Transport System

Abstract

The transport system includes a plurality of transport path units that constitute a transport path along which the transport body moves. Each of the plurality of transport path units includes a linear motor section (21) having one or more coils (20) that generate a thrust for moving the transport body when a current flows through the linear motor section (21), and a current control unit (22) having a plurality of current control devices (26) and a current control unit (32) that controls each of the current control devices (26). Each of the current control devices (26) is connected to a coil (20) and controls a current flowing through the coil (20). The current control unit (32) acquires information indicating the configuration of the linear motor section (21) from the linear motor section (21), and selects a current control device (26) that controls a current flowing through one or more coils (20) of the linear motor section (21) from the plurality of current control devices (26) of the current control unit (22) based on the acquired information.

Description

[Technical field]

[0001] The present disclosure relates to a transport system for transporting objects. [Background technology]

[0002] In production lines where factory automation is implemented, such as production lines for assembling industrial products or for packaging food, conveyor systems are generally used to transport workpieces. In recent years, conveyor systems have been widely used in which the conveyor path for transporting the workpieces is divided into multiple zones, and carts carrying the workpieces are driven by control devices installed in each zone. This type of conveyor system is known as one of the conveyor systems with excellent production efficiency.

[0003] As one form of conveyance system, a so-called moving magnet type linear motor is used, in which a magnet is arranged on a carriage, which is a movable element, and a coil is arranged on a stator that constitutes a conveyance path. A moving magnet type linear motor is suitable for moving a movable element with a stroke that is longer than the length of the movable element. A number of coils are arranged on the stator in the direction in which the movable element is moved. Furthermore, by arranging a number of stators, a conveyance path for conveying one or a number of carriages is formed.

[0004] Conventionally, motors equipped with a memory in which information required to operate the motor is stored are known. In the case of such motors, when the motor is connected to a controller that controls the motor, the information stored in the memory is sent to the controller. Since the information stored in the memory is automatically sent to the controller, when the controller connected to the memory is replaced, the task of inputting information required to control the motor into the controller is not required. Patent Document 1 discloses providing an encoder connected to a motor with a memory in which information related to the motor can be written. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 11-304534 Summary of the Invention [Problem to be solved by the invention]

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

[0007] In the case of a linear motor applied to the above-mentioned conveying system, the multiple stators constituting the conveying path may include stators with different numbers of coils. According to the above-mentioned conventional technology, when the stators have different numbers of coils, it is necessary to design a program for each stator that is adapted to the number of coils. Therefore, according to the above-mentioned conventional technology, there is a problem that the workload in designing the conveying system is large.

[0008] The present disclosure has been made in consideration of the above, and has an object to provide a conveying system that can reduce the workload involved in designing the conveying system. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the object, the transport system according to the present disclosure includes a plurality of transport path units constituting a transport path along which a transport body moves. Each of the plurality of transport path units includes a linear motor section having one or more coils that generate a thrust for moving the transport body when a current flows through it, and a current control unit having a plurality of current control devices and a current control section that controls each current control device. The current control device connected to the coils controls the current flowing through the coils. The current control section acquires information indicating the configuration of the linear motor section from the linear motor section, and based on the acquired information, When the number of coils in the linear motor section is less than the number of current control devices in the current control unit, Among all the current control devices that the current control unit has, The same number of coils as the linear motor Select a current control device. Effect of the Invention

[0010] The conveying system according to the present disclosure has an effect of reducing the workload involved in designing the conveying system. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a configuration example of a transport system according to a first embodiment; [Diagram 2] FIG. 1 is a diagram showing a configuration example of a linear transport path unit included in a transport system according to a first embodiment; [Diagram 3] FIG. 1 is a diagram showing a configuration example of a curved transport path unit included in the transport system according to the first embodiment; [Figure 4] FIG. 1 is a diagram showing an example of the configuration of a control circuit according to a first embodiment; [Diagram 5] FIG. 1 is a diagram showing an example of the configuration of a dedicated hardware circuit according to a first embodiment; [Figure 6] 1 is a flowchart showing a procedure of a process executed by a current control unit of a current control unit in each transport path unit of the transport system according to the first embodiment. [Figure 7] FIG. 13 is a diagram showing a configuration example of a transport path unit included in a transport system according to a modified example of the first embodiment; [Figure 8]11 is a flowchart showing a procedure of a process executed by a controller of a transport system according to a second embodiment. [Figure 9] FIG. 13 is a diagram showing a configuration example of a transport system according to a third embodiment; [Figure 10] 11 is a flowchart showing a procedure of a process executed by a controller of a transport system according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A transfer system according to an embodiment will be described in detail below with reference to the drawings.

[0013] Embodiment 1 1 is a diagram showing a configuration example of a conveyance system 1 according to embodiment 1. The conveyance system 1 is a system used for conveying objects. In embodiment 1, the conveyance system 1 conveys objects by moving a conveyance body on which the objects are placed.

[0014] The transport system 1 includes a plurality of transport path units 11A-11H, a controller 12, a direct current (DC) power source 13, and carriages 16A, 16B, and 16C. The controller 12 controls the transport path units 11A-11H to operate the carriages 16A, 16B, and 16C. In the following description, the transport path unit 11 refers to each of the transport path units 11A-11H without distinction.

[0015] The multiple transport path units 11 are connected to each other to form a transport path 10 along which the transport body moves. The multiple transport path units 11 move the transport body by applying power to the transport body. Each of the carriages 16A, 16B, and 16C is a transport body. In the following description, the carriage 16 refers to each of the carriages 16A, 16B, and 16C without distinction.

[0016] 1 is a closed path in the shape of a track. The transport path 10 of the transport system 1 may be an open path. In other words, the transport path 10 of the transport system 1 may be a path having a start point and an end point that are located apart from each other.

[0017] The transport path units 11A, 11B, 11E, and 11F are linear transport path units 11 that form a linear path. The transport path units 11C, 11D, 11G, and 11H are curved transport path units 11 that form a curved path, and change the traveling direction of the transport body by 90 degrees. The transport path 10 may not have a transport path unit 11 that forms a linear path, and may be composed only of transport path units 11 that form a curved path. The transport path 10 having a start point and an end point that are located at positions separated from each other may be composed only of the transport path units 11 that form a linear path. The overall shape of the transport path 10 is arbitrary.

