EP1790595A1 - Dispositif de correction de l'inclinaison et procédé pour un tel sysème - Google Patents

Dispositif de correction de l'inclinaison et procédé pour un tel sysème Download PDF

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Publication number
EP1790595A1
EP1790595A1 EP06123740A EP06123740A EP1790595A1 EP 1790595 A1 EP1790595 A1 EP 1790595A1 EP 06123740 A EP06123740 A EP 06123740A EP 06123740 A EP06123740 A EP 06123740A EP 1790595 A1 EP1790595 A1 EP 1790595A1
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EP
European Patent Office
Prior art keywords
pulse
pulse train
section
pulses
sections
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Granted
Application number
EP06123740A
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German (de)
English (en)
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EP1790595B1 (fr
Inventor
Lodewijk T. Holtman
Peter G. La Vos
Cornelis W.M. Venner
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Canon Production Printing Netherlands BV
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Oce Technologies BV
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B65H7/08—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to incorrect front register
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
    • B65H9/002—Registering, e.g. orientating, articles; Devices therefor changing orientation of sheet by only controlling movement of the forwarding means, i.e. without the use of stop or register wall
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
    • B65H9/16—Inclined tape, roller, or like article-forwarding side registers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/33—Modifying, selecting, changing orientation
    • B65H2301/331—Skewing, correcting skew, i.e. changing slightly orientation of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/24—Irregularities, e.g. in orientation or skewness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50—Occurence
    • B65H2511/51—Presence
    • B65H2511/512—Marks, e.g. invisible to the human eye; Patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B65H2513/11—Speed angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/30—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
    • B65H2557/33—Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for digital control, e.g. for generating, counting or comparing pulses

