JP2002239111A - Stepping motor controller, game machine applied with the stepping motor controller, and stepping motor control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly accelerate or decelerate stepping motors. SOLUTION: In this control method, gradual increase control and gradual decrease control are executed in a process changing rotational speeds of the stepping motors ML, MC, MR between rotational speeds when a pulse signal is outputted in respective N (N: a natural number) periods of a control period and rotational speeds when a pulse signal is outputted in respective N+n (n: a natural number) periods of the control period. In one cycle of a pulse output state of the gradual increase control and the gradual decrease control, after p number of pulse signals are outputted from a CPU 21 in one period of a first period corresponding to the N periods of the control period and a second period corresponding to the N+n periods of the control period, q number of pulse signals are outputted from the CPU 21 in the other period of the first period and the second period. The cycle is repeated plural times, and a ratio of q to p is changed in each prescribed period.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stepping motor control device and a stepping motor control method, and a game machine having a drum type symbol display.

[0002]

2. Description of the Related Art Conventionally, a jackpot lottery is performed for a game ball entering a starting opening, and if the result of the jackpot lottery is a jackpot, it is advantageous for a player (to obtain a large number of prize balls). Pachinko machines capable of performing (possible) jackpot games are known. In this kind of pachinko machine, a symbol display capable of displaying a plurality of types of symbols is provided, and when a jackpot lottery is performed, a symbol representing the result of the jackpot lottery is displayed on the symbol display. I have.

[0003] One of the typical symbol display devices is one in which a drum having a plurality of types of symbols drawn on a peripheral surface is arranged. In this drum type symbol display, in response to a game ball entering the starting port, three drums are started to rotate at the same time, and thereafter, the rotation speed of each drum is gradually increased (slow speed). Up period). When the rotation speed of each drum reaches a predetermined maximum rotation speed, the rotation speed of each drum is held at the maximum rotation speed. Then, when the rotation of each drum at the maximum rotation speed is continued for a predetermined time, thereafter, for example, the rotation speed is gradually reduced in the order of the left drum, the right drum, and the middle drum (slow down period).
Finally, the rotation of each drum is stopped. When the rotation of all the drums is stopped, it is determined whether the result of the jackpot lottery is a jackpot or not, based on a combination of symbols arranged on a predetermined line.

[0004] As a rotation drive source of the drum, in order to accurately display the result of the jackpot lottery (to accurately stop the symbol corresponding to the result of the jackpot lottery on the predetermined line), the rotation angle is precisely determined. A stepping motor which can be controlled is adopted. The stepping motor is driven and controlled by a CPU provided on a control board for controlling the operation of the symbol display by a pulse driving method or a micro step driving method. In the pulse driving method, a pulse signal (drive pulse signal) is input from the CPU to the stepping motor, and the excitation phase of the stepping motor is turned on / off in response to the input of the pulse signal, so that the rotor of the stepping motor is stepped. The motor rotates with a basic step angle mechanically determined by the configuration of the motor as one step. On the other hand, in the micro step drive system, a driver circuit is provided for generating an excitation current to be applied to each excitation phase of the stepping motor, and the driver circuit synchronizes the two excitation phases adjacent to each other with the pulse signal output from the CPU. By changing the ratio of the applied excitation currents, the rotor of the stepping motor rotates with a predetermined step angle as one step. In this micro-step driving method, since the exciting current is increased or decreased stepwise, the step angle can be made smaller than in the pulse driving method in which the exciting current is binary-controlled.

[0005] The pulse signal output from the CPU is generated by a pulse signal generation process (interrupt process) capable of selecting whether or not to execute it at a predetermined control cycle (interrupt cycle). Further, as described above, the stepping motor rotates one step in response to the output of one pulse signal from the CPU in either the pulse driving method or the micro step driving method. Therefore, the rotation speed (step / msec) of the stepping motor is determined as the maximum rotation speed when the pulse signal is output after performing the interrupt processing in the control cycle, and at what cycle of the control cycle the pulse signal is output ( The number of the control cycle is set to the cycle for performing the pulse signal generation processing).

For example, when the control cycle is 1.0 msec, the maximum rotation speed of the stepping motor is 1.0 step / m
sec. By outputting a pulse signal every two control periods, the rotation speed of the stepping motor can be controlled to 0.5 step / msec. By outputting a pulse signal every three control periods, the rotation speed of the stepping motor can be reduced to 0.33.
Control can be performed at step / msec. By outputting a pulse signal every four control periods, the rotation speed of the stepping motor can be controlled at 0.25 step / msec. That is, by outputting a pulse signal every N cycles (N: natural number) of the control cycle, the rotation speed of the stepping motor can be controlled to 1 / Nstep / msec.

Therefore, in the conventional pachinko machine, the value of N is decreased or increased by one every predetermined period, so that the rotation speed of the drum is gradually increased, and the rotation speed of the drum is gradually increased. Slow-down control is performed. For example, in the slow-up control, as shown in FIG. 6, first, a pulse signal is output every four control periods, so that the stepping motor is rotated at a rotation speed of 0.25 step / msec. And the stepping motor is 0.25step
After rotating by 10 steps at a rotation speed of / msec, the output cycle of the pulse signal (execution cycle of the pulse signal generation process) is changed to three control cycles, and the rotation speed of the stepping motor is set to 0. Raised to 33 step / msec. Further, when the stepping motor rotates by 10 steps at the rotation speed of 0.33 step / msec, the output cycle of the pulse signal is changed to two control cycles, and the rotation speed of the stepping motor becomes 0.5 step / msec.
Can be raised. And the stepping motor is 0.25
If you rotate 10 steps at a rotation speed of step / msec,
After the slow-up control is completed, a pulse signal is output in the above control cycle, and the stepping motor is rotated at the maximum rotation speed of 1.0 step / msec.

