JP2003079178A - Motor control method in recorder, current value reader and recorder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the current consumption value of one drive of a motor which is driven by a speed setting wherein an acceleration and deceleration region and a constant speed region are set, by a comparatively simple process wherein a current only in the constant speed region is measured, in a recorder. SOLUTION: A carriage motor is driven by the speed setting which has an acceleration region, a constant speed region and a deceleration region. In a preliminary experiment, an effective current value Ipass is obtained by actual measurement when the carriage is subjected to one drive (one pass). A load current value IFuka , actually measured in the constant speed region is subtracted from the current values Ipass , and IBase is calculated, which is made to correspond to the moving distance and the moving speed of the carriage and stored in a ROM. When printing is executed, the current IFuka of the constant speed region of the carriage is actually measured, and the IBase corresponding to the moving distance and the moving speed in that case is read from the ROM, thereby obtaining the effective current value Ipass (=IFuka +IBase ).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control method, a current value acquisition device and a recording device in a recording device such as a printer for acquiring a current consumption value per driving of an electric motor.

[0002]

2. Description of the Related Art Conventionally, for example, in a serial printer, a carriage having a print head runs in a main scanning direction (a direction orthogonal to a paper feed direction) to print on a print medium such as paper. The carriage is driven by a carriage motor provided in the printer. An electric motor such as a DC motor is used as the carriage motor. During printing, the carriage repeats reciprocating movement in the main scanning direction, and after each pass, the carriage is stopped, accelerated, decelerated, decelerated, and then stopped on the opposite side. For example, in an inkjet printer, ink is ejected in the constant velocity area of the carriage. The carriage motor that drives the carriage is current value controlled or voltage value controlled so that the carriage travels in a predetermined speed pattern for each pass.

By the way, an electric motor such as a carriage motor generates heat according to power consumption when driven.
When the electric motor is driven at a high speed or an excessive load is applied to the electric motor due to excessive sliding resistance when the carriage moves, the temperature of the electric motor may exceed the standard temperature. In this case, it is known to perform heat generation restriction control including a pause for a predetermined time so that the electric motor does not fail due to heat.

[0004]

By the way, when the temperature of the motor is detected by using the temperature sensor and a predetermined amount of heat is generated so that the motor temperature does not exceed the standard temperature, the electric motor is stopped for a predetermined time. It is conceivable to control the heat generation by limiting the heat generation by putting in. However, when the temperature sensor is used, there is a problem that the number of parts increases and the manufacturing cost rises.

On the other hand, it is also possible to estimate the temperature by predicting the heat generation temperature from the current consumption of the carriage motor. However, since the current value changes with the passage of time due to the acceleration / deceleration region and the constant velocity region in the process of one pass (one drive) of the carriage, it is attempted to calculate the effective current value, for example, as the current consumption per pass. However, there is a problem that the processing load of the CPU and the like becomes relatively large. Since the current value of the carriage motor differs for each printer according to the load determined by the sliding resistance of the carriage and the years of use, it is necessary to measure the current value in order to obtain a current consumption value with a certain degree of accuracy. .

The present invention has been made to solve the above problems, and a first object thereof is one drive of an electric motor driven at speed settings in which an acceleration / deceleration range and a constant speed range are set. It is an object of the present invention to provide a motor control method, a current value acquisition device, and a recording device in a recording device, in which the current consumption value per hit can be obtained by a relatively simple process of merely measuring the current in a constant speed region.

A second object is that when the heat generation temperature of the electric motor is estimated without using a temperature sensor, the process for obtaining the consumed current becomes simple. It is possible to reduce the load of control processing such as.

A third object is to drive the electric motor when the heat generation temperature of the electric motor, which is obtained based on the integrated value obtained by integrating the heat generation amount obtained based on the current consumption of the electric motor and the driving time, exceeds a threshold value. In the case of performing control to suspend the power consumption, the process for acquiring the current consumption is simplified, so C
The load of control processing such as PU can be reduced.

[0009]

In order to achieve the first object, the invention according to claim 1 is the electric motor based on control information obtained based on a current consumption value per drive of the electric motor. In the motor control method of the recording apparatus, the electric motor is speed-controlled so as to move the moving body one drive at a speed setting in which an acceleration / deceleration range and a constant speed range are set, and the electric motor The consumption current value per drive is divided into a load current value that depends on the load applied to the electric motor when moving the moving body, and a fixed current value that corresponds to the inertia amount when accelerating and decelerating the moving body. Separately, the fixed current value obtained in advance is stored in a memory, and a step of actually measuring the current in the constant speed range to obtain a measured current value; and a load current value determined based on the measured current value in the constant speed range Stored in the memory Was the subject matter that a step of determining a current consumption value per driven with a fixed current value.

According to the present invention, the electric motor is speed-controlled so as to move the moving body by one drive at a speed setting in which the acceleration / deceleration range and the constant speed range are set. The consumption current value per drive of the electric motor is divided into a load current value that depends on the load applied to the electric motor when moving the moving body and a fixed current value that corresponds to the inertia amount when accelerating and decelerating the moving body. Separately, the fixed current value obtained in advance is stored in the memory. Measure the current in the constant speed range to obtain the measured current value, and use the load current value determined based on the measured current value in the constant speed range and the fixed current value stored in the memory to reduce the consumption per drive. Calculate the current value. Since it suffices to actually measure the current in the constant speed region and perform a simple calculation, for example, the processing load on the CPU or the like can be reduced.

In order to achieve the first object, claim 2
In the motor control method for a recording apparatus according to claim 1, the invention according to claim 1 further comprises a step of obtaining a heat generation amount per drive based on the acquired consumption current value per drive of the electric motor and drive time. And a step of estimating the heat generation temperature of the electric motor by integrating the heat generation amounts, and a step of controlling the electric motor to pause between driving when the heat generation temperature exceeds a predetermined threshold value. That is the summary.

