JP2000335038A - Carriage controller and carriage control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carriage controller in which a carriage is not locked unnecessarily. SOLUTION: The carriage controller comprises a carriage movable in a predetermined direction while holding a recording head, a motor 4 for driving the carriage, and a paper feed motor. When a pulse signal is not inputted from an encoder, a decision is made whether the number of times T of timer interruption has exceeded a specified value. If the specified value has been exceeded, target stop position of the carriage 3 is compared with current position thereof and the carriage 3 is stopped only when the error falls within an allowable range. According to the arrangement, the carriage 3 can be moved surely up to a target stop position without being locked in front of the target stop position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a carriage for moving a recording head, and more particularly to a control method for a carriage lock for forcibly stopping the carriage.

[0002]

2. Description of the Related Art In a serial printer such as an ink jet printer, a recording head scans a printing paper to perform printing. The recording head is fixed to the carriage and moves with the carriage. A stepping motor or a DC motor is used for driving the carriage.

If the carriage is forcedly moved when a paper jam occurs or the carriage collides with some object, a large load is applied to the carriage motor, which causes a failure. Therefore, when a paper jam or the like occurs, a process called carriage lock for forcibly stopping the carriage is performed.

FIGS. 12 and 13 are flowcharts showing a conventional carriage control process. First, it is determined whether a pulse signal has been input from an encoder attached to the carriage motor (step S101).

If a pulse signal has not been input from the encoder, it is determined whether or not the elapsed time since the previous pulse signal was input has exceeded a predetermined time. Here, the above-described determination processing is performed based on whether or not the number of interrupts T from the timer IC has exceeded a specified value (step S1).
02). If the number of interruptions T does not exceed the specified value, the number of interruptions T is incremented by "1" (step S103).

If it is determined in step S101 that a pulse signal has been input from the encoder, an encoder interrupt process is performed (step S104), and the number of timer interrupts T is initialized to zero (step S10).
5).

When the processing in step S103 or S105 is completed, it is determined whether or not the carriage has reached the target stop position (step S106). If the target stop position has not been reached, the process of step S101 is performed again, and when the target stop position has been reached, the process ends.

On the other hand, if it is determined in step S102 that the timer interrupt count T has exceeded a specified value,
3 is performed (step S10).
7). In the timer interrupt processing, first, the carriage motor (CR motor) is forcibly stopped (step S11).
1) Stop the paper feed motor (step S112),
Next, a lock error is notified to the host computer (step S113).

[0009]

As shown in the flow charts of FIGS. 12 and 13, when an unintended load is applied to the carriage, it is determined that some abnormality has occurred and the carriage is forcibly stopped to lock the carriage. I do.
Once in the locked state, the drive of the carriage cannot be restarted unless a predetermined procedure is taken.

However, some of the carriage movement paths come in contact with the carriage even during normal operation, such as a head cleaning lever, and control is performed so that the carriage is always locked when the carriage comes into contact with them. Then, the carriage cannot be moved to a desired place. For example, if the carriage is retracted from the print area to the non-print area and the head is to be cleaned, and the carriage contacts the head cleaning lever and is erroneously locked in the carriage, the carriage is moved to the head cleaning position. You will not be able to move it.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a carriage control device that prevents a carriage from being locked unnecessarily.

[0012]

According to a first aspect of the present invention, there is provided a carriage capable of moving in a predetermined direction while holding a recording head, and a carriage driving means for driving the carriage. A load position for determining whether or not the position of the loaded carriage is a position where the load should be originally loaded when the carriage driving unit receives a load of a predetermined value or more. When it is determined by the determining means and the load position determining means that the position should receive the load, the carriage is stopped within a predetermined allowable error range, and it is determined that the position is not the position to receive the load. And stop control means for forcibly stopping the carriage.

According to the first aspect of the present invention, when a load is applied to the carriage driving means, if the position of the carriage at the time of receiving the load is a position at which the load is supposed to be loaded, the carriage is not forcibly stopped. The carriage is stopped within a predetermined allowable error range, and the carriage is forcibly stopped unless it is a position where the load should be originally received. This eliminates the problem that the carriage is forcibly stopped just before the target stop position.