[0008]

However, in the conventional slow-up control and slow-down control, in particular, one cycle at the same cycle as the control cycle starts from a state in which a pulse signal is output every two control cycles. When transitioning to a state in which a pulse signal is output every time, there is a possibility that a sudden load change may cause the stepping motor to run idle, and a pulse signal is output every cycle at the same cycle as the above control cycle. When the state shifts from a state in which the pulse signal is output every two control cycles, the rotation speed of the stepping motor greatly changes, and the rotation of the drum (stepping motor) is awkward.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned technical problems and to provide a stepping motor control device and a stepping motor control method capable of achieving smooth acceleration or deceleration of a stepping motor, and a stepping motor control device as described above. It is to provide a gaming machine provided with.

[0010]

Means for Solving the Problems and Effects of the Invention According to the first aspect of the present invention, there is provided a pulse signal output means for outputting a pulse signal; By repeatedly outputting a pulse signal at every N (N: natural number) period of a control cycle to be determined, the stepping motor (ML, MC, MR) is set to the first position.
First rotation speed control means (21, 21) for rotating at a rotation speed of
Tu9-; 0-Td1) and the pulse signal output means repeatedly outputs a pulse signal every N + n (n: natural number) cycles of the control cycle, so that the stepping motor is slower than the first rotation speed. Second rotation speed control means (21, Tu7 to
Tu8; Td2 to Td3), and a state in which a pulse signal is output every N cycles of the control cycle in the process of switching the rotation speed of the stepping motor between the first rotation speed and the second rotation speed. The pulse signal output means is controlled so that a state in which a pulse signal is output every N + n cycles of the control cycle is mixed (appearingly)
Third rotation speed control means (21, Tu8-tu9; Td1-Td) for rotating the stepping motor at a third rotation speed between the first rotation speed and the second rotation speed.
2, Td3 to Td4).

Note that the alphanumeric characters in parentheses indicate corresponding components and the like in embodiments described later. Hereinafter, the same applies in this section. According to the invention, in the process of switching the rotation speed of the stepping motor between the first rotation speed and the second rotation speed, the stepping motor apparently switches between the first rotation speed and the second rotation speed. At the third rotation speed. Thus, the rotation speed of the stepping motor can be smoothly changed between the first rotation speed and the second rotation speed.

It is to be noted that, as described in claim 2, the third
The rotation speed control means receives a pulse signal from the pulse signal output means in one of a first cycle corresponding to N cycles of the control cycle and a second cycle corresponding to N + n cycles of the control cycle. Are output by a predetermined first number, and then the pulse signal output means outputs a pulse signal from the pulse signal output means in a predetermined second period in the other period of the first period or the second period.
By setting the pulse output mode such that the number of pulses is output as one cycle and repeating this cycle a plurality of times,
(Appearance) The stepping motor may be rotated at the third rotation speed.

According to a third aspect of the present invention, in the step of switching the rotation speed of the stepping motor between the first rotation speed and the second rotation speed, the stepping motor control device includes the first number. By changing the ratio of the third number to the second number every predetermined period,
It is preferable to further include a speed changing unit that minutely changes the third rotation speed realized by the rotation speed control unit in a stepwise manner at every predetermined period.

According to the third aspect of the invention, in the process of switching the rotation speed of the stepping motor between the first rotation speed and the second rotation speed, the rotation speed (third rotation speed) of the stepping motor is set to a predetermined value. Since it changes minutely step by step, smoother acceleration or deceleration of the stepping motor can be achieved. In addition, the speed changing means, when the rotation speed of the stepping motor is reduced from the first rotation speed to the second rotation speed, changes a ratio of the second number to the first number every predetermined period. When the rotation speed of the stepping motor is increased from the second rotation speed to the first rotation speed, the ratio of the first number to the second number is increased every predetermined period. It is preferred that

The invention according to claim 4 is a jackpot lottery executing means (31) for executing a jackpot lottery in response to satisfaction of a predetermined condition, and displays the result of the jackpot lottery by the jackpot lottery executing means. (DL, DC, DR) on which a symbol for drawing is drawn on the peripheral surface, and a stepping motor (ML, M) for rotating the drum.
C, MR) and motor control means (2) for controlling the rotation of the stepping motor, and the stepping motor control device according to any one of claims 1 to 3 is applied as the motor control means. A gaming machine characterized by being performed.

[0016] The predetermined condition may be, for example, when the gaming machine is a pachinko machine, a condition that a game ball enters a starting port arranged on a gaming board. When the gaming machine is a pachislot machine, the condition may be that the start lever is operated after inserting a medal (reserved medal BET). According to the present invention, since the stepping motor control device according to claims 1 to 3 is applied as the motor control means, smooth acceleration and deceleration of the drum can be achieved.

According to a fifth aspect of the present invention, a predetermined control period N (N: natural number) from the pulse signal output means (21) is provided.
A first rotation speed control step (Tu) for rotating the stepping motors (ML, MC, MR) at the first rotation speed by repeatedly outputting a pulse signal for each cycle.
9 to 0 to Td1) and the pulse signal output means repeatedly outputs a pulse signal at every N + n (n: natural number) cycles of the control cycle, so that the stepping motor is slower than the first rotation speed. A second rotation speed control step (Tu7 to Tu) for rotating at a second rotation speed
8; Td2 to Td3), between the first rotation control step and the second rotation control step, a state in which a pulse signal is output every N cycles of the control cycle, and every N + n cycles of the control cycle The pulse signal output means is controlled so that the state where the pulse signal is output is mixed, and the stepping motor is (apparently) set to the third rotation speed between the first rotation speed and the second rotation speed. Third rotation speed control step (Tu8 to Tu8) for rotating at a rotation speed of
9; Td1 to Td2, Td3 to Td4).

