JP2000124054A - Coil-manufacturing equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable simultaneous winding of a conductor and a tape, and manufacturing of a coil at low cost. SOLUTION: This coil-manufacturing equipment is provided with a first moving stand 14, which is equipped with a conductor 2 supply source and reciprocates on a rotation shaft 18, a second moving stand 20 which is equipped with a guide mechanism 13 which is arranged in parallel with the first moving table 14 and guides the conductor 2 and reciprocates on a rotation shaft 24, a plurality of parallel tape-moving stands 27, 34 which are arranged in parallel with the second moving stand 20, and equipped with tapes 3, 4 for supplying sources, respectively, and reciprocate on rotation shafts 31, 38, a winding mold 1 which performs winding while feeding the conductor 2 and the tapes 3, 4 from the respective supply sources, and a control means for controlling the rotation of the winding mold 1 and the movement of the first and the second moving stands 14, 20. The control means controls the movement of the first and the second moving stands on the basis of previously set data and in accordance with rotation of the winding mold 1 winds the tapes in a desired shape on the winding mold, and at the same time winds up the conductor on a desired coil by simultaneously winding the conductor and the tapes.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil manufacturing apparatus for manufacturing a coil for tape insulation using a transformer or the like.

[0002]

2. Description of the Related Art For example, in a transformer coil, when tape insulation is performed after winding a conductor, it is necessary to cut the conductor once and perform a tape winding operation. That is, the conductor winding and the tape winding could not be performed at the same time.

[0003]

With the above-described structure, the conductor and the tape can be wound at the same time, and the winding and winding of the coil can be completed simultaneously with the winding of the conductor or completed before the winding of the conductor. By devising and implementing the method, the conductor is not cut every time the tape winding is started, and the time required for manufacturing the coil can be reduced.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a coil manufacturing apparatus capable of simultaneously winding a conductor and a tape and manufacturing a low-cost coil. .

[0005]

According to a first aspect of the present invention, there is provided a coil manufacturing apparatus, comprising: a first movable table mounted with a conductor supply source and reciprocating on a rotating shaft; A second moving table mounted with a guide mechanism for guiding a conductor and reciprocating on a rotating shaft; and a plurality of moving units arranged in parallel with the second moving table and mounted on a tape supply source and reciprocated on the rotating shaft, respectively. A tape moving table arranged in parallel, a winding form for winding while feeding the conductor and the tape from respective supply sources, and control means for controlling rotation of the winding form and movement of the first and second moving tables, The control means controls the movement of the first and second moving tables in accordance with the rotation of the former based on preset data, and winds the tape into a desired shape on the former, and By winding the conductor and the tape at the same time, It is characterized by winding the coil.

According to this configuration, if a coil configuration and a winding method are devised so that the conductor and the tape can be wound at the same time, and the winding of the tape is completed simultaneously with the winding of the conductor or ended before the winding of the conductor. In addition, the conductor is not cut every time the tape winding is started, and the time required for manufacturing the coil can be reduced.

According to a second aspect of the present invention, since the conductor and the two tapes are simultaneously wound, the winding form is stopped at the beginning and end of each of the tapes, so that the conductor and the tape are simultaneously wound. Can be simplified.

According to a third aspect of the present invention, the preset data includes tape stacking data, and the control means controls the tape based on the tape stacking data so that the tape is wound in a predetermined amount for each rotation. Has a data structure that can control the amount of movement of the tape moving table per one turn of the winding die, and can generate tape stacking data for each winding layer where the winding direction is turned back.
A more flexible shape can be obtained in forming the insulating layer by winding the tape.

According to a fourth aspect of the present invention, the preset data includes, for each tape winding layer, an empty winding amount for winding without moving the tape moving table at the start of tape winding, and an empty winding at the end of tape winding. Since the amount can be set, the start and end of the winding of the tape do not cause the throwing angle that occurs when the tape moves, and an end shape perpendicular to the winding form can be obtained.

According to a fifth aspect of the present invention, when the conductor and the two tapes are simultaneously wound, the rotation of the winding form is stopped at the start and end of the tape winding, and the reason for the stop is displayed on the display device at that time, and the operator is notified. Since it has a function to instruct the next work, the worker can easily proceed with the work.

