IAD (Individual Auto Doffer) is installed in ATF-21 for the quality improvement. There are the following four advantages equipped with IAD.

(1) Improvement of full package ratio by random doffing
(2) Achievement of uniform package production by fixed
      length control
(3) A human mistake is controlled by automatic doffing,
      and the package quality improves.
(4) Operator's load is reduced by automatic doffing.
      Achievement of labor saving and simplification.