In a method for positioning a transfer unit including, support pins for supporting object, and a pick having at a leading end thereof a detection unit for detecting presence or absence of the object, a height reference position of the pick is determined by detecting an upper edge of one of the support pins by the detection unit. A forward moving angle of the pick is corrected by obtaining a deviation angle between a radial direction of the mounting table passing through the corresponding support pin and a forward moving direction of the pick. A forward movement starting point of the pick is corrected by obtaining a horizontal deviation distance between the radial direction of the mounting table and the forward moving direction of the pick. A forward moving reference amount of the pick is obtained from coordinates of the corresponding support pin.

Provided is a teaching method for teaching a transfer position of a consumable member in a cassette included in a substrate processing system, the substrate processing system having a transfer device configured to transfer the consumable member, and a storage module where the cassette accommodating a plurality of the consumable members is set; the teaching method comprising the steps of: (A) recognizing setting of the cassette in the storage module; and (B) after the step (A), detecting the cassette by a sensor of the transfer device and calculating three-dimensional coordinates of the cassette based on detection information of the sensor.

Provided is a method for controlling a substrate processing system comprising: detecting a distance between the first fork and the placing table by a distance sensor provided at the first fork; adjusting a height position of the first fork based on the detection value of the distance sensor; setting the adjusted height position of the first fork as a transfer height of the first fork; detecting a first touch position where lift pins of the placing table are brought into contact with the first object; unloading the first fork holding the first object; detecting a second touch position where the lift pins of the placing table are brought into contact with the second object; setting a transfer height of the second fork based on a difference between the first touch position and the second touch position; and unloading the second fork holding the second object.

A system and method for controlling movement of transporting devices arranged to transport containers, the containers being stored in stacks arranged in a facility. A facility having pathways arranged in a grid-like structure above stacks, the transporting devices being configured to operate on the grid-like structure. A control unit configured to determine at least one task to be performed by at least one transporting device, wherein the at least one task is determined based on at least one of: transporting device battery condition, transporting device damage, transporting device maintenance issues, and transporting device service issues.

The present invention relates to a computer-implemented method for preparing multiple dosage forms with personalised composition, comprising the following steps: (i) a control unit generates an input protocol of a personalised composition of a multiple dosage form, containing information about the type and amount of individual active substances, the type of cartridge, and the type and number of capsules; (ii) a cartridge of the required type according to the input protocol, labelled with a specific machine-readable code, is placed in the automatic transport system; (iii) at least two different types of sub-units are placed into at least two dosing stations, the sub-unit having sizes in the range of from 0.1 to 4 mm, and containing a different active ingredient and/or different amounts of the same active ingredient and/or having coatings with different solubility and/or possibly containing different pharmaceutical excipients according to the input protocol; (iv) a pre-defined number of capsule bodies is placed in the cartridge placed in an automatic transport system; (v) the automatic transport system transports the cartridge with capsules to the first dosing station, which doses a pre-defined number of the first sub-units into the capsule bodies placed in the cartridge; (vi) the automatic transport system transports the cartridge with capsules to the next dosing station, which doses a pre-defined number of the next sub-units into the capsule bodies placed in the cartridge; and this step is repeated according to the input protocol until the capsules are filled with all of the pre-defined types of sub-units; (vii) the capsules are closed with caps; (viii) the quality control of capsules and discarding of the non-compliant ones; (ix) packaging and labelling with a batch number.

The present invention further relates to a device for carrying out this method.

A cosmetic manufacturing apparatus includes a main body providing a cosmetic manufacturing space; a part supply unit providing at least one of a mixing container for accommodating cosmetic materials and a component constituting a cosmetic container; a cosmetic material supply unit for discharging one or more cosmetic materials stored in a cosmetic material storage unit to the mixing container; a conveying means for moving at least one of the mixing container and the component constituting the cosmetic container which have been provided to the part supply unit; and a control unit for controlling at least one of the cosmetic material supply unit and the conveying means so that the one or more cosmetic materials stored in the cosmetic material storage unit are mixed and accommodated into at least one of the mixing container and the component constituting the cosmetic container.

Systems, methods, and machine-executable coded instruction sets are disclosed for fully- and/or partly automated handling of goods. The disclosure provides improvements in the storage and retrieval of storage and delivery containers in order processing systems.

A computer-supported manufacturing method for manufacturing at least one workpiece according to a manufacturing order using a processing device and for removing the workpiece from the processing device using a removal device having multiple suction elements is provided. The method includes determining a suction element status for the multiple suction elements, determining suction elements among the multiple suction elements that are capable of being used to remove the workpiece based on a workpiece geometry of the workpiece to be removed, predicting a chance of removal success for the workpiece according to the suction element status of the suction elements that are capable of being used for removal, and carrying out the manufacturing order by the processing device upon predicting a successful removal of the workpiece by the removal device.

An information processing device of the present disclosure is used in a mounting system including multiple mounting-related devices each having a display section that visually notifies an operator of information and an attachment portion to which a member is attached and related to a process of mounting a component on a processing target object, and a moving work device that is moved between the multiple mounting-related devices to automatically attach and detach the member to and from the attachment portion. The information processing device includes a control section that outputs, to the display section, notification information including work details that are substitutable by the operator in association with a status of the moving work device based on a predetermined priority order based on continuation of processes of the mounting-related devices.

An automated shuttle sorter is disclosed that includes a carriage that is movable from a load position at which the carriage may be loaded, and at least two destination locations into which any contents of the carriage may be provided from the carriage.