According to a third aspect of the invention, there is provided an electric motor according to the first aspect.
In a current value acquisition device in a recording device that acquires a consumption current value per drive, an electric motor whose speed is controlled by a speed setting of one drive in which an acceleration / deceleration range and a constant speed range are set, and one drive of the electric motor. The consumption current value per hit is divided into a load current value that depends on the load applied to the electric motor and a fixed current value that does not substantially depend on the load, and a memory that stores the previously determined fixed current value and the constant speed Per drive using a current measuring means for measuring the current in the range to obtain a measured current value, a load current value determined based on the measured current value in the constant speed region, and a fixed current value stored in the memory And a calculation means for calculating the current consumption value.

According to the present invention, the current in the constant speed region is measured, and the measured current value is obtained by the current measuring means. The current consumption value per drive is calculated by the calculation means using the load current value determined based on the measured current value in the constant speed region and the fixed current value stored in the memory. Therefore, the current measurement in the constant speed region and the simple calculation are all that is required, and the processing load of the CPU, for example, is light.

According to a fourth aspect of the present invention, there is provided an electric motor 1
In a current value acquisition device in a recording device that acquires a consumption current value per drive, an electric motor whose speed is controlled by a speed setting of one drive in which an acceleration / deceleration range and a constant speed range are set, and one drive of the electric motor. The current consumption value per hit is divided into a load current value that depends on the load applied to the electric motor and a fixed current value that is substantially mass-dependent and that corresponds to the inertia amount when the electric motor is accelerated or decelerated, and is determined in advance. A memory that stores a fixed current value, a current measuring unit that measures the current in the constant speed region to obtain a current measured value, a load current value that is determined based on the measured current value in the constant velocity region, and is stored in the memory. The gist of the present invention is to provide a calculation means for calculating a current consumption value per drive using the fixed current value thus obtained.

According to the present invention, the current in the constant speed region is measured, and the measured current value is obtained by the current measuring means. The current consumption value per drive is calculated by the calculation means using the load current value determined based on the measured current value in the constant speed region and the fixed current value stored in the memory. Therefore, the current measurement in the constant speed region and the simple calculation are all that is required, and the processing load of the CPU, for example, is light.

According to a fifth aspect of the invention, there is provided an electric motor according to the first aspect.
In a current value acquisition device in a recording device that acquires a consumption current value per drive for use in controlling the electric motor, the electric motor is configured to move the moving body at a speed in which an acceleration / deceleration area and a constant speed area are set. The speed is controlled to move one drive by setting, and the current consumption value per one drive of the electric motor depends on the load applied to the electric motor when moving the moving body, and the moving body. Is divided into a fixed current value that is substantially mass-dependent and corresponds to the inertia amount when accelerating and decelerating, and a memory that stores the fixed current value that is obtained in advance and the current in the constant speed region is measured to obtain a measured current value. A current measuring means, a load current value determined based on the current measured value in the constant speed region, and a calculating means for calculating a consumption current value per drive using a fixed current value stored in the memory are provided. thing The gist.

According to the present invention, the current measurement value is obtained by the current measurement means by measuring the current in the constant velocity region of the moving body. The current consumption value per drive is calculated by the calculation means using the load current value determined based on the measured current value in the constant speed region and the fixed current value stored in the memory. Therefore, the current measurement in the constant speed region and the simple calculation are all that is required, and the processing load of the CPU, for example, is light.

According to a sixth aspect of the present invention, in the current value acquisition device in the recording apparatus according to any one of the third to fifth aspects, the consumption current value per drive is the effective current per drive. The gist is that it is a value.

According to the present invention, in addition to the operation of the invention described in any one of claims 3 to 5, the load current value determined based on the measured current value in the constant speed region and the fixed value stored in the memory. The invention according to claim 7, wherein the effective current value per one drive is calculated by using the current value and the calculating means.
In the current value acquisition device in the recording device according to any one of items 1 to 6, a plurality of data of the fixed current values having individual values according to the driving speed and the driving amount of the electric motor are stored in the memory. What is remembered is the gist.

According to the present invention, the memory stores data of a plurality of fixed current values having individual values according to the drive speed and drive amount of the electric motor. Can be obtained relatively accurately according to the drive speed and drive amount of the electric motor.

According to an eighth aspect of the present invention, in the current value acquisition apparatus for the recording apparatus according to the seventh aspect, initial control means for initially driving the electric motor by at least one drive when the recording apparatus is powered on, Using the current measuring means for actually measuring the current value in the constant speed region when the electric motor is driven at least one time during the initial driving, and the fixed current value data and the actually measured current value stored in the memory. Then, a data preparation means for calculating data of a plurality of consumption current values according to the driving speed and the driving amount of the electric motor and storing the data in the memory is provided.

According to the present invention, when the recording apparatus is powered on, the electric motor is initially driven by the initial control means to drive at least one drive. The current value in the constant speed region when the electric motor is driven at least one time during the initial driving is measured by the current measuring means. The data preparation means uses the data of the fixed current value stored in the memory and the measured current value to calculate a plurality of current consumption value data corresponding to the driving speed and the driving amount of the electric motor and stores the data in the memory. . Therefore, at the time of main drive after the initial drive (preparatory drive), each time the electric motor is driven one by one, if the corresponding data is obtained from the memory from the drive speed and drive amount at that time, the current consumption value at that one drive will be Easy to get. Therefore, it is not necessary to actually measure the current in the constant speed region when the electric motor is driven. Therefore, since it is sufficient to simply select the data from the memory, the processing load of the CPU, for example, can be further reduced.

