Carrier system positioning method

A method for positioning a conveying system including;

• a conveying arm having:
• a conveying arm body that is able to contract, expand, rotate and move vertically, and
• a holding portion provided at a tip portion of the conveying arm body for holding an object to be conveyed,
• a moving mechanism for causing the conveying arm to move,
• at least one container stage disposed in a moving area of the holding portion for placing a cassette container that can contain a plurality of objects to be conveyed in a tier-like manner,
• a direction-position positioning unit having:
• a rotation standard stage disposed in the moving area of the holding portion, and
• a position and posture detector for detecting an eccentric volume and an eccentric direction of the object to be conveyed placed on the rotation standard stage, and
• a controlling unit that can control entire operations, wherein the holding portion is positioned with respect to a standard position,
• the method comprising;
• a step of inputting respective provisional position coordinates of an orienter teaching standard position that is a predetermined position on the rotation standard stage and a container teaching standard position that is a predetermined position in the cassette container placed on the container stage, into the controlling unit in advance,
• a step of conveying and placing an object to be conveyed precisely positioned with respect to and held by the holding portion onto the rotation standard stage, according to a control based on the provisional position coordinates of the orienter teaching standard position,
• a step of detecting an eccentric volume and an eccentric direction of the object to be conveyed placed on the rotation standard stage by the position and posture detector,
• a step of making appropriate position coordinates by amending the provisional position coordinates of the orienter teaching standard position based on the detected eccentric volume and the detected eccentric direction,
• a step of conveying and placing an object to be conveyed precisely positioned with respect to the container teaching standard position onto the rotation standard stage, according to a control based on the provisional position coordinates of the container teaching standard position,
• a step of detecting an eccentric volume and an eccentric direction of the object to be conveyed placed on the rotation standard stage by the position and posture detector, and
• a step of making appropriate position coordinates by amending the provisional position coordinates of the container teaching standard position based on the detected eccentric volume and the detected eccentric direction.