CN104821763A - Printing device, paper processing device and control method of stepping motor for paper feeding - Google Patents
Printing device, paper processing device and control method of stepping motor for paper feeding Download PDFInfo
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- CN104821763A CN104821763A CN201510040921.5A CN201510040921A CN104821763A CN 104821763 A CN104821763 A CN 104821763A CN 201510040921 A CN201510040921 A CN 201510040921A CN 104821763 A CN104821763 A CN 104821763A
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Abstract
The invention provides a printing device, a paper processing device and a control method of a stepping motor for paper feeding. During phasing of a stepping motor for paper feeding, excitation of phases of a plurality of positions are carried out in order, a displacement angle of a rotor corresponding to excitation of each phase can be decreased, rotation of the rotor in a direction opposite to a water feeding direction is prevented, and water conveying can be carried out stably and appropriately. The printing device comprises a conveying component for conveying paper, a stepping motor for driving the conveying component, a paper detection sensor for detecting paper and a control section controlling the stepping motor. When the paper detection sensor detects that paper is arranged, the control section carries out excitation of phases in a plurality of positions of the second predetermined angles departing less than the first predetermined angle every time in the positive rotation direction of orientation of the stepping motor in order, and thus phasing is carried out through shifting of the first predetermined angle in the positive rotation direction of orientation of a stopping state of the magnetic pole ratio of the rotor of the stepping motor.
Description
Technical field
The present invention relates to the control method of printing equipment, paper processing device and paper feeding stepper motor.
Background technology
In the past, in printing equipment, transporting the paper feeding motor of component as the transport roller driven for transporting the paper such as printing paper etc., using stepper motor.When starting to drive the transport component stopped, start to carry out phase excitation according to the starting command of stepper motor, in the 1st stage, carry out excitation mutually to what select in advance and the magnetic pole of rotor is moved, in the 2nd stage, to beyond the phase be excited in the 1st stage and be positioned at leave 180 〔 ゜ relative to the position of the phase be excited in the 1st stage) position phase beyond carry out excitation mutually, make the magnetic pole of rotor move to carry out phasing thus.(for example, referring to patent documentation 1.)。
Patent documentation 1: Japanese Unexamined Patent Publication 6-276793 publication
, in described printing equipment in the past, there is such situation: when paper is single-sheet stationery, even if operator is provided with paper, if hand leaves, then paper also can be ejected by the transport component starting to drive.
Fig. 2 is the 1st figure be described the phasing action of the paper feeding stepper motor in printing equipment in the past, Fig. 3 is the 2nd figure be described the phasing action of the paper feeding stepper motor in printing equipment in the past.
In the drawings, 114 is the single-sheet stationeries as the paper to printing equipment conveying in the past.In addition, 113a and 113b is the upside transport roller that possesses of printing equipment in the past and downside transport roller, is driven and rotates, transport described single-sheet stationery 114 by not shown stepper motor.In addition, 121 is paper detecting sensors that printing equipment in the past possesses, and detects for being arranged on this situation of preposition to described single-sheet stationery 114 by operator.
At this, the position being positioned at III-IV phase be mutually excited of the rotor of the paper feeding stepper motor in state, i.e. state A before described single-sheet stationery 114 is set up, the magnetic pole of rotor is also positioned at the position of III-IV phase.
Further, when utilizing paper detecting sensor 121 to detect to be provided with single-sheet stationery 114, in the 1st stage, excitation is carried out to the IV-I phase selected in advance.So the magnetic pole of rotor is shifted to the direct rotational direction (clockwise direction Fig. 3) towards IV-I phase from the position of III-IV phase, as state B, become toning state and cross the position of the phase be excited.
Therefore, the magnetic pole crossing the rotor of the position of the phase be excited is shifted to negative rotation veer (counter clockwise direction in Fig. 3), current as state C, become the state to the toning of negative rotation veer and cross the position of the phase be excited towards negative rotation veer.Therefore, next, the magnetic pole of rotor is shifted towards direct rotational direction.
Further, after the magnetic pole of rotor repeats such displacement to positive and negative direction of rotation, i.e. vibration, amplitude is decayed gradually, and as state D, stops in the position of IV-I phase.
