master station 31-4, and the communication slave station 32Y is composed of a first communication slave station 32-1 and a second communication slave station 32-2. Moreover, the communication master station 31Y performs communication control in the above-described manner. As a result, the first communication slave station 32-1 and the first communication master station 31-1 become single-master communication control, the second communication slave station 32-2 and the third communication master station become single-master communication control, and the transport path communication slave station 11 and the fourth communication master station 31-4 become single-master communication control. In the transport system 1Y disclosed in the present Embodiment 4, the communication for generating data and control data can be configured by single-master communication control, so that the complexity of communication control can be reduced. In addition, since the transport system 1Y is single-master communication control, for example, the communication control between the first communication master station 31-1 and the first communication slave station 32-1, the communication control between the third communication master station and the second communication slave station 32-2, and the communication control between the fourth communication master station 31-4 and the transport path communication slave station 11 can be independently configured, and the change of each communication cycle can be easily performed. Therefore, the transport system 1Y can suppress the reduction of the control performance of the moving body 20 due to the influence of the processing with a long operation time in the operation processing in the control controller 30Y or the transport path unit 10.

[0224] In addition, in Figure 16 (A), the first communication master station 31-1 that performs the first communication for transmitting the position command value of the moving body 20 transmits a communication frame once every communication cycle 2CTn that is twice the length of each communication cycle CTn, and the third communication master station 31-3 that performs the second communication and the fourth communication master station 31-4 that performs the third communication transmit a communication frame once every communication cycle CTn. That is, the communication cycle of the first communication for transmitting the position command value of the moving body 20 is different from the communication cycles of the second communication and the third communication, and is set longer than the communication cycles of the second communication and the third communication. As a result, the number of transmissions of the position information of the moving body 20, the drive command value of the moving body 20, and the current command value of the transport path unit 10 with respect to the position command value of the moving body 20 increases, and the movement control of the moving body 20 can be performed with higher accuracy.

[0225] In Figure 16 (A), an example is shown in which the first communication master station 31-1 transmits a communication frame once every communication cycle 2CTn, and the third communication master station 31-3 and the fourth communication master station 31-4 transmit and receive a communication frame once every communication cycle CTn. However, the communication control is not limited to the above-described one. For example, the communication cycles for the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 to transmit and receive a communication frame can all adopt the same communication cycle, or different communication cycles can be adopted for all channels.

[0226] Figure 17 This is a diagram showing an example of the hardware structure of the control controller according to Embodiment 4. The hardware of the control controller 30Y is divided into a position command controller 301X, a drive controller 302Y, and a trajectory controller 303Y. The position command controller 301X includes a fifth communication interface (fifth communication I / F) 3001-1 that functions as a first communication master station 31-1, a fifth processor 3005-1 that functions as a position command generator 33, and a memory 3009-1 that reads and writes various data used in the operations of the fifth processor 3005-1.

[0227] The drive controller 302YA includes a seventh communication interface (seventh communication I / F) 3002-1 that functions as a first communication slave station 32-1A, an eighth communication interface (eighth communication I / F) 3002-2 that functions as a second communication slave station 32-2A, a second processor 3006 that functions as a position controller 35A, and a memory 3009A that reads and writes various data used in the operations of the second processor 3006. The drive controller 302YB includes a ninth communication interface (ninth communication I / F) 3003-1 that functions as a first communication slave station 32-1B, a tenth communication interface (tenth communication I / F) 3003-2 that functions as a second communication slave station 32-2B, a third processor 3007 that functions as a position controller 35B, and a memory 3009B that reads and writes various data used in the operations of the third processor 3007. The drive controller 302YC includes an eleventh communication interface (eleventh communication I / F) 3004-1 that functions as a first communication slave station 32-1C, a twelfth communication interface (twelfth communication I / F) 3004-2 that functions as a second communication slave station 32-2C, a fourth processor 3008 that functions as a position controller 35C, and a memory 3009C that reads and writes various data used in the operations of the fourth processor 3008.

[0228] The trajectory controller 303Y includes a thirteenth communication interface (thirteenth communication I / F) 3001-3 that functions as a third communication master station 31-3, a fourteenth communication interface (fourteenth communication I / F) 3001-4 that functions as a fourth communication master station 31-4, a sixth processor 3005-2 that functions as a position generator 34 and a current command generator 36, and a memory 3009-2 that reads and writes various data used in the operations of the sixth processor 3005-2.

[0229] The second processor 3006 to the fourth processor 3008 are the same as those in the first embodiment described above, and thus the description thereof is omitted. 3009A to 3009C are the same as those in the second embodiment described above, and thus the description thereof is omitted. The fifth processor 3005-1 is the same as those in the third embodiment described above, and thus the description thereof is omitted. The memories 3009-1 and 3009-2 are the same as those in the third embodiment described above, and thus the description thereof is omitted.

[0230] In addition, in Figure 17 , as an example of the hardware structure of the track controller 303Y, the processor that functions as the position generator 34 and the current command generator 36 is illustrated as the sixth processor 3005-2. However, it may be a structure having multiple processors as in the processor that functions as the position generator 34 and the processor that functions as the current command generator 36.

[0231] Figure 18 is a flowchart showing an example of the operation of the control controller according to the fourth embodiment of the present invention. The operation of the control controller 30Y is described using Figure 18 .

[0232] In Figure 18 shown in step S1801, the position command generator 33 of the position command controller 301X constituted by the control controller 30Y generates the position command values of the three moving bodies 20A, 20B, and 20C included in the conveying system 1Y. Then, the position command generator 33 outputs the generated position command values of the moving bodies 20A, 20B, and 20C to the first communication master station 31-1 of the position command controller 301X.

[0233] In step S1802, the position generator 34 of the track controller 303Y constituted by the control controller 30Y generates the position information of the moving bodies 20A, 20B, and 20C indicating the positions on the conveying paths of the moving bodies 20A, 20B, and 20C based on the scale detection information included in the control data received from the conveying path units 10A to 10H using the communication frames RY3A to RY3H. Then, the position generator 34 outputs the generated position information of the moving bodies 20A, 20B, and 20C to the third communication master station 31-3 of the track controller 303Y.

[0234] In step S1803, the first communication master station 31-1 performs first communication to send the obtained position command values of the mobile bodies 20A, 20B, and 20C to the first communication slave station 32-1. The third communication master station 31-3 performs first communication to send the obtained position information of the mobile bodies 20A, 20B, and 20C to the second communication slave station 32-2. Specifically, the first communication master station 31-1 sends the position command value of the mobile body 20A to the first communication slave station 32-1A using the communication frame TY1A, sends the position command value of the mobile body 20B to the communication slave station 32B using the communication frame TY1B, and sends the position command value of the mobile body 20C to the communication slave station 32C using the communication frame TY1C. On the other hand, the third communication master station 31-3 sends the position information of the mobile body 20A to the second communication slave station 32-2A using the communication frame TY2A, sends the position information of the mobile body 20B to the second communication slave station 32-2B using the communication frame TY2B, and sends the position information of the mobile body 20C to the second communication slave station 32-2C using the communication frame TY2C. In addition, the communication cycle of the first communication performed by the first communication master station 31-1 may be different from the communication cycles of the second communication and the third communication.

[0235] In step S1804, the position controllers 35A, 35B, and 35C of the drive controllers 302YA, 302YB, and 302YC generate drive command values for the mobile bodies 20A, 20B, and 20C respectively based on the position command values of the mobile bodies 20A, 20B, and 20C received by the first communication slave stations 32-1A, 32-1B, and 32-1C and the position information received by the second communication slave stations 32-2A, 32-2B, and 32-2C. Moreover, the position controllers 35A, 35B, and 35C output the generated drive command values for the mobile bodies 20A, 20B, and 20C to the second communication slave stations 32-2A, 32-2B, and 32-2C respectively. Specifically, the position controller 35A obtains the position command value of the mobile body 20A from the first communication slave station 32-1A connected via the internal bus, and obtains the position information of the mobile body 20A from the second communication slave station 32-2A connected via the internal bus. The position controller 35A generates the drive command value of the mobile body 20A based on the position command value and the position information of the mobile body 20A, and outputs the generated drive command value of the mobile body 20A to the second communication slave station 32-2A. Similarly, the position controllers 35B and 35C generate the drive command values of the mobile bodies 20B and 20C respectively, and output them to the second communication slave stations 32-2B and 32-2C connected via the internal bus respectively.

[0236] In step S1805, the second communication slaves 32-2A, 32-2B, and 32-2C of the drive controllers 302YA, 302YB, and 302YC perform the second communication to send the obtained drive instruction values of the moving bodies 20A, 20B, and 20C respectively to the third communication master 31-3. Specifically, the communication slave 32A uses a communication frame RY2A composed of a header, a tail, and a payload part to send the drive instruction value of the moving body 20 to the third communication master 31-3. In addition, the second communication slaves 32-2B and 32-2C similarly use the communication frames RY2B and RY2C to send the drive instruction value of the moving body 20B and the drive instruction value of the moving body 20C to the third communication master 31-3.

[0237] In step S1806, the current command generator 36 of the track controller 303Y generates the current command values of the conveying path units 10A to 10H based on the position information of the moving bodies 20A, 20B, and 20C generated by the position generator 34 and the drive instruction values of the moving bodies 20A, 20B, and 20C received by the third communication master 31-3. In addition, the position information of the moving bodies 20A, 20B, and 20C can be obtained by reading from the memory of the track controller 303Y. The current command generator 36 obtains the drive instruction value of the moving body 20A, the drive instruction value of the moving body 20B, and the drive instruction value of the moving body 20C from the third communication master 31-3 connected via the internal bus. Moreover, the current command generator 36 obtains the position information of the moving body 20A, the position information of the moving body 20B, and the position information of the moving body 20C from the memory of the track controller 303Y. The current command generator 36 generates the current command values of the conveying path units 10A to 10H based on the drive instructions and position information of the moving bodies 20A, 20B, and 20C respectively, and outputs them to the fourth communication master 31-4. The generation of the current command values by the current command generator 36 is implemented in the same manner as in Embodiment 1, so the detailed description is omitted.