According to the second aspect of the present invention, when the output interval (pulse interval) of the pulse signal from the encoder exceeds a predetermined time, it is determined that the carriage driving means has received a load.
If the distance difference between the current position of the carriage and the target stop position exceeds the allowable error range recorded in the table, it is determined that the load has been received at a position other than the position where the carriage should originally stop, Stop the carriage forcibly. Conversely, if the distance difference between the current position of the carriage and the target stop position is within the allowable error range recorded in the table, the carriage is stopped within the allowable error range. Thereby, the carriage can be moved to the target stop position.

According to the third aspect of the present invention, the correspondence between the target stop position and the allowable error range is previously recorded in a table for each of a plurality of target stop positions where the carriage may stop during normal operation. Therefore, it is possible to easily and quickly determine whether or not the carriage driving unit receives a load at a position where the load should be received.

According to the present invention, when the pulse interval from the encoder is compared with the predetermined time, the predetermined time is set in consideration of whether the carriage is accelerating or decelerating. It is possible to more accurately determine whether or not it has been received.

According to the fifth aspect of the present invention, the allowable error range of the target stop position is set in consideration of whether the carriage is accelerating or decelerating. Can be determined more accurately.

According to the present invention, when the pulse interval from the encoder is compared with the predetermined time, the predetermined time is set in consideration of the remaining amount of the ink. Can be determined more accurately.

In the present invention, the allowable error range of the target stop position is set in consideration of the remaining amount of ink.
It is possible to more accurately determine whether or not the carriage driving means receives a load at a position where the load should be received.

According to the present invention, when the pulse interval from the encoder is compared with the predetermined time, the predetermined time is set in consideration of the printer model and the manufacturing variation of the printer. It is possible to more accurately determine whether or not it has been received.

According to the ninth aspect of the present invention, the allowable error range of the target stop position is set in consideration of the printer model and printer manufacturing variation. Can be determined more accurately.

According to a tenth aspect of the present invention, in the method of controlling a carriage movable in a predetermined direction while holding a recording head, when the carriage driving means for driving the carriage receives a load of a predetermined level or more, A first step of determining whether or not the position of the carriage which has received the load is a position where the load should be originally received; and, if the first step determines that the position of the carriage should receive the load, the carriage is moved in advance. Stop within the specified tolerance,
A second step of forcibly stopping the carriage when it is determined that the position is not a position to receive the load.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a carriage control device according to the present invention will be specifically described with reference to the drawings.

(First Embodiment) FIGS. 1 and 2 are flowcharts showing the processing operation of a carriage control device according to a first embodiment of the present invention, and FIG. 3 is a schematic configuration of an ink jet printer having a carriage control device. FIG.

First, the configuration of the printer will be described with reference to FIG. The printer shown in FIG. 3 includes a paper feed motor (PF motor, paper feed drive unit) 1 for feeding paper, and a paper feed motor 1
, A carriage motor (CR motor, carriage driving means) 4 for moving a carriage (CR) 3, a CR motor driver 5 for driving and controlling the carriage motor 4, and a paper feed motor driver 2. And DC for controlling the CR motor driver 5
Unit 6 and pump motor 7 for controlling ink ejection
A pump motor driver 8 for driving and controlling a pump motor 7; a head 9 for discharging ink onto printing paper; a head driver 10 for driving and controlling the head 9;
Sensor 11 for detecting whether or not the paper has passed the home position, a paper detection sensor 12 for detecting the paper position, a temperature sensor 13, and an interface unit (IF) for transmitting and receiving data to and from the host computer 14. And an ASIC 16 for controlling the printing resolution, the driving waveform of the head 9, and the like.
A CPU 17 for controlling the entire apparatus, and an ASIC 16
PROM 18, RAM 19, and EEPR used as a work area and a program storage area of CPU 17
An OM 20 and a timer IC 21 that periodically interrupts the CPU 17 are provided.

