Conveyance system

Abstract

A conveyance system includes a plurality of conveyance path units constituting a conveyance path on which a conveyance body moves. Each of the plurality of conveyance path units includes: a linear motor (21) including one or more coils (20) for generating, by applying current, thrust for moving the conveyance body; and a current control unit (22) including a plurality of current control devices (26) and a current control unit (32) for controlling each current control device (26). Each current control device (26) is connected to a coil (20) and controls the current flowing through the coil (20). The current control unit (32) acquires, from the linear motor (21), information indicating the configuration of the linear motor (21) and, on the basis of the acquired information, selects, from among the plurality of current control devices (26) of the current control unit (22), a current control device (26) that will control the current flowing through the one or more coils (20) of the linear motor unit (21).

Description

Transport System

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

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

[0003] One type of conveyance system utilizes a so-called moving magnet linear motor, in which a magnet is arranged on a carriage, which is the mover, and a coil is arranged on a stator, which forms the conveyance path. A moving magnet linear motor is suitable for moving a mover with a stroke that is longer than the length of the mover. Multiple coils are arranged on the stator in the direction in which the mover moves. Furthermore, by arranging multiple stators, a conveyance path is formed for conveying one or multiple carriages.

[0004] Conventionally, motors equipped with a memory that stores information necessary for operating the motor 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. Because the information stored in the memory is automatically sent to the controller, when the controller connected to the memory is replaced, there is no need to input the information necessary for controlling the motor into the controller. Patent Document 1 discloses providing an encoder connected to a motor with a memory into which information related to the motor can be written.

[0005] Japanese Patent Application Publication No. 11-304534

[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 number of phases setting in the controller is not changed. Because 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, with 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 suited to the number of coils. Therefore, the above-mentioned conventional technology has the problem of a heavy workload in designing the conveying system.

[0008] The present disclosure has been made in view of the above, and aims to provide a conveyance system that can reduce the workload involved in designing the conveyance system.

[0009] In order to solve the above-mentioned problems and achieve the object, a transport system according to the present disclosure includes a plurality of transport path units that form a transport path along which a transport body moves. Each of the plurality of transport path units includes a linear motor unit having one or more coils that generate thrust for moving the transport body when a current flows through them, and a current control unit having a plurality of current control devices and a current control unit that controls each current control device. Each current control device is connected to a coil and controls the current flowing through the coil. The current control unit acquires information indicating the configuration of the linear motor unit from the linear motor unit, and, based on the acquired information, selects a current control device from the plurality of current control devices included in the current control unit to control the current flowing through one or more coils of the linear motor unit.

[0010] The transport system according to the present disclosure has the effect of reducing the workload involved in designing the transport system.

[0011] FIG. 1 shows an example of the configuration of a conveying system according to embodiment 1. FIG. 2 shows an example of the configuration of a linear conveying path unit possessed by a conveying system according to embodiment 1. FIG. 3 shows an example of the configuration of a curved conveying path unit possessed by a conveying system according to embodiment 1. FIG. 4 shows an example of the configuration of a control circuit according to embodiment 1. FIG. 5 shows an example of the configuration of a dedicated hardware circuit according to embodiment 1. FIG. 6 shows a flowchart illustrating the processing steps performed by the current control unit of the current control unit in each conveying path unit of a conveying system according to embodiment 1. FIG. 7 shows an example of the configuration of a conveying path unit possessed by a conveying system according to a modified example of embodiment 1. FIG. 8 shows a flowchart illustrating the processing steps performed by the controller of a conveying system according to embodiment 2. FIG. 9 shows an example of the configuration of a conveying system according to embodiment 3.

[0012] A transport system according to an embodiment will be described in detail below with reference to the drawings.

[0013] 1 is a diagram showing an example of the configuration of a conveyance system 1 according to a first embodiment. The conveyance system 1 is a system used to convey objects. In the first embodiment, 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 supply 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 will be used to refer to each of the transport path units 11A-11H without distinguishing between them.

[0015] The multiple transport path units 11 are connected to one another 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 will be used to refer to each of the carriages 16A, 16B, and 16C without distinguishing between them.