According to this method, the same effect as the effect described in claim 1 can be achieved. In the third rotation speed control step, a first cycle corresponding to N cycles of the control cycle or N + n of the control cycle is performed.
After outputting a predetermined first number of pulse signals from the pulse signal output means in one of the second periods corresponding to the period, the other of the first period or the second period The pulse output mode in which the pulse signal output means outputs a predetermined second number of pulse signals is defined as one cycle, and this cycle is repeated a plurality of times.
You may make it rotate at the rotation speed of.

Further, in the step of switching the rotation speed of the stepping motor between the first rotation speed and the second rotation speed, the ratio between the first number and the second number is changed every predetermined period. Accordingly, it is preferable that the rotation speed of the stepping motor (the third rotation speed) in the third rotation speed control step is minutely changed stepwise at every predetermined period. By doing this,
The same effect as the effect described in relation to claim 3 can be achieved.

[0020]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing an electrical configuration of a pachinko machine according to one embodiment of the present invention. This pachinko machine performs a jackpot lottery to determine whether or not to enter a jackpot game advantageous to the player, in response to the entry of a pachinko ball into a starting port (not shown) arranged on the game board, The result of the jackpot lottery is displayed on the drum type symbol display 1.

The drum type symbol display 1 has, for example, a left drum DL, a middle drum DC, and a right drum DR arranged in a horizontal line. These drums DL, D
A plurality of types of symbols (for example, numbers, characters, patterns, etc.) are drawn on the peripheral surfaces of C and DR, respectively, and the rotation axes of the drums DL, DC, and DR are respectively mounted on stepping motors ML, MC. , MR are connected. When the stepping motors ML, MC, MR are driven to rotate, the drums DL, DC, DR rotate in synchronization with this, and a plurality of types of symbols drawn on the peripheral surface of each of the drums DL, DC, DR are sequentially determined. Opposite the stop line. When the stepping motors ML, MC, MR are stopped, a predetermined number (one or more) of the drums DL, DC, DR is provided.
Are aligned on the stop line. The result of the jackpot lottery is represented by a combination of symbols arranged on the stop line.

The drum type symbol display 1 includes drums DL, DC, DR and stepping motors ML, M
In addition to C and MR, for example, a lottery result other than the jackpot lottery (for example, a result of an auxiliary lottery performed in response to a game ball passing through a starting gate arranged on a game board)
(For example, a 7-segment display or a dot matrix display) or the like may be arranged. The operation of the drum type symbol display 1 is controlled by the CPU 21 provided on the symbol display control board 2.
The symbol display control board 2 further includes a RAM 22 and an RO
M23, the RAM 22 and the ROM
23 is connected to the CPU 21 by a data bus 24. The data bus 24 has an I / O (Input / Ou).
tput) port 25 is connected.

In this embodiment, a so-called micro-step drive system is adopted, and a driver circuit 26 for generating an excitation signal to be given to each excitation phase of the stepping motors ML, MC, MR is provided in the I / O port 25. It is connected. In the micro step drive system, the CPU 2
1, a pulse signal is output at a cycle corresponding to the target rotation speed of the stepping motors ML, MC, MR. The excitation current supplied from the driver circuit 26 to the stepping motors ML, MC, MR in synchronization with the output of the pulse signal. Are changed, the stepping motors ML, MC,
When the rotor of the MR has a predetermined step angle (for example, 0.3
(Degree) as one step. That is, the stepping motors ML, MC, MR rotate by one step each time one pulse signal is output from the CPU 21.

A symbol control signal (command) is input to the I / O port 25 of the symbol display control board 2 from the main control board 3 for controlling the overall operation of the pachinko machine. . CPU 31, R
An AM 32 and a ROM 33 are provided, and the CPU 31, RAM 32, and ROM 33 are mutually connected by a data bus. The data bus 34 includes
An I / O port 35 is connected, and a detection signal of a ball-in sensor (not shown) for detecting the ball-in of the game ball to the starting port is input to the I / O port 35. It has become. When a detection signal is input from the ball entry sensor, the CPU 31 performs a jackpot lottery in response to the signal input, and generates a symbol control signal according to the result of the jackpot lottery. The symbol control signal generated in this way is
It is output from the I / O port 35 to the symbol display control board 2.

When a symbol control signal is input from the main control board 3, the CPU 21 of the symbol display control board 2 executes a stepping motor for aligning the jackpot lottery results on the stop line based on the symbol control signal. ML, M
Drive control of C and MR (rotation control of drums DL, DC and DR) is performed. In this control, for example, in response to the input of the symbol control signal, the stepping motor ML,
The rotation of the MCs and the MRs is started simultaneously, and thereafter, the rotation speeds of the stepping motors ML, MC and MR are gradually increased (slow-up period). When the rotation speed of each stepping motor ML, MC, MR reaches the maximum rotation speed (for example, 1.0 step / msec), the rotation speed of each stepping motor ML, MC, MR is held at the maximum rotation speed. Then, each stepping motor ML, M
When the rotations of C and MR at the maximum rotation speed are continued for a predetermined time, thereafter, for example, the rotation speed gradually increases in the order of, for example, the stepping motor ML of the left drum DL, the stepping motor MR of the right drum DR, and the DC stepping motor MC of the middle drum. As the motor is lowered (slow down period), the rotation of all the stepping motors ML, MC, MR is finally stopped. All stepping motors ML, MC, MR
When the rotation of is stopped, the combination of the symbols representing the result of the jackpot lottery is arranged on the stop line, whereby the player is notified whether the result of the jackpot lottery is a jackpot or not.