[0238] In step S1807, the fourth communication master 31-4 of the track controller 303Y performs the third communication to send the obtained current command values of the conveying path units 10A to 10H to the conveying path communication slave 11 respectively. Specifically, the fourth communication master 31-4 uses a communication frame TY3A composed of a header, a tail, and a payload part to send the current command value of the conveying path unit 10A to the conveying path communication slave 11A. Similarly, the fourth communication master 31-4 uses the communication frames TY3B to TY3H to send the current command values of the conveying path units 10B to 10H to the conveying path communication slaves 11B to 11H respectively.

[0239] The conveying path unit 10 according to the present Embodiment 4 is the same as that used in the above Embodiment 1Figure 8 The operations described in steps S801 to S804 of the description are performed in the same manner, and the control of the moving body 20 in the conveying system 1Y is implemented. Since the operation of step S805 of the conveying path unit 10 according to the present Embodiment 4 is different, the following description will be given.

[0240] Figure 19 It is a flowchart showing an example of the operation of the conveying path unit according to Embodiment 4. After the conveying path unit 10 according to the present Embodiment 4 operates in the same manner as in steps S801 to S804, it implements Figure 19 step S1905 shown. In step S1905, the conveying path communication slave station 11 of each conveying path unit 10 performs the sixth communication of sending the acquired scale detection information to the fourth communication master station 31-4. Specifically, the conveying path communication slave station 11A uses a communication frame RY3A composed of a header, a tail, and a payload part to send the scale detection information calculated by the position calculator 14A of the conveying path unit 10A to the fourth communication master station 31-4 included in the control controller 30Y. Similarly, the conveying path communication slave stations 11B to 11H of the conveying path units 10B to 10H sequentially send the scale detection information calculated by the position calculators 14B to 14H of the conveying path units 10B to 10H to the fourth communication master station 31-4 included in the control controller 30Y using the communication frames RY3B to RY3H.

[0241] As described above, the control controller 30Y according to the present Embodiment 4 is configured to function in the same manner as the communication master station 31 through the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4, and thus function in the same manner as the control controllers 30, 30W, and 30X. Therefore, similar to the above-described Embodiments 1 to 3, even when the moving body 20 moving in the conveying system 1Y is located at the boundary between the conveying path units 10, it is possible to control the movement of the highly accurate moving body 20 and suppress an increase in the cost of the electric circuit such as the inverter circuit 122 included in one drive element. In addition, in the conveying system 1Y according to the present Embodiment 4, there is no need to have the position controller 35 in each of the conveying path units 10, and the maximum number of drive controllers 302Y having the position controller 35 can be set to be less than or equal to the number of moving bodies 20. Therefore, it is possible to suppress the enlargement and high cost of the control system of the control controller 30Y and the conveying path unit 10. In addition, in the conveying system 1Y, a prescribed position controller 35 is always assigned to the moving body 20. Therefore, during the operation of the conveying system 1Y, there is no need for a process such as allocating the control of the moving body 20. Therefore, in the conveying system 1Y according to the present Embodiment 4, the control system does not become large and costly, and it is possible to suppress the control stop of the moving body 20 in the conveying system 1Y.

[0242] Furthermore, the conveying system 1Y according to the present Embodiment 4 includes a control controller 30Y constituted by a position command controller 301X, a drive controller 302Y, and a track controller 303Y. Moreover, the position command controller 301X is configured to generate a position command value of the moving body 20 that moves along the conveying path of the conveying system 1Y. The drive controller 302Y is configured to generate a drive command value of the assigned moving body 20. The track controller 303Y is configured to generate the position information of the moving body 20 that moves along the conveying path of the conveying system 1Y and the current command value of all the conveying path units 10 constituting the conveying path of the conveying system 1Y. As described above, the control controller 30Y is separately constituted by three controllers, namely, the position command controller 301X, the drive controller 302Y, and the track controller 303Y. Thus, it is possible to reduce the control load of one controller and suppress the control delay of the control controller 30Y.

[0243] On this basis, the control controller 30Y connects the position command controller 301X and the drive controller 302Y through the third communication line 80, and connects the track controller 303Y and the drive controller 302 through the fourth communication line 100. As described above, by separating the communication lines for transmitting and receiving generated data, the control controller 30Y can expand the communication bandwidth, and can shorten the communication cycle between the position command controller 301X and the drive controller 302Y, and the communication cycle between the track controller 303Y and the drive controller 302Y. Therefore, the control controller 30Y can suppress control delay and improve the control performance of the moving body 20.

[0244] In addition, the control controller 30Y connects the drive controller 302Y and the position command controller 301X through the third communication line 80, and connects the drive controllers 302Y to each other through the first drive controller communication line 91 and the second drive controller communication line 92. Therefore, similar to the above-described Embodiments 2 and 3, it is possible to easily change the number of drive controllers 302Y. Therefore, even when the number of moving bodies 20 moving in the conveying path of the conveying system 1Y changes, by changing the number of drive controllers 302Y, it is also possible to easily change the control system structure of the conveying system 1Y. That is, the conveying system 1Y according to the present Embodiment 4 can provide a conveying system that can be easily expanded and changed.

[0245] As described above, in the conveying system 1Y according to the present Embodiment 4, the first communication slave station 32-1 and the first communication master station 31-1 become single-master communication control, the second communication slave station 32-2 and the third communication master station become single-master communication control, and the conveying path communication slave station 11 and the fourth communication master station 31-4 become single-master communication control. Since the communication of generated data and control data in the conveying system 1Y according to the present Embodiment 4 can be configured by single-master communication control, as described above, the complexity of communication control can be reduced, and in addition, it is possible to easily change each communication cycle, and it is possible to suppress a decrease in the control performance of the moving body 20 due to the influence of a process with a long operation time in the operation processing in the control controller 30Y or the conveying path unit 10.

[0246] Embodiment 5.

[0247] The conveying system according to Embodiment 5 of the present invention will be described. In addition, for the same structures as those in the above-described Embodiments 1 to 4, the same reference numerals are used for description, and the detailed description thereof is omitted. Hereinafter, the structures different from those in Embodiments 1 to 4 will be specifically described.

[0248] Figure 20This is a schematic diagram showing an example of the structure of the transport system according to Embodiment 5 of the present invention. As Figure 20 shown, the transport system 1Z, similar to Embodiment 1, has a plurality of transport path units 10A to 10H that constitute the transport paths of a plurality of moving bodies 20A to 20C, and a power supply unit 40 that supplies power to the transport path units 10A to 10H. In addition, in the transport system 1Z according to Embodiment 5, instead of the control controllers 30, 30W, 30X, and 30Y, there is a control controller 30Z that controls the operations of the plurality of moving bodies 20A to 20C. The control controller 30Z is different from the control controller 30 and is composed of a position command controller 301Z and a drive controller 302Z. That is, the position command controller 301Z and the drive controller 302Z are respectively configured as different frames, and these controllers operate to function as the control controller 30Z.

[0249] As Figure 20 shown, the position command controller 301Z has a communication master station 31, a position command generator 33, and a position generator 34. The position command generator 33 and the position generator 34 are connected to the communication master station 31 via an internal bus within the position command controller 301Z. The communication master station 31, the position command generator 33, and the position generator 34 have the same functions as those in Embodiment 1 above. The position command generator 33 generates a position command value for the moving body 20, and the position generator 34 generates position information for the moving body 20. In addition, the position command value of the moving body 20 and the position information of the moving body 20 are respectively examples of generated data.

[0250] The drive controller 302Z has a communication slave station 32, a position controller 35, and a current command generator 36Z. The position controller 35 and the current command generator 36Z are connected to the communication slave station 32 via an internal bus within the drive controller 302Z. The communication slave station 32 and the position controller 35 have the same functions as those in Embodiment 1 above. The position controller 35 generates a drive command value for the moving body 20. The current command generator 36Z is different from the current command generator 36 described in Embodiment 1 and is configured to generate a current command value for the transport path unit 10 where the moving body 20 is located. In addition, the drive command value of the moving body 20 is an example of generated data, and the current command value of the transport path unit 10 is an example of control data.

[0251] Here, regarding the current command generator 36Z, the differences from the above-described current command generator 36 will be described. The current command generator 36Z is configured as an arithmetic circuit that generates a current command value for the conveyance path unit 10 in which the moving body 20 of the conveyance system 1Z is located, based on the drive command value of the moving body 20 and the position information of the moving body 20. Specifically, when the moving bodies 20A, 20B, and 20C are located at Figure 20 the positions shown, the current command generator 36Z generates current command values for all the coils 121A included in the conveyance path unit 10A, generates current command values for all the coils 121C and 121D included in the conveyance path units 10C and 10D, and generates current command values for all the coils 121E and 121F included in the conveyance path units 10E and 10F. In addition, although the object for which the current command generator 36Z generates the current command value is different from that of the current command generator 36, since the arithmetic expression used for generating the current command value can be the arithmetic expression described in the first embodiment, the description of the arithmetic operation of the current command value is omitted.