Then, in the 2nd stage, if to be positioned at leave the position of 180 (゜) relative to the position of the phase be excited in the 1st stage phase beyond phase, i.e. I-II phase carry out excitation, then as shown in Figure 2, the magnetic pole of rotor is identical with the 1st stage, after repetitive vibrations, stops in the position of I-II phase.Thus, the action of the phasing of paper feeding stepper motor completes.
, along with the magnetic pole of the rotor of paper feeding stepper motor is to the displacement of positive and negative direction of rotation, upside transport roller 113a and downside transport roller 113b rotates to positive and negative direction of rotation.Therefore, such as state C, when the magnetic pole of the rotor of paper feeding stepper motor is larger to the overtravel of negative rotation veer, upside transport roller 113a and downside transport roller 113b significantly rotates to negative direction, therefore, the single-sheet stationery 114 being arranged on preposition is ejected by transporting to negative carriage direction, i.e. discharge direction.
Like this, in described printing equipment in the past, there is such problem: even if operator is provided with single-sheet stationery 114, if before the phasing action of stepper motor completes, hand leaves from single-sheet stationery 114, also suitably cannot carry out the conveying of single-sheet stationery 114.
Summary of the invention
The present invention completes in order to the problem solved in above-mentioned printing equipment in the past, its object is to the control method that a kind of printing equipment, paper processing device and paper feeding stepper motor are provided, when carrying out the phasing of paper feeding stepper motor, by carrying out excitation mutually successively to multiple position, the angle of displacement of the rotor corresponding with the excitation of each phase can be reduced, and prevent the rotation to the rightabout rotor of paper feeding direction, thus can stablize and suitably carry out the conveying of paper.
Therefore, in printing equipment of the present invention, possess: transport component, its transport of sheets of paper; Stepper motor, it drives this transport component; Paper detecting sensor, it detects described paper; And control part, it controls described stepper motor, when paper detecting sensor detect be provided with described paper time, this control part successively to described stepper motor leave multiple positions of 2nd predetermined angular less than the 1st predetermined angular towards direct rotational direction at every turn carry out excitation mutually, make the magnetic pole of the rotor of described stepper motor than halted state towards described 1st predetermined angular of direct rotational direction displacement to carry out phasing.
According to the present invention, for printing equipment, in the phasing action of the paper pushing motor carried out when being provided with paper, carry out excitation mutually successively to multiple position.Thereby, it is possible to reduce the angle of displacement of the rotor corresponding with the excitation of each phase, prevent the rightabout rotation of rotor to paper feeding direction, and can stablize and suitably carry out the conveying of paper.
Accompanying drawing explanation
Fig. 1 is the side perspective view of the significant points of the printing equipment illustrated in embodiments of the present invention.
Fig. 2 is the 1st figure be described the phasing action of the paper feeding stepper motor in printing equipment in the past.
Fig. 3 is the 2nd figure be described the phasing action of the paper feeding stepper motor in printing equipment in the past.
Fig. 4 is the perspective view of the printing equipment in embodiments of the present invention.
Fig. 5 is the block diagram of the functional structure of the printing equipment illustrated in embodiments of the present invention.
Fig. 6 is the 1st figure be described the phasing action of the paper pushing motor in embodiments of the present invention.
Fig. 7 is the 2nd figure be described the phasing action of the paper pushing motor in embodiments of the present invention.
Fig. 8 be the printing equipment illustrated in embodiments of the present invention be provided with single-sheet stationery time the flow chart of action.
Label declaration
10: printing equipment;
13: front transport roller;
13a: transport roller before upside;
13b: transport roller before downside;
14: single-sheet stationery;
21: paper detecting sensor;
23: paper pushing motor;
30: control part.
Embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described in detail.
Fig. 1 is the side perspective view of the significant points of the printing equipment illustrated in embodiments of the present invention, and Fig. 4 is the perspective view of the printing equipment in embodiments of the present invention.
In the drawings, 10 is printer, i.e. printing equipment in present embodiment, it is the device that the paper such as printing paper are printed, although can be the device carrying out by any way printing, it is such as the printing equipment of ink jet type, electronic photo formula, heat-sensitive type, heat transfer type etc., but at this, be described with the device being undertaken printing by line point type (wire dot).In addition, although as long as described paper can carry out the paper printed, then can be the paper of any kind, such as, for cutting the printing paper such as paper, coil paper, at this, to be described as the single-sheet stationery 14 cutting paper (cut sheet).