FIG. 4 is a perspective view of the ink jet printer. The carriage 3 is connected to the carriage motor 4 by a timing belt 31 and is guided by a guide member 32 to move in parallel with the platen 33. A head 9a for ejecting black ink and a head 9b for ejecting color ink are provided on a surface of the carriage 3 facing the printing paper 50. Each of the heads 9a and 9b
4, the ink droplets are ejected onto the printing paper 50 in response to the supply of ink, and characters and images are printed.

In the non-printing area of the carriage 3, a capping device 35 and a pump unit 36 for sealing the nozzle opening of the head 9 during non-printing are provided. When the carriage 3 moves from the printing area to the non-printing area, the capping device 35 moves upward by contacting a lever (not shown), and seals the heads 9a and 9b.

When the nozzles 9 of the heads 9a and 9b are clogged, or when the ink is forcibly ejected from the heads 9a and 9b by replacing the cartridge 34, the heads 9a and 9b are sealed. In this state, the pump unit 36 is operated, and the negative pressure from the pump unit 36 sucks ink from the nozzle opening row. This allows
Dust and paper dust adhering in the vicinity of the nozzle opening row are washed, and air bubbles in the heads 9a and 9b are discharged to the cap 37 together with ink.

Each of the carriage motor 4 and the paper feed motor 1 shown in FIG. 2 is constituted by a DC motor. FIG. 5 is a diagram showing the processing operation of the DC unit 6 for controlling the DC motor.

The control of the carriage motor 4 will be described below with reference to FIG. 5, but the same control is performed for the paper feed motor 1.

As shown in FIG. 6, the encoder 51 attached to the carriage motor 4 outputs two signals having different phases.
Various types of pulse signals are output. The moving direction of the carriage 3 is detected from the phase difference between the pulse signals, and the current speed of the carriage 3 is detected from each cycle.

The output of the encoder 51 is input to an integrator 52 and a differentiator 53. The integrator 52 includes an encoder 51
The current position of the carriage 3 is calculated by accumulating the current speed of the carriage 3 which is the output of the above. The output of the integrator 52 is input to the differentiator 54.

The differentiator 54 calculates a positional deviation between the target stop position of the carriage 3 given from the CPU 17 of FIG. 3 and the current position of the carriage 3 calculated by the integrator 52. The calculated position deviation is input to the controller 55 and gain is adjusted, and the target speed is calculated.

The differentiator 53 calculates a speed difference between the target speed calculated by the controller 55 and the current speed of the carriage 3 which is an output of the encoder 51, and the calculated speed difference is input to the controller 56. You. The controller 56 calculates the driving force of the carriage motor 4 based on the speed difference. The calculated driving force is input to the D / A converter 57 and is converted into an analog voltage. Based on the analog voltage, the CR motor driver 5 determines a current flowing to the carriage motor 4.

The carriage control device according to the present embodiment, when a load is applied to the carriage motor 4 while the carriage 3 is moving, if the position where the load is applied is a normal position,
It is characterized in that control for stopping the carriage 3 within a preset allowable error range without forcibly stopping the carriage 3 is performed.

The carriage control device of this embodiment is similar to that of FIG.
Are included in the DC unit 6 shown in FIG. Hereinafter, FIG.
The processing operation of the carriage control device according to the first embodiment will be described based on the flowchart of FIG.

First, it is detected whether or not a pulse signal has been input from the encoder 51 attached to the carriage motor 4 (step S1).

If no pulse signal has been input from the encoder 51, it is determined whether or not the time elapsed since the previous pulse signal was input has exceeded a predetermined time. Here, the above-described determination processing is performed based on whether or not the number of interruptions T from the timer IC 21 has exceeded a specified value (step S2). If the number of interruptions T does not exceed the specified value, the number of interruptions T is incremented by "1" (step S3).

On the other hand, if a pulse signal is input from the encoder 51 in step S1, an encoder interrupt process is performed (step S4). In this encoder interrupt processing, the current position of the carriage 3 is detected, and the carriage 3 is locked and forcibly stopped when the carriage 3 reaches a position where the carriage 3 should originally stop (target stop position). Let it. Next, the number of interruptions T of the timer IC 21 is initialized to zero (step S5).