[0252] The drive controller 302Z is a controller that generates a drive command value for the moving body 20 based on the position command value of the moving body 20 and the position information of the moving body 20, and generates a current command value for the conveyance path unit 10 in the conveyance path of the conveyance system 1Z in which the moving body 20 is located, based on the drive command value of the moving body 20 and the position information of the moving body 20. In the fourth embodiment, as shown in Figure 20 the drive controller 302Z has three drive controllers 302ZA, 302ZB, and 302ZC.

[0253] The drive controller 302ZA includes a communication slave station 32A, a position controller 35A, and a current command generator 36ZA. The drive controller 302ZB includes a communication slave station 32B, a position controller 35B, and a current command generator 36ZB. The drive controller 302ZC includes a communication slave station 32C, a position controller 35C, and a current command generator 36ZC. These drive controllers 302ZA, 302ZB, 302ZC, communication slave stations 32A, 32B, 32C, position controllers 35A, 35B, 35C, and current command generators 36ZA, 36ZB, 36ZC may sometimes be simply referred to as the drive controller 302Z, communication slave station 32, position controller 35, and current command generator 36Z, respectively, without the need for separate explanation. The position controller 35 of the drive controller 302Z is configured to be assigned to the moving body 20 included in the conveying system 1Z and generate a drive command value for the assigned moving body 20. Further, the current command generator 36Z is configured to generate a current command value based on the drive command value generated by the position controller 35 included in its own drive controller 302Z and the position information of the moving body 20 to which the position controller 35 is assigned.

[0254] Embodiment 5 of the present invention illustrates a mode in which the conveying system 1Z includes three moving bodies 20A, 20B, and 20C, and one position controller 35 is assigned to one moving body 20. Specifically, the position controller 35A generates a drive command value for the moving body 20A, the position controller 35B generates a drive command value for the moving body 20B, and the position controller 35C generates a drive command value for the moving body 20C. Further, the current command generator 36ZA generates a current command value for the conveying path unit 10 where the moving body 20A in the conveying system 1Z is located, based on the drive command value of the moving body 20A and the position information of the moving body 20A. The current command generator 36ZB generates a current command value for the conveying path unit 10 where the moving body 20B in the conveying system 1Z is located, based on the drive command value of the moving body 20B and the position information of the moving body 20B. The current command generator 36ZC generates a current command value for the conveying path unit 10 where the moving body 20C in the conveying system 1Z is located, based on the drive command value of the moving body 20C and the position information of the moving body 20C. Then, the current command generator 36ZA outputs the generated current command value to the communication slave station 32A, the current command generator 36ZB outputs the generated current command value to the communication slave station 32B, and the current command generator 36ZC outputs the generated current command value to the communication slave station 32C.

[0255] That is, the drive controller 302Z is a controller that generates a drive command value for the moving body 20 assigned to its own position controller 35, and generates a current command value for the conveyance path unit 10 in which the moving body 20 in the conveyance system 1Z is located, based on the drive command value generated by the position controller 35 and the position information of the moving body 20 assigned to the position controller 35.

[0256] In addition, the number of moving bodies 20 of the position controller 35 assigned to the drive controller 302Z can be arbitrarily determined and set before operating the conveyance system 1Z. As Figure 20 shown, in the case where there are three moving bodies 20A, 20B, and 20C in the conveyance system 1Z, for example, all three moving bodies 20A, 20B, and 20C can be assigned to one position controller 35. In this case, the control controller 30Z only needs to have one drive controller 302Z. Additionally, for example, in the case where there are nine moving bodies in the conveyance system 1Z, the control controller 30Z can have nine drive controllers 302Z, assign one moving body to the position controller 35 of one drive controller 302Z, and thus assign nine moving bodies to the position controllers 35 of nine drive controllers 302Z. It can also have three drive controllers 302Z, assign three moving bodies to the position controller 35 of one drive controller 302Z, and thus assign nine moving bodies to the position controllers 35 of three drive controllers 302Z. Or it can also have one drive controller 302Z, assign nine moving bodies to the position controller 35 of one drive controller 302Z, and thus assign nine moving bodies to the position controller 35 of one drive controller 302Z. That is, the drive controller 302Z can be configured to have, as a whole for the conveyance system 1Z, a maximum number equal to the number of moving bodies 20 in the conveyance system 1Z.

[0257] Furthermore, the number of communication slaves 32 and position controllers 35 in one drive controller 302Z can be arbitrarily configured and determined when designing the hardware of the drive controller 302Z. For example, it can be configured to have one communication slave 32 and multiple position controllers 35 in one drive controller 302Z, and the one communication slave 32 and the multiple position controllers 35 are each connected via an internal bus. Additionally, it can also be configured to have multiple communication slaves 32 and multiple position controllers 35 in one drive controller 302Z, connect the communication slaves 32 and the position controllers 35 via an internal bus, and connect the communication slaves 32 to each other via an internal bus. Even with the above configurations, the drive controller 302Z can be configured to have, as a whole for the conveyance system 1Z, a maximum number equal to the number of moving bodies 20 in the conveyance system 1Z.

[0258] Here, the connection of the communication master station 31 of the position command controller 301Z, the communication slave station 32 of the drive controller 302Z, and the conveyance path communication slave station 11 of the conveyance path unit 10 in the control controller 30Z according to the fifth embodiment will be described. In the conveyance system 1Z of the fifth embodiment, the position command controller 301Z and the drive controller 302Z that constitute the control controller 30Z are connected via the third communication line 80. Further, the drive controllers 302Z are connected to each other via the drive controller communication line 90. The control controller 30Z and the conveyance path unit 10 are connected via the first communication line 50.

[0259] Specifically, as Figure 20 shown, the communication master station 31 of the position command controller 301Z is connected to the communication slave station 32A of the drive controller 302ZA via the third communication line 80. The communication slave station 32A of the drive controller 302ZA is connected to the communication slave station 32B of the drive controller 302ZB via the drive controller communication line 90. Further, the communication slave station 32B of the drive controller 302ZB is connected to the communication slave station 32C of the drive controller 302ZC via the drive controller communication line 90. Thereby, the position command controller 301Z and the drive controllers 302Z can communicate with each other to constitute the control controller 30Z. Moreover, the communication master station 31 of the position command controller 301Z and the communication slave stations 32A, 32B, 32C of the drive controllers 302ZA, 302ZB, 302ZC are connected by daisy-chain connection, and generated data and control data including various command values and information for generating control data can be transmitted and received between the communication master station 31 and the communication slave station 32. By adopting the daisy-chain connection as described above, the serial communication can be used for the transmission and reception of the generated data between the communication master station 31 and the communication slave station 32, and an increase in communication lines can be suppressed. In addition, the communication slave station 32C of the drive controller 302ZC is connected to the conveyance path communication slave station 11A of the conveyance path unit 10A via the first communication line 50. Thereby, the control controller 30Z and the conveyance path unit 10 constitute a communication network capable of communicating with each other.

[0260] Moreover, as Figure 20As shown, in a structure where the communication master station 31 and the communication slave stations 32 are connected in a daisy chain, when the communication master station 31 transmits and receives generated data and control data with the communication slave station 32A, the transmission and reception are performed via the third communication line 80 that connects the communication master station 31 and the communication slave station 32A. When the communication master station 31 transmits and receives generated data and control data with the communication slave station 32B, the transmission and reception are performed via the third communication line 80 that connects the communication master station 31 and the communication slave station 32A, the communication slave station 32A, and the drive controller communication line 90 that connects the communication slave station 32A and the communication slave station 32B. In other words, the communication slave station 32B performs transmission and reception with the communication master station 31 via the communication slave station 32A. When the communication master station 31 transmits and receives generated data and control data with the communication slave station 32C, the transmission and reception are performed via the third communication line 80 that connects the communication master station 31 and the communication slave station 32A, the communication slave station 32A, the drive controller communication line 90 that connects the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, and the drive controller communication line 90 that connects the communication slave station 32B and the communication slave station 32C. In other words, the communication slave station 32C performs transmission and reception with the communication master station 31 via the communication slave station 32A and the communication slave station 32B. In the structure described above, it can be said that the communication master station 31 transmits and receives generated data with the communication slave stations 32A, 32B, and 32C. In addition, the communication master station 31 is configured to have two channels, a transmission channel and a reception channel.

[0261] In addition, as Figure 20 shown, the communication slave station 32C is connected to the communication slave station 32B and is also connected to the first communication line 50 connected to the conveying path unit 10. Specifically, the communication slave station 32C of the drive controller 302ZC and the conveying path communication slave station 11 of the conveying path unit 10 are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30Z and the conveying path unit 10. That is, the communication slave station 32 and the conveying path communication slave station 11 are connected by daisy chain connection, and it is possible to transmit and receive control data between the communication master station 31 and the conveying path communication slave station 11 via the communication slave station 32.

[0262] Furthermore, the control controller 30Z does not necessarily need to connect the communication slave station 32C of the drive controller 302ZC and the first communication line 50, as long as it can form a communication network for transmitting and receiving control data between the control controller 30Z and the conveying path unit 10. For example, the control controller 30Z can connect the communication master station 31 of the position command controller 301Z and the conveying path communication slave station 11 of the conveying path unit 10 via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30Z and the conveying path unit 10.

[0263] On this basis, as Figure 20 shown, in the structure where the communication master station 31 and the communication slave stations 32 are connected in a daisy chain, when the communication master station 31 exchanges control data with the conveyance path communication slave station 11 of the conveyance path unit 10, it exchanges data via the third communication line 80 connecting the communication master station 31 and the communication slave station 32A, the communication slave station 32A, the drive controller communication line 90 connecting the communication slave station 32A and the communication slave station 32B, the communication slave station 32B, the drive controller communication line 90 connecting the communication slave station 32B and the communication slave station 32C, the communication slave station 32C, and the first communication line 50. In other words, the communication master station 31 exchanges data with the conveyance path communication slave station 11 of the conveyance path unit 10 via the first communication line 50. In the structure described above, it can also be said that the control controller 30Z exchanges control data with the conveyance path communication slave station 11 of the conveyance path unit 10. By adopting the daisy chain connection described above, the exchange of control data between the communication master station 31 and the conveyance path communication slave station 11 can use serial communication, and an increase in communication lines can be suppressed.