In this pachinko machine, in addition to the configuration shown in FIG. 1 (the configuration relating to the control of the symbol display 1), for example, a sound effect generator for generating a sound effect and the effect sound generator A sound control board and the like for controlling the operation of the sound generator are provided. FIG. 2 is a time chart for explaining control (slow-up control) of the stepping motors ML, MC, and MR during the slow-up period, and shows a time change of the rotation speed of the stepping motors ML, MC, and MR. .

The pulse signal output by the CPU 21 of the symbol display control board 2 is generated by a pulse signal generation process (interrupt process) that can select whether or not to execute the control at a predetermined control cycle. Stepping motor ML, MC, M
R rotates by one step each time one pulse signal is output from the CPU 21, so that the stepping motor M
The rotational speeds (step / msec) of the L, MC, and MR become the maximum rotational speeds when the pulse signal generation processing is performed in the control cycle and the pulse signal is output in the control cycle. In this embodiment, the control cycle is set to 1.0 msec, and the rotation speed of the stepping motors ML, MC, MR gradually increases from zero to the maximum rotation speed of 1.0 step / msec during the slow-up period. Can be

When a symbol control signal is input from the main control board 3 (time Tu1), a pulse signal generation process is performed every eight control cycles, and the CPU 21 outputs a pulse signal every eight control cycles. By outputting the pulse signal, the stepping motors ML, MC, MR are set to 0.1.
It is rotated at a rotation speed of 25 steps / msec. Then, the stepping motors ML, MC, MR are set to 0.125 step / mse.
After rotating by 10 steps at the rotation speed of c, the output cycle of the pulse signal (the execution cycle of the pulse signal generation processing)
Is changed to seven control cycles, and a pulse signal is output every seven control cycles, so that the rotational speeds of the stepping motors ML, MC, and MR are 0.1.
It is raised to 43 step / msec (time Tu2). further,
When the stepping motors ML, MC, MR rotate by 10 steps at the rotation speed of 0.143 step / msec,
The output cycle of the pulse signal is changed to six control cycles, and the rotation speed of the stepping motors ML, MC, MR is increased to 0.167 step / msec (time Tu).
3).

When the stepping motors ML, MC, MR rotate by 10 steps at a rotation speed of 0.167 step / msec, the output cycle of the pulse signal is changed to five control cycles, and the stepping motors ML, MC, MR are changed. M
R rotation speed is increased to 0.2 step / msec (time T
u4). When the stepping motors ML, MC, MR rotate by 10 steps at the rotation speed of 0.2 step / msec, the output period of the pulse signal is changed to four control periods, and the stepping motors ML, MC, M
The rotation speed of R is increased to 0.25 step / msec (time Tu5). Further, when the stepping motors ML, MC, MR rotate by 10 steps at a rotation speed of 0.25 step / msec, the output cycle of the pulse signal becomes three times the control cycle.
Changed to the period, the stepping motors ML, MC,
The rotation speed of the MR is increased to 0.333 step / msec (time Tu6). Then further 0.333step / msec
Stepping motors ML, MC, MR at 1
When the motor rotates by 0 steps, the output cycle of the pulse signal is changed to two control cycles, and the rotation speed of the stepping motors ML, MC, MR is increased to 0.5 step / msec (time Tu7).

Thereafter, the control in the above-described mode (a mode in which the output cycle of the pulse signal is shortened by one cycle of the control cycle every time the stepping motors ML, MC, MR rotate 10 steps) is continued. In this case, after the stepping motors ML, MC, and MR have rotated by 10 steps at a rotation speed of 0.5 step / msec, the pulse signals are output at the above-described control cycle, so that the stepping motors ML, MC, and MR have the highest speed. 1.0step / mse of rotation speed
Rotated with c. However, in this case, before and after the output cycle of the pulse signal is changed from two control cycles to one cycle, the rotation speeds of the stepping motors ML, MC, and MR are changed from 0.5 step / msec to 1.0 step / msec. , The rotation of the stepping motors ML, MC, MR becomes awkward.

Therefore, in this embodiment, after the stepping motors ML, MC, MR have rotated by 10 steps at a rotation speed of 0.5 step / msec during the period from the time Tu7 to Tu8, the stepping motors ML, MC, MR are turned off. Control for gradually increasing the rotation speed from 0.5 step / msec to 1.0 step / msec is performed (period from time Tu8 to Tu9), and after this control, a pulse signal is repeatedly output in the above control cycle. , Stepping motor ML,
MC and MR are rotated at the maximum rotation speed of 1.0 step / msec. Thus, the stepping motors ML, MC, M
A smooth acceleration of R can be achieved.

FIG. 3 shows stepping motors ML, MC,
MR rotation speed from 0.5step / msec to 1.0step / msec
6 is a time chart for explaining control for gradually increasing the number of times; In this gradual increase control, a total of five pulse signals are output by outputting pulse signals every two control periods within a period corresponding to ten control periods, and thereafter, This cycle is repeated five times, with one pulse output mode in which one pulse signal is output within one control cycle period as one cycle. The period in which these five cycles are performed (the period from time Tu8 to Tu81) corresponds to the length of 55 control periods, and the time from Tu8 to Tu8.
Throughout period 1, a total of 30 pulse signals are sent to CPU 2
1 is output. Therefore, the times Tu8 to Tu
Stepping motors ML, MC, M in period 81
The average of the rotation speeds of R is 0.545 (= 30/55) st
ep / msec, and the stepping motors ML, MC, MR
Will be apparently rotated at a rotational speed of 0.545 step / msec.