[0016] 1 is a closed path in the shape of a track. However, the transport path 10 of the transport system 1 may be an open path. That is, 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. Note that the transport path 10 may not have a transport path unit 11 that forms a linear path, and may consist only of transport path units 11 that form a curved path. A transport path 10 having a start point and an end point that are located apart from each other may consist only of a linear transport path unit 11. The overall shape of the transport path 10 is arbitrary.

[0018] The carriage 16 is attached to the side of the conveying path 10. The carriage 16 moves along a guide rail provided on the side of the conveying path 10. The carriage 16 moves along the side of the conveying path 10 and stops at the side of the conveying path 10. The conveying system 1 according to the first embodiment includes a moving magnet type linear motor. The carriage 16 may move along a guide rail provided on the upper surface of the conveying path 10. Furthermore, the carriage 16 only needs to be attached to the conveying path 10 so that it can move along the conveying path 10. The carriage 16 includes a permanent magnet that constitutes 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 that constitutes the mover, and the permanent magnet for the linear scale are not shown.

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

[0020] In the example shown in Fig. 1, the conveyance system 1 includes eight conveyance path units 11 and three carriages 16. The number of conveyance path units 11 included in the conveyance system 1 is arbitrary. In other words, the number of conveyance path units 11 that make up the conveyance path 10 is arbitrary. The conveyance system 1 may include a plurality of conveyance path units 11. The number of carriages 16 that move on the conveyance path 10 is arbitrary. The conveyance system 1 may include one or a plurality of carriages 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 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 supply 13 by a multi-drop connection. The connection between each transport path unit 11 and the DC power supply 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 supply 13, but the transport system 1 may be provided with multiple DC power supplies 13. In other words, the transport system 1 may be configured with multiple power supply 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 made up of a line connecting the controller 12 to a transport path unit 11A, which is one of the multiple transport path units 11, and lines 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 via 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 be provided with 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 carriage 16 is to be moved. The controller 12 calculates the position of each carriage 16 based on position sensor information transmitted from each transport path unit 11. The controller 12 generates position information for each carriage 16 indicating the actual position of the carriage 16 on the transport path 10. The position sensor information will be described later.

[0026] The controller 12 generates a thrust command for each carriage 16, which is a command for a thrust force 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 for 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 higher-level control device 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. Furthermore, such a human-machine interface outputs information indicating the status of the conveyance system 1 by display or the like. The controller 12 may acquire operation information of each carriage 16 from the higher-level control device or the human-machine interface and generate position commands for each carriage 16 based on the operation information. The operation information is information indicating a schedule for the movement of each carriage 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 transport path unit 11A will be used as an example to describe the configuration of the linear transport path unit 11. 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 an example of the configuration of a linear transport path unit 11A included in the transport system 1 according to embodiment 1. Fig. 2 schematically shows the transport path unit 11A and one carriage 16 that moves along the transport path unit 11A. The carriage 16 has a permanent magnet 41 that is a mover, and a permanent magnet 42 that is 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 carriage 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 memory unit 33. The memory 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 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 as the carriage 16 moves.

[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 carriage 16 with respect to the position sensor 25 based on the electrical signals from the position sensors 25. As a result, the control unit 31 acquires position sensor information that indicates the relative position of the carriage 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 unit 24 has a plurality of coils 20. When a current flows through each coil 20, the coils 20 generate a thrust force that moves the carriage 16 by interacting with the magnetic field generated by the permanent magnets 41. In this way, when a current flows through each coil 20, the coils 20 generate a thrust force that moves the carriage 16.

[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 current control device 26. Each current control device 26 is connected to a coil 20. The current control device 26 connected to the coil 20 controls the current flowing through the coil 20. Each current control device 26 has the same configuration. 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 the direct current supplied from the DC power supply 13 to the transport path unit 11A via the DC power bus 15 into alternating current. The alternating current flows through the coil 20. The inverter circuit also 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 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, current sensor, and DC power bus 15 are not shown in FIG. 2.