According to a sixth aspect of the present invention, each of the moving bases to which the tape supply device is mounted is provided with an outlet position raising / lowering mechanism for adjusting the tape output height, and the height of each of the outlet positions of the two tape moving bases. Height detecting means for detecting the height, two approaching distance detecting means for detecting the tape moving table at different distances when approaching, and the distance to which the tape moving table can approach due to the relationship between the vertical position of each exit position. Is determined, and one of the approach distance detecting means is selected from the result, and the movement of the moving table is stopped when the selected approach distance detecting means detects the approach of the moving table. According to this configuration, the two tape carriages can be brought as close as possible to each other, and the restriction on the tape shape is reduced.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic view of a coil manufacturing apparatus showing an embodiment of the present invention.
I wind 4 Hereinafter, the configuration of each device will be described.

The former 1 has a rotation sensor 5a provided on the core presser 5 and a core receiving plate 7a provided on a reel 7 of a former driving device 6.
, And is rotatable together with the winding shaft 7 as the winding shaft 7 rotates. The winding driving device 6 includes a winding shaft 7.
In addition, an induction motor 8 as a driving source and a reduction gear 9 for reducing the rotation of the induction motor 8 and transmitting the rotation to the winding shaft 7 are provided. The winding drive device 6 is provided with a rotary encoder 10 as rotation amount detecting means for detecting the rotation amount of the winding shaft 7.
Is transmitted via a transmission mechanism 11 including a belt transmission mechanism, a gear transmission mechanism, and the like.

The conductor 2 is supplied from a conductor drum 12, and the supply position is guided by a conductor guide 13. A guide carriage 14 which is a first carriage on which the conductor guide 13 is placed is reciprocated by a first carriage driving device 15. The first moving table drive device 15 includes a speed reducer 17 that reduces the rotation of a servo motor 16 as a drive source, and a screw rod 18 that is a rotation shaft connected to an output shaft 17a of the speed reducer 17. I have. A nut (not shown) is provided on the guide moving base 14, and the screw rod 18 is screwed into the nut. Therefore, when the screw rod 18 rotates forward and backward, the guide moving base 14 moves according to the rotation direction. The tip of the screw rod 18 is connected to a rotary encoder 19 that detects the amount of rotation of the screw rod 18, and the amount of rotation of the screw rod 18 detected by the rotary encoder 19 determines the amount of movement of the guide moving base 14. Make it detectable.

A drum moving table 20, which is a second moving table on which the conductor drum 12 is mounted, is reciprocated by a second moving table driving device 21. The second moving table driving device 21 includes a speed reducer 23 for reducing the rotation of a servo motor 22 as a drive source, and a screw rod 24 serving as a rotation shaft connected to an output shaft 23a of the speed reducer 23.
And A nut (not shown) is provided on the drum moving base 20, and the screw bar 24 is screwed into the nut. Therefore, when the screw rod 24 rotates forward and backward, the drum moving base 20 moves according to the rotation direction. A rotary encoder 25 for detecting the amount of rotation of the screw rod 24 is connected to the tip of the screw rod 24, and the amount of movement of the drum moving base 20 is determined by the amount of rotation of the screw rod 24 detected by the rotary encoder 25. Make it detectable. The drum carriage 20 is
It is controlled so that it is always at substantially the same position as the first guide moving table 14 on which the conductor guide 13 is placed.

The first tape 3 is supplied from a tape drum 26. The tape moving table 27 on which the tape drum 26 is mounted is reciprocated by a third moving table driving device 28. The third moving table drive device 28 includes a speed reducer 30 that reduces the rotation of a servomotor 29 as a drive source, and a screw rod 31 that is a rotation shaft connected to an output shaft 30a of the speed reducer 30. I have. A nut (not shown) is provided on the tape moving table 27, and the screw rod 31 is screwed into the nut. Therefore, when the screw rod 31 rotates forward and backward, the tape moving table 27 moves according to the rotation direction. A rotary encoder 32 for detecting the amount of rotation of the screw rod 31 is connected to the tip of the screw rod 31, and the amount of movement of the tape moving table 27 is determined by the amount of rotation of the screw rod 31 detected by the rotary encoder 32. Make it detectable.

