JP2001088386A - Apparatus and method for controlling printing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To return an object to be controlled to an original stop position when the object while stopping is moved upon receipt of an external force. SOLUTION: There are provided a position-detecting part 81 for detecting a position of an object to be controlled which is driven by a motor 4, a position- judging part 85 for judging based on an output of the position-detecting part whether or not the object is positioned to an insensitive region including a target position, and a constant position return control part 86. Based on the judgment result of the position-judging part, the control part controls the motor by setting an application current value to be applied to the motor to be smaller than a minimum value necessary for moving the object in a state without a load when the object is positioned to the insensitive region, or operates the application current value to be applied to the motor so that the object is returned to the target position when the object is not positioned to the insensitive region, thereby controlling the motor on the basis of the operation result.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a print control device and a print control method, and more particularly to a fixed position return control.

[0002]

2. Description of the Related Art In general, 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 driven by the DC motor.

The recording head has a nozzle row for discharging black ink and a nozzle row for discharging color ink. Each nozzle receives ink supplied from an ink cartridge mounted on a carriage and discharges ink droplets. To print characters and images.

The replacement of the ink cartridge has been performed with the carriage stopped at a predetermined position.

[0005]

In such a conventional printing apparatus, if a person unexpectedly moves the carriage (object to be controlled) during replacement of the ink cartridge, the person moves the carriage to the predetermined position. I needed to go back.

The present invention has been made in consideration of the above circumstances, and provides a print control apparatus capable of returning a control target to an original stop position when the control target moves due to an external force during a stop. It is an object to provide a print control method.

[0007]

According to the present invention, there is provided a print control apparatus comprising: a position detecting section for detecting a position of a control target driven by a motor; and a control section for determining a target position based on an output of the position detecting section. A position judging unit for judging whether or not the control target is located in the dead zone, and an addition to the motor when the control target is located in the dead zone based on a judgment result of the position judging unit. Controlling the motor as a current value smaller than a minimum current value necessary to move the control target when the control target is in a no-load state, and when the control target is not located in the dead zone, the control target And a home position return control unit that calculates an additional current value to be added to the motor so as to return the motor to the target position, and controls the motor based on the calculation result.

In addition, pseudo-spring control areas are provided at predetermined intervals on both sides of the dead area, and the fixed-position returning control unit controls the control when the control target is located in the pseudo-spring control area. It is preferable to calculate an additional current value that returns the target to the target position, and control the motor based on the calculation result.

The absolute value I _- cur of the additional current when the object to be controlled is located in the pseudo-spring control region is:
The displacement amount of the controlled object from the target position is N (> 0)
And then, the distance from the target position to the pseudo-spring control area the control target is positioned as _{A, I - st (> 0} ) and I _- start (> 0) respectively when the predetermined value, I _- cur = I _- st. (NA) + I _- sta
It is preferably represented by rt.

[0010] It is preferable that the predetermined value I _- start is equal to or more than a minimum current value required to move the control target when the control object is in a no-load state.

When the control target is not located in the dead zone or the pseudo-spring control range, the home position return control unit controls the motor to be in the short brake operation mode and stops the control target. Preferably.

[0012] The position detector may be configured to detect the position of the control target based on an output pulse of an encoder that generates a pulse according to the rotation of the motor.

The position judging section counts the number of times the controlled object has moved from the dead zone to the pseudo spring control zone,
It is preferable that when the count value becomes equal to or more than a predetermined number, the home position return control unit is notified and the motor is set to the short brake operation mode.

The object to be controlled is a carriage.
The motor may be a carriage motor that drives the carriage, and the position determination unit may determine the position of the carriage at a predetermined timing.

Further, in the printing control method according to the present invention, a step of detecting a position of a control target driven by a motor; and determining whether the control target is located in a dead zone including a target position based on the detected position. Judging whether or not, when the control target is located in the dead zone, a minimum current required to move an additional current value to be added to the motor when the control target is in a no-load state. Controlling the motor as a current value smaller than a value, and an additional current value added to the motor such that the control target returns to the target position when the control target is not located in the dead zone. And controlling the motor based on the calculation result.

It is to be noted that pseudo-spring control regions at predetermined intervals are provided on both sides of the dead region, and the step of calculating the additional current is performed when the control target is located in the pseudo-spring control region. It is preferable to calculate the additional current that returns the control target to the target position, and control the motor based on the calculation result.