Definitions

  • the invention relates to a method of controlling a system for correcting skew of a web of material being fed through a machine, wherein the system comprises first and second pinch assemblies placed at a distance transversely to a direction of feeding; first and second stepper motors for driving the first and second pinch assemblies, respectively; means for providing first and second pulse trains to drive the first and second stepper motors, respectively; and means for determining a value for the skew of the web of material, which method includes establishing first and second corrective pulse train sections for the first and second stepper motors, respectively, in accordance with a determined skew value, and providing first and second pulse trains for driving the first and second stepper motors, respectively, wherein the first pulse train includes the first corrective pulse train section and a subsequent periodic succession of pulses at a pre-determined nominal frequency, and wherein the second pulse train includes the second corrective pulse train section and a subsequent periodic succession of pulses at a pre-determined nominal frequency.
  • the invention also relates to a system for correcting skew of a web of material being fed through a machine, wherein the system comprises first and second pinch assemblies placed at a distance transversely to a direction of feeding; first and second stepper motors for driving the first and second pinch assemblies, respectively; means for providing first and second pulse trains to drive the first and second stepper motors, respectively; means for determining a value for the skew of the web of material, a control device for establishing first and second corrective pulse train sections for driving the first and second stepper motors, respectively, in accordance with a determined skew value, and an apparatus for providing, under control of the control device, first and second pulse trains for driving the first and second stepper motors, respectively such that the first pulse train includes the first corrective pulse train section and a subsequent periodic succession of pulses at a pre-determined nominal frequency, and such that the second pulse train includes the second corrective pulse train section and a subsequent periodic succession of pulses at a pre-determined nominal frequency.
  • the invention also relates to an apparatus, in particular for printing on a web of material, comprising a sheet feed path including a registration module.
  • the invention also relates to a computer program.
  • US 5,917,727 discloses a registration system that positions a sheet being transported along a path so that the sheet is properly aligned with a printer.
  • first and second stepper motors rotate at a substantially similar and predetermined speed so that first and second roller pairs rotate and transport the sheets.
  • a control system can measure the interval between the moments when the first and second sensors are tripped.
  • the control system will create a speed differential between the first and second stepper motors by increasing the speed of one stepper motor and decreasing the speed of the other stepper motor.
  • the controller will also cause a phase differential between steps in the first and second stepper motors.
  • the magnitude of the speed change for the first and second stepper motors is approximately the same, so that the mean speed of the sheet will remain substantially the same as it is being rotated.
  • a problem of the known system is that it only allows a skew correction by turning one of the first and second roller pairs over a larger distance than the other with the difference being commensurate with an integer number of steps of a stepper motor.
  • the displacement provided in response to one step pulse by a stepper motor and the transmission system connecting it to the roller it is driving limits the resolution.
  • An increase in resolution is attainable by using an appropriate transmission ratio in the transmission system.
  • the cost of using high-frequency drivers, taking into account that the first and second stepper motors are driven independently, is an obstacle to adaptation of the transmission system in this way.
  • the method according to the invention is characterised by establishing the first and second corrective pulse train sections such as to commence the periodic successions of pulses with phases differing between the first and second pulse trains in accordance with the determined skew value.
  • the periodic successions of pulses commence with different phases, it is possible to introduce a relative displacement between the first and second pinch assemblies that is smaller than that resulting from a difference of one step between the motors. Because of this, the displacement resulting from one step can be kept relatively large. Therefore, the pulse trains need not be generated by apparatus operating at very high frequencies. Furthermore, the method also functions with stepper motors that are not capable of being driven in half-step or quarter-step mode.
  • each corrective pulse train section comprises at least a first section, including a succession of pulses, each pulse following upon a preceding pulse after an associated time interval, so as to drive a stepper motor at a substantially constant average speed.
  • each corrective pulse train section further comprises at least a second section including at least one pulse
  • each pulse in the second section is provided at an interval from a preceding pulse having a value between the values of the time intervals associated with the pulses in the first section and a period corresponding to the pre-determined nominal frequency of the subsequent periodic succession of pulses.
  • the first and second corrective pulse train sections are established such that, in the respective first sections of the first and second corrective pulse train sections, corresponding pulses each follow upon a preceding pulse after an associated time interval longer than a nominal time interval by a first amount in one of the first and second corrective pulse train sections and shorter than the nominal time interval in the other of the first and second corrective pulse train sections by an amount substantially equal to the first amount.
  • the speed of one of the pinch assemblies is increased and that of the other is decreased by substantially the same amount when the first and second corrective pulse train sections are provided to the first and second stepper motors.
  • the first and second corrective pulse train sections are established by calculating a longer time interval between pulses in the first section of one and a shorter time interval between pulses in the first section of the other of the first and second corrective pulse train sections, so as to be commensurate with the determined skew value and a pre-determined duration of the first sections, determining the difference between the number of steps executed by the first and second stepper motors when driven by providing the first sections of the pre-determined duration, and decrementing the number of pulses in the first sections of the first and second corrective pulse train sections, such that a correction of the skew resulting from the difference between the number of steps executed by the first and second stepper motors is smaller than the determined skew value.