The second tape 4 is supplied from a tape drum 33. The tape moving table 34 on which the tape drum 33 is mounted,
It is reciprocated by the fourth carriage driving device 35. This fourth
The moving table drive device 35 includes a speed reducer 37 that reduces the rotation of a servo motor 36 as a drive source, and an output shaft 37a of the speed reducer 37.
And a screw rod 38 which is a rotating shaft connected to the shaft. A nut (not shown) is provided on the tape moving table 34, and the screw bar 38 is screwed into the nut. Accordingly, when the screw rod 38 rotates forward and backward, the tape moving table 34 moves according to the rotation direction. At the tip of the screw rod 38, the screw rod 38
A rotary encoder 39 for detecting the amount of rotation of the tape moving table 34 can be detected by the amount of rotation of the screw rod 38 detected by the rotary encoder 39.

FIG. 2 shows a control structure of the coil manufacturing apparatus. A control device 40 as a control means is mainly composed of a microcomputer, and a ROM 42 of a storage means storing control programs to be executed by the CPU 41 and the CPU 42. RAM 43 as storage means for storing data, serial input unit 45 for receiving data from a personal computer 44 as a host computer by serial communication, I / O
Input unit 46, 47, D / A converter 48, 49, 50, 51, counter
52, 53, 54, 55, 56 and a CRT controller 57.

The induction motor 8 of the winding driving device 6 has an I / O
When the foot switch 58 connected to the input unit 47 is operated or the automatic switch 59 is operated, a rotation command is issued to the inverter 60 and the inverter 60 is rotated by the drive output. At this time, the output of the rotary encoder 10 is
Calculated by 56.

First, second, third, and fourth movable table driving devices 1
5, 21, 28 and 35 are controlled to move in accordance with the amount of rotation of the former 1 based on preset data. Servo motors 16, 22, 32 and 39 are servo drivers 61 and 6, respectively.
Drives are performed by the D / A converters 48, 49, 50, and 51, respectively. The amount of movement of the guide carriage 14, the drum carriage 20, and the tape carriages 27 and 34 according to the rotations of the respective servomotors is output from the rotary encoders 19, 25, 32 and 39 as counters 52 and 53, respectively. , 54, 55.

A CRT 65 is provided outside the control device 40 for the purpose of notifying the operator of the operation status and inquiring about the contents of preset data, and a display signal corresponding thereto is output from the CRT controller 57. ing. The I / O input unit 47 includes absolute encoders 66 and 67 described later.
Is connected. The I / O input unit 47 is connected to proximity sensors 68 and 69, which will be described later, and a confirmation switch 70.

The personal computer 44 is provided with transformer coil design information by another means, such as a factory LAM, which is not described, and the personal computer 44 uses the design data to generate a pre-stored data creation program. Various data for coil winding are created and stored based on the data. Also, a personal computer 44
Stores multiple types of data for coil winding, the operator selects a model to work from the model information displayed on the screen, and transmits data for coil winding to the control device 40. To instruct.

FIG. 3 shows the structure of coil winding data.
The uppermost layer is composed of model data and a data group of each winding layer. The model data is information for identifying the model and data common to each winding layer. For example, the main data includes the number of winding layers and the conductor size. Each winding layer data is composed of conductor data, common data of tape 3 and 10 layers of layer data, and common data of tape 4 and 10 layers of layer data. The conductor data includes data indicating the presence or absence of conductor winding, traveling direction data, and winding number data. The data common to the tapes 3 and 4 are data indicating the presence or absence of winding of the corresponding tape, data of a position where the tape winding is started, data indicating the number of windings of the conductor when starting the tape winding, data of the number of tape layers, and tape. It consists of size, number of empty windings at the start of tape winding (winding without moving the moving body), and data on the number of empty windings at the end of tape winding. The layer data of the tapes 3 and 4 is composed of wrap amount data, traveling direction data, reversal position data (data indicating a position at which the traveling direction is reversed), and data on the number of empty windings at the end of tape winding.

Hereinafter, the control contents of the apparatus will be described with reference to the flowcharts of FIG. Here, the transformer coil manufactured according to this embodiment is disclosed in Japanese Patent Application No. 9-937.
No. 60.