[0018] The dolly 16 is attached to the side of the conveying path 10. The dolly 16 moves along a guide rail provided on the side of the conveying path 10. The dolly 16 moves on the side of the conveying path 10 and stops on the side of the conveying path 10. The conveying system 1 according to the first embodiment includes a moving magnet type linear motor. The dolly 16 may move along a guide rail provided on the upper surface of the conveying path 10. The dolly 16 may be attached to the conveying path 10 so as to be able to move along the conveying path 10. The dolly 16 includes a permanent magnet constituting a mover, a permanent magnet for a linear scale, and a guide roller that moves on the guide rail by rotation. In FIG. 1, the guide rail, the guide roller, the permanent magnet constituting a mover, and the permanent magnet for a linear scale are not shown.

[0019] The traveling direction of each carriage 16 is a clockwise direction in Fig. 1 or a counterclockwise direction in Fig. 1. Of the traveling directions, the clockwise direction in Fig. 1 is the forward direction. Of the traveling directions, the counterclockwise direction in Fig. 1 is the reverse direction. Arrow 17A indicates the forward direction. Arrow 17B indicates the reverse direction.

[0020] In the example shown in FIG. 1, the conveying system 1 includes eight conveying path units 11 and three carts 16. The number of conveying path units 11 included in the conveying system 1 may be any number. That is, the number of conveying path units 11 constituting the conveying path 10 may be any number. The conveying system 1 may include a plurality of conveying path units 11. The number of carts 16 moving on the conveying path 10 may be any number. The conveying system 1 may include one or a plurality of carts 16.

[0021] The DC power supply 13 is connected to each transport path unit 11 via a DC power bus 15. The DC power supply 13 is a power supply device or a power supply circuit that outputs a direct current voltage. The DC power supply 13 supplies power to each transport path unit 11. Each transport path unit 11 shares the DC power supply 13.

[0022] The transport system 1 has a configuration in which each transport path unit 11 is connected to a DC power source 13 by a multi-drop connection. The connection between each transport path unit 11 and the DC power source 13 is not limited to a multi-drop connection, and may be a daisy chain connection. In the example shown in Fig. 1, the transport system 1 is provided with one DC power source 13, but the transport system 1 may be provided with multiple DC power sources 13. In other words, the transport system 1 may be configured with multiple power source domains.

[0023] The controller 12 controls each of the multiple transport path units 11. The controller 12 is connected to each transport path unit 11 via a data communication line 14. The data communication line 14 is composed of a line connecting the transport path unit 11A, which is one of the multiple transport path units 11, to the controller 12, and a line connecting adjacent transport path units 11. The transport system 1 has a configuration in which each transport path unit 11 is connected to the controller 12 by a daisy chain connection.

[0024] The connection between each transport path unit 11 and the controller 12 is not limited to a daisy chain connection. The connection between each transport path unit 11 and the controller 12 may be a star connection in which each transport path unit 11 is connected to the controller 12 via a communication hub. Alternatively, the transport system 1 may include a plurality of data communication lines 14, and each transport path unit 11 and the controller 12 may be directly connected by the data communication lines 14.

[0025] The controller 12 generates a position command indicating a position to which the cart 16 is to be moved. The controller 12 calculates the position of each cart 16 based on position sensor information transmitted from each transport path unit 11. The controller 12 generates position information for each cart 16 indicating the actual position of the cart 16 on the transport path 10. The position sensor information will be described later.

[0026] The controller 12 generates, for each carriage 16, a thrust command which is a command for a thrust to move the carriage 16, based on the difference between the position command and the position information. The controller 12 generates a current command for controlling a current flowing through a coil of each transport path unit 11, based on the thrust command of each carriage 16 and the position information of each carriage 16. The controller 12 controls each transport path unit 11 by outputting a current command to each transport path unit 11.

[0027] A control device that is higher than the controller 12, such as a programmable logic controller, may be connected to the controller 12. Such a control device outputs commands for sequence control to the controller 12. A human-machine interface may be connected to the controller 12. Such a human-machine interface accepts input from an operator. In addition, such a human-machine interface outputs information indicating the status of the conveyance system 1 by display or the like. The controller 12 may obtain operation information of each cart 16 from the higher-level control device or human-machine interface, and generate a position command for each cart 16 based on the operation information. The operation information is information indicating a schedule for the movement of each cart 16 on the conveyance path 10.

[0028] Next, a description will be given of the configuration of the linear transport path unit 11. Here, the configuration of the linear transport path unit 11 will be described using the transport path unit 11A as an example. The transport path units 11B, 11E, and 11F have the same configuration as the transport path unit 11A described below.

[0029] Fig. 2 is a diagram showing a configuration example of a linear transport path unit 11A included in the transport system 1 according to the embodiment 1. Fig. 2 shows a schematic diagram of the transport path unit 11A and one carriage 16 moving along the transport path unit 11A. The carriage 16 has a permanent magnet 41 as a mover and a permanent magnet 42 used to detect the position of the carriage 16.

[0030] The transport path unit 11A includes a linear motor unit 21 and a current control unit 22. The linear motor unit 21 includes a linear scale 23 and a coil unit 24. The linear scale 23 functions as a position detection unit that detects the position of the cart 16. The linear transport path unit 11A includes the linear linear motor unit 21.

[0031] The linear scale 23 includes a plurality of position sensors 25 and a control unit 31 that controls the linear scale 23. The control unit 31 has a storage unit 33. The storage unit 33 stores information indicating the configuration of the linear motor unit 21. As a result, the linear motor unit 21 holds the information indicating the configuration of the linear motor unit 21.

[0032] One example of the information indicating the configuration of the linear motor unit 21 is shape information. The shape information is information about the shape of the linear motor unit 21, and indicates whether it is a straight type or a curved type. Shape information indicating a straight type is stored in the memory unit 33 of the transport path unit 11A.

[0033] The multiple position sensors 25 are arranged in a portion of the transport path unit 11A that constitutes the transport path 10. Each position sensor 25 is a sensor that detects a magnetic field, such as a Hall sensor or a magnetic resistance sensor. Each position sensor 25 detects the magnetic field of the permanent magnet 41 or the magnetic field of the permanent magnet 42. The position sensor 25 shown in FIG. 2 is a Hall sensor equipped with two Hall elements. Each Hall element of the position sensor 25 converts the magnetic field into an electric signal and outputs the electric signal. The electric signal output by each Hall element changes with the movement of the cart 16.