Next, within a period corresponding to the eight control periods, a pulse signal is output every two control periods to output a total of four pulse signals. This cycle is repeated five times with one pulse output mode in which one pulse signal is output within one control cycle period as one cycle.
The period during which these five cycles are performed (time Tu81 to Tu8
The period of 2) corresponds to a length of 45 control periods, and a total of 25 pulse signals are output from the CPU 21 throughout the period from the time Tu81 to Tu82. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from Tu81 to Tu82 is 0.556 (= 25/45) step / msec, and the stepping motors ML, MC, and MR apparently have 0.
It will be rotated at a rotation speed of 556 steps / msec.

Thereafter, within a period corresponding to the six control cycles, a pulse signal is output every two control cycles to output a total of three pulse signals. This cycle is repeated five times with one pulse output mode in which one pulse signal is output within one control cycle period as one cycle. A period during which these five cycles are performed (from time Tu82 to time T82)
u83) is equivalent to a length of 35 cycles of the control cycle, and throughout the period from Tu82 to Tu83,
The CPU 21 outputs a total of 20 pulse signals.
Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from Tu82 to Tu83 is 0.571 (= 20/35) step / msec, and
The stepping motors ML, MC, MR are apparently
It will be rotated at a rotation speed of 0.571 step / msec.

Subsequently, in a period corresponding to four control periods, a pulse signal is output every two control periods to output a total of two pulse signals. This cycle is repeated five times with one pulse output mode in which one pulse signal is output within one control cycle period as one cycle. A period during which these five cycles are performed (from time Tu83 to time T83)
u84) corresponds to the length of the control cycle of 25 cycles, and throughout the period from time Tu83 to Tu84,
The CPU 21 outputs a total of 15 pulse signals.
Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from the time Tu83 to Tu84 is 0.6 (= 15/25) step / msec, and the stepping motors ML, MC, and MR are apparently 0.6
It will be rotated at a rotation speed of step / msec.

Further, after outputting one pulse signal during a period corresponding to two control periods, one pulse signal is output during a period corresponding to one subsequent control period. Pulse output mode as one cycle,
This cycle is repeated five times. A period in which these five cycles are performed (a period from time Tu84 to Tu85) is
The time T corresponds to the length of 15 control cycles.
Throughout the period from u84 to Tu85, a total of 10 pulse signals are output from the CPU 21. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from Tu84 to Tu85 is 0.667.
(= 10/15) step / msec, and the stepping motors ML, MC, and MR seem to be 0.667 step / mse.
It will be rotated at the rotation speed of c.

Thereafter, one pulse signal is output during a period corresponding to two control periods, and thereafter, during one period corresponding to two control periods, the pulse signal is output for each control period. By outputting a pulse signal, a total of 2
One pulse output mode such as outputting pulse signals
This cycle is repeated five times. The period during which these five cycles are performed (time Tu85 to time T85)
u86) is equivalent to the length of the control cycle of 20 cycles, and throughout the period from time Tu85 to Tu86,
The CPU 21 outputs a total of 15 pulse signals.
Accordingly, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from the time Tu85 to Tu86 is 0.75 (= 15/20) step / msec, and the stepping motors ML, MC, and MR apparently have 0.
It will be rotated at a rotation speed of 75 steps / msec.

Subsequently, after one pulse signal is output during a period corresponding to two control periods, the control period is controlled within a period corresponding to three control periods that follow. The pulse output mode in which a total of three pulse signals are output by outputting a pulse signal every time is defined as one cycle, and this cycle is repeated five times. A period during which these five cycles are performed (time Tu8
The period from 6 to Tu87) corresponds to the length of 25 control periods, and a total of 20 pulse signals are output from the CPU 21 throughout the period from Tu86 to Tu87. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from Tu86 to Tu87 is 0.8 (= 20/25) step / msec, and the stepping motors ML, MC, and MR are apparently It will be rotated at a rotation speed of 0.8 step / msec.

Thereafter, one pulse signal is output during a period corresponding to two control periods, and thereafter, a pulse signal is output during a period corresponding to four control periods. The pulse output mode in which a total of four pulse signals are output by outputting a pulse signal to the controller is defined as one cycle, and this cycle is repeated five times. The period during which these five cycles are performed (time Tu87)
The period from Tu88 to Tu88) corresponds to a length of 30 control periods, and a total of 25 pulse signals are output from the CPU 21 throughout the period from Tu87 to Tu88. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from Tu87 to Tu88 is 0.833 (= 25/30) step / msec. It will be rotated at a rotation speed of 0.833 step / msec.

Thereafter, one pulse signal is output during a period corresponding to two control periods, and thereafter, a pulse signal is output during a period corresponding to five control periods.
A pulse output mode of outputting a total of five pulse signals by outputting a pulse signal in each control cycle is defined as one cycle, and this cycle is repeated five times. A period during which these five cycles are performed (from time Tu88 to time T88)
The period of u9) corresponds to the length of 35 control periods, and a total of 30 pulse signals are output from the CPU 21 during the period from time Tu88 to Tu9. Therefore, the average of the rotation speeds of the stepping motors ML, MC, MR during the period from time Tu88 to Tu9 is
0.857 (= 30/35) step / msec, and the stepping motors ML, MC, MR seem to be 0.85
It will be rotated at a rotation speed of 7 steps / msec.