FIG. 4 is a diagram showing the mechanism of the main control unit. The main control controls the execution of the conductor winding process, the tape 3 winding process, and the tape 4 winding process. Conductor winding process The following winding processes are apparently executed simultaneously. The main control refers to the winding layer data being executed, and if the conductor 2 is wound, the conductor is wound. If the tape 3 is wound, the tape is wound three times.
If there is a winding of 4, the tape winding processing is executed respectively.
When all the executed winding processes are completed, the winding of all the layers is completed, and when the coil manufacturing operation is completed, an end process is performed, and the execution of the main control is completed. If there is still a layer to be wound, a next layer start process is executed to start winding the next layer.

In the conductor winding process, first, as shown in FIG. 5, it is checked whether the number of turns has reached the number of turns of the conductor data. When it has reached, the reel stop processing is executed.
Specifically, the operation command to inverter 60 is stopped. Thereafter, when the operator operates the confirmation switch 70, the conductor winding process ends. The operation command to the inverter 60 is transmitted to the control device 40 by operating the foot switch 58 and the automatic switch 59.
However, during the above-mentioned stop period, even if these switches are operated, no operation command is given.

As shown in FIG. 6, the winding process of the tape 3 is as follows.
First, it is checked whether the number of windings of the conductor has reached the number of windings at the start of tape winding. If the conductors are not wound simultaneously, the number of windings at the start of the tape winding is zero as the corresponding number of windings, so that the tape winding is immediately executed. When the arrival is confirmed, a reel stop process is executed. Thereafter, a start position execution process is executed. In the start position execution processing, the operation of setting the tape moving table 34 to a position where the tape winding starts by a switch operation not described is performed.
When this operation is completed, a reel stop release process for releasing the reel stop previously described is executed, and the operation of the reel 7 is enabled again. After that, the timer interrupt routine described later
An instruction is issued to execute a function of moving the corresponding moving table so as to form a wrap according to the rotation of the winding shaft 7,
If there is data in the winding start empty winding number data, the timer interrupt routine is instructed from the start of winding of the tape 4 until the winding amount of the tape 4 reaches the winding amount indicated by the data. Do not do.

Thereafter, the processing is executed based on the layer data of the tape 3. First, it is confirmed whether or not the position of the corresponding carriage has reached the reversal position of the layer being executed. When the arrival is confirmed, if there is data in the idle winding number data, an instruction is issued to the timer interrupt routine to stop the movement of the tape carriage 34, and the winding amount of the winding shaft 7 after reaching the reversal position is reduced. The above stop instruction is continued until the amount indicated by the data is reached. When this processing is completed, it is confirmed whether the layer is the final layer, and if it is not the final layer, the next layer start processing is executed. Here, the timer interrupt routine is notified that the layer has been updated. At this time, the layer data elements referred to by the timer interrupt routine are the traveling direction data and the lap amount data. In the case of the last layer, the reel stop processing is executed. Thereafter, when the confirmation switch 70 is operated, the tape winding operation ends. The tape 4 winding process is performed on the tape 4 in exactly the same manner as the tape 3 winding process.

The timer interrupt routine shown in FIG.
It is executed every second and mainly consists of guide carriage 14 and drum carriage 2
0, controls the tape moving tables 27 and 34. First, counter 5
Read the count values of 2, 53, 54, 55, and 56 to know the current position of each mobile platform. Subsequently, a conductor control, a tape 3 control, and a tape 4 control are executed.

The conductor control shown in FIG. 8 executes the following processing when there is an operation command. In the moving table momentum calculation processing, the rotation amount of the winding shaft for 10 msec is calculated from the value of the counter 56, and the movement of the conductor 2, that is, the movement of the guide moving table 14, is moved by the size of the conductor 2 for each rotation of the winding shaft. of the case,
The movement amount for 10 ms at this time is calculated. Thereafter, the feed target of the guide moving base 14 and the drum moving base 20 that moves in synchronization with the guide moving base 14 are updated, and the D / A output processing is executed. In the D / A output process, the difference between the current position of the guide carriage 14 and the feed target is sent to the D / A converter 50 and the drum carriage
The difference between the current position of 20 and the feed target is output to the D / A converter 51. As a result, the servo motors 16 and 22 are driven according to the command.