In the present embodiment, printing equipment 10 is so-called serial impact type horizontal printers, as shown in Figure 4, has: as the printhead 11 of print head, it is installed on balladeur train 15, and this balladeur train 15 moves left and right by carriage motor 24 described later for axle with balladeur train axle 16; As transport roller 13b before transport roller 13a before on the upside of a pair of the 1st roller and downside, it is the transport component for transporting printing paper; As rear flank transport roller 22a and lower rear flank transport roller 22b on a pair of the 2nd roller, it is the transport component for transporting printing paper; The platen 12 of tabular, it extends in left-right direction; With paper detecting sensor 21, it is disposed in the below of the transport path of the carriage direction upstream side of transport roller 13b before transport roller 13a and downside before upside.Further, before to described upside before transport roller 13a and downside transport roller 13b and on rear flank transport roller 22a and lower rear flank transport roller 22b is unified when being described, be described respectively as front transport roller 13 and rear transport roller 22.
Further, as shown in Figure 4, by the hand of operator single-sheet stationery 14 is placed in and is expressed as in the mounting table of A, and be inserted into until its front end is resisted against front transport roller 13.When paper detecting sensor 21 detects that single-sheet stationery 14 is configured to be resisted against front transport roller 13, namely, when being manually provided with single-sheet stationery 14, then utilize paper pushing motor 23 described later to drive front transport roller 13 and rear transport roller 22, before utilizing the front transport roller 13a in upside and downside, transport roller 13b is from clamping described single-sheet stationery 14 up and down, and along transporting as the paper feeding direction in the direction shown in arrow B, i.e. carriage direction (sub scanning direction).In addition, described printhead 11 possesses multiple line (wire), namely put pin (dotpin), (main scanning direction) is mobile in left-right direction also optionally drives described some pin, prints single-sheet stationery 14 by beaing ink ribbon by the front end of this pin.Further, described platen 12 is parts of the impact of the some pin absorbing printhead 11, arranges in the mode that the transport path clipping single-sheet stationery 14 is parallel with printhead 11.
Next, the functional structure of described printing equipment 10 is described.
Fig. 5 is the block diagram of the functional structure of the printing equipment illustrated in embodiments of the present invention.
In the drawings, 30 is the control parts of action controlling printing equipment 10, and it is connected with printhead 11, paper detecting sensor 21, paper pushing motor 23 and carriage motor 24, and is connected with the power subsystem 36 of the power supply unit as printing equipment 10.Described carriage motor 24 is the motors for mobile balladeur train 15, and is preferably stepper motor.In addition, described paper pushing motor 23 is the stepper motors as paper feeding stepper motor, its for transport roller 13a before making upside, transport roller 13b, upper rear flank transport roller 22a and lower rear flank transport roller 22b rotate before downside, more particularly, are by 4 phase stepper motors of 2 phase excitations drivings.In addition, described power subsystem 36 becomes DC electric current supply to play a role to the power supply of each several part of printing equipment 10 as by AC current conversion.
Further, described control part 30 has: as the CPU31 of processor, and it controls the action of printing equipment 10 entirety; As the programming ROM 32 of nonvolatile memory, it stores the program etc. for controlling this CPU31; Print-head drive circuit 33, it is for driving described printhead 11; Paper feeding drive circuit 34, it is for driving described paper pushing motor 23; With sledge drive circuit 35, it is for driving described carriage motor 24.
Next, the action of the printing equipment 10 of described structure is described.Further, at this, action when only the hand by operator being provided with to single-sheet stationery 14 is described.
Fig. 6 is the 1st figure be described the phasing action of the paper pushing motor in embodiments of the present invention, Fig. 7 to be the 2nd figure be described the phasing action of the paper pushing motor in embodiments of the present invention, Fig. 8 be printing equipment illustrated in embodiments of the present invention be provided with single-sheet stationery time the flow chart of action.