When the control target is not located in the dead zone or the pseudo-spring control range, the method further includes the step of controlling the motor to perform a short brake operation and stopping the control target. You may.

[0018]

Embodiments of the present invention will be described below with reference to the drawings.

Before describing an embodiment of a print control apparatus according to the present invention, a schematic configuration of an ink jet printer which is one of serial printers to which the present invention is applied will be described. FIG. 4 shows a schematic configuration of the ink jet printer.

This ink jet printer includes a paper feed motor (hereinafter also referred to as a PF motor) 1 for feeding paper,
A paper feed motor driver 2 for driving this paper feed motor 1
, A carriage 3, a carriage motor (hereinafter also referred to as a CR motor) 4 for driving the carriage 3, and a CR motor driver 5 for driving the carriage motor 4
, A DC unit 6, a pump motor 7 for controlling suction of ink to prevent clogging, a pump motor driver 8 for driving the pump motor 7, and a carriage 3
9 which is fixed to the head and ejects ink to the printing paper 50
And a head driver 10 for driving and controlling the head 9
And a linear encoder 11 fixed to the carriage 3
And a code plate 12 having slits formed at predetermined intervals,
A rotary encoder 13 for the PF motor 1 and a paper detection sensor 15 for detecting the end position of the paper being printed
A CPU 16 for controlling the entire printer;
Timer IC1 that periodically generates an interrupt signal for
7, an interface unit (hereinafter, also referred to as IF) 19 for transmitting and receiving data to and from the host computer 18,
An ASIC 20 for controlling the printing resolution and the driving waveform of the head 9 based on the printing information sent from the host computer 18 via the IF 19;
PROM 21, RAM 22, and EEPROM 23 used as a work area and a program storage area of PU 16
A platen 25 supporting the paper 50 being printed, a transport roller 27 driven by the PF motor 1 to transport the print paper 50, a pulley 30 attached to the rotation shaft of the CR motor 4, and the pulley 30. And a driven timing belt 31.

The DC unit 6 controls the driving of the paper feed motor driver 2 and the CR motor driver 5 based on the control commands sent from the CPU 16 and the outputs of the encoders 11 and 13. Each of the paper feed motor 1 and the CR motor 4 is constituted by a DC motor.

FIG. 5 shows the structure around the carriage 3 of the ink jet printer.

The carriage 3 is connected to the carriage motor 4 via a pulley 30 by a timing belt 31 and is driven by a guide member 32 to move parallel to the platen 25. On the surface of the carriage 3 facing the printing paper, a recording head 9 including a nozzle array for discharging black ink and a nozzle array for discharging color ink is provided. Each nozzle receives ink supplied from an ink cartridge 34 to perform printing. Prints characters and images by ejecting ink droplets on paper.

In the non-printing area of the carriage 3, a capping device 35 for sealing the nozzle opening of the recording head 9 during non-printing and a pump unit 36 having the pump motor 7 shown in FIG. 4 are provided. I have. When the carriage 3 moves from the print area (no-load area) to the non-print area (load area), the capping device 35 moves upward by contacting a lever (not shown) to seal the head 9.

When clogging occurs in the nozzle opening row of the head 9 or when the cartridge 34 is replaced, etc.
When the ink is forcibly ejected from the pump unit, the pump unit is operated while the head 9 is sealed, and the ink is sucked out from the nozzle opening row by the negative pressure from the pump unit. As a result, dust and paper dust adhering in the vicinity of the nozzle opening row are washed, and the bubbles of the head 9 are discharged to the cap 37 together with the ink.

Next, the configuration of the linear encoder 11 mounted on the carriage 3 is shown in FIG. The encoder 11 includes a light emitting diode 11a and a collimator lens 11
b and a detection processing unit 11c. The detection processing unit 11c includes a plurality (four) of photodiodes 11d,
A signal processing circuit 11e and two comparators 11f _A ,
It has a 11f _B, and.

When a voltage Vcc is applied to both ends of the light emitting diode 11a via a resistor, light is emitted from the light emitting diode 11a. This light is made parallel by the collimator lens 11b and passes through the code plate 12. The code plate 12 has a configuration in which slits are provided at predetermined intervals (for example, 1/180 inch).