The tape 3 control shown in FIG. 9 executes the following processing when there is an operation command. In the moving table moving amount calculation process, the amount of rotation of the winding shaft for 10 msec is calculated from the value of the counter 52, and the movement of the tape 4, that is, the movement of the tape moving table 34 is performed to the size of the tape 4 every rotation of the winding shaft. The moving amount for 10 ms when the moving amount is multiplied by the wrap amount indicated by the lap amount data of the middle layer is calculated. Thereafter, the feed target of the tape moving table 34 is updated, and the D / A output processing is executed. In the D / A output processing, the difference between the current position of the tape moving table 34 and the feed target is output to the D / A converter 48. As a result, the servo motor 29 is driven according to the command.

The tape 4 control shown in FIG. 10 executes the following processing when there is an operation command. In the moving table moving amount calculation processing, the amount of rotation of the winding shaft for 10 ms is calculated from the value of the counter 53, and the moving of the tape 3, that is, the tape moving table is calculated.
The movement of 27 is calculated by moving the tape 3 by the amount obtained by multiplying the size of the tape 3 by the wrap amount indicated by the wrap amount data of the layer being executed for each rotation of the reel, and calculating the movement amount for 10 ms. Thereafter, the feed target of the tape moving table 27 is updated, and D /
A output processing is executed. In the D / A output processing, the difference between the current position of the tape moving table 27 and the feed target is output to the D / A converter 50. As a result, the servo motor 16 is driven according to the command.

Conventionally, in such a coil winding, the apparatus does not operate at all at all, and when the rotation of the winding shaft 7 is stopped during the operation, the setting work of the conductor 2 and the tapes 3 and 4 by the operator is performed. It is extremely difficult for the operator to independently determine which operation should be performed at that time. Therefore, in the present embodiment, as shown in FIG. 11, a CRT 65 is provided in the operation unit, and when the reel is stopped for a predetermined reason in accordance with an instruction from the control device 40, the data contents set in advance are determined and the reel is stopped. The stop reason of 7 is displayed numerically. As a result, the operator is released from difficult decisions and can perform the coil winding operation without making a mistake in the operation.

The tape carriage 27 on which the tapes 3 and 4 are mounted,
In the case of No. 34, it is required to reduce restrictions on the device so that the insulator shape can be formed with a tape more freely. In particular, the restriction on the maximum approach distance of the tapes 3 and 4 is important. In this embodiment, the tape moving table 2 is provided as follows so that the tapes 3 and 4 can approach each other as much as possible.
7, 34.

The outlet portion of the tape 3 can be adjusted up and down by an upper and lower cylinder 71 as shown in FIG. 12, but the outlet height is adjusted according to the size of the winding form 1 in order to improve the winding state of the tape. Adjustable. At this time, the height of the tape guide 72 is notified to the control device 40 by the absolute encoder 66. Although not shown, the height of the tape guide 73 is also notified to the control device 40 by the absolute encoder 67 for the tape 4. Also, as shown in FIG. 15, proximity sensors 68,
A 69 and a dog 73 are provided so that the control device 40 can determine the approach of the tape moving tables 27 and 34 in two stages.

Although not shown, in this embodiment, a step is provided in the installation height of the movable bases 27 and 34 from the overall configuration of the apparatus. The height of the tape guides 72 and 73 depends on the size of the winding form 1, and the relationship is as shown in FIG. 13 when it is large and as shown in FIG. 14 when it is small. At this time, in the small state shown in FIG. 14, the distance in the height direction of the tape guides 72 and 73 is short, and
7, 34 increase the possibility of interference with each other in the moving direction.

The control device 40 is an absolute encoder
The difference between the value of the absolute encoder 67 and the value of the absolute encoder 67 is checked, and if the amount is smaller than a predetermined value, the movement of the tape moving tables 27 and 34 is urgently stopped by the signal input of the proximity sensor 68. If not, the movement of the tape carriages 27, 34 is urgently stopped by the signal input of the proximity sensor 69. In this way, in this embodiment, the tape moving tables 27 and 34 can be approached as much as possible.