First, control part 30 judges whether paper detecting sensor 21 detected the setting of single-sheet stationery 14.Control part 30 repeats this judgement until paper detecting sensor 21 detects the setting of single-sheet stationery 14.
And, when paper detecting sensor 21 detects arranging of single-sheet stationery 14, namely, detect by the hand of operator single-sheet stationery 14 is placed in be expressed as A mounting table on and be inserted into until when its front end is resisted against front transport roller 13, control part 30 carries out the phasing action of the paper pushing motor 23 as stepper motor.
When this phasing action starts, control part 30 carries out micro-stepping excitation, first, carries out maintenance phase+22.5 〔 ゜) phase excitation.Specifically, what be maintained at halted state to the rotor from paper pushing motor 23 rotates+22.5 〔 ゜ towards direct rotational direction (direction of rotation corresponding with the carriage direction of the single-sheet stationery 14 shown in arrow B)) position carry out excitation mutually.
At this, as shown in Figure 6 and Figure 7, about the magnetic pole of the rotor of paper pushing motor 23, till single-sheet stationery 14 is set up, the position being maintained at III-IV phase be mutually excited of this magnetic pole, that is, this magnetic pole with the electric current of 70.7 (%) to III phase/be in halted state (the state A in Fig. 7) to the position that IV phase carries out excitation with the electric current of 70.7 (%).Under this state A, when supplying the electric current of 38.3 (%)/supply the electric current of 92.4 (%) to IV phase to III phase, carry out maintenance phase+22.5 〔 ゜) phase excitation.
Then, control part 30 carries out maintenance phase+45 〔 ゜) phase excitation.Specifically, IV phase is supplied to the electric current of 100 (%).Thus, to from the position of the phase be excited in state A towards direct rotational direction rotate+45 〔 ゜) position carry out excitation mutually.
Then, control part 30 carries out maintenance phase+67.5 〔 ゜) phase excitation.Specifically, the electric current that the electric current of 92.4 (%)/to I phase supplies 38.3% is supplied to IV phase.Thus, to from the position of the phase be excited in state A towards direct rotational direction rotate+67.5 〔 ゜) position carry out excitation mutually.
Last in phasing action, control part 30 carries out maintenance phase+90 〔 ゜) phase excitation.Specifically, IV phase is supplied to the electric current of the electric current of 70.7 (%)/I phase is supplied 70.7 (%).Thus, to rotating the carrying out excitation mutually of position of+90 (゜) and the state B that becomes in Fig. 7 from the position of the phase be excited in state A towards direct rotational direction.
Thus, make the rotor of paper pushing motor 23 rotate scheduled volume, and stop.Specifically, be make it rotate+90 〔 ゜ from the position be kept towards direct rotational direction) and stop.In addition, front transport roller 13 also rotates the amount corresponding with described scheduled volume to the direction of rotation corresponding with the carriage direction of the single-sheet stationery 14 shown in arrow B, and stops.
Then, the magnetic pole of the rotor of paper pushing motor 23 is remained on the position that described rotor stops by control part 30.Further, control part 30 judges whether paper detecting sensor 21 detected the setting of single-sheet stationery 14, and repeats later action.
Like this, in phasing action, carry out micro-stepping excitation, repeatedly (specifically 4 times) are to towards direct rotational direction speed ratio+90 〔 ゜) little angle, namely rotate+22.5 〔 ゜ at every turn) the action carrying out excitation mutually of position, finally, to be maintained at from rotor halted state direct rotational direction in opposite directions rotate+90 〔 ゜) position carry out excitation mutually.Namely, at every turn leaving than the 1st predetermined angular (90 〔 ゜) towards direct rotational direction successively to the paper pushing motor 23 as stepper motor) little the 2nd predetermined angular (22.5 〔 ゜)) multiple positions carry out excitation mutually, make the magnetic pole of the rotor of paper pushing motor 23 than halted state to direct rotational direction displacement the 1st predetermined angular to carry out phasing.Therefore, compared with the situation of printing equipment in the past as shown in Figures 2 and 3, the overtravel of the magnetic pole of the rotor in state B is little.