The parallel light that has passed through the code plate 12 passes through a fixed slit (not shown) to each photodiode 11d.
And is converted into an electric signal. The electric signals output from the four photodiodes 11d are applied to the signal processing circuit 11
The signal is processed in e. The signals outputted from the signal processing circuit 11e is a comparator 11f _A, are compared in 11f _B, the compared results are outputted as pulses.
Comparator 11f _A, the pulse ENC-A to output from 11f _B, the ENC-B is an output of the encoder 11.

The phases of the pulse ENC-A and the pulse ENC-B differ by 90 degrees. When the CR motor 4 is rotating forward, that is, when the carriage 3 is moving in the main scanning direction, the pulse ENC-A is changed to the pulse ENC as shown in FIG.
When the CR motor 4 is rotating in the reverse direction by 90 degrees from that of the pulse ENC-B as shown in FIG.
The encoder 4 is configured such that the phase of A is delayed by 90 degrees from the pulse ENC-B. One cycle T of the pulse is equal to the slit interval of the code plate 12 (for example, 1 /
180 inches), which is equal to the time during which the carriage 3 moves through the slit interval.

On the other hand, the rotary encoder 13 for the PF motor 1 has the same configuration as the linear encoder 11 except that the code plate is a rotating disk that rotates according to the rotation of the PF motor 1. In the ink jet printer, the slit interval of a plurality of slits provided on the code plate of the encoder 13 for the PF motor 1 is 1 /.
Although it is 180 inches, when the PF motor 1 rotates by one slit interval, the paper is fed by 1/1440 inch.

Next, the paper detection sensor 15 shown in FIG.
Will be described with reference to FIG. In FIG. 8, the paper 50 inserted into the paper feed slot 61 of the printer 60 is shown.
Is a paper feed roller 64 driven by a paper feed motor 63
Is sent into the printer 60. Printer 60
The leading end of the paper 50 fed into the inside is detected by, for example, an optical paper detection sensor 15. This paper detection sensor 15
The paper 50 whose leading end is detected by the paper feed roller 65 and the free roller 66 driven by the PF motor 1
Paper feed is performed.

Subsequently, printing is performed by dropping ink from a recording head (not shown) fixed to the carriage 3 moving along the carriage guide member 32. When the paper is fed to a predetermined position,
The end of the printed paper 50 is detected by the paper detection sensor 15. The gear 67c is driven by the gear 67a driven by the PF motor 1 via the gear 67b, whereby the paper discharge row 68 and the free roller 69 are driven to rotate, and the paper 50 on which printing is completed is discharged to the paper discharge port. It is discharged from 62 to the outside.

FIG. 1 shows the configuration of an embodiment of a print control apparatus according to the present invention.

The print control device 80 of this embodiment is included in the DC unit 6 shown in FIG.
, A counter 83, a timer counter 84, a carriage position determination unit 85 (hereinafter also referred to as a CR position determination unit 85), a fixed position return control unit 86, and a D / A converter 8
7 is provided. The print control device 80 controls the carriage 3 to return to the insensitive area including the original stop position when the carriage 3 is stopped in the no-load area, for example, while the ink cartridge is being exchanged, and is moved by an external force. Used for

The position counter 81 detects the rising edge and the falling edge of each of the output pulses ENC-A and ENC-B of the encoder 11, counts the number of detected edges, and counts the rising edge and the falling edge. Outputs pulses in synchronization. This count is CR
When the motor 4 is rotating forward, "+1" is added when one edge is detected, and when the motor 4 is rotating reversely, "-1" is added when one edge is detected. Pulse ENC
-A and the synchronization of NEC-B are equal to the slit interval of the code plate 12, and the pulses ENC-A and EN
CB differ in phase by 90 degrees. Therefore, the count value “1” of the above-mentioned count corresponds to １ ／ of the slit interval of the code plate 12. By multiplying the counted value by 1/4 of the slit interval, the amount of movement of the carriage 3 from the position corresponding to the counted value of "0" can be obtained. If the position where the count value is "0" is set as the home position, the position of the carriage 3 can be obtained with reference to the home position. At this time, the resolution of the encoder 11 is
ス リ ッ ト of the slit interval. If the interval between the slits is 1/180 inch, the resolution is 1/720 inch. The position counter 81 also outputs information on the normal rotation and the reverse rotation of the CR motor 4.

The counter 83 counts up the count value p by "1" when receiving a command from the home position return control unit 86, and is reset after reaching a set value, for example, 1000.

The timer counter 84 operates based on a start-up command from the home position return control unit 86. When the count value reaches a predetermined value T _- st (for example, 1 msec), C
A start command is sent to the R position determination unit 85.