[0264] The communication master station 31 of the position command controller 301Z according to the fifth embodiment is configured to transmit generated data to the communication slave stations 32 in the same manner as in the first embodiment. In addition, the communication master station 31 of the position command controller 301Z is configured to transmit control data to the conveyance path communication slave station 11. Further, the communication master station 31 of the position command controller 301Z is configured to receive control data from a plurality of communication slave stations 32. Moreover, the communication master station 31 of the position command controller 301Z is configured to receive control data from a plurality of conveyance path communication slave stations 11. On this basis, the communication control in the communication master station 31 of the position command controller 301Z is the same as that in the first embodiment, and communication control using a transmission channel, a reception channel, and a communication frame is performed. That is, the control controller 30Z according to the fifth embodiment functions in the same manner as the control controller 30 described above.

[0265] Figure 21This is a diagram showing an example of the hardware configuration of the control controller according to Embodiment 5. The hardware of the control controller 30Z is divided into a position command controller 301Z and a drive controller 302Z. The position command controller 301Z includes a first communication interface (first communication I / F) 3001 that functions as a communication master station 31, a seventh processor 3005-3 that functions as a position command generator 33 and a position generator 34, and a memory 3009-3 for reading and writing various data used in the operations of the seventh processor 3005-3. The drive controller 302ZA includes a second communication interface (second communication I / F) 3002 that functions as a communication slave station 32A, an eighth processor 3006-1 that functions as a position controller 35A and a current command generator 36ZA, and a memory 3009-4A for reading and writing various data used in the operations of the eighth processor 3006-1. The drive controller 302ZB includes a third communication interface (third communication I / F) 3003 that functions as a communication slave station 32B, a ninth processor 3007-1 that functions as a position controller 35B and a current command generator 36ZB, and a memory 3009-4B for reading and writing various data used in the operations of the ninth processor 3007-1. The drive controller 302ZC includes a fourth communication interface (fourth communication I / F) 3004 that functions as a communication slave station 32C, a tenth processor 3008-1 that functions as a position controller 35C and a current command generator 36ZC, and a memory 3009-4C for reading and writing various data used in the operations of the tenth processor 3008-1.

[0266] The seventh processor 3005-3 is a processor capable of calculating a position command value as a position command generator 33 and calculating position information as a position generator 34. For example, a microprocessor, a single-chip microcomputer, a microcomputer, a CPU, or a DSP can be used. The eighth processor 3006-1 to the tenth processor 3008-1 are processors capable of calculating a drive command value as a position controller 35 and calculating a current command value as a current command generator 36. For example, a microprocessor, a single-chip microcomputer, a microcomputer, a CPU, or a DSP can be used.

[0267] The memory 3009-3 includes a non-volatile memory that stores various arithmetic programs and the like executed by the seventh processor 3005-3, and a volatile memory that serves as a working memory during various operations in the seventh processor 3005-3. The memory 3009-4A includes a non-volatile memory that stores various arithmetic programs and the like executed by the eighth processor 3006-1, and a volatile memory that serves as a working memory during various operations in the eighth processor 3006-1. The memory 3009-4B includes a non-volatile memory that stores various arithmetic programs and the like executed by the ninth processor 3007-1, and a volatile memory that serves as a working memory during various operations in the ninth processor 3007-1. The memory 3009-4C includes a non-volatile memory that stores various arithmetic programs and the like executed by the tenth processor 3008-1, and a volatile memory that serves as a working memory during various operations in the tenth processor 3008-1.

[0268] In addition, in Figure 21 as an example of the hardware structure of the position instruction controller 301Z, the processor that functions as the position instruction generator 33 and the position generator 34 is illustrated as the seventh processor 3005-3, but it can also be a structure having multiple processors as in the case of the processor that functions as the position instruction generator 33 and the processor that functions as the position generator 34. Also, as an example of the hardware structure of the drive controller 302Z, the processor that functions as the position controller 35 and the current instruction generator 36 is illustrated as one processor (for example, the eighth processor 3006-1), but it can also be a structure having multiple processors as in the case of the processor that functions as the position controller 35 and the processor that functions as the current instruction generator 36.

[0269] Figure 22 is a flowchart showing an example of the operation of the control controller according to Embodiment 5 of the present invention. The operation of the control controller 30Z is described using Figure 22

[0270] In Figure 22 In the step S2201 shown, the position instruction generator 33 of the position instruction controller 301Z constituted by the control controller 30Z generates the position instruction values for each of the three moving bodies 20A, 20B, and 20C of the conveying system 1Z. Moreover, the position instruction generator 33 outputs the generated position instruction values for each of the moving bodies 20A, 20B, and 20C to the communication master station 31 of the position instruction controller 301Z.

[0271] In step S2202, the position generator 34 of the position instruction controller 301Z is based on the use of Figure 5The scale detection information included in the control data received by the communication frames R2A to R2H shown generates respective position information of the moving bodies 20A, 20B, and 20C indicating their positions on the conveying path. Further, the position generator 34 outputs the generated respective position information of the moving bodies 20A, 20B, and 20C to the communication master station 31 of the position command controller 301Z.

[0272] In step S2203, the communication master station 31 of the position command controller 301Z performs the first communication of transmitting the obtained respective position command values and position information of the moving bodies 20A, 20B, and 20C to the communication slave stations 32. Specifically, the communication master station 31 uses Figure 5 the communication frame T1A shown to transmit the position command value and position information of the moving body 20A to the communication slave station 32A, uses the communication frame T1B to transmit the position command value and position information of the moving body 20B to the communication slave station 32B, and uses the communication frame T1C to transmit the position command value and position information of the moving body 20C to the communication slave station 32C.

[0273] In step S2204, the position controllers 35A, 35B, and 35C of the drive controllers 302ZA, 302ZB, and 302ZC generate respective drive command values of the moving bodies 20A, 20B, and 20C based on the respective position command values and position information of the moving bodies 20A, 20B, and 20C received by the communication slave stations 32A, 32B, and 32C. Specifically, the position controller 35A obtains the position command value and position information of the moving body 20A from the communication slave station 32A connected via the internal bus, and generates the drive command value of the moving body 20A based on the position command value and position information of the moving body 20A. Similarly, the position controllers 35B and 35C respectively generate the drive command value of the moving body 20B and the drive command value of the moving body 20C.

[0274] In step S2205, the current command generators 36ZA, 36ZB, and 36ZC of the drive controllers 302ZA, 302ZB, and 302ZC generate current command values of the conveying path units 10A, 10C, 10D, 10E, and 10F where the moving bodies 20A, 20B, and 20C are located based on the respective position information of the moving bodies 20A, 20B, and 20C received by the communication slave stations 32A, 32B, and 32C and the respective drive command values of the moving bodies 20A, 20B, and 20C generated by the position controllers 35A, 35B, and 35C. Further, the position information of the moving bodies 20A, 20B, and 20C and the drive command values of the moving bodies 20A, 20B, and 20C can be read out and obtained from the memories of the drive controllers 302ZA, 302ZB, and 302ZC.

[0275] Specifically, the current command generator 36ZA obtains the position information of the moving body 20A and the drive command value of the moving body 20A from the memory of the drive controller 302ZA, and generates current command values for all the coils 121A included in the conveying path unit 10A where the moving body 20A is located, based on the position information and the drive command value of the moving body 20A. Similarly, the current command generator 36ZB generates current command values for the conveying path units 10C and 10D where the moving body 20B is located, based on the position information and the drive command value of the moving body 20B, and the current command generator 36ZC generates current command values for the conveying path units 10E and 10F where the moving body 20C is located, based on the position information and the drive command value of the moving body 20C. Moreover, the current command generators 36ZA, 36ZB, and 36ZC output the generated current command values of the conveying path unit 10 to the communication slave stations 32A, 32B, and 32C connected to themselves via the internal bus.

[0276] In step S2206, the communication slave stations 32A, 32B, and 32C of the drive controllers 302ZA, 302ZB, and 302ZC perform the fourth communication of sending the obtained current command values of the respective conveying path units 10A, 10C, 10D, 10E, and 10F to the communication master station 31. Specifically, the communication slave station 32A uses Figure 5 the communication frame R1A composed of a header, a tail, and a payload part as shown, and includes the current command value of the conveying path unit 10A in the payload part and sends it to the communication master station 31. Similarly, the communication slave station 32B uses the communication frame R1B, includes the current command values of the conveying path units 10C and 10D in the payload part and sends it to the communication master station 31, and the communication slave station 32C uses the communication frame R1C, includes the current command values of the conveying path units 10C and 10D in the payload part and sends it to the communication master station 31.

[0277] In step S2207, the communication master station 31 of the position command controller 301Z performs the third communication of sending the obtained current command values of the respective conveying path units 10A, 10C, 10D, 10E, and 10F to the conveying path communication slave stations 11. Specifically, the communication master station 31 uses Figure 5 the communication frame T2A as shown, and sends the current command value of the conveying path unit 10A to the conveying path communication slave station 11A. Similarly, the communication master station 31 uses the communication frames T2C, T2D, T2E, and T2F, and sends the current command values of the respective conveying path units 10C, 10D, 10E, and 10F to the conveying path communication slave stations 11C, 11D, 11E, and 11F.