And, the magnetic pole crossing the rotor of the position of the phase be excited is shifted to negative rotation veer (direction of rotation corresponding with the rightabout of the carriage direction of the single-sheet stationery 14 shown in arrow B), as state C, become the state to the toning of negative rotation veer.In addition, because front transport roller 13 also rotates along with the rotor of paper pushing motor 23, therefore rotate to negative rotation veer.
, compared with the situation of printing equipment in the past as shown in Figures 2 and 3, because the overtravel of the magnetic pole of the rotor in state B is little, therefore, the magnetic pole of the rotor in state C is also little to the overtravel of negative rotation veer.Therefore, the front transport roller 13 in state C is also little to the rotation amount of negative rotation veer.
Consequently, single-sheet stationery 14 can not be transported by the rightabout of carriage direction and discharge direction and be ejected.That is, manually carried out arranging and can not being come off between transport roller 13b before transport roller 13a before upside and downside from the single-sheet stationery 14 clamped up and down by transport roller 13b before transport roller 13a before upside and downside.
In addition, repeat after the displacement of positive and negative direction of rotation, i.e. vibration at the magnetic pole of rotor, amplitude is decayed gradually, as state D, stop in the position of IV-I phase, compared with the situation of printing equipment in the past as shown in Figures 2 and 3, amplitude is little and the time required for decay is short.
Next flow chart is described.
Step S1 control part 30 judges whether paper detecting sensor 21 detected the setting of single-sheet stationery 14.When paper detecting sensor 21 detects the setting of single-sheet stationery 14, enter step S2, when paper detecting sensor 21 does not detect the setting of single-sheet stationery 14, repeat to judge.
Step S2 control part 30 carries out maintenance phase+22.5 〔 ゜) phase excitation.
Step S3 control part 30 carries out maintenance phase+45 〔 ゜) phase excitation.
Step S4 control part 30 carries out maintenance phase+67.5 〔 ゜) phase excitation.
Step S5 control part 30 carries out maintenance phase+90 〔 ゜) phase excitation.
Step S6 makes the rotor of paper pushing motor 23 rotate scheduled volume, and stops.
The magnetic pole of step S7 control part 30 pairs of rotors keeps, and returns step S1.
Like this, in the present embodiment, carrying out micro-stepping excitation due in the phasing action of paper pushing motor 23 carried out when single-sheet stationery 14 being arranged at printing equipment 10, therefore, it is possible to reduce the amplitude of the rotor of paper pushing motor 23, and making vibration attenuation rapidly.Therefore, because the rotor of paper pushing motor 23 only rotates to the paper feeding direction of single-sheet stationery 14, i.e. direct rotational direction, and do not rotate to negative rotation veer, therefore, before the phasing action of paper pushing motor 23 completes, even if the hand of operator leaves from single-sheet stationery 14, the single-sheet stationery 14 being arranged at printing equipment 10 also can not transport roller 13 come off in the past, can carry out the conveying of stable single-sheet stationery 14.
In addition, the amplitude of the rotor of the paper pushing motor 23 in phasing action can be reduced, and reduce vibration and noise.
And, in the present embodiment, only the example repeatedly repeating the excitation of phase for unit with 22.5 (゜) is illustrated, if but the excitation of phase is repeatedly repeated with the angle that 90 (゜) unit more such than printing equipment is in the past little, the amplitude ratio of rotor printing equipment in the past just can be made to reduce.
In addition, if be the excitation that unit repeatedly repeats phase with the angle that than 22.5 (゜) is little, then trochantinian amplitude can be subtracted further.
In addition, the present invention is not limited to above-mentioned execution mode, can carry out various distortion based on aim of the present invention, these distortion should not got rid of from scope of the present invention.
Utilizability in industry
The present invention can utilize in the control method of printing equipment, paper processing device and paper feeding stepper motor.
Claims (7)
1. a printing equipment, is characterized in that, described printing equipment possesses:
Transport component, its transport of sheets of paper;
Stepper motor, it drives this transport component;
Paper detecting sensor, it detects described paper; With
Control part, it controls described stepper motor,
When paper detecting sensor detect be provided with described paper time, this control part successively to described stepper motor leave multiple positions of 2nd predetermined angular less than the 1st predetermined angular towards direct rotational direction at every turn carry out excitation mutually, make the magnetic pole of the rotor of described stepper motor than halted state towards described 1st predetermined angular of direct rotational direction displacement to carry out phasing.