When the processing in step S3 or S5 is completed, it is determined whether or not the carriage 3 has reached the target stop position (step S6). If the carriage 3 has not yet reached the target stop position, the process of step S1 is performed, and the process ends when the carriage 3 reaches the target stop position.

On the other hand, in step S2, the timer IC
If it is determined that the number of interrupts has exceeded the specified value,
A timer interrupt process shown in detail in FIG. 2 is performed (step S
7).

In the timer interrupt processing, first, the target stop position of the carriage is obtained (step S11). The target stop position may be notified from the host computer 14 or may be determined by the printer itself.

Next, it is determined whether or not the target stop position is recorded in the table shown in FIG. 7 (step S1).
2). In the illustrated table, the correspondence between the target stop position and the allowable error range of the stop position of the carriage 3 is shown for each of a plurality of target stop positions A, B, C. Has been recorded. The target stop position in the table is, for example, a position where the carriage 3 may stop during normal operation, such as a head cleaning position. The illustrated table is stored in, for example, the RAM 19 or the EEPROM 20 in FIG.

If the target stop position obtained in step S11 is recorded in the table, the permissible error range corresponding to the target stop position is read (step S1).
3). Next, the current position of the carriage 3 is detected (step S14). Here, the current position is detected based on the pulse signal from the encoder 51.

Next, it is determined whether or not the error between the target stop position read in step S13 and the current position detected in step S14 is smaller than the allowable error range registered in the table (step S15). . If it is smaller, it is determined that the operation is normal, and normal stop processing is performed without forcibly stopping the carriage 3.

On the other hand, if the error between the target stop position and the current position is greater than the allowable error range, it is determined that a load has been applied to the carriage motor 4 at an unexpected position, and the carriage motor 4 is forcibly stopped (step S16), the paper feed motor 1 is stopped (step S17). Next, a lock error is notified to the host computer 14 (step S18).

If it is determined in step S12 that the target stop position has not been recorded on the table, the carriage lock process is performed from step S16.

In the flowcharts of FIGS. 1 and 2, steps S1, S2 and S3 are used as load position determining means, and steps S15 to S18 in FIG. 2 are used as stop control means.
Step S1 is performed by the pulse interval determination means, and step S15 is performed.
Correspond to the error determination means. Also, R in FIG.
The AM 19 or the EEPROM 20 corresponds to the table storage.

As described above, in the present embodiment, when the load is applied to the carriage motor 4 at a position expected in advance, the carriage 3 is not forcibly stopped.
The problem that the carriage 3 locks before the target stop position does not occur, and the carriage 3 reaches the target stop position.
Can be reliably moved.

(Second Embodiment) When the carriage 3 is accelerated or decelerated, the period from the encoder 51 becomes shorter or longer. Therefore, in the second embodiment, the carriage 3 is set as the specified value in step S2 in FIG.
There are provided three types: a specified value when moving at a constant speed, a specified value when accelerating, and a specified value when decelerating. Similarly, as the table indicating the correspondence between the target stop position and the permissible error range, three types of tables are provided: a table for constant velocity, a table for acceleration, and a table for deceleration.

FIGS. 8 and 9 are flowcharts showing the processing operation of the carriage control device according to the second embodiment.
The flowchart of FIG. 8 differs from the flowchart of FIG. 1 in the processing of steps S22 to S26. Hereinafter, the processing of steps S22 to S26 will be mainly described.

If no pulse signal has been input from the encoder 51, it is determined whether the carriage 3 is accelerating (step S22). Here, it is determined whether or not the vehicle is accelerating by comparing with the cycle of the pulse signal input from the encoder 51 last time. If the carriage 3 is accelerating, a specified value corresponding to the acceleration is selected (step S23).

If the carriage 3 is not accelerating, it is determined whether the carriage is decelerating (step S2).
4). If the carriage 3 is decelerating, a specified value corresponding to the deceleration is selected (step S25).