Thus, the stepping motors ML, MC,
When the apparent rotational speed of the MR is increased to 0.857 step / msec, the gradual increase control is terminated, and thereafter,
A pulse signal generation process is performed in each control cycle, and a pulse signal is output in the control cycle, so that the stepping motors ML, MC, and MR have the highest rotational speed.
It keeps rotating at 0 step / msec. FIG. 4 is a time chart for explaining the control of the stepping motors ML, MC, MR during the slowdown period (slowdown control), and shows the time change of the rotation speed of the stepping motors ML, MC, MR. . In response to the start of the slowdown control, first, the stepping motors ML, MC,
Control for gradually decreasing the rotation speed of the MR from the maximum rotation speed to 0.5 step / msec is started (time Td1).
Then, after this gradual decrease control, a pulse signal generation process is performed every two control cycles, and a pulse signal is output from the CPU 21 every two control cycles, so that the stepping motors ML, MC, MR is 0.5st
It is rotated at a rotation speed of ep / msec (time Td2 to Td3
Period).

When the stepping motors ML, MC, MR rotate 60 steps at a rotation speed of 0.5 step / msec, then the rotation speeds of the stepping motors ML, MC, MR are changed from 0.5 step / msec to 0.333 step / msec. Control is performed to gradually reduce the time until the time Td3 to the time Td4. Thereafter, the output period of the pulse signal is set to three periods of the control period, and ten pulse signals are output, so that the stepping motors ML, MC, MR become 0.3.
It is rotated by 10 steps at a rotation speed of 33 step / msec (period between times Td4 and Td5).

When the stepping motors ML, MC, MR rotate by 10 steps at a rotation speed of 0.333 step / msec, then the output cycle of the pulse signal is changed to four control cycles, and the stepping motor ML is changed. , M
The rotation speeds of C and MR are reduced to 0.25 step / msec (time Td5). Further, when the stepping motors ML, MC, MR rotate by 10 steps at the rotation speed of 0.25 step / msec, the output cycle of the pulse signal is changed to five control cycles, and the stepping motor M
The rotation speeds of L, MC, and MR are reduced to 0.2 step / msec (time Td6).

When the stepping motors ML, MC, MR rotate for 10 steps at a rotation speed of 0.2 step / msec, the output cycle of the pulse signal is changed to six control cycles, and the stepping motors ML, MC, MR are changed. The rotation speed of the MR is reduced to 0.167 step / msec (time T
d7). When the stepping motors ML, MC, MR rotate by 10 steps at the rotation speed of 0.167 step / msec, the output cycle of the pulse signal is changed to seven control cycles, and the stepping motors ML, MC are changed.
The rotation speeds of C and MR are reduced to 0.143 step / msec (time Td8). Further, when the stepping motors ML, MC, MR rotate at a rotation speed of 0.143 step / msec by 10 steps, the output cycle of the pulse signal is changed to eight control cycles, and the stepping motor M
The rotation speeds of L, MC, and MR are reduced to 0.125 step / msec (time Td9). After that, 0.125st
At the rotation speed of ep / msec, the stepping motors ML, MC,
When the MR rotates by 10 steps, the execution of the pulse signal generation processing is stopped (output of the pulse signal is stopped), and the stepping motors ML, MC, and MR are stopped (time T).
d10).

FIG. 5 shows stepping motors ML, MC,
MR rotation speed from 1.0step / msec to 0.5step / msec
6 is a time chart for explaining a control for gradually decreasing the value to In FIG. 5, the times Td1 to Td
An example of the gradual decrease control performed during the period d2 is shown.
In this gradual decrease control, a total of five pulse signals are output by outputting pulse signals for each control cycle within a period corresponding to five control cycles, and then the control cycle following the control cycle is performed. The pulse output mode in which one pulse signal is output within a period corresponding to the two cycles is defined as one cycle, and this cycle is repeated 16 times. A period during which these 16 cycles are performed (time Td1 to Td1
d11) corresponds to a length of 112 cycles of the control cycle, and throughout the period from time Td1 to time Td11.
A total of 96 pulse signals are output from the CPU 21.
Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from time Td1 to Td11 is 0.857 (= 96/112) step / msec, and
The stepping motors ML, MC, MR are apparently
It will be rotated at a rotation speed of 0.857 step / msec.

Next, within a period corresponding to four control periods, a total of three pulse signals are output by outputting a pulse signal for each control period, and thereafter, a total of three pulse signals are output. This cycle is repeated 16 times, with one pulse output mode in which one pulse signal is output within a period of two cycles as one cycle. This one
A period in which six cycles are performed (a period from time Td11 to Td12) corresponds to a length of 96 control periods,
During the period from time Td11 to time Td12, a total of 80
The pulse signals are output from the CPU 21. Therefore, the average of the rotation speeds of the stepping motors ML, MC, MR during the period from time Td11 to Td12 is
0.833 (= 80/96) step / msec, and the stepping motors ML, MC, MR seem to be 0.83
It will be rotated at a rotation speed of 3 steps / msec.

Thereafter, within a period corresponding to three control periods, a total of three pulse signals are output by outputting pulse signals for each control period.
The pulse output mode in which one pulse signal is output within a period corresponding to two control periods following this is defined as one cycle, and this cycle is repeated 16 times. A period during which these 16 cycles are performed (time Td12 to Td1)
(Period 3) corresponds to a length of 80 control periods, and a total of 64 pulse signals are output from the CPU 21 during the period from time Td12 to time Td13. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from time Td12 to Td13 is 0.8 (= 64/80) step / msec, and the stepping motors ML, MC, and MR are apparently 0.8st
It will be rotated at a rotation speed of ep / msec.

Subsequently, during a period corresponding to two control periods, a total of two pulse signals are output by outputting pulse signals for each control period.
The pulse output mode in which one pulse signal is output within a period corresponding to two control periods following this is defined as one cycle, and this cycle is repeated 16 times. A period during which these 16 cycles are performed (from time Td13 to time Td1)
The period of 4) corresponds to the length of 64 control periods, and a total of 48 pulse signals are output from the CPU 21 during the period from time Td13 to time Td14. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from time Td13 to Td14 is 0.75 (= 48/64) step / msec. 0.7
It will be rotated at a rotation speed of 5 steps / msec.