[0039] A 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 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 in accordance with the PWM signal, thereby applying a voltage to the coil 20 for flowing a current of a desired current value through the coil 20. In this way, each current control device 26 controls the current flowing through the coil 20. Note that the current control device 26 may calculate a voltage value to be applied to the coil 20 by performing proportional integral differential (PID) 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, based on the acquired configuration information, selects from the multiple current control devices 26 of the current control unit 22 a current control device 26 that controls the current flowing through the coil 20 of the linear motor unit 21. In other words, the current control unit 32 acquires the 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 all of the current control devices 26 of the current control unit 22.

[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, there are twelve current control devices 26 in the current control unit 22 and twelve coils 20 in the linear motor section 21. All twelve current control devices 26 are connected to 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 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 to control the current in the coils 20.

[0042] Next, a description will be given of the configuration of the curved transport path unit 11. Here, the transport path unit 11C will be used as an example to describe the configuration of the curved transport path unit 11. 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 an example of the configuration of a curved transport path unit 11C included in the transport system 1 according to embodiment 1. Fig. 3 schematically shows 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 multiple coils 20 are arranged along a curve. In Fig. 3, the arrangement of the multiple coils 20 is shown as being replaced with an arrangement in a linear direction. Configuration information indicating the curved type is stored in the memory section 33 of the transport path unit 11C.

[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 only needs to 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 that the current control unit 22 has are selected as the current control devices 26 that control the current flowing through the coils 20 that the linear motor section 21 has. In the transport path unit 11C, only ten of the current control devices 26 that the current control unit 22 has are used to control the current in 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 transport path unit 11 is provided with 12 coils 20. The memory section 33 of the straight transport path unit 11 stores configuration information indicating the straight type. The linear motor section 21 of the curved transport path unit 11 is provided with 10 coils 20. The memory section 33 of the curved transport path unit 11 stores configuration information indicating the curved type. The current control section 32 of the current control unit 22 determines whether the linear motor section 21 is straight or curved based on the configuration information read out from the linear motor section 21.

[0048] If the current control unit 32 determines that the linear motor unit 21 is a linear type, it selects twelve current control devices 26 connected to the coils 20 as the current control devices 26 to be used for controlling the current in the coils 20. If the current control unit 32 determines that the linear motor unit 21 is a curved type, it selects ten current control devices 26 connected to the coils 20 as the current control devices 26 to be used for controlling the current in the coils 20. The configuration information indicating a linear type indicates that the linear motor unit 21 has twelve coils 20. Similarly, the configuration information indicating a curved type indicates that the linear motor unit 21 has ten coils 20. In other words, the configuration information indicating the configuration of the linear motor unit 21 can be said to include information indicating the number of coils 20 that the linear motor unit 21 has. As a result, the current control unit 32 recognizes the number of coils 20 that the linear motor unit 21 has from the configuration information and selects the current control devices 26 to be used for controlling the current in 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 all the current control devices 26 that the current control unit 22 has.

[0049] Furthermore, each of the current control units 22 in all of the transport path units 11 in the transport system 1 has 12 current control devices 26. In this way, the current control units 22 provided in the multiple transport path units 11 each have 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 of the transport path units 11 in the transport system 1.

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

[0051] Assuming that 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 with 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 unit 32 of the current control unit 22 may determine the value of a parameter used to control the current flowing through each coil 20 of the linear motor unit 21 based on the configuration information acquired from the control unit 31 of the linear motor unit 21. In this case, each current control device 26 of the current control unit 22 controls the current flowing through the coil 20 based on the parameter value determined by the current control unit 32. The parameter whose value is determined based on the configuration information is a parameter whose value changes depending on the configuration of the linear motor unit 21, such as an induced voltage constant, a threshold value for determining overcurrent, or a threshold value for determining overload. The parameter whose value is determined based on the configuration information may be a control gain used in PID control. For example, the current control unit 32 maintains a relationship between the configuration information and the value of the parameter and determines the value of the parameter from the configuration information based on the relationship. Note that the method by which the current control unit 32 determines the value of the parameter from the configuration information is arbitrary.