On the other hand, if the carriage 3 is not accelerating or decelerating, a specified value corresponding to a constant speed is selected (step S26). Here, the magnitude relationship between the three specified values is: specified value corresponding to acceleration <specified value corresponding to constant velocity <specified value corresponding to deceleration.

Next, it is determined whether or not the timer interrupt count T is larger than a specified value (step S27). If the timer interrupt count T is larger than the specified value, a timer interrupt process shown in FIG. 9 is performed.

In the timer interrupt process of FIG. 9, first, a table corresponding to the moving state of the carriage 3, that is, acceleration / deceleration / constant speed is selected (step S41).

The allowable error range in the table corresponding to acceleration is set wider than the allowable error range in the table corresponding to deceleration. This is because the carriage 3 is considered to move at a higher speed during acceleration than during deceleration. After selecting the table, the same processing as in step S12 and subsequent steps in FIG. 2 is performed.

In the flowchart of FIG. 8, steps S22 and S24 correspond to the acceleration / deceleration detecting means.

As described above, in the second embodiment, when the carriage 3 is accelerating / decelerating, the specified value is selected according to the acceleration / deceleration, so that the load is applied to the carriage motor 4 at an unexpected position. Can be accurately determined.

When the carriage 3 is accelerating / decelerating, the table corresponding to the acceleration / deceleration is selected to set the allowable error range of the target stop position. Allowable error range can be set.

In the above-described second embodiment, whether the carriage 3 is accelerating / decelerating / constant speed is determined for both the specified value used for comparison with the timer interrupt count T and the allowable error range of the target stop position of the carriage 3. Although it is set taking into consideration, only one of the specified value and the allowable error range may be set in consideration of acceleration / deceleration / constant speed of the carriage 3. Thereby, the processing can be simplified.

(Third Embodiment) In the third embodiment, since the inertia of the carriage varies depending on the remaining amount of ink in the ink cartridge, the allowable stop position of the carriage is determined in consideration of the remaining amount of ink. This is for setting an error range.

FIGS. 10 and 11 are flowcharts of the carriage control device according to the third embodiment. In the flowchart of FIG. 10, the processes of steps S62 and S63 are the same as those of FIG.
Therefore, these processes will be mainly described below.

If no pulse signal is input from the encoder 51, the remaining amount of ink in the ink cartridge is detected (step S62). Here, a sensor for detecting the remaining amount of ink may be provided, and the remaining amount of ink may be detected based on the detection value of this sensor. The remaining amount may be detected.

Next, a specified value according to the remaining amount of ink is set (step S63). Specifically, when the remaining amount of ink is large, the load on the carriage motor 4 is large, so that the moving speed of the carriage is slightly reduced, and the input interval of the pulse signal from the encoder 51 is increased. Therefore, the larger the remaining amount of ink, the larger the specified value.

Next, if the timer interrupt count T is larger than the specified value, a timer interrupt process is performed (step S).
64).

In the timer interruption process, after the target stop position of the carriage 3 is obtained (step S81), the process proceeds to step S81.
The allowable error range in the table is changed according to the remaining amount of ink detected in 62 (step S82). Specifically, as the remaining amount of ink is larger, the carriage 3 is less likely to stop due to inertial force. Therefore, the larger the remaining amount of ink, the larger the allowable error range (step S8).
3).

Step S84 and thereafter are the same as step S84 in FIG.
The same processing as in the second and subsequent steps is performed.

In the flowchart of FIG. 10, step S62 corresponds to the remaining amount detecting means.

As described above, in the third embodiment, since the specified value used for comparison with the timer interrupt count T is set in consideration of the remaining amount of ink, an undesired load is applied to the carriage motor 4. Can be accurately determined. Further, since the allowable error range of the target stop position of the carriage 3 is set in consideration of the remaining amount of ink, even if inertia force is applied to the carriage 3 according to the remaining amount of ink, the allowable error range of the target stop position is set. The carriage 3 can be stopped within the range.

In the third embodiment, both the specified value used for comparison with the timer interrupt count T and the allowable error range of the target stop position of the carriage 3 are set in consideration of the remaining amount of ink. However, only one of the specified value and the allowable error range may be set in consideration of the remaining amount of ink.