The CR position judging section 85 includes a timer counter 8
4 receives a start command from the position counter 81, it determines whether the current position of the carriage is in a dead zone, a pseudo spring control zone, or a zone outside the control range. FIG. 3 shows the dead area, the pseudo spring control area, and the outside of the control range. There is a dead zone in the range of the distance A around the target position, there is a pseudo-spring control of length B on both sides of this dead zone, and there is an outside control range outside this pseudo-spring control range. .

The CR position determination unit 85 counts the number of times the position of the carriage 3 has moved from the dead area to another area, and when the position exceeds a predetermined value (for example, three times) and when the carriage 3 is outside the control range. To the home position return control unit 86
It sends a command signal to, additional current I of the carriage motor 4 _-
The short brake operation is performed by setting cur to “0.” At this time, a current value smaller than the minimum current value required to move the carriage 3 when there is no load may be used as the additional current.

When the carriage 3 is in the dead zone based on the result of the determination by the CR position determination section 85, the home position return control section 86 applies a current value I _- c to be added to the carriage motor 4.
The value of ur is set to “0”, the carriage motor is controlled, and an additional current value I _- cur which returns to the insensitive region when in the pseudo-spring control region is determined. Based on this current value, D / A
When that is outside the control range to control the carriage motor 4 via the converter 87 and the driver 5 additional current I _- c
ur is set to “0” to set the carriage motor 4 to the short brake operation. At this time, a current value smaller than the minimum current value required for moving the carriage 3 when there is no load may be used as the additional current.

The D / A converter 87 changes the current value I _- cur to be added to the carriage motor 4 determined by the home position return control unit 86 to an analog current value. The carriage motor 4 is driven by the driver 5 based on the analog current value.

The driver 5 includes, for example, four transistors, and turns on or off each of the transistors based on the output of the D / A converter 87. (a) The operation of rotating the CR motor 4 forward or backward Mode (b) Regenerative brake operation mode (short brake operation mode, that is, an operation mode in which the CR motor 4 is stopped) (c) A configuration capable of performing a mode in which the CR motor 4 is to be stopped is provided. I have. Further, in the operation mode of forward rotation or reverse rotation, a desired current can be supplied to the CR motor 4 by changing the intensity of the signal applied to the gate of the transistor.

Next, the operation of the print control apparatus according to this embodiment will be described with reference to FIG.

First, when the print control device 80 receives a start command for the home position return control, the parameters L and p are each initialized to "0" (see steps F1 and F2), and the home position return control unit 86 outputs the parameters. A start signal is sent to the timer counter 84 to start the timer counter 84. Here, the parameter L indicates the number of times the carriage 3 has moved from the dead area to another area, and p is the count value of the counter 83.

When the count value of the timer counter 84 reaches a predetermined value T _- st, a start command is sent from the timer counter 84 to the CR position determination unit 85 (see step F4). Then, based on the output of the position counter 81, the CR position determination unit 85 determines whether or not the carriage 3 is located in the dead zone (see step F4).

If the carriage 3 is not located in the dead zone, the value of the parameter L is counted up by one (see step F5), and it is determined whether or not the counted up value of L is 3 or more. The determination is made by the unit 85 (see step F6). When the value of L is 3 or more, a command signal is sent from the CR position determination unit 85 to the home position return control unit 86. Then, the current value I _- cur added to the carriage motor 4 by the home position return control 86 becomes “0”.
The carriage motor 4 is controlled via the D / A converter 87 and the driver 5 such that
reference). As a result, the carriage motor 4 performs the short brake operation and the carriage 3 stops (step F8).
reference). At this time, a current value smaller than the minimum current value required for moving the carriage 3 when there is no load may be used as the additional current.

If the value of L is less than 3 in step F6, the CR position determination section 85 determines whether or not the carriage 3 is in the pseudo spring control area (see step F9). If the carriage 3 is not in the pseudo-spring control range, that is, if the carriage 3 is outside the control range, the CR position determination unit 85
Sends a command signal to the home position return control unit 86 to control the current value I _- cur added to the carriage motor 4 to "0" (see step F7). As a result, the carriage motor 4 performs the short brake operation and the carriage 3 stops (see step F8). At this time, a current value smaller than the minimum current value required for moving the carriage 3 when there is no load may be used as the additional current.