[0034] The electrical signals from each position sensor 25 of the linear scale 23 are input to the control unit 31. The control unit 31 detects the position of the cart 16 with respect to the position sensor 25 based on the electrical signals from the position sensor 25. As a result, the control unit 31 obtains position sensor information indicating the relative position of the cart 16 with respect to the position sensor 25. The control unit 31 transmits the position sensor information obtained by each position sensor 25 to the controller 12 via the data communication line 14. Note that the data communication line 14 is not shown in FIG. 2.

[0035] The coil section 24 has a plurality of coils 20. When a current flows through the coils 20, each coil 20 generates a thrust force that moves the cart 16 by interaction with a magnetic field generated by the permanent magnet 41. In this way, each coil 20 generates a thrust force that moves the cart 16 by the current flowing through it.

[0036] In the linear motor section 21, the coils 20 are arranged in a linear direction. In the example shown in Fig. 2, the coil section 24 of the transport path unit 11A has 12 coils 20. The number of coils 20 included in the transport path unit 11A is arbitrary. The transport path unit 11A may have one or more coils 20.

[0037] The current control unit 22 includes a plurality of current control devices 26 and a current control section 32 that controls each of the current control devices 26. Each current control device 26 is connected to a coil 20. The current control device 26 connected to the coil 20 controls the current flowing through the coil 20. Each current control device 26 has the same configuration as the others. In the example shown in FIG. 2, the current control unit 22 of the transport path unit 11A includes 12 current control devices 26.

[0038] An inverter circuit is connected to each coil 20. The inverter circuit converts a direct current supplied from the DC power source 13 to the transport path unit 11A via the DC power source bus 15 into an alternating current. An alternating current flows through the coil 20. The inverter circuit adjusts the current flowing through the coil 20. The inverter circuit is included in the current control device 26. A current sensor is connected to each coil 20 to detect an actual coil current value, which is the current value of the current flowing through the coil 20. The current sensor outputs the detected actual coil current value to the current control device 26. Note that the inverter circuit, the current sensor, and the DC power source bus 15 are not shown in FIG. 2.

[0039] The current command transmitted from the controller 12 to each transport path unit 11 via the data communication line 14 is input to the current control unit 32 of each transport path unit 11. The current control unit 32 outputs a current command value indicated in the current command to each current control device 26. The current control device 26 calculates a voltage value of a voltage to be applied to the coil 20 based on the current command value and the actual coil current value. The current control device 26 outputs a pulse width modulation (PWM) signal obtained by comparing the calculated voltage value with a triangular wave to the inverter circuit. The inverter circuit performs switching according to the PWM signal, so that a voltage for flowing a current of a desired current value through the coil 20 is applied to the coil 20. In this way, each current control device 26 controls the current flowing through the coil 20. The current control device 26 may calculate a voltage value of a voltage to be applied to the coil 20 by performing PID (Proportional Integral Differential) control of the voltage to be applied to the coil 20 based on the deviation between the current command value and the actual coil current value.

[0040] 2, the control unit 31 of the linear motor unit 21 transmits the configuration information stored in the storage unit 33 to the current control unit 32 of the current control unit 22. The current control unit 32 of the current control unit 22 acquires the configuration information from the linear motor unit 21, and selects a current control device 26 that controls the current flowing through the coil 20 of the linear motor unit 21 from among the multiple current control devices 26 of the current control unit 22, based on the acquired configuration information. In other words, the current control unit 32 acquires the configuration information from the linear motor unit 21, and selects the current control device 26 to which the coil 20 is connected from among all the current control devices 26 of the current control unit 22, based on the acquired configuration information.

[0041] In the transport path unit 11A, one coil 20 is connected to each current control device 26. In the example shown in FIG. 2, the current control unit 22 has 12 current control devices 26, and the linear motor section 21 has 12 coils 20. All of the 12 current control devices 26 are connected to the coils 20. That is, in the example shown in FIG. 2, all of the current control devices 26 in the current control unit 22 are selected as the current control devices 26 that control the current flowing through the coils 20 in the linear motor section 21. That is, in the transport path unit 11A, all of the current control devices 26 in the current control unit 22 are used for current control of the coils 20.

[0042] Next, a description will be given of the configuration of the curved transport path unit 11. Here, the configuration of the curved transport path unit 11 will be described using the transport path unit 11C as an example. The transport path units 11D, 11G, and 11H have the same configuration as the transport path unit 11C described below.

[0043] Fig. 3 is a diagram showing a configuration example of a curved transport path unit 11C included in the transport system 1 according to the embodiment 1. Fig. 3 shows a schematic diagram of the transport path unit 11C and one carriage 16 passing through the transport path unit 11C. Hereinafter, a description of the configuration of the transport path unit 11C that is the same as that of the transport path unit 11A shown in Fig. 2 will be omitted.

[0044] The curved transport path unit 11C has a curved linear motor section 21. In the curved linear motor section 21, the coils 20 are arranged along a curve. In FIG. 3, the arrangement of the coils 20 is shown as being replaced with an arrangement in a straight line. The memory section 33 of the transport path unit 11C stores configuration information indicating the curved type.

[0045] In the example shown in Fig. 3, the coil section 24 of the transport path unit 11C has ten coils 20. The number of coils 20 included in the transport path unit 11C is arbitrary. The transport path unit 11C may have one or more coils 20. In the example shown in Fig. 3, the current control unit 22 of the transport path unit 11C has twelve current control devices 26.

[0046] In the example shown in Fig. 3, the current control unit 22 has 12 current control devices 26, while the linear motor section 21 has 10 coils 20. Ten of the 12 current control devices 26 are connected to the coils 20. That is, in the example shown in Fig. 3, only ten of the current control devices 26 of the current control unit 22 are selected as the current control devices 26 that control the current flowing through the coils 20 of the linear motor section 21. In the transport path unit 11C, only ten of the current control devices 26 of the current control unit 22 are used for current control of the coils 20, and the remaining two current control devices 26 are not used.