Further, after outputting one pulse signal within one control period, one pulse signal is output during two subsequent control periods. This cycle is repeated 16 times, with the output mode as one cycle. A period during which these 16 cycles are performed (a period from time Td14 to time Td15) corresponds to a length of 48 control periods, and this time Td1
Throughout the period from 4 to Td15, a total of 32 pulse signals are output from the CPU 21. Therefore, this time T
Stepping motor M during period d14 to Td15
The average of the rotation speeds of L, MC, and MR is 0.667 (= 3
2/48) step / msec.
L, MC, and MR are apparently rotated at a rotation speed of 0.667 step / msec.

After that, one pulse signal is output during one control cycle, and then every two control cycles during a period corresponding to four control cycles that follow. By outputting a pulse signal to the
One pulse output mode such as outputting pulse signals
This cycle is repeated 16 times. A period during which these 16 cycles are performed (from time Td15 to time Td15)
The period Td16) corresponds to the length of 80 control periods, and a total of 48 pulse signals are output from the CPU 21 during the period from time Td15 to time Td16. Therefore, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from time Td15 to time Td16 is 0.6 (= 48/80) step / msec.
The stepping motors ML, MC, MR are apparently
It will be rotated at a rotation speed of 0.6 step / msec.

Subsequently, after one pulse signal is output during a period of one control cycle, a pulse signal is output within a period corresponding to six cycles of the control cycle. A pulse output mode in which a pulse signal is output every cycle to output a total of three pulse signals is defined as one cycle, and this cycle is repeated 16 times. The period during which these 16 cycles are performed (time T
The period from d16 to Td17) corresponds to the length of 112 control periods, and a total of 64 pulse signals are output from the CPU 21 during the period from time Td16 to Td17. Therefore, this time Td16 to Td17
The average of the rotation speeds of the stepping motors ML, MC, and MR during the period is 0.571 (= 64/112) step
/ msec, and the stepping motors ML, MC, MR
Will be apparently rotated at a rotational speed of 0.571 step / msec.

Thereafter, one pulse signal is output within one period of the control cycle, and then two pulse cycles of the control cycle are performed within a subsequent period corresponding to eight control cycles. A pulse output mode of outputting a total of four pulse signals by outputting a pulse signal every time is defined as one cycle, and this cycle is repeated 16 times. A period during which these 16 cycles are performed (time Td
The period of 17 to Td18) corresponds to the length of 144 control periods, and a total of 80 pulse signals are output from the CPU 21 during the period of time Td17 to Td18. Therefore, the average of the rotation speeds of the stepping motors ML, MC, MR during the period from time Td17 to time Td18 is 0.556 (= 80/144) step / m.
sec, and the stepping motors ML, MC, MR
Apparently, it is rotated at a rotation speed of 0.556 step / msec.

Thereafter, one pulse signal is output during one control cycle, and then, during a period corresponding to ten control cycles, two pulse signals are output. A pulse output mode of outputting a total of five pulse signals by outputting a pulse signal in each cycle is defined as one cycle, and this cycle is repeated 16 times. A period during which these 16 cycles are performed (time Td1
The period from 8 to Td2) corresponds to the length of 176 control periods, and a total of 96 pulse signals are output from the CPU 21 throughout the period from time Td18 to Tu9. Accordingly, the average of the rotation speeds of the stepping motors ML, MC, and MR during the period from time Td18 to Td2 is 0.545 (= 96/176) step / msec. It will be rotated at a rotation speed of 0.545 step / msec.

Thus, the stepping motors ML, MC,
When the apparent rotation speed of the MR is reduced to 0.545step / msec, the gradual decrease control is terminated, and thereafter,
The pulse signal generation processing is performed every two control periods and a pulse signal is output, so that the stepping motors ML, MC, and MR are rotated at a rotation speed of 0.5 step / msec. As described above, in the slow-up period shown in FIGS.
When the rotation speeds of C and MR are increased from the rotation speed at the time when the pulse signal is output every two control periods to the maximum rotation speed, the stepping motors ML, MC, MR
Is gradually increased in order to gradually increase the rotation speed. Thereby, smooth acceleration of the stepping motors ML, MC, MR can be achieved throughout the slow-up period.

In the slowdown period shown in FIGS. 4 and 5, the stepping motors ML, MC, MR
When the rotation speed of the stepping motors ML, MC, and MR is reduced from the maximum rotation speed to the rotation speed at which the pulse signal was output every two control periods, In order to gradually decrease the rotation speeds of the stepping motors ML, MC, MR when the rotation speed at the time when the pulse signal is output is reduced from the rotation speed at the time when the pulse signal is output to the rotation speed at the time when the pulse signal is output every three control periods. Is gradually reduced. As a result, smooth deceleration of the stepping motors ML, MC, MR can be achieved throughout the slowdown period.

The stepping motors ML, MC, M
Gradual reduction control performed when the rotation speed of R is reduced from the rotation speed when a pulse signal is output every two control periods to the rotation speed when a pulse signal is output every three control periods. Is, for example, 2
× p (p: natural number) Within a period corresponding to a cycle,
After outputting a total of p pulse signals by outputting one pulse signal for every two control cycles, within a period of 3 × q (q: natural number) cycles of the control cycle that follows. A pulse output mode in which a total of q pulse signals are output by outputting one pulse signal every three periods is defined as one cycle, and this cycle is repeated a predetermined number of times and for a predetermined period (for example, 16 cycles). Each time, the control may be such that the ratio of q to p is increased.