In step F9, when the carriage 3 is in the pseudo-spring control area, the CR position determination section 85 notifies the home position return control section 86. Then, based on the output of the position counter 81, the home position return control unit 86 controls the displacement amount N of the carriage 3 from the target position (see FIG. 3).
(≧ 0) is obtained (see step F10). Subsequently, based on the displacement amount N, an additional current value I _- cur that returns the carriage 3 to the dead zone is set as I _- cur = I _- st. (NA) + I _- start and the home position return control unit 86. Is calculated (see step F11). Here, I _- st (> 0) indicates the inclination of the characteristic graph of the displacement amount and the additional current value in the pseudo spring control area shown in FIG. 3, and I _- start (> 0) indicates the carriage in the pseudo spring control area. This is the minimum current value added to the motor and is equal to or greater than the minimum current value necessary to move the carriage 3 in a no-load state.

Thereafter, the direction for returning the carriage 3 to the target position is determined by the home position return control section 86 (see step F12). When the carriage 3 is moved by rotating the carriage motor 4 in the normal direction, for example, when the carriage 3 is moved from the 80-digit side to the 1-digit side of the print area, the current value I _- cur from the fixed-position return control unit 86 is D. /
The data is sent to the carriage motor 4 via the A converter 87 and the driver 5 and is controlled (see step F13). On the other hand, when the carriage 3 is moved by rotating the carriage motor 4 in the reverse direction, for example, the carriage 3 is moved 8
When moving to the zero digit side, a negative current value -I _- cur is sent from the home position return control unit 86 to the carriage 4 via the D / A converter 87 and the driver 5, and is controlled (see step F14). .

After the current value is added and the carriage 3 responds, the CR position determining unit 85 determines whether the carriage 3 has entered the dead zone (step F15).
), If not within the dead zone, step F10
And the above is repeated.

If it is determined in steps F4 and F15 that the carriage 3 is in the dead zone,
The R position determination unit 85 notifies the home position return control unit 86. Then, a command signal is sent from the home position return control unit 86 to the counter 83, and the count value or P is counted up by "1" (see step F16). At this time,
The fixed position return control unit 86 sets the current value I _- cur to be added to the carriage motor 4 to I _- cur = 0, and sets D-A
It is sent to converter 87 (see step F17). Thus, the current I _- cur added to the carriage motor 4 by the driver 5 based on the output of the D / A converter
Is controlled to be “0”. At this time, a current value smaller than the minimum current value required for moving the carriage 3 when there is no load may be used as the additional current.

If the count value p of the counter 83 is less than the set value (for example, 1000), a start command is sent from the counter 83 to the timer counter 84, and the timer counter 84 is started (see step F3), and the above-described F4 Steps and subsequent steps are repeated. If the count value p exceeds the set value, the position return control unit 86 is notified.
If the home position return control unit 86 does not receive an ink cartridge replacement end signal indicating that the ink cartridge replacement has been completed by the time this notification is received, the process returns to step F1 and the above-described steps are repeated. When the ink cartridge replacement end signal is received, the home position return control ends. The ink cartridge replacement end signal is sent from, for example, an ink cartridge presence / absence detector provided on the carriage 3.

As described above, according to the present embodiment, when the carriage (control object) is moved by receiving an external force while stopped, the carriage can be returned to the area including the original stop position.

In the above-described embodiment, the control target is the carriage, but the control object is paper driven by the PF motor or ASF (Auto Sheet feed).
The same effect can be obtained even when the paper supplied by the motor is the control target.

In the above embodiment, the motor is a DC
It is needless to say that the present invention can be applied to a printing apparatus which uses a motor other than the DC motor.

[0056]

As described above, according to the present invention, it is possible to return the control target to the original stop position when the control target moves due to an external force during stop.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a print control apparatus according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating the operation of the print control apparatus according to the present invention.

FIG. 3 is a graph showing a relationship between a displacement amount of a carriage from a target position and a current value to be added to a carriage motor.

FIG. 4 is a block diagram illustrating a configuration of an inkjet printer using the print control device of the present invention.

FIG. 5 is a perspective view showing a configuration around a carriage.

FIG. 6 is a schematic diagram showing a configuration of a linear encoder.

FIG. 7 is a waveform diagram of an output pulse of an encoder.

FIG. 8 is a schematic perspective view of the printer illustrating the position of a paper detection sensor.