  • the time intervals are commensurate with the determined skew value and a pre-determined duration of the first sections in the sense that they are calculated to result in a correction of the skew substantially equal to the determined skew value when provided to the first and second stepper motors.
  • the duration and time interval between pulses determines the number of pulses in each of the first sections.
  • the difference between the number of pulses in the respective first sections of the first and second pulse train sections determines the major part of a skew correction, with a small additional correction being provided by a phase shift.
  • the effect of ensuring that the major part is smaller than the determined skew value is to ensure that the phase shift does not result in the unintended dropping of a pulse.
  • Furthermore the smoothness of velocity transitions is enhanced.
  • the phase of the pulse train provided to the "faster" stepper motor is advanced, and that of the pulse train to the "slower” stepper motor is retarded, in order to effect the extra correction.
  • a variant includes determining an average of the longer and the shorter time interval, calculating a difference between the skew value and a correction of the skew resulting from the difference between the number of steps executed by the first and second stepper motors when driven by providing the first sections, calculating a difference time corresponding to the difference between the determined skew value and the correction of the skew, and establishing the first and second corrective pulse train sections such that each pulse in a second section subsequent to the first section including pulses associated with the longer time interval is provided at an interval from a preceding pulse equal to the average increased by a fraction of half the difference time, the fraction being inversely proportional to the number of pulses in the second section, and such that each pulse in a second section subsequent to the first section including pulses associated with the shorter time interval is provided at an interval from a preceding pulse equal to the average decreased by a fraction of half the difference time, the fraction being inversely proportional to the number of pulses in the second section.
  • each corrective pulse train section further comprises at least a second section including at least one pulse, each pulse in the second section is provided at an interval from a preceding pulse having a value retrieved from a table in the non-volatile memory by one of the first and second pulse generators.
  • the table provides an efficient way of ensuring a smooth ramp up or down to the velocity of the pinch assembly that results from providing the periodic succession of pulses at the pre-determined nominal frequency.
  • the difference in phase between the pulse trains to the first and second stepper motors may be introduced by commencing the second section at a different point in time.
  • the first and second pulse trains are respectively provided by first and second pulse generators provided with a clock signal, which method includes providing to the first and second pulse generators input values specifying the associated time intervals in increments of a clock count, wherein, to provide a first section of one of the first and second corrective pulse train sections, each time interval is specified as the sum of a number of counts that is constant throughout the first section and a varying number of zero or more counts, such that a running average of the associated time intervals in the first section approximates a time interval equal to a sum of a constant integer number of clock counts and a fraction of a clock count.
  • phase shift can effectively be divided over many pulses, instead of having to be applied by adjustment of a single interval between pulses.
  • the system for correcting skew of a web of material being fed through a machine is characterised in that the control device is configured to establish the first and second corrective pulse train sections such as to commence the subsequent periodic successions of pulses with phases differing between the first and second pulse trains in accordance with the determined skew value.
  • the system has the advantage of being able to correct skew by less than one step of a stepper motor without relying on half-step or quarter-step stepper motors, high-frequency stepper motor drivers, or other relatively expensive hardware.
  • control device is configured to execute a method according to the invention.
  • an apparatus in particular for printing on a web of material, comprising a sheet feed path including a registration module, wherein the registration module comprises a system for correcting skew according to the invention.
  • a computer program including a set of instructions capable, when incorporated in a machine-readable medium, of causing a system having information processing capabilities to perform a method according to the invention.
  • the system for correcting skew that is illustrated in Fig. 1 will be used as an example to explain two basic embodiments of a method of correcting skew.
  • the system illustrated is suited for correcting skew of a sheet 1 of material, for example a sheet of paper, being fed through a machine.
  • the machine may be a printer apparatus, for example, such as a laser printer, photocopier, offset-printer, etc.
  • the sheet of paper that is fed to a printing unit must be aligned accurately with the printing device, for example the drum on which the toner is arranged.
  • the system for correcting skew is comprised in a registration module in a paper feed.
  • the system for correcting skew is advantageously enhanced by a system for correcting misalignment in a direction transverse to the direction of feeding, designated as "X" in Fig. 1.
  • the components for correcting such misalignment have been left out of the drawing to avoid confusion.
  • the system comprises a system for measuring skew of the sheet 1.
  • the system for measuring skew comprises a first sheet sensor 2 and a second sheet sensor 3, as well as a sensor controller 4.
  • the sensor controller 4 is provided with a clock signal from a clock 5.
  • the first and second sheet sensors 2,3 detect the arrival of a leading edge 6 of the sheet 1.
  • the first and second sheet sensors 2,3 are placed apart over a distance ⁇ measured transversely to the direction X of feeding. They are placed on either side of a central axis 7 of a sheet path.
  • the sensor controller 4 determines the interval of time between detection of the leading edge by the first sheet sensor 2 and detection of the leading edge by the second sheet sensor 3. This time interval is measured in terms of the number of counts of the clock signal, and is designated as ⁇ t cnt_sensor . It is a value representative of the skew of the sheet 1.
  • the system shown in Fig. 1 comprises a first pinch assembly and a second pinch assembly.
  • the first pinch assembly comprises a first driven wheel 8
  • the second pinch assembly comprises a second driven wheel 9.
  • Belts could be used instead of the first and second driven wheels 8,9.