[0047] In the above example, the linear motor section 21 of the straight-type transport path unit 11 is provided with 12 coils 20. The memory section 33 of the straight-type transport path unit 11 stores configuration information indicating a straight type. The linear motor section 21 of the curved-type transport path unit 11 is provided with 10 coils 20. The memory section 33 of the curved-type transport path unit 11 stores configuration information indicating a curved type. The current control section 32 of the current control unit 22 determines whether the linear motor section 21 is a straight type or a curved type based on the configuration information read out from the linear motor section 21.

[0048] When the current control unit 32 determines that the linear motor unit 21 is of the straight type, it selects 12 current control devices 26 connected to the coils 20 as the current control devices 26 to be used for the current control of the coils 20. When the current control unit 32 determines that the linear motor unit 21 is of the curved type, it selects 10 current control devices 26 connected to the coils 20 as the current control devices 26 to be used for the current control of the coils 20. The form information indicating the straight type indicates that the linear motor unit 21 has 12 coils 20. Moreover, the form information indicating the curved type indicates that the linear motor unit 21 has 10 coils 20. In other words, it can be said that the form information, which is information indicating the configuration of the linear motor unit 21, includes information indicating the number of coils 20 that the linear motor unit 21 has. Thus, the current control unit 32 recognizes the number of coils 20 that the linear motor unit 21 has from the form information, and selects the current control devices 26 to be used for the current control of the coils 20. In other words, the current control unit 32 acquires configuration information from the linear motor unit 21, and based on the acquired configuration information, selects the current control device 26 to which the coil 20 is connected from among all the current control devices 26 possessed by the current control unit 22.

[0049] Moreover, each of the current control units 22 in all the transport path units 11 of the transport system 1 has 12 current control devices 26. In this manner, each of the current control units 22 provided in the multiple transport path units 11 has the same number of current control devices 26. In the transport system 1, the configuration of the current control units 22 is standardized in all the transport path units 11 of the transport system 1.

[0050] When the transport system 1 includes a transport path unit 11 having a linear motor unit 21 of a shape other than the straight type or curved type, shape information indicating the other shape is stored in the storage unit 33 of the transport path unit 11. When the shape information indicating the other shape is read by the current control unit 32, the current control unit 32 selects the current control devices 26 of the number corresponding to the other shape as the current control devices 26 to be used for current control of the coil 20.

[0051] If the maximum number of coils 20 in each transport path unit 11 of the transport system 1 is N, and if the number of current control devices 26 in each current control unit 22 is the same, each current control unit 22 is provided with N or more current control devices 26. This allows the transport system 1 to use current control units 22 having a common configuration to control the currents flowing through all of the coils 20 in each transport path unit 11. In the above, N=12, and each current control unit 22 has 12 current control devices 26, but the number of current control devices 26 can be any number equal to or greater than N.

[0052] The current control section 32 of the current control unit 22 may determine the value of a parameter used to control the current flowing through each coil 20 of the linear motor section 21 based on the form information acquired from the control section 31 of the linear motor section 21. In this case, each current control device 26 of the current control unit 22 controls the current flowing through the coil 20 based on the value of the parameter determined by the current control section 32. The parameter whose value is determined based on the form information is a parameter whose value changes depending on the form of the linear motor section 21, and is, for example, an induced voltage constant, a threshold value for determining an overcurrent, or a threshold value for determining an overload. The parameter whose value is determined based on the form information may be a control gain used for PID control. For example, the current control section 32 holds a relationship between the form information and the value of the parameter, and determines the value of the parameter from the form information based on the relationship. It is assumed that the method by which the current control section 32 determines the value of the parameter from the form information is arbitrary.

[0053] Each transport path unit 11 is assembled by connecting a linear motor section 21 and a current control unit 22 to each other. In each of the multiple transport path units 11 in the transport system 1, the current control unit 22 can be separated from the linear motor section 21. In the case where only one of the linear motor section 21 and the current control unit 22 of each transport path unit 11 breaks down, it is possible to replace only the broken one. This makes it possible to reduce the cost required for recovery from a failure, compared to a case where the current control unit 22 cannot be separated from the linear motor section 21.

[0054] Next, a description will be given of hardware that realizes the control unit 31 of the linear motor unit 21. The control unit 31 is realized by a processing circuit. The processing circuit may be a circuit in which a processor executes software, or may be a dedicated circuit.

[0055] When the processing circuit is realized by software, the processing circuit is, for example, a control circuit shown in Fig. 4. Fig. 4 is a diagram showing an example of the configuration of a control circuit 50 according to the first embodiment. The control circuit 50 includes an input unit 51, a processor 52, a memory 53, and an output unit 54. The input unit 51 is an interface circuit that receives data input from outside the control circuit 50 and provides the data to the processor 52. The output unit 54 is an interface circuit that sends data from the processor 52 or the memory 53 to outside the control circuit 50.

[0056] When the processing circuit is the control circuit 50 shown in FIG. 4, the control unit 31 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 53. The processing circuit realizes the function of the control unit 31 by the processor 52 reading and executing the program stored in the memory 53. That is, the processing circuit includes the memory 53 for storing the program that results in the processing of the control unit 31 being executed. It can also be said that these programs cause the computer to execute the procedures and methods of the control unit 31.

[0057] The processor 52 is a CPU (Central Processing Unit). The processor 52 may be a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a DSP. The memory 53 may be, for example, a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM (registered trademark)), or other non-volatile or volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a digital versatile disk (DVD). The storage unit 33 shown in FIG. 2 and FIG. 3 is realized by a non-volatile memory constituting the memory 53.

[0058] Fig. 4 shows an example of hardware in which the control unit 31 is realized by a general-purpose processor 52 and a memory 53, but the control unit 31 may be realized by a dedicated hardware circuit. Fig. 5 is a diagram showing an example of the configuration of a dedicated hardware circuit 55 according to the first embodiment.

[0059] The dedicated hardware circuit 55 includes an input unit 51, an output unit 54, and a processing circuit 56. The processing circuit 56 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit that combines these. The control unit 31 may be realized by the processing circuit 56 on a function-by-function basis, or each function may be realized collectively by the processing circuit 56. The control unit 31 may be realized by combining the control circuit 50 and the hardware circuit 55.

