The identifier for identifying the slider is given to this slider. In contrast, the control signal transmitted to the plurality of linear drivers indicates the position command value and the speed command value for the slider and the identifier of this slider in association with each other. The linear driver reads the identifier for identifying the slider from this slider overlapping the assigned region thereof and supplies the current corresponding to the position command value and the speed command value associated with this identifier by the control signal to the linear motor stators. In this way, it is possible to cause the linear driver corresponding to the assigned region, in which the slider is present, to precisely drive the slider.

A motor controller is provided that executes a commutation routine in one of a plurality of operating modes to regulate current provided to drive coils in a linear motion system. The motor controller generated currents for each of the drive coils in a first operating mode to minimize the copper losses in the drive coils, in a second operating mode to maximize the force applied to the mover, in a third operating mode to provide balanced currents between the drive coils, and in a fourth operating mode to provide currents according to a selected operating point that combines characteristics of the first three operating points. The motor controller may also monitor each of the drive coils for saturation and redistribute at least a portion of the current required to control operation of the mover to the other drive coils when one of the drive coils is saturated.

A motor controller is provided that executes a commutation routine in one of a plurality of operating modes to regulate current provided to drive coils in a linear motion system. The motor controller generated currents for each of the drive coils in a first operating mode to minimize the copper losses in the drive coils, in a second operating mode to maximize the force applied to the mover, in a third operating mode to provide balanced currents between the drive coils, and in a fourth operating mode to provide currents according to a selected operating point that combines characteristics of the first three operating points. The motor controller may also monitor each of the drive coils for saturation and redistribute at least a portion of the current required to control operation of the mover to the other drive coils when one of the drive coils is saturated.

The control device in a linear motor system calculates a current command value for the stator based on a first speed integrated value obtained by integrating a speed deviation between a speed command for the mover and an actual speed of the mover, and performs first digital filter computation on the current command value. The control device calculates a current command value for the stator based on a second speed integrated value obtained by integrating a speed deviation between a speed command for the mover and the mover's actual speed, and performs second digital filter computation on the current command value. The current command calculating unit calculates a second speed integrated value based on the first speed integrated value used by the control device, and performs the second digital filter computation using a value of the first digital filter computation of the control device.

The control device in a linear motor system calculates a current command value for the stator based on a first speed integrated value obtained by integrating a speed deviation between a speed command for the mover and an actual speed of the mover, and performs first digital filter computation on the current command value. The control device calculates a current command value for the stator based on a second speed integrated value obtained by integrating a speed deviation between a speed command for the mover and the mover's actual speed, and performs second digital filter computation on the current command value. The current command calculating unit calculates a second speed integrated value based on the first speed integrated value used by the control device, and performs the second digital filter computation using a value of the first digital filter computation of the control device.

A stator module of a linear transport system includes a plurality of drive coils, which are energizable and form part of a stator of a linear motor. The stator module also includes actuation electronics, where the drive coils are actuatable by the actuation electronics. The actuation electronics includes at least an actuation element, which is arranged to energize a number of drive coils. The actuation element has a number of half bridges, each comprising a first half-bridge connection, a second half-bridge connection, and a half-bridge center. The first half-bridge connections of the half bridges are connected to one another, and the second half-bridge connections of the half bridges are connected to one another. The half bridges and the drive coils form a chain, with the half-bridge centers and drive coils arranged alternately within the chain, at least one half-bridge center being connected to two drive coils.

A stator module of a linear transport system includes a plurality of drive coils, which are energizable and form part of a stator of a linear motor. The stator module also includes actuation electronics, where the drive coils are actuatable by the actuation electronics. The actuation electronics includes at least an actuation element, which is arranged to energize a number of drive coils. The actuation element has a number of half bridges, each comprising a first half-bridge connection, a second half-bridge connection, and a half-bridge center. The first half-bridge connections of the half bridges are connected to one another, and the second half-bridge connections of the half bridges are connected to one another. The half bridges and the drive coils form a chain, with the half-bridge centers and drive coils arranged alternately within the chain, at least one half-bridge center being connected to two drive coils.

To reduce the risk of collisions of transport units or of a transport unit with an obstacle in the movement plane in a planar motor, at least two movement paths in the movement plane are expanded two-dimensionally around the respective movement path, at least in sections, to form a movement route in the movement plane. A conflict zone, in which there is a risk of collision, is determined by checking, whether there is any overlap between the at least two movement routes, in either individual movement route or between a movement route and an obstacle. The determined conflict zone is taken into account when controlling the movement of the transport units along the assigned movement path in order to avoid collisions between transport units moving on movement routes involved in the conflict zone or between a transport unit and the obstacle in the movement path.

A transport apparatus includes: a stator; a mover that includes a first scale and is movable along the stator in a first direction; a plurality of first detectors each of which is provided to be able to face the first scale and detects a position of the mover in a second direction crossing the first direction; and a control unit that controls position and/or attitude of the mover, the first scale and the first detector constitute an incremental encoder, wherein the plurality of first detectors are arranged at a predetermined interval along the first direction in the stator, and the control unit corrects position information of the mover by a detection value of one of the first detectors based on position information of the mover by a detection value of another of the first detectors.

A transport apparatus includes: a stator; a mover that includes a first scale and is movable along the stator in a first direction; a plurality of first detectors each of which is provided to be able to face the first scale and detects a position of the mover in a second direction crossing the first direction; and a control unit that controls position and/or attitude of the mover, the first scale and the first detector constitute an incremental encoder, wherein the plurality of first detectors are arranged at a predetermined interval along the first direction in the stator, and the control unit corrects position information of the mover by a detection value of one of the first detectors based on position information of the mover by a detection value of another of the first detectors.