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

[0054] Next, we will explain the 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, the control circuit shown in Fig. 4. Fig. 4 is a diagram showing an example 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 functions of the control unit 31 by having the processor 52 read and execute the program stored in the memory 53. In other words, 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, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP. The memory 53 may be, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc). The storage unit 33 shown in FIGS. 2 and 3 is realized by the nonvolatile memory that constitutes the memory 53.

[0058] 4 shows an example of hardware in which the control unit 31 is realized by a general-purpose processor 52 and memory 53, but the control unit 31 may also be realized by a dedicated hardware circuit. FIG. 5 shows an example of the configuration of the 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 combination thereof. The control unit 31 may be realized by the processing circuit 56 for each function, or all functions may be realized collectively by the processing circuit 56. The control unit 31 may also be realized by combining the control circuit 50 and the hardware circuit 55.

[0060] Next, hardware for realizing the current control section 32 of the current control unit 22 will be described. The current control section 32 is realized by a processing circuit, similar to the control section 31 of the linear motor section 21. The processing circuit 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, 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, hardware for realizing the controller 12 shown in Fig. 1 will be described. Like the control unit 31 or the current control unit 32, the controller 12 is also realized by a processing circuit. 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 description will be given of the processing procedure executed by the current control section 32 of the current control unit 22. Fig. 6 is a flowchart showing the processing 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 embodiment 1. The procedure shown in Fig. 6 is the processing procedure when the current control unit 22 is connected to the linear motor section 21 and the transport path unit 11 is initially set up.

[0065] In step S1, the current control unit 32 requests the linear motor unit 21 to transmit the configuration information. When the control unit 31 of the linear motor unit 21 receives the request from the current control unit 32, it 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 the 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 this, the current control unit 32 ends the processing according to the procedure shown in FIG.

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

[0069] The configuration information may be any information indicating the configuration of the linear motor unit 21, and may be information different from the information described above. For example, the configuration information may be information indicating 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 included in the linear motor unit 21 from the information indicating the length of the linear motor unit 21, and selects the current control device 26 to be used for controlling the current of the coils 20. The configuration information may also be a board ID (identifier) ​​of the board on which the coils 20 of the linear motor unit 21 are mounted. In this case, the current control unit 32 recognizes the number of coils 20 included in the linear motor unit 21 from the board ID, and selects the current control device 26 to be used for controlling the current of the coils 20.

[0070] In the above description, the information stored in the linear motor unit 21 and indicating the configuration of the linear motor unit 21 is assumed to be 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 by, for example, applying a voltage to components provided in the linear motor section 21. Here, two examples will be described in which the information indicating the configuration of the linear motor section 21 is acquired using a resistor provided in the linear motor section 21.

[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 configuration 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 configuration of the linear motor section 21 and the partial voltage value, and determines the configuration of the linear motor section 21 from the partial voltage value based on this relationship. Note that the method by which the current control section 32 determines the configuration of the linear motor section 21 from the partial voltage value is arbitrary.

[0073] In a second example, the current control unit 32 of the current control unit 22 has a terminal for determining the configuration of the linear motor unit 21. The resistors provided in the linear motor unit 21 are connected to the terminals of the current control unit 32. The resistors in the linear motor unit 21 are 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 current through the resistors in the linear motor unit 21. The current control unit 32 determines whether the resistors are pull-up or pull-down based on whether the signal at the terminal is H (High) or L (Low). The current control unit 32 maintains a relationship between the configuration of the linear motor unit 21 and the resistor configuration, and determines the configuration of the linear motor unit 21 from the signal value at the terminal based on this relationship. In this case, the current control unit 32 acquires a signal value from the linear motor unit 21, which is information indicating the configuration of the linear motor unit 21. Note that the method by which the current control unit 32 determines the configuration of the linear motor unit 21 from the signal value is arbitrary. The method by which the current control unit 32 obtains the information indicating the configuration of the linear motor unit 21 is not limited to the methods in the first or second example, but may be any method. Note that 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 values ​​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. However, the transport system 1 is not limited to a system in which each transport path unit 11 has the same number of current control devices 26. The multiple 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 an example of the configuration of a transport path unit 11 included in a transport system 1 according to a modification of Embodiment 1. 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 in which the numbers of current control devices 26 in the current control units 22 are different from one another.