[0278] The conveying path unit 10 according to the fifth embodiment is the same as that used in the first embodiment aboveFigure 8 The operations of steps S801 to S805 in the description are performed in the same manner to control the moving body 20 in the conveying system 1Z.

[0279] As described above, in the conveying system 1Z according to the fifth embodiment, the current command value of the conveying path unit 10 where the moving body 20 is located can be generated by the control controller 30Z. Therefore, even when the moving body 20 moving in the conveying system 1Z is located at the boundary between the conveying path units 10, the movement of the highly accurate moving body 20 can be controlled. In addition, even when the moving body 20 moving in the conveying system 1Z is located at the boundary between the conveying path units 10, the conveying system 1Z can generate the current command values of the two conveying path units 10 straddled by the moving body 20 by the control controller 30Z, so that the cost increase of electrical circuits such as the inverter circuit 122 included in one drive element can be suppressed. On this basis, the conveying system 1Z according to the fifth embodiment does not need to have a position controller 35 in each of the conveying path units 10, and the maximum number of drive controllers 302Z having a position controller 35 can be set to be less than or equal to the number of moving bodies 20. Therefore, the control controller 30Z and the control system of the conveying path unit 10 can be prevented from being enlarged and highly cost. In addition, in the conveying system 1Z, a prescribed position controller 35 is always assigned to the moving body 20. Therefore, in the operation of the conveying system 1Z, there is no need for a process such as allocating the control of the moving body 20. Therefore, in the conveying system 1Z according to the fifth embodiment, the control system is not enlarged and highly cost, and the control stop of the moving body 20 in the conveying system 1Z can be suppressed.

[0280] Furthermore, the control controller 30Z of the conveying system 1Z according to the fifth embodiment is constituted by a position command controller 301Z and a drive controller 302Z. Moreover, the drive controller 302Z is configured to generate a drive command value of the assigned moving body 20 and a current command value of the conveying path unit 10 where the moving body 20 is located. As described above, the control controller 30Z is separately constituted by the two controllers, i.e., the position command controller 301Z and the drive controller 302Z. Thus, the control load of one controller can be reduced, and the control delay of the control controller 30Z can be suppressed. In addition, the control controller 30Z has a current command generator 36Z in the drive controller 302Z, so that the control load of the position command controller 301Z can be reduced. On this basis, the control controller 30Z generates the drive command value and the current command value in the drive controller 302Z. Therefore, the number of communications of the generated data and the control data via the internal bus of the position command controller 301Z can be reduced, and the control load of the control controller 30Z can be reduced.

[0281] Moreover, the control controller 30Z is separately constituted by a position command controller 301Z and a drive controller 302Z. The drive controller 302Z and the position command controller 301Z are connected by a third communication line 80, and the drive controllers 302Z are connected to each other by a drive controller communication line 90. Therefore, the number of drive controllers 302Z can be easily changed. Thus, even when the number of moving bodies 20 moving in the conveying path of the conveying system 1Z changes, by changing the number of drive controllers 302Z, the control system structure of the conveying system 1Z can also be easily changed. That is, the conveying system 1Z can provide a conveying system that can be easily expanded and changed.

[0282] Embodiment 6.

[0283] The conveying system according to Embodiment 6 of the present invention will be described. Hereinafter, the differences of the conveying system of Embodiment 6 will be described based on the conveying system 1 of Embodiment 1. In addition, for the same structures as those in Embodiment 1, the same reference numerals are used for description, and the specific descriptions are omitted.

[0284] Figure 23 is a schematic diagram showing an example of the structure of the conveying system according to Embodiment 6 of the present invention. As Figure 23 shown, the conveying system 1V includes: a plurality of conveying path units 10-1A to 10-1H, which constitute the conveying paths of a plurality of moving bodies 20A to 20C; a control controller 30V, which controls the operations of the plurality of moving bodies 20A to 20C; and a power supply unit 40, which supplies power to the conveying path units 10-1A to 10-1H.

[0285] As Figure 23 shown, the control controller 30V includes a communication master station 31, a communication slave station 32, a position command generator 33, a position generator 34, and a position controller 35. The difference between the conveying system 1V of the present Embodiment 6 and the above Embodiment 1 is that the current command generator 36 is not provided in the control controller 30V. As Figure 23 shown, the current command generator 36 is provided in each of the conveying path units 10-1A to 10-1H. The current command generator 36 is not shown in Figure 23 but is connected to the conveying path communication slave station 11 via the internal bus in the conveying path unit 10-1. In addition, the other structures and connection states are the same as those in the above Embodiment 1, so the descriptions of their respective structures and connection states are omitted.

[0286] The hardware of the conveying path unit 10-1 is FigureThe illustrated processor 1002 functions as a current command generator 36 based on the current controller 124 and the position calculator 14. Other configurations are the same as those ​ shown.

[0287] ​ is a flowchart showing an example of the operation of the control controller according to Embodiment 6 of the present invention. ​ is a flowchart showing an example of the operation of the transport path unit according to Embodiment 6 of the present invention. Using ​ and ​ , the control of the moving body 20 in the transport system 1V will be described.

[0288] ​ The operations of steps S701 to S705 shown are the same as those in Embodiment 1 described using ​ and thus the description thereof is omitted.

[0289] In step S2401, the communication master station 31 performs the fifth communication of transmitting the drive command values of the moving bodies 20A, 20B, and 20C respectively transmitted through step S705 and the position information of the moving bodies 20A, 20B, and 20C respectively generated through step S702 to the transport path communication slave station 11. Specifically, the communication master station 31 uses the communication frame T2A to transmit the drive command value of the moving body 20A and the position command value of the moving body 20A to the transport path communication slave station 11A of the transport path unit 10-1A where the moving body 20A is located as indicated by the position information of the moving body 20A. Similarly, the communication master station 31 uses the communication frames T2C and T2D to transmit the drive command value of the moving body 20B and the position command value of the moving body 20B to the transport path communication slave stations 11C and 11D of the transport path units 10-1C and 10-1D where the moving body 20B is located as indicated by the position information of the moving body 20B. Further, the communication master station 31 uses the communication frames T2E and T2F to transmit the drive command value of the moving body 20C and the position command value of the moving body 20C to the transport path communication slave stations 11E and 11F of the transport path units 10-1E and 10-1F where the moving body 20C is located as indicated by the position information of the moving body 20C.

[0290] In ​ step S2501 shown, the current command generator 36 of the transport path unit 10-1 that has received the drive command value of the moving body 20 and the position information of the moving body 20 generates a current command value for the transport path unit 10-1 based on the drive command value of the moving body 20 and the position information of the moving body 20.

[0291] In step S2502, each current controller 124 of the conveyance path unit 10-1 calculates a control signal for controlling the operation of the inverter circuit 122 based on the current command value generated by the current command generator 36 and the actual current value RA detected by the current sensor 123 of the conveyance path unit 10-1, and outputs the calculated control signal to the inverter circuit 122. Specifically, each current controller 124A included in each drive element 12A of the conveyance path unit 10-1A obtains, via an internal bus, the actual current value RA detected by the current sensor 123A of the drive element 12A including itself, and obtains, from the current command value, a command value indicating the magnitude of the current supplied to the coil 121A of the drive element 12A including itself. Each current controller 124 calculates a control signal for controlling the operation of the inverter circuit 122 based on the command value indicating the magnitude of the current and the actual current value RA, and outputs the control signal to the inverter circuit 122A of the drive element 12A including itself. In addition, the conveyance path unit 10-1 that receives the drive command value of the moving body 20 and the position information of the moving body 20 in step S2501 also performs step S2502 in the same manner to generate a current command value by the current command generator 36.

[0292] After step S2502, the same operations as those of steps S802 to S805 described using ​ are performed to control the moving body 20, and thus the description thereof is omitted.

[0293] As described above, the conveyance system 1V according to the sixth embodiment can similarly control the movement of the highly accurate moving body 20 at the boundary between adjacent conveyance path units 10-1 as in the first embodiment, and can suppress an increase in the cost of the electric circuit included in one drive element 12. In addition, the conveyance system 1V is not enlarged or made highly costly as in the first embodiment, and can suppress the control stop of the moving body of the conveyance system. Moreover, the conveyance system 1V does not need to perform an operation for generating the current command values of all the conveyance path units 10-1 by the control controller 30V, and the operation of generating the current command values of each conveyance path unit 10-1 is performed dispersedly by each conveyance path unit 10-1. Thus, the conveyance system 1V can suppress control delay by dispersing the control load, and can improve the control performance of the moving body 20.

[0294] Embodiment 7.

[0295] A description will be given of a conveyance system according to the seventh embodiment of the present invention. Hereinafter, the conveyance system of the seventh embodiment will be described with respect to the differences based on the conveyance system 1 of the first embodiment. In addition, for the same structures as those in the first embodiment, the same reference numerals are used and the detailed description thereof is omitted.

[0296] ​ is a schematic diagram showing an example of the structure of the transport system according to Embodiment 7 of the present invention. As ​ shown, the transport system 1I, similar to Embodiment 1, has: a plurality of transport path units 10A to 10H that constitute the transport paths of a plurality of mobile bodies 20A to 20C; a control controller 30I that controls the operations of the plurality of mobile bodies 20A to 20C; and a power supply unit 40 that supplies power to the transport path units 10A to 10H.

[0297] As ​ shown, the control controller 30I has a communication master station 31, a communication slave station 32, a position command generator 33, a position generator 34, a position controller 35, and a current command generator 36I. In the transport system 1I of the present Embodiment 7, the current command generator 36I included in the control controller 30I is different from that of the above-described Embodiment 1.

[0298] The current command generator 36I is connected to the ​ shown communication master station 31 via an internal bus. In addition, the structures and connection states of the communication master station 31, the communication slave station 32, the position command generator 33, the position generator 34, and the position controller 35 are the same as those in Embodiment 1, and thus the description thereof is omitted.

