Patent ID: 7882608

Claim:
A method of positioning a movable body relative to a fixed body by moving the movable body to a target position, comprising: reading a load at the moving of the movable body relative to the fixed body; determining whether or not the movable body is moved to a position that is supposed to be the target position on the basis of the load; moving the movable body to a retry starting position that is different from a current position while the termination of the positioning is not allowed; performing a retry operation in which the movable body is moved from a retry starting position to the position that is supposed to be the target position; terminating the positioning; wherein in a case where the load is smaller than a predetermined value, the positioning is terminated with a determination, in the determining step, that the movable body is moved to the position that is supposed to be the target position, and wherein in a case where the load is not smaller than the predetermined value, the positioning is not terminated even with a determination, in the determining step, that the movable body is moved to the position supposed to be the target position, the movable body is further moved to the retry starting position, the retry operation is performed, and the positioning is terminated in a case where the load becomes smaller than the predetermined value during a predetermined number of retry operations.