[0060] Next, the hardware for realizing the current control section 32 of the current control unit 22 will be described. The current control section 32 is realized by a processing circuit, similar to the control section 31 of the linear motor section 21. The processing circuit for realizing the current control section 32 has a configuration similar to that of the control circuit 50 shown in Fig. 4. Alternatively, the processing circuit for realizing the current control section 32 has a configuration similar to that of the hardware circuit 55 shown in Fig. 5. The current control section 32 may be realized by combining a configuration similar to that of the control circuit 50 and a configuration similar to that of the hardware circuit 55.

[0061] Next, the hardware for realizing the current control device 26 will be described. Like the control unit 31 or the current control unit 32, the current control device 26 is also realized by a processing circuit. The processing circuit for realizing the current control device 26 has a configuration similar to that of the control circuit 50 shown in Fig. 4. Alternatively, the processing circuit for realizing the current control device 26 has a configuration similar to that of the hardware circuit 55 shown in Fig. 5. The current control device 26 may be realized by combining a configuration similar to that of the control circuit 50 and a configuration similar to that of the hardware circuit 55.

[0062] Next, the hardware for realizing the controller 12 shown in Fig. 1 will be described. The controller 12 is also realized by a processing circuit, like the control unit 31 or the current control unit 32. The processing circuit for realizing the controller 12 has a configuration similar to that of the control circuit 50 shown in Fig. 4. Alternatively, the processing circuit for realizing the controller 12 has a configuration similar to that of the hardware circuit 55 shown in Fig. 5. The controller 12 may be realized by combining a configuration similar to that of the control circuit 50 and a configuration similar to that of the hardware circuit 55.

[0063] In the above description, the configuration information is stored in the memory unit 33 of the linear scale 23. In each transport path unit 11, the configuration information may be stored in a component of the linear motor unit 21 other than the linear scale 23. For example, the configuration information may be stored in the coil unit 24.

[0064] Next, a process procedure executed by the current control section 32 of the current control unit 22 will be described. Fig. 6 is a flowchart showing a process procedure executed by the current control section 32 of the current control unit 22 in each transport path unit 11 of the transport system 1 according to the embodiment 1. The process procedure shown in Fig. 6 is a process procedure when the current control unit 22 is connected to the linear motor section 21 and the transport path unit 11 is initially set.

[0065] In step S1, the current control unit 32 requests the linear motor unit 21 to transmit the configuration information. Upon receiving the request from the current control unit 32, the control unit 31 of the linear motor unit 21 transmits the configuration information stored in the storage unit 33 to the current control unit 32. In step S2, the current control unit 32 receives the configuration information.

[0066] In step S3, the current control unit 32 selects a current control device 26 that controls the current flowing through each coil 20 of the linear motor unit 21 based on the configuration information.

[0067] In step S4, the current control unit 32 determines, based on the configuration information, the values ​​of parameters used to control the current flowing through each coil 20 of the linear motor unit 21. With the above, the current control unit 32 ends the processing according to the procedure shown in FIG.

[0068] In this manner, in each transport path unit 11 of the transport system 1, the current control unit 32 of the current control unit 22 selects a current control device 26 that controls the current flowing through one or more coils 20 of the linear motor unit 21 from among the multiple current control devices 26 of the current control unit 22, based on the configuration information acquired from the linear motor unit 21. That is, the current control unit 32 acquires the configuration information from the linear motor unit 21, and selects a current control device 26 to which a coil 20 is connected from among all the current control devices 26 of the current control unit 22, based on the acquired configuration information. In the transport system 1, between transport path units 11 that have different numbers of phases of the linear motor unit 21 to be controlled, i.e., different numbers of coils 20 of the linear motor unit 21, it is not necessary to design the program executed by the current control unit 32 according to the number of phases, and it is possible to standardize the program executed by the current control unit 32. When the transport path units 11 of the transport system 1 include transport path units 11 having linear motor sections 21 of different configurations, the programs executed by the current control sections 32 of the transport path units 11 can be made common.

[0069] The form information may be information that indicates the form of the linear motor unit 21, and may be information different from the above-mentioned information. For example, the form information may be information that indicates the length of the linear motor unit 21 in the direction in which the carriage 16 is moved. In this case, the current control unit 32 recognizes the number of coils 20 that the linear motor unit 21 has from the information that indicates the length of the linear motor unit 21, and selects the current control device 26 to be used for current control of the coils 20. The form information may also be a board ID (IDentifier) ​​of a board on which the coils 20 of the linear motor unit 21 are mounted. In this case, the current control unit 32 recognizes the number of coils 20 that the linear motor unit 21 has from the board ID, and selects the current control device 26 to be used for current control of the coils 20.

[0070] In the above, the information stored in the linear motor unit 21 and indicating the configuration of the linear motor unit 21 is form information indicating the form of the linear motor unit 21. The information indicating the configuration of the linear motor unit 21 is not limited to form information.

[0071] The information indicating the configuration of the linear motor section 21 may be information that the current control section 32 of the current control unit 22 can acquire from the linear motor section 21, and is not limited to information stored in the linear motor section 21. The information indicating the configuration of the linear motor section 21 may be information acquired, for example, by applying a voltage to components provided in the linear motor section 21. Here, two examples of acquiring information indicating the configuration of the linear motor section 21 using resistors provided in the linear motor section 21 will be described.

[0072] In a first example, when the current control unit 22 is connected to the linear motor section 21, the current control section 32 of the current control unit 22 measures the partial voltage of a resistor provided in the linear motor section 21 by applying a voltage to the resistor. The current control section 32 determines the form of the linear motor section 21 based on the measured partial voltage value. In this case, the current control section 32 acquires the partial voltage value, which is information indicating the configuration of the linear motor section 21, from the linear motor section 21. For example, the current control section 32 holds a relationship between the form of the linear motor section 21 and the partial voltage value, and determines the form of the linear motor section 21 from the partial voltage value based on the relationship. Note that the method by which the current control section 32 determines the form of the linear motor section 21 from the partial voltage value is arbitrary.