  • Each pinch assembly comprises at least one further wheel, belt or brush for pressing the sheet 1 against the driven wheel 8,9 or belt.
  • a first transmission mechanism 10 connects a shaft of a first stepper motor 11 to the first driven wheel 8.
  • a second transmission mechanism 12 connects a shaft of a second stepper motor 13 to the second driven wheel 9.
  • Stepper motors are known per se . They comprise a fixed number of magnetic poles determining the number of steps per revolution and a set of electromagnets, controlled electronically. A pulse train determines the switching of the electromagnets to advance the motor by one step. Advanced stepper motors and controllers allow for a mode of driving wherein the stepper motor advances half a step, or a quarter of a step, with each pulse. The methods outlined herein function in any mode. Stepper motors have the feature of providing holding torque, enabling their position to be controlled relatively precisely without closed-loop control. Thus, they are both economical and accurate.
  • the system for correcting skew has the first and second driven wheels placed apart transversely to the central axis over a distance ⁇ .
  • the axes of rotation of the first and second driven wheels 8,9 are aligned, although they could also be substantially parallel to each other without being aligned.
  • the first and second transmission systems 10,12 have the same gearing.
  • the first and second driven wheels 8,9 have approximately the same diameter.
  • the first and second stepper motors 11,13 have the same number of steps per revolution.
  • first and second drivers 14,15 are shown as being separate from the first and second stepper motors 11,13.
  • first and second drivers 14,15 are incorporated in the first and second stepper motors 11,13 respectively, so that a stepper motor is driven by providing a pulse train directly to it.
  • a skew correction controller 18 switches the operating state of the first and second motor controllers 16,17.
  • the motor controllers 16,17 and skew correction controller 18 also operate according to clock signals provided by the clock 5.
  • the motor controllers 16,17, skew correction controller 18 and sensor controller 4 are each connected to a bus 19.
  • An interface unit 20 connects a local node core (LNC) 21 to the bus 19.
  • the local node core 21 has microcontroller functionality.
  • the motor controllers 16,17, skew correction controller 18 and sensor controller 4 are advantageously implemented as a Field Programmable Gate Array (FPGA), in order to meet real time performance requirements.
  • the LNC 21 sets values of intervals at which pulses follow each other in the pulse trains generated by the first and second motor controllers 16,17. To this end, the LNC 21 can retrieve a value representative of the skew from the sensor controller 4.
  • ⁇ t cnt ⁇ ⁇ ⁇ fault ⁇ ⁇ ⁇ t cnt ⁇ ⁇ ⁇ sensor
  • one of the first and second driven wheels 8,9 is temporarily driven at an increased velocity V high , whilst the other is driven at a decreased velocity V low .
  • the velocity is ramped up or down from a nominal velocity V nom , at which both the first and second driven wheels 8,9 were previously rotating.
  • the first period P 1 may be so short that only one pulse is supplied to the stepper motor 11,13 concerned.
  • a second period P 2 one of the first and second driven wheels 8,9 is at the increased velocity V high , whilst the other is at the decreased velocity V low .
  • the velocity profile shows a ramp over a period P 3 , during which the velocities of both the first and second driven wheels 8,9 return to the nominal velocity V nom .
  • first, second and third periods P 1 -P 3 are shown in Fig. 2 to coincide substantially for the two driven wheels 8,9, this is not the case on time scales of the same order as the period of the pulses supplied to the first and second stepper motors 11,13. On that time scale, one of the first and second driven wheels 8,9 returns to the nominal velocity V nom slightly earlier than the other. In the first embodiment to be described herein, this is partly due to a different duration of the third period P 3 . In the second embodiment, the ramps associated with the first and second driven wheels 8,9 are each other's mirror image, but commence at different points in time.
  • the angular velocity of a stepper motor is in principle directly proportional to the frequency of the pulses in the pulse train driving it.
  • the velocity profiles shown in Fig. 2 are obtained by providing a first corrective pulse train section to the first driver 14 and a second corrective pulse train section to the second driver 15.
  • an identical periodic succession of pulses - with a frequency corresponding to the nominal velocity V nom - is provided to each of the first and second drivers 14,15.
  • the periodic succession of pulses provided to one of the first and second drivers 14,15 lags that provided to the other in phase, because it commences with a different phase.
  • the following description will assume that the nominal frequencies are the same for the first and second stepper motors 11,13 because this corresponds to a straight path for the sheet 1, which is the most likely situation.
  • FIG. 3 shows first and second pulse trains 22,23 as are provided to the first and second stepper drivers 14,15, respectively.
  • the first pulse train 22 comprises a first section S 1A , consisting of a succession of pulses, each pulse following upon a preceding pulse after an associated time interval T 1A , so as to drive the first stepper motor 11 at a substantially constant average speed, corresponding to the increased velocity V high indicated in Fig. 2.
  • a second section includes exactly one pulse, provided at an interval T 2A from the last pulse in the first section S 1A .
  • This interval T 2A has a value between the time interval T 1A between pulses in the first sections S 1A and a period T 3A that is the inverse of the nominal frequency corresponding to the nominal velocity V nom .
  • the pulse following the interval T 2A is followed by the first of a periodic succession S 2A of pulses at the nominal frequency. Note that in this description, time intervals are indicated as intervals between corresponding pulse edges, e.g. the trailing edges in Fig. 3.
  • the second pulse train 23 is similar to the first pulse train 22. It, too, comprises a corrective pulse train section comprising a first section S 1B .
  • This first section S 1B consists of a succession of pulses, each following upon a preceding pulse after an associated time interval T 1B .
  • the time interval T 1B is the inverse of the frequency needed to drive the second stepper motor 13 at a speed corresponding to the decreased velocity V low in Fig. 2.
  • the time interval T 1B remains substantially constant throughout the first section S 1B .
  • the last pulse of the first section S 1B is succeeded by a pulse at an interval T 2B , which marks the end of the second corrective pulse train section.
  • the second corrective pulse train section is followed by a periodic succession S 2B of pulses at equidistant intervals T 3B equal to the inverse of the nominal frequency needed to operate the second stepper motor 13 at the nominal velocity V nom .