According to a ninth aspect of the present invention, the current value acquisition device according to any one of the third to eighth aspects is provided, and the consumed current of the electric motor per one drive obtained by the calculation means. A heat generation amount obtaining unit that obtains a heat generation amount per drive based on a value and a drive time, and a temperature estimation unit that integrates the heat generation amount per drive and estimates a heat generation temperature of the electric motor are provided. The feature is the gist.

According to the present invention, by using the current consumption value of the electric motor per drive obtained by the calculating means,
The heat generation amount per one drive is obtained by the heat generation amount acquisition means based on the current consumption value and the drive time. The heat generation temperature of the electric motor is estimated by the temperature estimation means by integrating the heat generation amount per drive.

The tenth aspect of the invention is summarized in that the recording apparatus according to the ninth aspect further includes a determination unit for determining abnormal heat generation when the heat generation temperature exceeds a predetermined threshold value.

According to the present invention, in addition to the operation of the invention described in claim 9, when the heat generation temperature exceeds the predetermined threshold value, it is judged that the heat generation is abnormal. According to an eleventh aspect of the invention, in the recording apparatus according to the ninth aspect, when the heat generation temperature exceeds a predetermined threshold value, there is provided a pause control means for controlling the electric motor to pause during driving. That is the summary.

According to the present invention, when the heat generation temperature exceeds the predetermined threshold value, the pause control means controls the electric motor to pause during the driving. Claim 12
In the serial type recording apparatus in which the carriage having the recording head reciprocates in the main scanning direction to perform recording on the recording medium by the recording head, the invention described in 1) reciprocates the carriage in the main scanning direction. An electric motor that is driven for that purpose, a control unit that controls the electric motor to drive the carriage at a speed setting in which an acceleration / deceleration range and a constant speed range are set, and The effective current value of the electric motor is divided into a load current value that depends on the load applied to the electric motor when the carriage is moved and an inertia current value that substantially depends on the carriage mass, and the inertia current value obtained in advance A memory for storing the current, a current measuring means for actually measuring the current in the constant speed range to obtain a current measured value, and a current measured value in the constant speed range. A calculation means for calculating an effective current value using a load current value determined based on the inertia current value stored in the memory; and the effective current value per drive and the driving time obtained by the calculation means. Based on the calculated heat generation amount per drive, the temperature estimation means for sequentially integrating the heat generation amounts to estimate the heat generation temperature of the electric motor; and when the heat generation temperature exceeds a predetermined threshold value, when the carriage is reversed. The gist is that it includes a pause control means for controlling the electric motor so as to provide a pause.

According to the present invention, the current measurement value obtained by actually measuring the current in the constant speed region is acquired by the current measurement means. The effective current value is calculated by the calculation means using the load current value determined based on the measured current value in the constant speed region and the inertia current value stored in the memory. Using the effective current value per drive obtained by the calculation means, the heat generation amount per drive is calculated based on the effective current value and the drive time, and
The heat generation temperature of the electric motor is estimated by the temperature estimation means by sequentially integrating the heat generation amounts. When the heat generation temperature exceeds a predetermined threshold value, the pause control means controls the electric motor to pause when the carriage is reversed.

According to a thirteenth aspect of the present invention, in a serial type recording apparatus in which recording is performed on a recording medium by the recording head by reciprocating the carriage having the recording head in the main scanning direction, the carriage is mainly used. An electric motor driven to reciprocate in the scanning direction,
Control means for controlling the electric motor so as to drive the carriage 1 at a speed setting in which an acceleration / deceleration range and a constant speed range are set; and an effective current value of the electric motor when the carriage is driven by 1 A memory that stores a predetermined inertia current value, which is divided into a load current value that depends on the load applied to the electric motor when the carriage is moved and an inertia current value that substantially depends on the carriage mass; Effective current value using current measuring means for measuring current in the high speed range to obtain a measured current value, load current value determined based on the measured current value in the constant speed range, and inertia current value stored in the memory Computing means for computing
The gist of the present invention is to provide a temperature estimating means for estimating the heat generation temperature of the electric motor based on the effective current value per driving and the driving time obtained by the calculating means.

According to the present invention, the current measurement value obtained by actually measuring the current in the constant speed region is acquired by the current measurement means. The effective current value is calculated by the calculation means using the load current value determined based on the measured current value in the constant speed region and the inertia current value stored in the memory. Using the effective current value per drive obtained by the calculation means, the heat generation temperature of the electric motor is estimated by the temperature estimation means based on the effective current value and the drive time. Therefore, the effective current value used when estimating the heat generation temperature is obtained by current measurement in the constant speed region and simple processing, so that the control processing load of the CPU or the like is lightened.

The invention according to claim 14 relates to claims 9 to 1.
3. In the recording apparatus according to any one of 3 above, the temperature estimating means sequentially integrates the heat generation amount with a correction calculation in consideration of natural heat dissipation over time to obtain an integrated value of the heat amount, and the integrated value. The gist is to estimate the heat generation temperature of the electric motor based on.

According to the present invention, in addition to the operation of the invention described in any one of claims 9 to 13, the heat amount is sequentially integrated with the correction calculation in consideration of natural heat dissipation with the passage of time. Is calculated, and the heat generation temperature of the electric motor is estimated based on this integrated value. Since the heat generation temperature is estimated in consideration of natural heat dissipation, the heat generation temperature can be estimated almost correctly.

According to a fifteenth aspect of the present invention, in the recording apparatus according to any one of the ninth to fourteenth aspects, a second memory is provided for storing the heat generation temperature immediately before the power is turned off. The gist is to read the heat generation temperature stored in the second memory at the time of turning on and use it as an initial value.