(Fourth Embodiment) In the fourth embodiment, a specified value used for comparison with the timer interrupt count T and an allowable error range of the target stop position are set for each printer model.

Since the processing operation of the carriage control device according to the fourth embodiment is represented by a flowchart similar to that shown in FIGS. 1 and 2, the first embodiment will be described below with reference to the flowcharts shown in FIGS. The following description focuses on differences from the embodiment.

If no pulse signal is input from the encoder 51, it is determined whether or not the timer interrupt count T is larger than a prescribed value set for each printer model (step S2). For example, in the case of a high-performance printer capable of moving the carriage 3 at high speed, a small value is set as the specified value.

When the timer interrupt count T is larger than the specified value, a timer interrupt process shown in FIG. 2 is performed.
The allowable error range in the table used during the timer interrupt processing is also set for each printer model. For example, the higher the moving speed of the carriage 3, the wider the allowable error range is set.

As described above, in the fourth embodiment, the specified value used for comparison with the timer interrupt count T and the allowable error range of the target stop position are set for each printer model. Even when the driving force of the motor 4 is different, the carriage 3 can be stopped accurately near the target stop position.

Note that, even if the model is the same, the driving force of the carriage motor may differ due to product variation.
Therefore, the specified value and the allowable error range described above may be set for each printer. In this case, the EEPROM 2 shown in FIG.
It is desirable to store a specified value or a table in 0 or the RAM 19.

In the above-described fourth embodiment, both the specified value used for comparison with the timer interrupt count T and the allowable error range of the target stop position of the carriage are set in consideration of the printer model. However, only one of the specified value and the allowable error range may be set in consideration of the printer model.

The processes of the above-described second to fourth embodiments may be performed in any combination. That is, while taking into account whether the carriage 3 is accelerating, decelerating, or at a constant speed, the above-described specified value and allowable error range are set in consideration of the remaining amount of ink and the model of the printer. Good.

In each of the above embodiments, the paper feed motor 1
Although an example in which a DC motor is used as the carriage motor 4 has been described, a stepping motor may be used.

Further, in each of the above-described embodiments, the example in which the carriage control device of the present invention is provided inside the DC unit 6 has been described. Is also good. When using software, a floppy disk or CD-
The program may be stored in a recording medium such as a ROM and read and executed by a computer. The recording medium is not limited to a portable medium such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or a memory. Further, the control program of the carriage control device may be distributed via a communication line (including wireless communication) such as the Internet. Furthermore, while encrypting, modulating, or compressing the control program of the carriage control device,
It may be distributed via a wired or wireless line such as the Internet, or stored in a recording medium.

In each of the above examples, an example has been described in which a DC motor is used as the paper feed motor 1 or the carriage motor 4, but a stepping motor may be used.

[0083]

As described above in detail, according to the present invention, when a load is applied to the carriage driving means, if the position of the carriage when the load is applied is a position where the load should be originally applied, Since the control is performed so as to stop the carriage within a predetermined allowable error range without forcibly stopping the carriage, the carriage can be moved to a desired position during normal operation.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a processing operation of a first embodiment of a carriage control device according to the present invention.

FIG. 2 is a detailed flowchart of a timer interrupt process according to the first embodiment;

FIG. 3 is a block diagram illustrating a schematic configuration of an inkjet printer having a carriage control device.

FIG. 4 is a perspective view of an inkjet printer.

FIG. 5 is a diagram showing a processing operation of a DC unit that controls a DC motor.

FIG. 6 is a timing waveform chart of a pulse signal output from an encoder.

FIG. 7 is a diagram showing a table in which a correspondence between a target stop position and an allowable error range is recorded.

FIG. 8 is a flowchart illustrating a processing operation of the carriage control device according to the second embodiment.

FIG. 9 is a detailed flowchart of a timer interrupt process according to the second embodiment;

FIG. 10 is a flowchart illustrating a processing operation of the carriage control device according to the third embodiment.

FIG. 11 is a detailed flowchart of a timer interrupt process according to the third embodiment;

FIG. 12 is a flowchart showing a processing operation of a conventional carriage control device.