[0038]

As described above, according to the present invention, the conductor and the tape can be wound at the same time, and the coil construction is such that the winding of the tape is completed simultaneously with the winding of the conductor or ended before the winding of the conductor. If the winding method is devised, the conductor is not cut every time the tape winding is started, and the time required for manufacturing the coil can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a coil manufacturing apparatus showing one embodiment of the present invention,

FIG. 2 is a block diagram showing a control configuration;

FIG. 3 is a conceptual diagram of various data for manufacturing a coil.

FIG. 4 is a flowchart showing control contents,

FIG. 5 is a flowchart showing control contents,

FIG. 6 is a flowchart showing control contents,

FIG. 7 is a flowchart showing control contents,

FIG. 8 is a flowchart showing control contents,

FIG. 9 is a flowchart showing control contents,

FIG. 10 is a flowchart showing control contents,

FIG. 11 is a diagram showing a display state of a CRT.

FIG. 12 is a schematic configuration diagram of a tape guide unit;

FIG. 13 is a diagram illustrating a height relationship of a tape guide portion.

FIG. 14 is a diagram illustrating a height relationship of a tape guide portion.

FIG. 15 is a schematic configuration diagram of an approach detection mechanism provided on a movable base.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... winding type, 2 ... conductor, 3, 4 ... tape, 7 ... winding shaft, 8 ... induction motor,
11: transmission mechanism, 12: conductor drum,
13: conductor guide, 14: first moving table (guide moving table), 15: first moving body driving device, 16, 2
2, 29: servo motor, 18, 24: rotary shaft (screw rod), 20: second moving table (drum moving table), 21: second moving body driving device, 27, 34: tape moving table, 4
0 ... control device, 48, 50, 51 ... D /
A converter, 52, 53, 54, 55, 56 ... counter,
72, 73: Tape guide, 73: Dog.

Claims (6)

[Claims] 1. A first movable table on which a conductor supply source is mounted and reciprocates on a rotating shaft, and a guide mechanism provided in parallel with the first movable table for guiding a conductor is mounted and reciprocated on the rotating shaft. A second movable table, a plurality of parallel tape movable tables mounted side by side with the second movable table, each mounted with a tape supply source, and reciprocated on a rotation axis; And a control means for controlling the rotation of the former and the movement of the first and second carriages. The control means controls the rotation of the former based on data set in advance. Accordingly, by controlling the movement of the first and second carriages, winding the tape in a desired shape on the former, and simultaneously winding the conductor and the tape, the desired conductor A coil manufacturing device characterized by winding up a coil. 2. The coil manufacturing apparatus according to claim 1, wherein the winding form is stopped at the start and end of each of the tapes for simultaneously winding the conductor and the two tapes. 3. The tape stacking data is present in the preset data, and the control means controls the winding form 1 based on the tape stacking data so that the tape is wound in a predetermined amount for each rotation. 2. The coil manufacturing apparatus according to claim 1, wherein the coil manufacturing apparatus has a data structure in which the amount of movement of the tape moving table per rotation is controlled and tape stacking data can be obtained for each winding layer in which the winding direction is turned back. 4. The preset data includes, for each tape winding layer, an empty winding amount for winding without moving the tape moving table at the start of tape winding and an empty winding amount at the end of tape winding. The coil manufacturing apparatus according to claim 1, which can be used. 5. A method for simultaneously winding a conductor and two tapes, wherein the rotation of the former is stopped at the beginning or end of the winding of the tape,
2. The coil manufacturing apparatus according to claim 1, further comprising a function of displaying a stop reason on a display device at that time and instructing a worker to perform a next operation. 6. Each of the tape moving tables to which the tape supply device is mounted is provided with a discharging position raising / lowering mechanism for adjusting a tape discharging height, and a height of each discharging position of the two tape moving tables. Height detecting means for detecting the distance, two approach distance detecting means for detecting the tape moving table at different distances when approaching,
The distance that the tape carriage can approach can be determined based on the relationship between the upper and lower positions of the respective exit positions, and one of the approach distance detectors can be selected based on the result, and the selected approach distance detector can determine whether the approach of the carriage is closer. The coil manufacturing apparatus according to claim 1, further comprising a function of stopping the movement of the tape moving table when detecting the occurrence of the error.