According to the fifteenth aspect of the invention, in addition to the operation of the invention according to any one of the ninth to thirteenth aspects, the integrated value immediately before the power is turned off is stored in the second memory,
When the power is turned on, the integrated value stored in the second memory is read out and used as an initial value. Therefore, even if the electric motor is turned off when the electric motor is relatively hot, and the power is turned on immediately, the integrated value when the electric power is turned off is used as the initial value, thus avoiding overheating the electric motor. To be done.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the present invention is embodied in an ink jet recording apparatus will be described below with reference to FIGS.

FIG. 2 is a schematic configuration diagram of the inside of the case of the ink jet recording apparatus. As shown in FIG. 2, an inkjet printing apparatus (hereinafter referred to as a printer) 1 as a recording apparatus (printing apparatus) includes a printer body 2 in a case (not shown). The printer body 2 is provided with a carriage 5 guided by rails (guide rods) 3 and capable of reciprocating in a main scanning direction parallel to the axial direction of the platen 4. The carriage 5 is driven via a timing belt 7 by a carriage motor (hereinafter referred to as a CR motor) 6 as an electric motor. In this embodiment,
A DC motor is used as the CR motor 6.

A print head 9 as a recording head is arranged on the lower surface side of the carriage 5 facing the paper 8 as a recording medium. The print head 9 has a large number of nozzle rows (not shown) for each ink color. Ink cartridges 10 and 11 (two types, one for black and one for color) that supply ink to the print head 9 are detachably mounted on the upper portion of the carriage 5. Printing is performed by ejecting ink droplets from each nozzle based on the vibration action of the piezoelectric vibrator built in the print head 9.

Further, the printer 1 is provided with a linear encoder 13 for detecting the traveling speed of the carriage 5. The linear encoder 13 includes a resin detection tape (code tape) 14 and an encoder 33 (shown in FIG. 1). The tape 14 is stretched on the back side of the carriage 5 in parallel with the main scanning direction (carriage running direction), and a plurality of slits 14a formed at a constant pitch in the main scanning direction of the tape 14 project light from a slit 14a. The encoder 33 that moves together with the sensor 5 detects.

Further, the printer 1 is provided with a paper feed motor 15. When the paper feed motor 15 is driven, two sets of paper feed rollers (not shown) arranged in a pair before and after the platen 4 in the paper feed direction (in the direction of the arrow in the figure) are driven to feed the paper 8. In this embodiment, a stepping motor is used as the paper feed motor 15.

FIG. 1 shows the electrical construction of the print drive control system in the printer. As shown in the figure, a host computer (for example, a personal computer) 20 is connected to an interface 22 of the printer 1 via a communication cable 21. The printer 1 includes a CPU 23 and an ASIC
(Application Specific IC)
24, ROM (PROM) 25 as memory, RAM
26, an EEPROM 27 as a second memory, a timer IC 28, a DC unit 29, a carriage motor driver (CR motor driver) 30, a paper feed motor driver 31, and a head driver 32. The CR motor 6 and the paper feed motor 15 are connected to the respective motor drivers 3
0 and 31 are respectively connected. Print head 9
(Specifically, each piezoelectric vibrator for each nozzle) is connected to the head driver 32. Sensors such as an encoder 33, a home sensor, and a paper detection sensor (all not shown) are connected to the CPU 23. In addition, CPU
23, the DC unit and the CR motor driver 30 constitute an initial control means, a control means and a pause control means. In addition, the CPU 23 causes the current measuring means, the calculating means,
An initial control unit, a data preparation unit, a heat generation amount acquisition unit, a temperature estimation unit, a control unit, and a pause control unit are configured. C
The PU 23 and the timer IC constitute a heat generation amount acquisition means.

The ASIC 24 is the host computer 20.
The print data received from is developed into an image so that it can be used when controlling the print head 9, and the print head 9 is drive-controlled via the head driver 32 based on the data after the image development. The RAM 26 functions as a buffer for temporarily storing calculation results for various controls and temporarily storing print data and data after image development.

The DC unit 29 converts AC into DC and supplies DC to the motor drivers 30 and 31 according to the command value from the CPU 23. The CPU 23 voltage-controls the motors 6 and 15 via the motor drivers 30 and 31. For example, when the speed of the CR motor 6 which is a DC motor is controlled, the CPU 23 controls the CR motor driver 30.
To the CR motor 6, and the motor driver 30 controls the CR motor 6 according to the control signal.
The forward / reverse rotation of the motor 6 is controlled.

The ROM 25 stores various control programs executed by the CPU 23 and various setting data used when the programs are executed. Among them, for example, a speed control program for controlling the current value of the CR motor 6 and its settings. The data is stored. In addition, a program for heat generation restriction control and its setting data are stored. Here, the heat generation restriction control is control for limiting the heat generation so that the motor temperature does not exceed the standard temperature of the motor. This program and setting data will be described later.

The encoder 33 includes a light projector and a pair of light receiving type sensors, and detects light projected through the slit 14a of the code tape 14 to detect two pulse signals of phase A and phase B which are 90 degrees out of phase with each other. Is output.

FIG. 3 is a block diagram showing the configuration of the DC unit 29. The DC unit 29 includes the position calculator 4
1, a subtractor 42, a target speed calculator 43, a speed calculator 44, a subtractor 45, a proportional element 46, and an integral element 47.
, Differentiating element 48, adder 49, and PWM circuit 50
And a timer 51 and an acceleration control unit 52.

The position calculation unit 41 detects the edge of the output pulse of the encoder 33, counts the number thereof, and calculates the position of the carriage 5 based on this count value. Forward rotation of the CR motor 6 recognized from the comparison processing of the two pulse signals
In response to the reverse rotation, when one edge is detected, the counting processing is performed so that the forward rotation is incremented and the reverse rotation is decremented.