[0299] ​ is a diagram showing an example of the structure of the current command generator of the control controller according to Embodiment 7. The current command generator 36I, similar to the above-described Embodiment 1, has, on the basis of an arithmetic circuit that generates a current command value for the transport path unit 10 based on the position information of the mobile body 20 generated by the position generator 34 and the drive command value generated by the position controller 35, a data acquisition unit 361I that acquires learning data, a model generation unit 362I that generates a trained model using the learning data, and an inference unit 363I that performs inference using the trained model.

[0300] The data acquisition unit 361I acquires a data set as learning data, the data set including the position information of the mobile body 20 generated by the position generator 34, the drive command value of the mobile body 20 generated by the position controller 35, and the current command value of the transport path unit 10 generated by the current command generator 36I itself. In addition, the communication master station 31 of the data acquisition unit 361I may also function as the data acquisition unit 361I.

[0301] The model generation unit 362I uses a data set including the position information of the mobile body 20, the drive command value of the mobile body 20, and the current command value of the conveyance path unit 10 as learning data, and generates a trained model for inferring the current command value of the conveyance path unit 10 based on the learning data.

[0302] The learning algorithms used by the model generation unit 362I can use well-known algorithms such as supervised learning, unsupervised learning, and reinforcement learning. As an example, the case of applying reinforcement learning is described. In reinforcement learning, an agent (acting entity) in a certain environment observes the current state (parameters of the environment) and decides the action to be taken. The environment changes dynamically through the action of the agent, and a reward is given to the agent corresponding to the change in the environment. The agent repeats this action and learns the action policy that maximizes the reward through a series of actions. As representative methods of reinforcement learning, Q-learning and TD-learning are known. For example, in the case of Q-learning, the general update formula of the action value function Q(s, a) is represented by Equation 1.

[0303]

Equation 1

[0304]

[0305] In Equation 1, s t represents the state of the environment at time t, and a t represents the action at time t. Through the action a t , the state becomes s t+1 . r t+1 represents the reward brought about by the change in its state, γ represents the discount rate, and α represents the learning coefficient. In addition, γ is in the range of 0 < γ ≤ 1, and α is in the range of 0 < α ≤ 1. The current command value becomes the action a t , the position information and the drive command value become the state s t , and the best action a t in the state st at time t is learned.

[0306] The update formula represented by Equation 1 is that if the action value Q of the action a with the highest Q value at time t + 1 is greater than the action value Q of the action a executed at time t, the action value Q is increased, and in the opposite case, the action value Q is decreased. In other words, the action value function Q(s, a) is updated in such a way that the action value Q of the action a at time t approaches the best action value at time t + 1. Thus, the best action value in a certain environment is continuously propagated to the action values in its previous environments in sequence.

[0307] As described above, in the case of generating a trained model through reinforcement learning, the model generation unit 362I includes a reward calculation unit 362-1I and a function update unit 362-2I.

[0308] The reward calculation unit 362-1I calculates the reward based on the position information of the moving body 20, the drive command value of the moving body 20, and the current command value of the transport path unit 10. The reward calculation unit 362-1I calculates the reward r based on a voltage threshold determined in advance based on the magnitude of the voltage applied to each coil 121 of the transport path unit 10. Since the voltage threshold varies according to specifications such as the allowable voltage of the coil 121, the user can determine the desired threshold. For example, when the voltage is less than or equal to the voltage threshold of each coil 121, the reward r is increased (for example, a reward of "1" is given), while when the voltage exceeds the voltage threshold of each coil 121, the reward r is decreased (for example, a reward of "-1" is given).

[0309] The function update unit 362-2I updates the function for determining the current command value of the transport path unit 10 according to the reward calculated by the reward calculation unit 362-1I, and outputs it to the memory of the control controller 30I. For example, in the case of Q-learning, the action value function Q(s t , a t ) is used as the function for calculating the current command value of the transport path unit 10.

[0310] The above learning is repeatedly executed. The memory of the control controller 30I stores the updated action value function Q(s t , a t ), that is, the trained model.

[0311] Next, the process of learning the current command generator 36I will be described using ​ . ​ FIG. is a flowchart related to the learning process of the current command generator according to the seventh embodiment. In addition, the transport system 1I of the seventh embodiment includes three moving bodies 20A, 20B, and 20C as the moving body 20 moving in the transport path. However, for the following description, the moving body 20A will be specifically described.

[0312] In step S2801, the data acquisition unit 361I acquires a data set including the position information of the moving body 20A generated by the position generator 34, the drive command value of the moving body 20A generated by the position controller 35A, and the current command value of the transport path unit 10 generated by the current command generator 36I based on the position information and drive command value of the moving body 20A as learning data.

[0313] In step S2802, the model generation unit 362I calculates the reward based on the learning data. Specifically, the reward calculation unit 362-1I acquires the position information of the mobile body 20A, the drive command value of the mobile body 20A, and the current command value of the transport path unit 10 generated based on the position information and the drive command value of the mobile body 20A, and determines whether to increase the reward (step S2803) or decrease the reward (step S2804) based on a predetermined voltage threshold.

[0314] When the reward calculation unit 362-1I determines that the reward is to be increased, it increases the reward in step S2803. On the other hand, when the reward calculation unit 362-1I determines that the reward is to be decreased, it decreases the reward in step S2804.

[0315] In step S2805, the function update unit 362-2I updates the action value function Q(s t , a t ) represented by Equation 1 stored in the memory of the control controller 30I based on the reward calculated by the reward calculation unit 362-1I.

[0316] The current command generator 36I repeatedly executes the above steps from step S2801 to step S2805, and stores the generated action value function Q(s t , a t ) as a trained model. Similarly, the current command generator 36I obtains, as learning data, a data set of the position information of the mobile body 20B generated by the position generator 34, the drive command value of the mobile body 20B generated by the position controller 35B, and the current command value of the transport path unit 10 generated by the current command generator 36I based on the position information and the drive command value of the mobile body 20B through step S2801, and repeatedly executes the steps from step S2802 to step S2805, and stores the generated action value function Q(s t , a t ) as a trained model. Further, the current command generator 36I obtains, as learning data, a data set of the position information of the mobile body 20C generated by the position generator 34, the drive command value of the mobile body 20C generated by the position controller 35C, and the current command value of the transport path unit 10 generated by the current command generator 36I based on the position information and the drive command value of the mobile body 20C through step S2801, and repeatedly executes the steps from step S2802 to step S2805, and stores the generated action value function Q(s t , a t ) as a trained model.

[0317] The current command generator 36I according to the seventh embodiment stores the trained model in the memory of the control controller 30I. However, the trained model can also be stored in a storage device provided outside the control controller 30I, and the storage device can perform the storage. In addition, the structure in which the data acquisition unit 361I and the model generation unit 362I are provided in the current command generator 36I has been described. However, the data acquisition unit 361I and the model generation unit 362I can also be configured to be provided outside the current command generator 36I. For example, the data acquisition unit 361I and the model generation unit 362I can be configured as a learning device having the data acquisition unit 361I and the model generation unit 362I. The learning device is provided inside the control controller 30I and acquires learning data via the internal bus. In addition, the learning device having the data acquisition unit 361I and the model generation unit 362I can also be configured as a different frame from the control controller 30I outside the control controller 30I, and can be communicably connected to the control controller 30I and the learning device via a communication line or the like, and can acquire learning data.

[0318] Next, the inference unit 363I of the current command generator 36I will be described. The inference unit 363I performs inference using the trained model generated by the above-described model generation unit 362I. Specifically, the current command generator 36I acquires the position information of the moving body 20 and the drive command value of the moving body 20 through the data acquisition unit 361I. Moreover, the inference unit 363I infers the current command value of the conveyance path unit 10 using the trained model. That is, by inputting the position information and the drive command value acquired by the data acquisition unit 361I into the trained model, it is possible to infer the current command value suitable for the position information and the drive command value. In addition, the data acquisition unit 361I can also be the communication master station 31 that also has the function of the data acquisition unit 361I.

[0319] Next, ​ , the process of the current command generator 36I for inferring the current command value will be described. It is a flowchart related to the inference process of the current command generator according to the seventh embodiment.

[0320] In step S2901, the data acquisition unit 361I acquires the position information of the moving body 20A generated by the position generator 34 and the drive command value of the moving body 20A generated by the position controller 35A.

[0321] In step S2902, the inference unit 363I inputs the position information of the moving body 20A and the drive command value of the moving body 20A into the trained model stored in the memory of the control controller 30I, and obtains the current command value of the conveyance path unit 10.

[0322] In the conveying system 1I of the present Embodiment 7, as the moving bodies 20 moving in the conveying path, in addition to the moving body 20A, there are also moving bodies 20B and 20C. After step S2902, the current command generator 36I repeats step 2901 and step 2902 according to the number of the moving bodies 20. Specifically, the data acquisition unit 361I executes step 2901 again to acquire the position information of the moving body 20B generated by the position generator 34 and the drive command value of the moving body 20B generated by the position controller 35B. Then, step S2902 is executed, and the inference unit 363I inputs the position information and the drive command value of the moving body 20B into the trained model stored in the memory of the control controller 30I to obtain the current command value of the conveying path unit 10. On this basis, the data acquisition unit 361I executes step 2901 again to acquire the position information of the moving body 20C generated by the position generator 34 and the drive command value of the moving body 20C generated by the position controller 35C. Then, step S2902 is executed, and the inference unit 363I inputs the position information and the drive command value of the moving body 20C into the trained model stored in the memory of the control controller 30I to obtain the current command value of the conveying path unit 10.