  • this interval T 3B equals the corresponding interval T 3A in the first pulse train 22, but the periodic succession S 2B commences at a different time, introducing a phase difference between the two periodic successions S 2A ,S 2B .
  • the first and second corrective pulse train sections are established such that, in the respective first sections S 1A ,S 1B of the first and second corrective pulse train sections, corresponding pulses each follow upon a preceding pulse after an associated time interval longer than a nominal time interval by a first amount in one of the first and second corrective pulse train sections and shorter than the nominal time interval in the other of the first and second corrective pulse train sections by an amount substantially equal to the first amount.
  • the increased velocity V high is higher than the nominal velocity V nom by the same amount as the decreased velocity V low is lower.
  • the correction of the skew is "divided equally" over the two stepper motors 11,13. Substantial equality in this context means a difference of only a few, preferably not more than two, counts of the clock signal provided by the clock 5.
  • the LNC 21, or alternatively the skew correction controller 18, calculates the time intervals T 1A , T 1B between pulses in the first sections S 1A , S 1B so as to achieve skew correction within first sections S 1A , S 1B of pre-determined duration ⁇ t cnt_corr . Combined with the fact that the speeds of the two driven wheels 8,9 are at equal intervals to a nominal speed, this has the effect that the sheet 1 passes through the skew correction system in approximately a pre-determined time. Thus, the apparatus in which the skew correction system is incorporated need not adjust the other components of the sheet feed mechanism in dependence on the skew correction.
  • V nom ⁇ ⁇ t cnt ⁇ ⁇ ⁇ fault 2 ⁇ V nom ⁇ ⁇ t cnt ⁇ ⁇ ⁇ corr - V low ⁇ ⁇ t cnt ⁇ ⁇ ⁇ corr - V high ⁇ ⁇ t cnt ⁇ ⁇ ⁇ corr .
  • T 1A ⁇ t cnt ⁇ ⁇ ⁇ corr ⁇ ⁇ t cnt ⁇ ⁇ ⁇ nom ⁇ t cnt ⁇ ⁇ ⁇ corr + / 2 ⁇ t cnt ⁇ ⁇ ⁇ fault .
  • the LNC 21 compares the resulting skew correction with the determined value of the skew, i.e. the skew to be corrected.
  • the numbers N A ,N B of steps in the first sections of the first and second corrective pulse train sections are decremented such that a correction of the skew resulting from the difference between the number of steps executed by the first and second stepper motors is smaller than the determined skew value.
  • the effect is that a final correction of the skew must be accomplished by an appropriate choice of values for the respective time intervals T 2A , T 2B to the first pulse following the first sections S 1A ,S 1B .
  • the final correction also ensures that the correct phase difference between the subsequent periodic successions S 2A ,S 2B of pulses is established.
  • the shorter of the two time intervals T 2A , T 2B is chosen to be shorter than the average of the time intervals T 1A , T 1B in the first sections S 1A , S 1B by a first amount, and the longer of the two time intervals T 2A , T 2B chosen to be longer by the same amount.
  • the nominal time interval ⁇ t cnt_nom could also have been chosen as reference. The two coincide where no rounding errors have been introduced in establishing the time intervals T 1A , T 1B . Choosing the average makes the transition smoother.
  • the first embodiment of the method of correcting skew introduces a phase shift by an appropriate choice of time intervals T 2A , T 2B in the sections of the corrective pulse train section that follow the first sections S 1A ,S 1B , i.e. in the ramps to the nominal pulse train frequency.
  • the skew is corrected by an amount corresponding to an integer number of pulses to the first and second drivers 14,15.
  • the first embodiment could be varied by having these time intervals T 2A , T 2B precede the first sections S 1A ,S 1B .
  • the phase difference is introduced exclusively in the first sections, and the ramps are executed by applying identical sequences of pulses at pre-determined time intervals. These are pre-determined in the sense that they are not dependent on the determined skew.
  • the values obtained from equations (10) and (11) are unlikely to be integer values, and cannot simply be truncated.
  • the pulses in the first sections S 1A and S 1B are provided at substantially constant intervals to an accuracy on a scale of several counts of the clock signal from the clock 5, the intervals actually fluctuate slightly so that a running average of the time intervals over the first sections S 1A , S 1B approximates an interval equal to the sum of an integer number of clock counts and a fraction of clock count.
  • the first and second motor controllers 16,17 perform a noise shaping algorithm to arrive at average intervals as determined by the LNC 21 on the basis of equations (10) and (11). In principle, the same could be done in a variant of the first embodiment.
  • first sections of the first and second corrective pulse train sections are followed by second sections including at least one pulse, preferably several.
  • Each pulse in the second section is provided at an interval from a preceding pulse having a value between the values of the time intervals T ′ 1 ⁇ A , T ′ 1 ⁇ B between pulses in the first sections and a period corresponding to the pre-determined nominal frequency of the subsequent periodic succession of pulses.
  • the values of the intervals between pulses are preferably read from tables stored in first and second memory units 24,25, connected to, or associated with, the first and second motor controllers 16,17, respectively.
  • the first and second memory units 24,25 may be comprised in a single memory device.
  • the tables stored in the first and second memory units 24,25 are identical in the envisaged embodiment. This simplifies the calculations carried out by the LNC 21, especially where the first and second stepper motors 11,13 are of the same type.
  • the LNC 21 provides the first and second motor controllers 16,17 with indices to the tables in the first and second memory units 24,25. With these, the first and second motor controllers 16,17 retrieve the time interval values.
  • the first motor controller 16 is provided with indices in reverse order to the second motor controller 17. Thus, one of the first and second stepper motors 11,13 ramps up whilst the other ramps down in speed.
  • first sections in the first and second corrective pulse train sections are different in length by a fraction of the inverse of the nominal frequency of the succession of pulses following the corrective pulse train sections, a phase difference is introduced. This phase difference remains, since the time interval values stored in the first and second memory units 24,25 are the same.
  • the second sections of the first and second corrective pulse train sections are thus of the same length, but commence at different points in time.
  • the system and methods described above are also suitable for correcting skew of a (quasi-) endless web of material, provided a different system for measuring skew is employed.
  • the web may be provided with markings, the arrival of which is detected by sensors placed transversely with respect to the direction of feeding of the web.