The subtractor 42 calculates the position deviation between the target position sent from the CPU 23 and the actual position of the carriage 5 obtained by the position calculation unit 41. The target speed calculator 43 calculates the target speed of the carriage 5 based on the position deviation output from the subtractor 42. This calculation is performed by multiplying the position deviation by the gain Kp. This gain Kp is determined according to the position deviation. The value of this gain Kp may be stored in a table (not shown).

The speed calculator 44 calculates the speed of the carriage 5 based on the output pulse of the encoder 33. That is, the pulse cycle of the output pulse of the encoder 33 is measured by the timer counter, and the carriage speed V is calculated based on this pulse cycle.

The subtractor 45 has a target speed and a speed calculation unit 4
The velocity deviation from the actual velocity of the carriage 5 calculated by 4 is calculated. The proportional element 46 is a constant G for the speed deviation.
p is multiplied and the multiplication result is output. The integration element 47 integrates the velocity deviation multiplied by the constant Gi. Differentiation element 4
Reference numeral 8 multiplies the difference between the current speed deviation and the immediately preceding speed deviation by a constant Gd, and outputs the multiplication result. Proportional element 46,
The calculation of the integration element 47 and the differentiation element 48 is performed for each cycle of the seed pulse of the encoder 33.

The signal values output from the proportional element 46, the integral element 47 and the derivative element 48 indicate the duty DX according to the respective calculation results. Duty DX here
Has a duty percentage of (100 × DX / 2
000)%. In this case, DX = 200
If 0, the duty is 100% and DX = 100
When it is 0, the duty is 50%.

The outputs of the proportional element 46, the integral element 47 and the derivative element 48 are added in the adder 49. The addition result is sent to the PWM circuit 50 as a duty signal, and the PWM circuit 50 generates a command signal according to the addition result. The CR motor 6 is driven by the driver 30 based on the restrained command signal.

Further, the timer 51 and the acceleration control unit 52
Is used for acceleration control of the CR motor 6, and the proportional element 4
6, PID using integral element 47 and derivative element 48
The control is used for constant speed and deceleration control after acceleration control.

The timer 51 generates a timer interrupt signal at predetermined time intervals based on the clock signal sent from the CPU 23. The acceleration control unit 52 integrates a predetermined duty DXP each time the timer interrupt signal is received, and the integration result is sent to the PWM circuit 50 as a duty signal. Similar to the PID control, the PWM circuit 50 generates a command signal according to the integration result, and the driver 30 drives the CR motor 6 based on the generated command signal.

The driver 30 has, for example, a plurality of transistors, and applies a voltage to the CR motor 6 by turning on / off the transistors based on the output of the PWM circuit 50.

Next, drive control of the CR motor 6 will be described. FIG. 4 is a graph showing the current value of the CR motor 6 controlled by the DC unit 29 and the carriage speed. The current value is a value determined according to the voltage value determined from the duty signal value sent to the PWM circuit 50.

In the process in which the carriage 5 travels one path (one way), the speed pattern shown in FIG. 4B is set. An acceleration region for accelerating the carriage 5 from a stopped state, a constant velocity region for maintaining a constant velocity after acceleration, and a deceleration region for decelerating the carriage 5 from the constant velocity region to the stop are set. Printing by the print head 9 is performed in the constant speed range.

As shown in FIG. 4A, the DC unit 2
First, the open control is performed in the acceleration region by 9, and the current increases as the duty value increases from the initial value at the time of starting the carriage until the carriage speed reaches the target speed Va, and when the target speed Va is reached, the current value increases. The current value is kept constant, and when the next target speed Vb is reached, the current value drops slightly. When the target speed Vc is reached, the PID control is started.

PID control is performed in the constant speed range, and the duty value is determined so that the carriage speed V becomes the constant speed Vc. Then, the carriage 5 is moved to the positions P1, P2, P3.
The deceleration control is performed stepwise every time when P4 and P5 are reached. Therefore, the position of the carriage 5 at the time of reversing from the backward movement to the forward movement or from the forward movement to the backward movement is always the position of the designated movement distance.

The CPU 23 determines the print speed mode of the carriage 5 and the moving distance in one pass based on the print data received from the host computer 20. In this embodiment, as the printing speed mode, for example, five speed modes are prepared.

The CPU 23 controls the open control and the PID.
The control duty value is acquired, and the voltage value is recognized based on this duty value. The CPU 23 has a conversion formula for converting a voltage value into a current value, and converts the voltage value into a current value.

First, the motor temperature estimation processing and heat generation restriction control adopted in this embodiment will be described. First, the motor temperature estimation process will be briefly described. In the present embodiment, the heat generation amount Qpass per pass is obtained from the effective current value Ipass of each pass of the carriage 5 and the moving time tpass, and is sequentially integrated to obtain the heat generation amount Qsigma per unit time (1 minute). Ask. Then, the heat storage amount obtained by integrating the heat generation amount Qsigma per minute while taking into consideration the heat radiation due to the lapse of time
Convert to T. Since the temperature rise ΔT from the initial temperature (for example, room temperature) is known, the current estimated motor temperature can be indirectly monitored by monitoring the temperature rise ΔT.

Then, the heat generation limit control is executed by using the rising temperature ΔT. That is, when ΔT exceeds a preset threshold value such that the temperature rise ΔT is equal to or lower than the standard temperature of the electric motor, heat generation restriction control is performed to put a pause for each pass. In the present embodiment, a plurality of thresholds are provided stepwise, and Δ
The rest time is gradually increased according to the size of T. While ΔT is small, the user does not feel uncomfortable even if a pause is entered, and when ΔT is large, the pause time required to drop to a safe temperature is set in two stages.