[0073] In the second example, the current control unit 32 of the current control unit 22 has a terminal for determining the form of the linear motor unit 21. The resistor provided in the linear motor unit 21 is connected to the terminal of the current control unit 32. The arrangement of the resistor in the linear motor unit 21 is assumed to be pull-up or pull-down. When the current control unit 22 is connected to the linear motor unit 21, the current control unit 32 passes a current to the resistor in the linear motor unit 21. The current control unit 32 determines whether the arrangement of the resistor is pull-up or pull-down depending on whether the signal at the terminal is H (High) or L (Low). The current control unit 32 holds a relationship between the form of the linear motor unit 21 and the arrangement of the resistor, and determines the form of the linear motor unit 21 from the signal value of the terminal based on the relationship. In this case, the current control unit 32 acquires a signal value, which is information indicating the configuration of the linear motor unit 21, from the linear motor unit 21. It is assumed that the method by which the current control unit 32 determines the form of the linear motor unit 21 from the signal value is arbitrary. The method of acquiring the information indicating the configuration of the linear motor unit 21 by the current control unit 32 is not limited to the above first or second example, and may be any method. When the current control unit 32 selects the current control device 26 based on information other than the configuration information, the current control unit 32 may determine the parameter value based on the information other than the configuration information.

[0074] In the above description, each transport path unit 11 of the transport system 1 has the same number of current control devices 26. The transport system 1 is not limited to a transport path unit 11 having the same number of current control devices 26. The transport path units 11 of the transport system 1 may include transport path units 11 having different numbers of current control devices 26.

[0075] 7 is a diagram showing a configuration example of a transport path unit 11 included in a transport system 1 according to a modification of the first embodiment. In the transport system 1 according to the modification, the current control unit 22 of the linear transport path unit 11 has 12 current control devices 26, similar to the transport path unit 11A shown in FIG. 2. On the other hand, in the transport system 1 according to the modification, the current control unit 22 of the curved transport path unit 11 has 10 current control devices 26. In this way, the multiple transport path units 11 of the transport system 1 according to the modification include transport path units 11 having different numbers of current control devices 26 in the current control units 22.

[0076] 7 shows an example of the configuration of a transport path unit 11C which is a curved transport path unit 11. The transport path units 11D, 11G, and 11H each have the same configuration as the transport path unit 11C shown in FIG.

[0077] In the example shown in Fig. 7, the coil section 24 of the transport path unit 11C has ten coils 20. Also, in the example shown in Fig. 7, the current control unit 22 of the transport path unit 11C has ten current control devices 26. The memory section 33 of the transport path unit 11C stores form information indicating a curved type.

[0078] In the example shown in FIG. 7, the current control unit 22 has ten current control devices 26, and the linear motor section 21 has ten coils 20. All of the ten current control devices 26 are connected to the coils 20. That is, in the example shown in FIG. 7, all of the current control devices 26 in the current control unit 22 are selected as the current control devices 26 that control the current flowing through the coils 20 in the linear motor section 21. That is, in the transport path unit 11C, all of the current control devices 26 in the current control unit 22 are used for current control of the coils 20. In the transport system 1 according to the modified example, it is not necessary to design the program executed by the current control section 32 according to the number of phases between transport path units 11 having different numbers of coils 20 in the linear motor section 21, and the program executed by the current control section 32 can be made common.

[0079] According to the first embodiment, the current control section 32 of the current control unit 22 acquires information indicating the configuration of the linear motor section 21 from the linear motor section 21, and selects a current control device 26 that controls the current flowing through one or more coils 20 of the linear motor section 21 from the multiple current control devices 26 of the current control unit 22 based on the acquired information. Since the current control device 26 is selected based on the information indicating the configuration of the linear motor section 21, even if the transport path units 11 include transport path units 11 having different numbers of coils 20, it is not necessary to design a program adapted to the number of coils 20 for each transport path unit 11. Therefore, the transport system 1 can reduce the workload in designing the transport system 1.

[0080] Further, each current control unit 22 provided in the plurality of transport path units 11 of the transport system 1 has the same number of current control devices 26. In the transport system 1, the configuration of the current control unit 22 is common to all the transport path units 11 of the transport system 1. That is, the type of current control unit 22 used in the transport path units 11 can be one. Therefore, the manufacturing cost of the transport system 1 can be reduced compared to a case where the current control units 22 having different numbers of current control devices 26 are applied to the transport path units 11 of different forms. When the current control unit 22 is replaceable, one type of current control unit 22 can be used for all the transport path units 11. Therefore, the cost required for replacing the current control unit 22 and the cost required for inventory management of the current control unit 22 can be reduced.

[0081] Furthermore, the information indicating the configuration of linear motor section 21 includes information indicating the number of coils 20 that linear motor section 21 has. This allows current control section 32 of current control unit 22 to select current control devices 26 to be used for current control of coils 20, the number of which is the same as the number of coils 20 that linear motor section 21 has.

[0082] Furthermore, the current control section 32 of the current control unit 22 determines parameter values ​​used to control the current flowing through each coil 20 of the linear motor section 21, based on information indicating the configuration of the linear motor section 21. Each current control device 26 of the current control unit 22 controls the current flowing through the coil 20, based on the determined parameter values. This allows each transport path unit 11 to control the current flowing through each coil 20 in accordance with the configuration of the linear motor section 21.

[0083] Furthermore, the linear motor section 21 holds information indicating the configuration of the linear motor section 21. As a result, the current control section 32 of the current control unit 22 can obtain the information indicating the configuration of the linear motor section 21 from the linear motor section 21 by connecting the current control unit 22 to the linear motor section 21.

[0084] Furthermore, the linear scale 23, which is a position detection unit, has a storage unit 33 that stores information indicating the configuration of the linear motor unit 21. The conveying system 1 can retain and transmit the information indicating the configuration of the linear motor unit 21 by utilizing the configuration of the linear scale 23. This allows the conveying path unit 11 to have a simpler configuration than when a separate configuration for retaining and transmitting the information indicating the configuration of the linear motor unit 21 is provided.

[0085] Furthermore, in each of the multiple transport path units 11, the current control unit 22 can be separated from the linear motor unit 21. When only one of the linear motor unit 21 and the current control unit 22 in the transport path unit 11 breaks down, it is possible to replace only the broken one. This makes it possible to reduce the cost required to restore the transport path unit 11 from a breakdown.

[0086] Embodiment 2 In the second embodiment, an example will be described in which the controller 12 acquires information indicating the configuration of the linear motor unit 21, and calculates the configuration of the transport path 10 based on the information acquired from each of the multiple transport path units 11. The transport system 1 according to the second embodiment has a similar configuration to the transport system 1 according to the first embodiment. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and operations different from those in the first embodiment will be mainly described.

