Patent ID: 7559470

Claim:
A positioning controlling apparatus that controls a stop position of a conveyor of a conveying apparatus, said conveying apparatus having a driving unit that drives a rotation axis and the conveyor that conveys a conveyed object based on rotation of the rotation axis driven by the driving unit, the positioning controlling apparatus comprising: a moving distance detector that measures a moving distance of the conveyor; a current speed calculator that calculates a current speed of the conveyor, from the moving distance detected by the moving distance detector; a position determining unit that determines whether the conveyor is in a positioning area for determining the stop position, from the moving distance detected by the moving distance detector; a target speed calculator that inputs a gain to be multiplied to the current speed calculated by the current speed calculator, and calculates a target speed of the conveyor; a gain switch that has a plurality of the gains to be used by the target speed calculator, and outputs a gain to the target speed calculator while switching between the gains, when the position determining unit determines that the conveyor is in the positioning area; a speed error calculator that calculates an error between the target speed calculated by the target speed calculator and the current speed calculated by the current speed calculator; and a controller that controls the driving unit, by using the speed error calculated by the speed error calculator.