First, the details of the motor temperature estimation process will be described below. Generally, the calorific value is obtained by the following formula. Q = K · W (K is a constant and is a coefficient for converting a certain work into heat generation) Here, W = I ² · R · t. In other words, Q = I ² · R
・ T ・ K. Considering the heat generated by the operation of the motor,
R is the resistance of the motor winding and is a constant. Since R and K are constants as described above, there is a relation of Q∝I ² · t. Therefore, in the following description, I ² · t is called a heat generation amount.
First, a method of obtaining the heat generation amount per pass will be described. In the present embodiment, the moving speed V of the carriage 5
9 and the moving distance Y, referring to the table QT shown in FIG.
I try to ask for passYV). The moving speed V is set in five stages according to the five printing speed modes. The movement distance Y is set as a range of m movement distances obtained by dividing the longest distance of one pass of the carriage 5 by m, and the range to which the actual movement distance X determined from print data belongs is determined as the movement distance Y. There is.

The unit heat generation amount QpassYV per pass, which is determined by the unit heat generation reference table QT, sets the carriage 5 to 1 when the system is initialized immediately after the printer power is turned on.
It is calculated based on the measured current value obtained by the measurement process of reciprocating and measuring the motor current value. This unit calorific value reference table QT created first is RA
It is stored in M26.

The unit heat generation amount Qpass per pass is expressed by the following equation using the effective current value Ipass per pass. Qpass = Ipass ² · tpass (1) Further, the effective current value Ipass is expressed by the following equation. Ipass = √ {(I1 ² · t + I2 ² · t + ... + Ik ² · t) / tpass} (2) Here, tpass is the one-pass movement time of the carriage.

The measurement of the motor current value by the measurement process is performed by the CR motor 6 when the carriage is driven, depending on the years of use (usage conditions) of the printer and the temperature environment.
This is because the load on each is different. In order to create an optimum table QT for each printer in consideration of such variations in motor load, a measurement process of actually measuring a motor current value is adopted.

In this case, when it is attempted to measure the effective current value Ipass for each pass for all combinations of the table QT, five types of movement speeds V and 20 types of movement distances are obtained.
Carriage 5
Must be reciprocated 100 times. Since this is not realistic, in the present embodiment, it is devised so that the measurement process that only reciprocates the carriage 5 once is sufficient.

FIG. 5 shows the time and motor current value when the carriage makes one pass. FIG. 5 (a) shows when the motor load is small, and FIG. 5 (b) shows when the motor load is large. The motor current value is high when accelerating, and is almost constant because it moves against the load in the constant speed range,
Finally, after the current flows in the opposite direction, the current flows again in the positive direction and then stops. The load applied to the CR motor 6 is generated by dynamic frictional resistance with a sliding portion such as the rail 3 and viscous resistance. The constant current value IFuka in the constant speed region of the CR motor 6 is a current value required to move the carriage 5 against the load. Therefore, the current value I
For printers with a light load, Fuka takes a small value as shown in (a) in the figure, and for printers with a heavy load, Fuka (b) in the figure.
Takes a large value like.

For example, the current component (shaded portion in the figure) in the portion exceeding IFuka in the acceleration process corresponds to the inertia component due to the mass M of the carriage 5, which corresponds to the mass M in the same speed mode (acceleration mode). It is a constant value that depends. Therefore, as shown in FIG. 6, the effective current value Ipass per path is equivalent to the current value (load current value) IFuka that varies depending on the load and the inertia value that depends only on the mass M and the acceleration / deceleration mode. (Inertia current value) I
I'm trying to ask separately for Bas e.

The current value IFuka is measured by the measurement process. At this time, the current value IFuka actually measured in the measurement process when the carriage 5 is driven at the maximum moving speed Vmax (= 300 cps) is commonly used for all moving speeds V. This is because the dynamic frictional resistance μ of the load is a constant value regardless of the moving speed V, and the viscous resistance η is proportional to the moving speed V (η
This is because the current value IFuka in which the maximum load is taken into consideration is actually measured, since = s · V (s is a constant).

On the other hand, the current value IBase is obtained in advance by an experiment (preliminary experiment), and the reference effective current table I shown in FIG.
It is stored in the ROM 25 as T. The way to obtain it is as follows.

That is, according to the equation (2), the current value for one pass is successively measured at every minute time t, and the value I ² · t obtained by multiplying the square of the obtained current value I by the minute time t is obtained. Sequentially integrate, and this integrated value is the one-pass movement time t of the carriage 5.
The effective current value Ipass per pass is obtained by taking the square root of the value divided by pass. At this time, IFuka calculates as follows. A plurality of values are sampled from the constant current range, which is a constant current value, and the sampled values are calculated according to the effective current value calculation formula. Then, the current value IBase is calculated by subtracting the current value IFuka from the effective current value Ipass (IBase = Ipass−IFuka). This is actually measured and calculated for all combinations of each moving speed V and moving distance Y to obtain each reference effective current IBase [Y] [V]. In ROM25,
Each reference effective current IBase [Y] [V] is stored in association with each moving speed V and moving distance Y (note that in FIG. 7, IBase [Y] [V]).
BYV symbol (YV is the number of movement distance and movement speed).

Further, the ROM 25 stores the carriage 1-pass time table PT shown in FIG. In this table PT, the moving time (required time) tpass [Y] [V] when the carriage 5 makes one pass is set for each combination of the moving speed V and the moving distance Y. The travel time t
pass [Y] [V] is the moving time (Y / V) in the constant speed range,
It is a value obtained by adding each moving time in the acceleration region and the deceleration region, and is obtained as a calculated value or an actually measured value.