[0087] Fig. 8 is a flowchart showing a procedure of a process executed by the controller 12 of the transport system 1 according to the embodiment 2. The procedure shown in Fig. 8 is a procedure of a process when the controller 12 is connected to each transport path unit 11 of the transport system 1 and the controller 12 is initially set.

[0088] In step S11, the controller 12 requests each transport path unit 11 to transmit configuration information, which is information indicating the configuration of the linear motor unit 21. Upon receiving the request from the controller 12, the control unit 31 of the linear motor unit 21 transmits the configuration information stored in the storage unit 33 to the controller 12.

[0089] In step S12, the controller 12 receives the configuration information. The controller 12 identifies each transport path unit 11 according to the order in which the transport path units 11 are arranged in the forward direction, and associates the received configuration information with each transport path unit 11. As shown in FIG. 1, when each transport path unit 11 is connected to the controller 12 by a daisy chain connection, the controller 12 identifies the transport path unit 11A, which is the first transport path unit 11 in the order of connection via the data communication line 14 as seen from the controller 12. The controller 12 identifies the order of the transport path units 11B-11H other than the transport path unit 11A according to the order of arrangement in the forward direction from the transport path unit 11A. As a result, the controller 12 obtains configuration information associated with the order of the transport path units 11 from the first transport path unit 11A to the eighth transport path unit 11H.

[0090] In step S13, the controller 12 calculates the configuration of the transport path 10 based on the shape information acquired from each transport path unit 11. Here, the calculation of the configuration of the transport path 10 refers to determining the overall shape of the transport path 10. From the shape information acquired from each transport path unit 11, the controller 12 recognizes that the four transport path units 11A, 11B, 11E, and 11F are linear transport path units 11, and that the four transport path units 11C, 11D, 11G, and 11H are curved transport path units 11 that change the traveling direction of the transport body by 90 degrees. Based on the shape of each transport path unit 11 and the order of each transport path unit 11, the controller 12 recognizes that the transport path 10 is a closed path of a track shape as shown in FIG. 1. In this way, the controller 12 determines the overall shape of the transport path 10. With the above, the controller 12 ends the processing according to the procedure shown in FIG. 8.

[0091] In the second embodiment, as in the first embodiment, the information indicating the configuration of the linear motor section 21 is not limited to form information indicating the form of the linear motor section 21. Furthermore, the information indicating the configuration of the linear motor section 21 is not limited to information stored in the linear motor section 21 as long as it is information that the controller 12 and the current control section 32 of the current control unit 22 can acquire from the linear motor section 21. The information indicating the configuration of the linear motor section 21 may be information acquired by applying a voltage to components provided in the linear motor section 21, for example.

[0092] According to the second embodiment, the controller 12 acquires information indicating the configuration of the linear motor unit 21 from each of the linear motor units 21 of the multiple transport path units 11, and calculates the configuration of the transport path 10 based on the information acquired from each of the multiple transport path units 11. When the controller 12 is connected to each transport path unit 11 of the transport system 1 and the controller 12 is initially set, the controller 12 automatically sets the configuration of the transport path 10. This simplifies the input operation for the initial setting of the controller 12.

[0093] Embodiment 3 In the third embodiment, an example will be described in which the controller 12 acquires information indicating the configuration of the linear motor unit 21, calculates the configuration of the conveying path 10 based on the acquired information, and compares the calculated configuration of the conveying path 10 with the configuration of the conveying path 10 stored in the controller 12. In the third embodiment, the same components as those in the first or second embodiment are given the same reference numerals, and configurations different from those in the first or second embodiment will be mainly described.

[0094] 9 is a diagram showing an example of the configuration of a transport system 60 according to embodiment 3. The transport system 60 includes a plurality of transport path units 11A-11H, a DC power source 13, carts 16A, 16B, and 16C, and a controller 61.

[0095] The controller 61 controls each of the multiple transport path units 11. The controller 61 is connected to each of the transport path units 11 via a data communication line 14, similar to the controller 12 shown in FIG. 1. The controller 61 has a storage unit 62. The storage unit 62 stores information indicating the overall shape of the transport path 10. The controller 61 sets the arrangement of each of the multiple transport path units 11. By this setting, configuration information indicating the configuration of the transport path 10, which is information indicating the overall shape of the transport path 10, is stored in the storage unit 62. Note that this setting is performed, for example, by an input operation to the controller 61 by a user of the transport system 60.

[0096] The controller 61 acquires configuration information, which is information indicating the configuration of the linear motor unit 21, from each of the linear motor units 21 of the multiple transport path units 11. The controller 61 calculates the configuration of the transport path 10 based on the configuration information acquired from each of the multiple transport path units 11, and compares the calculated configuration of the transport path 10 with configuration information indicating the configuration of the transport path 10 stored in the storage unit 62 of the controller 61. Specifically, the controller 61 compares the shape of the transport path 10 calculated based on the configuration information with the shape of the transport path 10 indicated in the configuration information stored in the storage unit 62. The controller 61 outputs an alarm when the configuration of the transport path 10 calculated based on the configuration information does not match the configuration of the transport path 10 indicated in the configuration information stored in the storage unit 62.

[0097] Fig. 10 is a flowchart showing a procedure of processing executed by the controller 61 of the transport system 60 according to the embodiment 3. The procedure shown in Fig. 10 is a procedure of processing when the controller 61 is connected to each transport path unit 11 of the transport system 60 during initial setting of the transport system 60 or maintenance of the transport system 60.

[0098] In step S21, the controller 61 requests each transport path unit 11 to transmit configuration information, which is information indicating the configuration of the linear motor unit 21. Upon receiving the request from the controller 61, the control unit 31 of the linear motor unit 21 transmits the configuration information stored in the storage unit 33 to the controller 61.

[0099] In step S22, the controller 61 receives the configuration information. As in step S12 shown in Fig. 8, the controller 61 identifies each transport path unit 11 based on the order in which the transport path units 11 are arranged in the forward direction, and associates the received configuration information with each transport path unit 11. The controller 61 obtains the configuration information associated with the order of each transport path unit 11.

[0100] In step S23, the controller 61 judges whether or not the configuration of the transport path 10 calculated based on the configuration information acquired from each transport path unit 11 matches the configuration of the transport path 10 indicated by the configuration information stored in the controller 61. If the configuration of the transport path 10 calculated based on the configuration information acquired from each transport path unit 11 matches the configuration of the transport path 10 indicated by the configuration information stored in the controller 61 (Yes in step S23), the controller 61 ends the processing according to the procedure shown in FIG.