2. printing equipment according to claim 1, wherein,
Described stepper motor is two-phase stepper motor.
3. printing equipment according to claim 1, wherein,
Described 1st predetermined angular is 90 ゜, and described 2nd predetermined angular is 22.5 ゜.
4. the printing equipment according to any one in claims 1 to 3, wherein,
Described transport component comprises a pair transport roller, and described paper is hold by described transport roller and transports.
5. printing equipment according to claim 4, wherein,
Described paper is single-sheet stationery, and when the front end of described single-sheet stationery is resisted against described transport roller, described paper detecting sensor detects and is provided with described single-sheet stationery.
6. a control method for paper feeding stepper motor, is characterized in that,
When detect on printing equipment, to be provided with paper time, successively to stepper motor leave multiple positions of 2nd predetermined angular less than the 1st predetermined angular towards direct rotational direction at every turn carry out excitation mutually, make the magnetic pole of the rotor of described stepper motor than halted state towards described 1st predetermined angular of direct rotational direction displacement to carry out phasing.
7. a paper processing device, is characterized in that, described paper processing device possesses:
Transport component, its transport of sheets of paper;
Stepper motor, it drives this transport component;
Paper detecting sensor, it detects described paper; With
Control part, it controls described stepper motor,
When paper detecting sensor detect be provided with described paper time, this control part successively to described stepper motor leave multiple positions of 2nd predetermined angular less than the 1st predetermined angular towards direct rotational direction at every turn carry out excitation mutually, make the magnetic pole of the rotor of described stepper motor than halted state towards described 1st predetermined angular of direct rotational direction displacement to carry out phasing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014018188A JP2015146671A (en) | 2014-02-03 | 2014-02-03 | Printer and control method of stepping motor for carrying sheet |
| JP2014-018188 | 2014-02-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104821763A true CN104821763A (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510040921.5A Pending CN104821763A (en) | 2014-02-03 | 2015-01-27 | Printing device, paper processing device and control method of stepping motor for paper feeding |
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| Country | Link |
|---|---|
| JP (1) | JP2015146671A (en) |
| CN (1) | CN104821763A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002240983A (en) * | 2001-02-19 | 2002-08-28 | Canon Inc | Imaging device |
| JP2007282307A (en) * | 2006-04-03 | 2007-10-25 | Seiko Epson Corp | Control method of stepping motor, control device of stepping motor, and printer |
| JP2009060719A (en) * | 2007-08-31 | 2009-03-19 | Canon Inc | Stepping motor driving device and image forming device |
| CN101989828A (en) * | 2009-07-30 | 2011-03-23 | 佳能株式会社 | Motor control apparatus and image forming apparatus |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0449898A (en) * | 1990-06-15 | 1992-02-19 | Canon Inc | Image formation device |
| JPH11109754A (en) * | 1997-10-02 | 1999-04-23 | Canon Inc | Multicolor image forming device |
| JP2000188899A (en) * | 1998-12-21 | 2000-07-04 | Copyer Co Ltd | Control method and controller for stepping motor |
| JP5404153B2 (en) * | 2009-04-17 | 2014-01-29 | 株式会社東芝 | Printing device |
| JP5477817B2 (en) * | 2010-11-08 | 2014-04-23 | サミー株式会社 | Control device for motor for gaming machine |
-
2014
- 2014-02-03 JP JP2014018188A patent/JP2015146671A/en active Pending
-
2015
- 2015-01-27 CN CN201510040921.5A patent/CN104821763A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002240983A (en) * | 2001-02-19 | 2002-08-28 | Canon Inc | Imaging device |
| JP2007282307A (en) * | 2006-04-03 | 2007-10-25 | Seiko Epson Corp | Control method of stepping motor, control device of stepping motor, and printer |
| JP2009060719A (en) * | 2007-08-31 | 2009-03-19 | Canon Inc | Stepping motor driving device and image forming device |
| CN101989828A (en) * | 2009-07-30 | 2011-03-23 | 佳能株式会社 | Motor control apparatus and image forming apparatus |
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| JP2015146671A (en) | 2015-08-13 |
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Application publication date: 20150805 |