In the measurement process, the current value IFuka in the constant speed region is actually measured. Carriage has maximum moving speed Vmax (= 300cps) and longest moving distance (= 1800EP)
The constant current value IFuka in the constant speed region when reciprocating once is measured. When entering the constant speed range and reaching a constant current value, the current value I
Is sampled at every unit minute time t, and I ² · t is calculated and sequentially integrated. Since the total sampled time ts is known, the square root of the value obtained by dividing the integrated value by the time ts is calculated to calculate the effective current value in the constant speed region, and this is calculated as the current value IFuka. Of course, IFuka can also be obtained by calculating the sampling value according to the effective current value calculation formula.
In the present embodiment in which the CR motor 6 is voltage-controlled, IFuka is measured using the current value obtained by converting the sampled voltage value using the conversion formula.

The ROM 25 stores a program for the measurement process shown in the flowchart of FIG. The CPU 23 executes the measurement process by executing the measurement process program. Next, the current measurement process (measurement process) executed when the carriage is ready to run immediately after the printer power is turned on will be described with reference to the flowchart of FIG.

First, in step (hereinafter referred to as "S") 10, it is recognized that the printer power is turned on. In S20, the system is initialized.

At S30, the CR motor 6 is started. At this time, it is activated so as to reciprocate once for the longest moving distance at the maximum moving speed Vmax. In the first acceleration range, the acceleration control is executed by the open control.

At S40, PID control is executed. That is, the PID control is executed when entering the constant speed range. In S50, the current value I is stored from the time when the current value becomes constant after entering the constant speed region. That is, the current value I in the constant speed region is sampled.

In S60, it is determined whether or not the motor has rotated at a constant speed for a certain amount or more. That is, it is determined whether or not the carriage position obtained by counting the edges of the output pulse of the encoder 33 has reached the set position before the end of the constant speed region. If the carriage position has not reached the set position, S4
Return to 0, and if the carriage position has reached the set position, S
Proceed to 70. In this way, the current value I is sampled at every predetermined minute time t until the carriage 5 reaches the set position.

At S70, the effective current value Ic in the constant speed region is calculated. That is, the effective current value Ic in the constant speed region is calculated from the n current values I sampled in the constant speed region according to the formula for calculating the effective current value. This effective current value Ic is IFuka
Used as.

By this measurement processing, the current value IFuka
Is measured, then the measured current value IFuka,
The reference effective current table IT of FIG. 7 and the CR1 pass time table PT of FIG. 8 are used to create the unit heat generation reference table of FIG. That is, using the current value IFuka, the reference effective current value IBase [Y] [V], and the 1-pass time tpass [Y] [V], the unit heat generation amount Qpass [Y] [is calculated by the following equation (3). V] is calculated. Qpass [Y] [V] = (IBase [Y] [V] + IFuka) ² · tpass [Y] [V] (3) In this way, the measurement process is performed at the time of carriage preparation drive immediately after the printer power is turned on, and the unit shown in FIG. A calorific value reference table is created. Note that the load applied to the CR motor 6 is different when the carriage 5 is moving forward and backward, so
Actually, the tables IT, PT, and QT in FIGS. 7, 8, and 9 have two types, one for the forward movement of the carriage and the other for the backward movement of the carriage. However, in order to simplify the description in this embodiment, the description will proceed assuming that one table is provided without distinguishing between the forward movement and the backward movement.

Next, the temperature estimation process performed after the table is created when the printer power is turned on will be described. The temperature estimation process after the table is created is always executed while the power is on, regardless of whether the carriage 5 is driven or stopped. However, when the carriage 5 is driven, the unit heat generation amount Qpass for each pass is calculated for each pass. That is, for each "start-stop" of one pass of the carriage 5, the unit heat generation reference table QT (FIG. 9) is referred to, and the moving speed V / moving distance Y
From this, the 1-pass calorific value Qpass [Y] [V] is acquired.

FIG. 11 is a graph showing the state of the motor current and the heat generation amount Qpass with respect to the time (second) in one minute. As can be seen from the graph of FIG. 10A, the motor current is alternately inverted between positive and negative for each pass due to alternating forward and backward movements of the carriage 5. From the moving speed V and the moving distance Y when making one pass,
Referring to the table QT (FIG. 9), the heat generation amount Qpass for one pass
Get [Y] [V]. And every time that one pass ends,
This unit calorific value Qpass [Y] [V] is changed to the previous calorific value Qsigm
Add to a. In this way, the heat generation amount Qpass [Y] [V] of one pass acquired for each pass is sequentially integrated during the unit time Tbox (= 60 seconds) to obtain the heat generation amount Qsigma of the unit time Tbox. The calorific value Qsigma for 1 minute is the previous calorific value Qsigm
By adding the unit heating value Qpass [Y] [V] of this time to a, it is calculated by the formula Qsigma = Qsigma + Qpass [Y] [V]. However, the initial value of Qsigma before calculation is "0", and is reset every minute. Therefore, Qsigma is “0” when the carriage 5 is never driven for one minute.

The timer IC2 is used for 60 seconds of the unit time Tbox.
Based on the clock signal from 8, the CPU 23 measures the time with a time counter. For one pass in which the carriage 5 is in the middle of the pass after 60 seconds have passed, the heat generation amount Qsigma for the next one minute is not added to the heat generation amount Qsigma for the one minute this time.
I am trying to put it in. Therefore, in the example shown in FIG. 9A, only the heat generation amount Qpass of the shaded path is the same as 1.
Accumulated as a group of minutes. Although there is a time interval between passes in FIG. 10A, this is an unavoidable momentary stop when the carriage 5 is reversed, and is not a pause time.