[0323] In step S2903, the current command generator 36I combines the current command values of all the conveying path units 10 obtained by the inference unit 363I to generate the current command values of all the conveying path units 10 in the conveying path of the conveying system 1I, and outputs the generated current command values of the conveying path unit 10 to the communication master station 31.

[0324] After step S2903, the control controller 30I performs the same operation as step S707 described in the above Embodiment 1. ​ Then, the conveying system 1I performs steps S801 to S805 described in the above Embodiment 1 to perform the control of the moving body 20. ​

[0325] In addition, the current command generator 36I may be configured to have a data acquisition unit 361I and an inference unit 363I instead of the arithmetic circuit described in the first embodiment, when there is a trained model for inferring the current command value of the already generated conveyance path unit 10. In the above-described case, the current command value of the conveyance path unit 10 can also be generated. Further, when the communication master station 31 also has the function of the data acquisition unit 361I, the current command generator 36I may not have the data acquisition unit 361I. Further, although it has been described that the data acquisition unit 361I and the inference unit 363I are provided in the current command generator 36I, the data acquisition unit 361I and the inference unit 363I may also be provided outside the current command generator 36I. For example, the data acquisition unit 361I and the inference unit 363I may be configured as an inference device having the data acquisition unit 361I and the inference unit 363I, and the inference device is provided inside the control controller 30I. Further, the inference device having the data acquisition unit 361I and the inference unit 363I may be configured as a different housing from the control controller 30I outside the control controller 30I, and the control controller 30I and the inference device are communicably connected via a communication line or the like.

[0326] As described above, the control controller 30I according to the seventh embodiment can generate a current command value as control data by machine learning. The conveyance system 1I as described above has the same effects as the conveyance system 1 according to the first embodiment, and can search for an optimal current command value by machine learning.

[0327] Modification example.

[0328] In the conveyance systems described in the above-described first to seventh embodiments, the moving body 20 may be mounted on the conveyance path unit 10 via a guide rail (not shown). Further, the moving body 20 may also be configured to be placed on the conveyance path unit 10 without being fixed by a guide rail or the like, and the magnet provided in the moving body 20 and the coil provided in the conveyance path unit 10 interact with each other, whereby the moving body 20 moves on the conveyance path unit 10.

[0329] In the conveyance systems described in the above-described first to seventh embodiments, the conveyance systems are described as a moving-magnet linear conveyance system, in which the moving body 20 has a magnet and the conveyance path unit 10 has a coil, and these magnet and coil constitute a moving-magnet linear motor, whereby the moving body 20 moves along the conveyance path constituted by the conveyance path unit 10. However, the conveyance system of the present invention may also be configured as a roller conveyor conveyance system, which has a rotary motor instead of the coil of the conveyance path unit 10 and has rollers that are rotated by the rotary motor. Specifically, the roller conveyor conveyance system will ​The conveying path units 10-2 shown are connected to form a conveying path. Additionally, the moving body 20-1 moving in the conveying path of the roller conveyor system does not need to have a movable magnet set 22. For example, a tray for placing workpieces or the workpieces themselves can be used as the moving body.

[0330] As ​ shown, in the conveying path unit 10-2, instead of the coil 121 of the above-mentioned conveying path unit 10, a rotary motor 121-1 is provided. Additionally, the conveying path unit 10-2 has a roller (not shown) that rotates by the rotary motor 121-1. The other structures of the conveying path unit 10-2 are the same as those of the conveying path unit 10, so the description thereof is omitted. Each rotary motor 121-1 of the conveying path unit 10-2 is supplied with a current controlled by a current controller 124 and an inverter circuit 122, thereby rotating. The rotary motor 121-1 rotates, thereby rotating the roller and moving the moving body 20-1. The scale 13 of the conveying path unit 10-2 ( ​ not shown in the figure) only needs to have a sensor capable of detecting the moving body 20-1. For example, an optical sensor can be used. Additionally, when the moving body 20-1 has a position detection magnet set 23, the above-mentioned Hall sensor or magnetoresistive sensor can also be used. Furthermore, the control controller of the conveyor system can be configured in the same manner as the control controller described in the above Embodiments 1 to 7, so the description thereof is omitted. In the conveying system as described above, the effects of the present invention can also be achieved.

[0331] Additionally, the conveying system of the present invention can also be configured such that the arrangement intervals of the rotary motors 121-1 provided in the above-mentioned conveying path unit 10-2 are extended and arranged, and a conveyor belt is hung between adjacent rollers to form a belt conveyor system of a belt conveyor.

[0332] In the conveying systems described in the above Embodiments 1, 2, 5, 6, and 7, it is described that the communication master station 31 performs the first communication of sending the position command values and position information of the moving bodies 20A, 20B, and 20C to the communication slave station 32 using the communication frames T1A to T1C. Additionally, it is described that the position controllers 35A, 35B, and 35C calculate the position deviation based on the obtained position command value of the moving body and the position information of the moving body when generating the drive command value of the moving body 20. However, the communication master station 31 can also obtain the position deviation and perform the first communication of sending the position deviations of the moving bodies 20A, 20B, and 20C to the communication slave station 32 using the communication frames T1A to T1C. Moreover, the position controllers 35A, 35B, and 35C can also generate the drive command value of the moving body 20 based on the obtained position deviation.

[0333] Specifically, a position command generator 33 included in the controller for controlling the conveying system generates a position command value for the moving body 20. A position generator 34 generates position information of the moving body 20. Further, a processor of the controller for control generates a position deviation based on the position command value of the moving body 20 and the position information of the moving body 20, and outputs the position deviation to the communication master station 31. The communication master station 31 designates a desired communication slave station 32 using communication frames T1A to T1C, and performs first communication of transmitting the obtained position deviation to the designated communication slave station 32. The position controller 35 acquires the position deviation from the communication slave station 32 and generates a drive command value for the moving body 20. Further, as in the above-described embodiments, when the communication master station 31 transmits the communication frames T1A, T1B, and T1C to the communication slave stations 32A to 32C, the communication master station 31 may not designate the communication slave stations 32A to 32C when it is not necessary to designate each of the communication slave stations 32A to 32C. Further, the controller for control may have a configuration of a position deviation generator that generates a position deviation based on the position command value of the moving body 20 and the position information of the moving body 20.

[0334] In the conveying system described above, it is possible to reduce the data size of the communication frames transmitted by the communication master station 31 in the first communication, and it is possible to shorten the time taken for the first communication. Further, the conveying system described above can reduce the arithmetic load of the position controller 35. As a result, the conveying system can suppress control delay as a whole conveying system, and can improve the control performance of the moving body 20.

[0335] In the conveying systems described in the above Embodiments 3 and 4, the controller for control may be composed of a position command controller, a drive controller, and a track controller. However, the controller for control described in Embodiments 3 and 4 is not limited to the above-described configuration. For example, the controller for control may be configured to include a position command controller and a track controller that integrally form a position command controller and a drive controller. Further, the controller for control may be configured to include a track controller and a position command controller that integrally form a track controller and a drive controller. That is, the configuration of the drive controller may be included in other controllers that constitute the controller for control.

[0336] Further, in the conveying system described in the above Embodiment 5, the controller for control is composed of a position control controller and a drive controller. However, the controller for control described in Embodiment 5 is not limited to the above-described configuration. For example, the position control controller and the drive controller may be integrally formed to constitute the controller for control, or the controller for control may be constituted by a position control controller, a drive controller, and a track controller.

[0337] Further, the controller for controlling the conveying system described in the above-described Embodiments 6 and 7 may also be configured by a plurality of controllers as in the above-described Embodiments 2 to 5.

[0338] The conveying system described in the above-described Embodiments 1 to 7 may be as ​ shown, and another drive system 500 is connected to the control controller 30 (30I, 30V, 30W, 30X, 30Y, 30Z). The drive system 500 connected to the control controller 30 (30I, 30V, 30W, 30X, 30Y, 30Z) is a system that drives the drive device 501 included in the drive system 500 based on the position command value generated by the position command generator 33 of the control controller 30 (30I, 30V, 30W, 30X, 30Y, 30Z). The drive system 500 as described above is, for example, a drive system having a rotary motor as the drive device 501 and a motor control device 502 that controls the rotary motor based on the position command value, and a drive system having a moving coil linear motor as the drive device 501 and a motor control device 502 that controls the moving coil linear motor based on the position command value.

[0339] The motor control device 502 and the drive device 501 included in the drive system 500 can employ conventionally known motor control devices and drive devices. The motor control device performs positioning (determination of at least any one of the rotational speed, rotational angle, torque, moving speed, moving distance, etc.) of the motor as the drive device based on the acquired position command value. Further, the drive system connects the motor control device and the control controller of the conveying system via a communication line. Thereby, the drive system 500 can acquire the position command value generated by the position command generator 33 of the control controller 30 (30I, 30V, 30W, 30X, 30Y, 30Z). Specifically, the communication master station 31 of the control controller 30 (30I, 30V, 30W, 30X, 30Y, 30Z) transmits the position command value to the motor control device 502. The motor control device 502 can acquire the position command value via the communication line.

[0340] The above-described conveying system can operate the drive device of the drive system in synchronization with the movement of the moving body of the conveying system, and can perform operations such as the movement of the workpiece by the moving body and the processing of the workpiece by the drive device in synchronization.

[0341] The structures shown in the above-described embodiments and modified examples represent an example of the content of the present invention, and can also be combined with other known technologies, and a part of the structure can be omitted or changed without departing from the gist of the present invention.

[0342] The present invention is suitable for implementing a conveying system that moves multiple moving bodies along a conveying path. [034...