[0101] On the other hand, if the configuration of the transport path 10 calculated based on the morphology information acquired from each transport path unit 11 does not match the configuration of the transport path 10 indicated by the configuration information stored in the controller 61 (step S23, No), the controller 61 outputs an alarm in step S24. By outputting the alarm, the controller 61 notifies the user of the transport system 60 that the configuration of the transport path 10 calculated based on the morphology information is different from the configuration indicated by the configuration information stored in the controller 61. By completing step S24, the controller 61 ends the processing according to the procedure shown in FIG.

[0102] Next, the hardware for realizing the controller 61 will be described. The controller 61 is realized by a processing circuit, similar to the controller 12 shown in FIG. 1. The processing circuit for realizing the controller 61 has a configuration similar to that of the control circuit 50 shown in FIG. 4. Alternatively, the processing circuit for realizing the controller 61 has a configuration similar to that of the hardware circuit 55 shown in FIG. 5. The controller 61 may be realized by combining a configuration similar to that of the control circuit 50 and a configuration similar to that of the hardware circuit 55. In addition, the output unit 54 of the controller 61 includes a means for outputting an alarm. The storage unit 62 is realized by a non-volatile memory constituting the memory 53.

[0103] In the third embodiment, as in the first embodiment, the information indicating the configuration of the linear motor section 21 is not limited to form information indicating the form of the linear motor section 21. Furthermore, the information indicating the configuration of the linear motor section 21 is not limited to information stored in the linear motor section 21 as long as it is information that the controller 61 and the current control section 32 of the current control unit 22 can acquire from the linear motor section 21. The information indicating the configuration of the linear motor section 21 may be information acquired by applying a voltage to components provided in the linear motor section 21, for example.

[0104] According to the third embodiment, the controller 61 acquires information indicating the configuration of the linear motor unit 21 from each of the linear motor units 21 of the multiple transport path units 11, calculates the configuration of the transport path 10 based on the information acquired from each of the multiple transport path units 11, and outputs an alarm when the calculated configuration of the transport path 10 does not match the configuration of the transport path 10 indicated by the configuration information stored in the controller 61. If the configuration of the transport path 10 calculated based on the information acquired from each transport path unit 11 differs from the configuration indicated by the configuration information stored in the controller 61, a malfunction may occur in the operation of the transport system 60. The controller 61 notifies the user that the actual configuration of the transport path 10 differs from the configuration indicated by the configuration information stored in the controller 61 by outputting an alarm. This makes it possible to prevent malfunctions in the operation of the transport system 60.

[0105] The configurations shown in the above embodiments are examples of the contents of the present disclosure. The configurations of each embodiment can be combined with other known technologies. The configurations of each embodiment can be appropriately combined. A part of the configuration of each embodiment can be omitted or modified without departing from the gist of the present disclosure. [Explanation of symbols]

[0106] 1,60 conveying system, 10 conveying path, 11,11A,11B,11C,11D,11E,11F,11G,11H conveying path unit, 12,61 controller, 13 DC power supply, 14 data communication line, 15 DC power bus, 16,16A,16B,16C trolley, 17A,17B arrow, 20 coil, 21 linear motor section, 22 current control unit, 23 linear scale, 24 coil section, 25 position sensor, 26 current control device, 31 control section, 32 current control section, 33,62 memory section, 41,42 permanent magnet, 50 control circuit, 51 input section, 52 processor, 53 memory, 54 output section, 55 hardware circuit, 56 processing circuit.

Claims

1. a plurality of conveyance path units that form a conveyance path along which the conveyance body moves; Each of the plurality of transport path units includes: a linear motor unit having one or more coils that generate a thrust force for moving the carrier when a current flows through the coils; a current control unit having a plurality of current control devices and a current control section for controlling each of the current control devices; the current control device connected to the coil controls the current flowing through the coil; The current control unit acquires information indicating a configuration of the linear motor unit from the linear motor unit, and selects the current control device to which the coil is connected from all the current control devices included in the current control unit based on the acquired information. A transport system characterized by:

2. The current control units provided in the plurality of transport path units each have the same number of current control devices.

2. The transport system according to claim 1.

3. The information indicating the configuration of the linear motor unit includes information indicating the number of coils included in the linear motor unit.

2. The transport system according to claim 1.

4. the current control unit determines, based on the information indicating a configuration of the linear motor unit, values ​​of parameters used to control currents flowing through the coils of the linear motor unit; The current control device connected to the coil controls the current flowing through the coil based on the determined value of the parameter.

2. The transport system according to claim 1.

5. The linear motor unit holds the information indicating the configuration of the linear motor unit.

5. The transport system according to claim 1, wherein the transport system comprises: a first transport member;

6. the linear motor unit has a position detection unit that detects the position of the transport body, The position detection unit has a storage unit that stores the information indicating the configuration of the linear motor unit.

6. The transport system according to claim 5.

7. In each of the plurality of transport path units, the current control unit can be separated from the linear motor unit.

5. The transport system according to claim 1, wherein the transport system comprises: a first transport member;

8. a controller that controls each of the plurality of transport path units; The controller acquires the information indicating a configuration of the linear motor unit from the linear motor unit of each of the plurality of transport path units, and calculates a configuration of the transport path based on the information acquired from each of the plurality of transport path units.

5. The transport system according to claim 1, wherein the transport system comprises: a first transport member;

9. Configuration information indicating a configuration of the transport path configured by a plurality of the transport path units is stored, and a controller is provided to control each of the plurality of the transport path units; The controller acquires the information indicating the configuration of the linear motor unit from the linear motor unit of each of the plurality of transport path units, calculates the configuration of the transport path based on the information acquired from each of the plurality of transport path units, and outputs an alarm when the calculated configuration of the transport path does not match the configuration of the transport path indicated in the configuration information stored in the controller.

5. The transport system according to claim 1, wherein the transport system comprises: a first transport member;

10. The conveying body is provided with a permanent magnet, Each of the coils of the linear motor generates the thrust force that moves the transport body by interacting with the magnetic field generated by the permanent magnet.

5. The transport system according to claim 1, wherein the transport system comprises: a first transport member;

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