Landscapes

  • Control Of Stepping Motors (AREA)
EP06123740A 2005-11-25 2006-11-09 Dispositif de correction de l'inclinaison et procédé pour un tel système Not-in-force EP1790595B1 (fr)

Priority Applications (1)

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EP06123740A EP1790595B1 (fr) 2005-11-25 2006-11-09 Dispositif de correction de l'inclinaison et procédé pour un tel système

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EP05111302 2005-11-25
EP06123740A EP1790595B1 (fr) 2005-11-25 2006-11-09 Dispositif de correction de l'inclinaison et procédé pour un tel système

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EP1790595A1 true EP1790595A1 (fr) 2007-05-30
EP1790595B1 EP1790595B1 (fr) 2010-07-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992109A (zh) * 2017-12-06 2018-05-04 深圳易能电气技术股份有限公司 全闭环定位控制系统及方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5918876A (en) * 1993-12-17 1999-07-06 Canon Kabushiki Kaisha Sheet conveying apparatus
EP1054301A2 (fr) * 1999-05-17 2000-11-22 Xerox Corporation Système d'alignement de feuilles d'imprimante de largeurs differentes
US6374075B1 (en) * 2000-04-28 2002-04-16 Xerox Corporation Printing systems and methods

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5918876A (en) * 1993-12-17 1999-07-06 Canon Kabushiki Kaisha Sheet conveying apparatus
EP1054301A2 (fr) * 1999-05-17 2000-11-22 Xerox Corporation Système d'alignement de feuilles d'imprimante de largeurs differentes
US6374075B1 (en) * 2000-04-28 2002-04-16 Xerox Corporation Printing systems and methods

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992109A (zh) * 2017-12-06 2018-05-04 深圳易能电气技术股份有限公司 全闭环定位控制系统及方法

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