[0076] 7 shows an example of the configuration of a transport path unit 11C, which is a curved transport path unit 11. Transport path units 11D, 11G, and 11H 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 the curve 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 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 to control the current in the coils 20. Even in the transport system 1 according to the modified example, between transport path units 11 having different numbers of coils 20 in the linear motor section 21, it is not necessary to design the program executed by the current control section 32 according to the number of phases, and the program executed by the current control section 32 can be standardized.

[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 based on the acquired information, selects a current control device 26 from the multiple current control devices 26 included in the current control unit 22 to control the current flowing through one or more coils 20 of the linear motor section 21. Because 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 with 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 involved in designing the transport system 1.

[0080] Furthermore, each current control unit 22 provided in the multiple 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 of the transport path units 11 of the transport system 1. That is, only one type of current control unit 22 can be used in the transport path units 11. This reduces the manufacturing cost of the transport system 1 compared to when current control units 22 with different numbers of current control devices 26 are applied to transport path units 11 of different configurations. If the current control unit 22 is replaceable, one type of current control unit 22 can be used for all of the transport path units 11. This reduces the cost required for replacing the current control unit 22 and the cost required for inventory management of the current control unit 22.

[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 of the same number as the number of coils 20 that linear motor section 21 has, as the current control devices 26 to be used for current control of coils 20.

[0082] Furthermore, the current control section 32 of the current control unit 22 determines the value of a parameter used to control the current flowing through each coil 20 of the linear motor section 21, based on information indicating the configuration of the linear motor section 21. Each current control device 26 of the current control unit 22 controls the current flowing through the coil 20 based on the determined parameter value. 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, linear motor section 21 holds information indicating the configuration of linear motor section 21. As a result, current control section 32 of current control unit 22 can acquire information indicating the configuration of linear motor section 21 from linear motor section 21 by connecting current control unit 22 to 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 conveyance system 1 can use the configuration of the linear scale 23 to hold and transmit the information indicating the configuration of the linear motor unit 21. This allows the conveyance path unit 11 to have a simpler configuration than when a separate configuration is provided for holding and transmitting the information indicating the configuration of the linear motor unit 21.

[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. If only one of the linear motor unit 21 and the current control unit 22 in a transport path unit 11 fails, it is possible to replace only the failed unit. This reduces the cost required to restore the transport path unit 11 from failure.

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

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

[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 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. As shown in FIG. 1 , when the transport path units 11 are connected to the controller 12 by a daisy chain connection, the controller 12 identifies the transport path unit 11A, which is first in the order of connection via the data communication line 14 as seen from the controller 12, as the first transport path unit 11. The controller 12 identifies the order of the transport path units 11B-11H other than the transport path unit 11A based on the order of arrangement in the forward direction from the transport path unit 11A. In this way, 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 configuration information acquired from each transport path unit 11. Here, calculating the configuration of the transport path 10 refers to determining the overall shape of the transport path 10. From the configuration 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 configuration 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 in 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 plurality of transport path units 11, and calculates the configuration of the transport path 10 based on the information acquired from each of the plurality of transport path units 11. When the controller 12 is connected to each transport path unit 11 of the transport system 1 and initial settings of the controller 12 are made, the controller 12 automatically sets the configuration of the transport path 10. This simplifies the input operation for initial settings of the controller 12.

[0093] Embodiment 3 In embodiment 3, 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 embodiment 3, the same components as those in embodiment 1 or 2 above are assigned the same reference numerals, and the configuration different from embodiment 1 or 2 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 supply 13, carts 16A, 16B, and 16C, and a controller 61.

[0095] The controller 61 controls each of the plurality of transport path units 11. Similar to the controller 12 shown in FIG. 1 , the controller 61 is connected to each of the transport path units 11 via a data communication line 14. 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 performs settings regarding the arrangement of each of the plurality of transport path units 11. As a result of such settings, 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 such settings are 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 the procedure of processing executed by the controller 61 of the transport system 60 according to embodiment 3. The procedure shown in Fig. 10 is the procedure of processing when the controller 61 is connected to each 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 acquires the configuration information associated with the order of the transport path units 11.