[Explanation of symbols]

 1 Paper feed motor (PF motor) 2 Paper feed motor driver 3 Carriage 4 Carriage motor (CR motor) 5 Carriage motor driver (CR motor driver) 6 DC unit 7 Pump motor 8 Pump motor driver 9 Recording head 10 Head driver 11 Linear type Encoder 12 Code plate 13 Encoder (rotary encoder) 15 Paper detection sensor 16 CPU 17 Timer IC 18 Host computer 19 Interface unit 20 ASIC 21 PROM 22 RAM 23 EEPROM 25 Platen 31 Timing belt 32 Carriage motor guide member 34 Ink cartridge 35 Capping Device 36 Pump unit 37 Cap 50 Recording paper 80 Printing control device 81 Position counter 83 Counter 84 Tie Machine counter 85 Carriage position determination unit (CR position determination unit) 86 Fixed position return control unit 87 D / A converter

Continued on the front page F term (reference) 2C480 CA01 CA09 CA31 CB02 CB34 CB42 EA27 5C072 AA03 BA02 KA01 MA02 MB04 MB08 NA06 RA06 UA14 XA04

Claims (12)

[Claims] 1. A position detector for detecting a position of a control target driven by a motor, and determining whether or not the control target is located in a dead zone including a target position based on an output of the position detector. Based on the determination result of the position determination unit, when the control target is located in the dead zone, an additional current value to be added to the motor when the control target is in a no-load state. The motor is controlled as a current value smaller than the minimum current value necessary to move the motor, and when the control target is not located in the dead zone, the motor is returned to the target position. And a fixed position return control unit that calculates the additional current value to be controlled and controls the motor based on the calculation result. 2. A pseudo-spring control area at a predetermined interval is provided on both sides of the dead area, and the fixed-position return control unit performs the control when the control target is located in the pseudo-spring control area. 2. The printing control apparatus according to claim 1, wherein an additional current value for returning the target to the target position is calculated, and the motor is controlled based on a result of the calculation. 3. The method according to claim 1, wherein the control target is located in a pseudo spring control range.
The absolute value I of the additional current when _-cur is the system
The displacement amount of the control target from the target position is N (> 0),
A pseudo spring in which the control target is located from the target position
Let A be the distance to the control area and I_-st (> 0) and I
_-When start (> 0) is set to a predetermined value, I_-cur = I_-st · (NA) + I_-3. The printing control according to claim 2, wherein the printing control is represented by "start".
apparatus. 4. The printing control apparatus according to claim 3, wherein the predetermined value I _- start is equal to or more than a minimum current value required for moving the control target when there is no load. 5. When the control target is not located in the dead zone or the pseudo spring control range, the home position return control unit controls the motor to be in the short brake operation mode and stops the control target. The print control device according to claim 2, wherein the print control device is configured to perform the control. 6. The position detecting unit according to claim 1, wherein the position detecting unit detects the position of the control target based on an output pulse of an encoder that generates a pulse according to rotation of the motor. 3. The print control device according to claim 1. 7. The position judging section counts the number of times the controlled object has moved from the dead zone to the pseudo spring control zone, and notifies the fixed position return control section when the count value exceeds a predetermined number. 7. The printing control device according to claim 2, wherein the motor is set to a short brake operation mode. 8. The apparatus according to claim 1, wherein the control object is a carriage, the motor is a carriage motor for driving the carriage, and the position determination unit determines the position of the carriage at a predetermined timing. 1 to 7
The print control device according to any one of the above. 9. A step of detecting a position of a control target driven by a motor; and determining whether or not the control target is located in a dead zone including a target position based on the detected position. When the control target is located in the dead zone, an additional current value to be added to the motor is set as a current value smaller than a minimum current value necessary to move the control target when the control target is in a no-load state. Controlling a motor, and when the control target is not located in the dead zone,
Calculating a value of an additional current to be applied to the motor so as to return the control target to the target position, and controlling the motor based on the result of the calculation. 10. A pseudo-spring control area at a predetermined interval on both sides of the dead area, wherein the step of calculating the additional current is performed when the control target is located in the pseudo-spring control area. 10. The print control method according to claim 9, wherein the additional current is calculated so as to return the control target to the target position, and the motor is controlled based on a result of the calculation. 11. The method according to claim 11, further comprising the step of: controlling the motor to perform a short brake operation when the control target is not located in the dead zone and the pseudo spring control range, and stopping the control target. The print control method according to any one of claims 9 to 10, wherein: 12. The print control method according to claim 9, wherein the control object is a carriage.