Claims

1. A conveying system, comprising: A plurality of conveying path units that form a moving path for a plurality of moving bodies having magnets and impart driving force to the plurality of moving bodies; and A control controller that controls the plurality of conveying path units, Each of the conveying path units has: A coil; A conveying path communication slave station; A current controller connected to the conveying path communication slave station; and A position detector connected to the conveying path communication slave station, which detects the position of the moving body and outputs a position detection signal, The control controller has: A communication master station that communicates with the conveying path communication slave station; One or more communication slave stations that communicate with the communication master station; A position command generator connected to the communication master station; A position generator connected to the communication master station; A current command generator connected to the communication master station; And One or more position controllers connected to the communication slave stations and assigned to the plurality of moving bodies, The conveying path communication slave station sends the position detection signal of the position detector to the communication master station, The position generator generates position information for each of the plurality of moving bodies, i.e., moving body position information, based on the position detection signal obtained from the communication master station, The position command generator generates a position command value for each of the plurality of moving bodies, i.e., a moving body position command value, The communication master station sends the moving body position command value and the moving body position information to the communication slave station, or sends a position deviation obtained from the moving body position command value and the moving body position information to the communication slave station, The position controller generates a drive command value for each of the plurality of moving bodies, i.e., a moving body drive command value, based on the moving body position command value and the moving body position information or the position deviation obtained from the communication slave station, The communication slave station sends the moving body drive command value to the communication master station, The current command generator generates a current command value for the plurality of conveying path units, i.e., a first current command value, based on the moving body drive command value and the moving body position information obtained from the communication master station, The communication master station sends the first current command value obtained from the current command generator to the conveying path communication slave station, The current controller controls the current supplied to the coil based on the first current command value obtained from the conveying path communication slave station.

2. The conveying system according to claim 1, wherein The control controller has a position command controller and a drive controller. The position command controller includes the position command generator, the position generator, the current command generator, and the communication master station. The drive controller includes the position controller and one or more of the communication slave stations.

3. The conveying system according to claim 1, wherein The control controller has: A position command controller having the position command generator and a first communication master station; A track controller having the position generator, the current command generator, and a second communication master station; And A drive controller having the position controller and one or more of the communication slave stations, The conveyance path communication slave station transmits the position detection signal of the position detector to the second communication master station, The position generator generates the moving body position information based on the position detection signal obtained from the second communication master station, The position command generator generates the moving body position command value, The first communication master station transmits the moving body position command value to the communication slave station, The second communication master station transmits the moving body position information to the communication slave station, The position controller generates the moving body drive command value based on the moving body position command value and the moving body position information obtained from the communication slave station, The communication slave station transmits the moving body drive command value to the second communication master station, The current command generator generates the first current command value based on the moving body drive command value and the moving body position information obtained from the second communication master station, The second communication master station transmits the first current command value obtained from the current command generator to the conveyance path communication slave station, The current controller controls the current supplied to the coil based on the first current command value obtained from the conveyance path communication slave station.

4. The conveyance system according to claim 3, wherein The second communication master station has a third communication master station and a fourth communication master station connected to each other, The communication slave station has a first communication slave station and a second communication slave station, The conveyance path communication slave station transmits the position detection signal of the position detector to the fourth communication master station, The position generator generates the moving body position information based on the position detection signal obtained from the fourth communication master station, The position command generator generates the moving body position command value, The first communication master station transmits the moving body position command value to the first communication slave station, The third communication master station transmits the moving body position information to the second communication slave station, The position controller generates the moving body drive command value based on the moving body position command value obtained from the first communication slave station and the moving body position information obtained from the second communication slave station, The second communication slave station transmits the moving body drive command value to the third communication master station, The current command generator generates the first current command value based on the moving body drive command value and the moving body position information obtained from the third communication master station, The fourth communication master station transmits the first current command value obtained from the current command generator to the conveyance path communication slave station, The current controller controls the current supplied to the coil based on the first current command value obtained from the conveyance path communication slave station.

5. A conveyance system having: A plurality of conveying path units that form a moving path for a plurality of moving bodies having magnets and impart driving force to the plurality of moving bodies; and A control controller that controls the plurality of conveying path units, Each of the conveying path units has: A coil; A conveying path communication slave station; A current controller connected to the conveying path communication slave station; and A position detector connected to the conveying path communication slave station, which detects the position of the moving body and outputs a position detection signal, The control controller has: A communication master station that communicates with the conveying path communication slave station; One or more communication slave stations that communicate with the communication master station; A position command generator connected to the communication master station; A position generator connected to the communication master station; A current command generator connected to the communication slave station; And One or more position controllers connected to the communication slave station and assigned to the plurality of moving bodies, The control controller has: A position command controller having the position command generator, the position generator, and the communication master station; And A drive controller having the position controller, the current command generator, and the communication slave station, The conveying path communication slave station sends the position detection signal of the position detector to the communication master station, The position generator generates position information for each of the plurality of moving bodies, i.e., moving body position information, based on the position detection signal obtained from the communication master station, The position command generator generates a position command value for each of the plurality of moving bodies, i.e., a moving body position command value, The communication master station sends the moving body position command value and the moving body position information to the communication slave station, or sends a position deviation obtained from the moving body position command value and the moving body position information to the communication slave station, The position controller generates a drive command value for each of the plurality of moving bodies, i.e., a moving body drive command value, based on the moving body position command value and the moving body position information or the position deviation obtained from the communication slave station, The current command generator generates a current command value for the plurality of conveying path units, i.e., a first current command value, based on the moving body drive command value and the moving body position information obtained from the communication slave station, The communication slave station sends the first current command value to the communication master station, The communication master station sends the first current command value obtained from the communication slave station to the conveying path communication slave station, The current controller controls the current supplied to the coil based on the first current command value obtained from the conveying path communication slave station.

6. A conveying system having: A plurality of conveying path units that form a moving path for a plurality of moving bodies having magnets and impart driving force to the plurality of moving bodies; and A control controller that controls the plurality of conveying path units, Each of the conveying path units has: Coil; Conveyor path communication slave station; Current command generator connected to the conveyor path communication slave station; Current controller connected to the conveyor path communication slave station; And Position detector connected to the conveyor path communication slave station, detecting the position of the moving body and outputting a position detection signal, The control controller has: Communication master station communicating with the conveyor path communication slave station; One or more communication slave stations communicating with the communication master station; Position command generator connected to the communication master station; Position generator connected to the communication master station; And One or more position controllers connected to the communication slave stations and assigned to a plurality of the moving bodies, The conveyor path communication slave station sends the position detection signal of the position detector to the communication master station, The position generator generates position information for each of the plurality of moving bodies, i.e., moving body position information, based on the position detection signal obtained from the communication master station, The position command generator generates a position command value for each of the plurality of moving bodies, i.e., a moving body position command value, The communication master station sends the moving body position command value and the moving body position information to the communication slave station, or sends a position deviation obtained from the moving body position command value and the moving body position information to the communication slave station, The position controller generates a drive command value for each of the plurality of moving bodies, i.e., a moving body drive command value, based on the moving body position command value and the moving body position information or the position deviation obtained from the communication slave station, The communication slave station sends the moving body drive command value to the communication master station, The communication master station sends the moving body position information and the moving body drive command value obtained from the communication slave station to the conveyor path communication slave station, The current command generator generates a current command value for the conveyor path unit, i.e., a first current command value, based on the moving body position information and the moving body drive command value obtained from the conveyor path communication slave station, The current controller controls the current supplied to the coil based on the first current command value obtained from the current command generator.

7. The conveying system according to claim 1, wherein The current command generator has: Data acquisition unit that acquires learning data including the moving body position information, the moving body drive command value, and the first current command value; And Model generation unit that uses the learning data to generate a trained model for inferring the first current command value based on the moving body position information and the moving body drive command value.

8. The conveying system according to claim 7, wherein An inference unit that uses the trained model to output the first current command value based on the moving body position information and the moving body drive command value acquired by the data acquisition unit.

9. The conveying system according to claim 1, wherein, the number of the position controllers is less than or equal to the number of the moving bodies.

10. The conveying system according to claim 1, wherein, the magnet and the coil form a moving-magnet linear motor.

11. The conveying system according to claim 1, wherein, the connection of the communication master station, the communication slave station and the conveying path communication slave station is a daisy-chain connection in which the communication master station and the communication slave station are connected, and the communication slave station and the conveying path communication slave station are connected.

12. The conveying system according to claim 3, wherein, the connection of the first communication master station, the second communication master station, the communication slave station and the conveying path communication slave station is a daisy-chain connection in which the first communication master station and the communication slave station are connected, the communication slave station and the second communication master station are connected, and the second communication master station and the conveying path communication slave station are connected.

13. The conveying system according to claim 4, wherein, the connection of the first communication master station, the third communication master station, the fourth communication master station, the first communication slave station, the second communication slave station and the conveying path communication slave station is a daisy-chain connection in which the first communication master station and the first communication slave station are connected, the third communication master station and the second communication slave station are connected, and the fourth communication master station and the conveying path communication slave station are connected.

14. The conveying system according to claim 1, wherein, a first transmission period in which the communication master station transmits the moving body position command value and the moving body position information to the communication slave station, a second transmission period in which the communication slave station transmits the moving body drive command value to the communication master station, and a third transmission period in which the communication master station transmits the first current command value to the conveying path communication slave station are predetermined, and the first transmission period is different from the second transmission period and the third transmission period.

15. The conveying system according to claim 14, wherein, the first transmission period is longer than the second transmission period and the third transmission period.

16. The conveying system according to any one of claims 1 to 15, wherein, it further has a drive system which is connected to the control controller and has a motor control device for obtaining the position command value generated by the position command generator.

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