Conveying apparatus

A conveying apparatus comprising:

• a conveying mechanism including a take-out head operable to take out an object to be conveyed and a head moving mechanism operable to move the take-out head, the conveying mechanism being operable to convey the object to be conveyed;
• and
• a control device including a control section configured to control a power source for the conveying mechanism,
• the power source being one or more servomotors operable tri move one or more movable portions of the head moving mechanism, wherein:
• the control device includes
• an input portion that is used to input at least a conveyable weight, which is obtained by adding a weight of the take-out head and a weight of the object to be conveyed, and an operation mode when teaching is performed,
• an input determination section configured to determine whether or not a combination of the conveyable weight and the operation mode input from the input portion is appropriate,
• a motor parameter determination section configured to determine one or more motor parameters of at least one servoamplifier for the one or more servomotors based on the operation mode and the conveyable weight determined as appropriate by the input determination section, and
• a parameter change section configured to change the one or more motor parameters determined by the motor parameter determination section;
• the one or more motor parameters include a maximum speed and a maximum acceleration of the one or more servomotors;
• and
• the parameter change section allows a speed and an acceleration of the one or more servomotors to be changed up to the maximum speed and the maximum acceleration, respectively.