That is, the stepping motors ML, M
The rotation speed of C and MR is set to N (N: natural number) in the above control cycle.
The step-up control and the step-down control performed in the process of switching between the rotation speed when the pulse signal is output every cycle and the rotation speed when the pulse signal is output every N + n (n: natural number) cycles of the control cycle are described below. After outputting p pulse signals in one of a first cycle corresponding to N cycles of the control cycle or a second cycle corresponding to N + n cycles of the control cycle, The pulse output mode in which q pulse signals are output in the other cycle of the second cycle or the second cycle is defined as one cycle, and this cycle is repeated a plurality of times, and the ratio of q to p is changed every predetermined period May be controlled.

The gradual increase control and the gradual decrease control include a period in which a state where a pulse signal is output every N cycles of the control cycle and a state where a pulse signal is output every N + n cycles of the control cycle are included. It is sufficient if the pulse signal is output every N cycles of the control cycle and the pulse signal is output every N + n cycles of the control cycle. A state in which a pulse signal is output for each (natural number) cycle may be further mixed.

Further, in the above-described embodiment, an example in which the present invention is applied to the control of a stepping motor provided in a pachinko machine has been described. However, the present invention is applicable to a game machine other than a pachinko machine such as a pachislot machine. It is also possible to apply the present invention to the control of the stepping motor. Moreover,
The present invention is not limited to gaming machines such as pachinko machines and pachislot machines, and the present invention can be applied to control of a stepping motor provided in devices and apparatuses other than gaming machines.

In addition, various design changes can be made within the scope of the matters described in the claims.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an electrical configuration of a pachinko machine according to an embodiment of the present invention, and particularly illustrates a configuration of a portion related to control of a symbol display.

FIG. 2 is a time chart for explaining control of a stepping motor (slow-up control) during a slow-up period.

FIG. 3 shows a rotation speed of a stepping motor of 0.5 step / m.
6 is a time chart for explaining control for gradually increasing from sec to 1.0 step / msec.

FIG. 4 is a time chart for explaining control of a stepping motor (slow down control) during a slow down period.

FIG. 5 shows a rotation speed of a stepping motor of 1.0 step / m.
6 is a time chart for explaining control for gradually decreasing the value from sec to 0.5 step / msec.

FIG. 6 is a time chart for explaining conventional slow-up control.

[Explanation of symbols]

 1 Symbol Display 2 Symbol Display Control Board 21 CPU 22 RAM 23 ROM 3 Main Control Board 31 CPU 32 RAM 33 ROM DL, DC, DR Drum ML, MC, MR Stepping Motor

Claims (5)

[Claims] 1. A pulse signal output means for outputting a pulse signal, and a predetermined control cycle N from the pulse signal output means.
(N: natural number) a first rotation speed control means for rotating a stepping motor at a first rotation speed by repeatedly outputting a pulse signal at each cycle; and N + n of the control cycle from the pulse signal output means.
(N: a natural number) a second rotation speed control means for rotating the stepping motor at a second rotation speed lower than the first rotation speed by repeatedly outputting a pulse signal at every cycle; In the process of switching the speed between the first rotation speed and the second rotation speed, a pulse signal is output every N cycles of the control cycle and a pulse signal is output every N + n cycles of the control cycle. A third rotation speed at which the stepping motor is rotated at a third rotation speed between the first rotation speed and the second rotation speed by controlling the pulse signal output means so that the first rotation speed and the second rotation speed are mixed. A stepping motor control device, comprising: a control unit. 2. The control device according to claim 1, wherein the third rotation speed control means performs one of a first cycle corresponding to N cycles of the control cycle and a second cycle corresponding to N + n cycles of the control cycle. After outputting a predetermined first number of pulse signals from the pulse signal output means, the pulse signal output means outputs a predetermined second number of pulse signals from the pulse signal output means in the other cycle of the first cycle or the second cycle. 2. The stepping motor control device according to claim 1, wherein a pulse output mode such as outputting is defined as one cycle, and the cycle is repeated a plurality of times to rotate the stepping motor at the third rotation speed. 3. The rotation speed of the stepping motor is adjusted to the first speed.
In the process of switching between the rotation speed of the second rotation speed and the second rotation speed, the ratio between the first number and the second number is changed every predetermined period, thereby realizing the third rotation speed control means. 3. The stepping motor control device according to claim 2, further comprising speed changing means for changing the third rotation speed for each of the predetermined periods. 4. A jackpot lottery executing means for executing a jackpot lottery in response to satisfaction of a predetermined condition, and a symbol for displaying a result of the jackpot lottery by the jackpot lottery executing means are drawn on a peripheral surface. And a motor control means for controlling the rotation of the stepping motor, wherein the motor control means comprises: a stepping motor for driving the rotation of the drum; and a motor control means for controlling the rotation of the stepping motor. A game machine to which the stepping motor control device according to (1) is applied. 5. A first rotation speed control step of rotating a stepping motor at a first rotation speed by repeatedly outputting a pulse signal every N (N: natural number) of a predetermined control period from a pulse signal output means. And N + n of the control cycle from the pulse signal output means.
A second rotation speed control step of rotating the stepping motor at a second rotation speed lower than the first rotation speed by repeatedly outputting a pulse signal at every (n: natural number) period; Between the control step and the second rotation control step, a state where a pulse signal is output every N cycles of the control cycle and a state where a pulse signal is output every N + n cycles of the control cycle are mixed. Controlling the pulse signal output means to rotate the stepping motor at a third rotation speed between the first rotation speed and the second rotation speed. Characteristic stepping motor control method.