[0100] In step S23, the controller 61 determines whether 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 (No in step S23), 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 differs 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, hardware for realizing the controller 61 will be described. The controller 61 is realized by a processing circuit, similar to the controller 12 shown in FIG. 1. The processing circuit for realizing the controller 61 has a configuration similar to the control circuit 50 shown in FIG. 4. Alternatively, the processing circuit for realizing the controller 61 has a configuration similar to the hardware circuit 55 shown in FIG. 5. The controller 61 may be realized by combining a configuration similar to the control circuit 50 and a configuration similar to the hardware circuit 55. Furthermore, 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 that constitutes 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 if 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. By outputting an alarm, 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. 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 also be combined as appropriate. Part of the configuration of each embodiment can be omitted or modified without departing from the gist of the present disclosure.

[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 carriage, 17A, 17B arrow, 20 coil, 21 linear motor unit, 22 current control unit, 23 linear scale, 24 coil unit, 25 position sensor, 26 current control device, 31 control unit, 32 current control unit, 33, 62 memory unit, 41, 42 permanent magnet, 50 control circuit, 51 input unit, 52 processor, 53 memory, 54 output unit, 55 hardware circuit, 56 processing circuit.

Claims

1. A transport system comprising a plurality of transport path units that form a transport path along which a transport body moves, each of the plurality of transport path units comprising: a linear motor section having one or more coils that generate thrust to move 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 of the current control devices, each of the current control devices being connected to a coil and controlling the current flowing through the coil, and the current control section acquiring information indicating the configuration of the linear motor section from the linear motor section, and selecting, based on the acquired information, a current control device from the plurality of current control devices owned by the current control unit that controls the current flowing through one or more of the coils owned by the linear motor section.

2. The transport system according to claim 1, wherein each of the current control units provided in the plurality of transport path units has the same number of current control devices.

3. A conveying system according to claim 1 or 2, characterized in that the information indicating the configuration of the linear motor section includes information indicating the number of coils that the linear motor section has.

4. A conveying system as described in any one of claims 1 to 3, characterized in that the current control unit determines the value of a parameter used to control the current flowing through each of the coils of the linear motor unit based on the information indicating the configuration of the linear motor unit, and each of the current control devices of the current control unit controls the current flowing through the coil based on the determined value of the parameter.

5. A conveying system according to any one of claims 1 to 4, characterized in that the linear motor unit holds the information indicating the configuration of the linear motor unit.

6. The conveying system according to claim 5, characterized in that the linear motor unit has a position detection unit that detects the position of the conveying body, and the position detection unit has a memory unit that stores the information indicating the configuration of the linear motor unit.

7. A transport system according to any one of claims 1 to 6, characterized in that in each of the plurality of transport path units, the current control unit can be separated from the linear motor section.

8. A conveying system as described in any one of claims 1 to 7, characterized in that it comprises a controller that controls each of the plurality of conveying path units, and the controller acquires the information indicating the configuration of the linear motor section from the linear motor section of each of the plurality of conveying path units, and calculates the configuration of the conveying path based on the information acquired from each of the plurality of conveying path units.

9. A conveying system as described in any one of claims 1 to 8, characterized in that it stores configuration information indicating the configuration of the conveying path composed of a plurality of the conveying path units, and comprises a controller that controls each of the plurality of conveying path units, wherein the controller acquires the information indicating the configuration of the linear motor section from the linear motor section of each of the plurality of conveying path units, calculates the configuration of the conveying path based on the information acquired from each of the plurality of conveying path units, and outputs an alarm if the calculated configuration of the conveying path does not match the configuration of the conveying path indicated in the configuration information stored in the controller.

10. A conveying system as described in any one of claims 1 to 9, characterized in that the conveying body is provided with a permanent magnet, and each of the coils of the linear motor unit generates the thrust that moves the conveying body by interacting with the magnetic field generated by the permanent magnet.

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