FIG. 13 is a detailed flowchart of a conventional timer interrupt process.

[Explanation of symbols]

 1 Paper feed motor (PF motor) 2 Paper feed motor driver 3 Carriage (CR) 4 Carriage motor (CR motor) 5 CR motor driver 6 DC unit 7 Pump motor 8 Pump motor driver 9 Recording head 10 Head driver 11 Home sensor 12 Paper Detection sensor 13 Temperature sensor 14 Host computer 15 Interface unit 16 ASIC 17 CPU 18 PROM 19 RAM 20 EEPROM 21 Timer IC 22 Current detection sensor

Claims (10)

[Claims] 1. A carriage control device comprising: a carriage movable in a predetermined direction while holding a recording head; and a carriage driving unit for driving the carriage, wherein the carriage driving unit applies a load equal to or more than a predetermined load. A load position determining unit that determines whether the position of the carriage that has received the load is a position where the load should be originally received; and the load position determining unit determines that the load should be a position where the load should be received. Stop control means for stopping the carriage within a predetermined allowable error range, and forcibly stopping the carriage when it is determined that the position is not a position to receive a load. Carriage control device. 2. An encoder for outputting a pulse signal corresponding to a moving direction and a moving speed of the carriage, and a table recording a correspondence relationship between a target stop position of the carriage and an allowable error range of the target stop position. And a table storage unit that performs the operation, wherein the load position determination unit determines whether a pulse interval from when a pulse signal is output from the encoder to when a pulse signal is output next exceeds a predetermined time. A pulse interval determining means for determining, and when it is determined that the pulse interval has exceeded the predetermined time, a distance difference between a current position of the carriage and a target stop position indicates an allowable error range recorded in the table. Error determining means for determining whether the distance difference has exceeded the allowable error range. 2. The method according to claim 1, wherein a process of forcibly stopping the carriage is performed, and control is performed to stop the carriage within the allowable error range when the distance difference is determined to be within the allowable error range. 3. Carriage control device. 3. An allowable error range is recorded on the table for each of a plurality of target stop positions at which the carriage may stop during normal operation. Carriage control device. 4. An accelerating / decelerating detecting means for detecting whether the carriage is accelerating or decelerating, wherein the error judging means is configured to detect the predetermined speed when the carriage is accelerating or decelerating. 4. The carriage control device according to claim 2, wherein a time corresponding to the time during acceleration or deceleration is set as the time. 5. An accelerating / decelerating detecting means for detecting whether the carriage is accelerating or decelerating, wherein the table storing means is configured to determine whether or not the carriage is accelerating or decelerating. 4. The carriage control device according to claim 2, wherein a range according to whether the vehicle is accelerating or decelerating is set as the error range. 6. An ink cartridge held by the carriage, and a remaining amount detecting unit for detecting a remaining amount of ink in the ink cartridge, wherein the error determining unit determines the predetermined time as the predetermined time. The carriage control device according to any one of claims 2 to 5, wherein a time is set according to the remaining amount of the carriage. 7. An ink cartridge held by the carriage, and a remaining amount detecting unit for detecting a remaining amount of ink in the ink cartridge, wherein the table storage unit sets the allowable error range of the ink as the allowable error range. The carriage control device according to any one of claims 2 to 5, wherein a range according to the remaining amount is set. 8. The apparatus according to claim 2, wherein said error determining means sets a time corresponding to a printer model or a manufacturing variation of each printer as said predetermined time.
8. The carriage control device according to any one of 7. 9. The apparatus according to claim 2, wherein said table storage means sets a range according to a printer model or a manufacturing variation of each printer as said allowable error range. Carriage control device. 10. A method for controlling a carriage movable in a predetermined direction while holding a recording head, wherein when the carriage driving means for driving the carriage receives a load equal to or more than a predetermined load, the carriage receiving the load. A first step of determining whether the position of the carriage is to receive the load; and determining that the position of the carriage is a position to receive the load by the first step. And a second step of forcibly stopping the carriage when it is determined that the carriage is not at a position to receive the load.