Next, the heat generation amount Qsigma for one minute is converted into the heat generation temperature (heat generation value) ΔTnew. ΔT new is the expression ΔT
new = Ka · Qsigma Where Ka
Is a conversion coefficient from the heat generation amount Q to the heat generation temperature ΔT, which is a value obtained by preliminary experiments. Heat quantity Q = κ · ΔT,
Since Q is proportional to Io ² · R · t, in the preliminary experiment, when the motor heating temperature ΔTo was measured when the effective current value Io was applied for t seconds, the effective current value Irms was applied for t seconds. Occasionally, the obtained heat generation temperature ΔTnew is expressed by the following equation. ΔTnew = (ΔTo / Io ² ) · Irms ² ∴ΔTnew = {ΔTo / (Io ² · Tbox)} · Qsigma Here, if {ΔTo / (Io ² · Tbox)} is Ka, ΔTnew = Ka · Qsigma Becomes Effective current value Io
From a preliminary experiment in which the heat generation temperature ΔT of the motor when t is energized for t seconds is measured, for example, Io = 200 mA and ΔTo = 20 deg.
Is measured, Ka = 0.0000083 because the unit time Tbox = 60 seconds. Therefore, the heat generation temperature ΔTnew per unit time Tbox is ΔTnew = Ka · Qsigm using the constant (conversion coefficient) Ka having the above value.
Represented by a.

FIG. 12 is a graph showing the total heat generation temperature (total heat generation value) due to the heat generation of the CR motor in consideration of natural heat dissipation with the passage of time. As shown in the graph, CR
The heat generation temperature (heat generation value) of the motor 1 for the first one minute of energization is ΔT1new, the heat generation temperature of the next one minute of energization is ΔT2new, and the heat generation temperature for the next one minute of energization is ΔT3new. The first exothermic temperature ΔT1new decreases along the heat dissipation curve with the lapse of time, and 1 minute later, it decreases to ΔT1old due to natural heat dissipation. Therefore, the total heat generation temperature ΔT2sum in the second minute is ΔT2sum = ΔT1old + ΔT
It is represented by 2new. Also, the total heat generation temperature ΔT2su in the second minute
m decreases along the heat dissipation curve with the passage of time, and 1 minute later, it decreases to ΔT2old due to natural heat dissipation. Therefore, the total heat generation temperature ΔT3sum at the third minute is ΔT3sum = Δ
It is represented by T2old + ΔT3new.

Here, the heat generation temperature ΔTold that ΔTsum decreases after 1 minute along the heat radiation curve is expressed as ΔTold = K · ΔTsum using the heat radiation coefficient K. Therefore, the latest motor total heat generation temperature ΔTsum is calculated by adding the latest heat generation temperature ΔTnew to the value obtained by multiplying the previous total heat generation temperature ΔTsum by the heat radiation coefficient K, and the formula ΔTs
It is obtained by um = K · ΔTsum + ΔTnew.

The heat dissipation coefficient K is obtained in advance by experiments and is set as follows. First, the printer system includes a heat generation system during the carriage drive indicated by the temperature curve in FIG. 13 and a heat radiation system during the carriage stop indicated by the temperature curve in FIG. Since the heat generating system and the heat radiating system are both first-order lag systems, the temperature at a certain time t is given by a time constant T, ex
It is represented by p (-t / T). In the heat generation system, first, the saturation heat generation temperature Tsat is experimentally obtained, and 63% of this saturation temperature Tsat is calculated.
The time to reach the value of is the heat generation time constant T of the printer system.
It becomes 1s ink. On the other hand, in the heat radiation system, when the temperature of the saturated heat generation at the time when the carriage is stopped is lowered to room temperature after the saturation heat generation, the time until the temperature of 63% is reduced becomes the heat radiation time constant T2sink of the system of the printer. Both of these time constants T1sink and T2sink are experimentally obtained.

Since both the heat generating system and the heat radiating system are first-order lag systems, the temperature exp (-t / T) at a certain time t is the unit time T.
If the box is multiplied by K after 60 seconds, the following relational expression holds. exp (− (t + 60) / T) = K · exp (−t / T) Therefore, the heat dissipation coefficient K at 60 seconds is expressed by the following equation. K = exp (−60 / T) (4) When the heat generation time constant T1sink obtained by the experiment is used as the time constant T in the equation (4), the heat dissipation coefficient K = exp (−60 / T1sink) in the heat generation system is used. Is required. Also, above
In equation (4), if the heat dissipation time constant T2sink obtained by experiment is used as the time constant T, the heat dissipation coefficient K =
exp (-60 / T2sink) is obtained.

In this embodiment, the number of carriage movements Ncr per unit time Tbox is counted by a counter, and when Ncr is equal to or greater than a preset number of times No, it is determined that the heating system is in driving the carriage, and heat is generated. Time constant T1si
The heat dissipation coefficient K using nk is used. On the other hand, when the carriage movement number Ncr is less than the set number No, it is determined that the heat radiation system is in the carriage stopped state, and the heat radiation time constant T2.
The heat dissipation coefficient K using a sink is used. Therefore, the total heat generation temperature ΔTsum is calculated as K · ΔTsum after 60 seconds, using the heat dissipation coefficient K according to the system at that time.

When the power of the printer is turned off, the heat generation temperature (heat generation value) ΔTsum is converted into 1 byte, and then
The data is stored in the EEPROM 27 as 1-byte data. That is, using the 1-byte conversion coefficient EEdiv, ΔT
One byte is formed by sumEE = ΔTsum / EEdiv.
Then, when the printer power is turned on, the final heat generation value ΔTsumEE (1 byte) at the previous operation is acquired from the EEPROM 27, and ΔTsum = ΔTsu according to the sequence calculation unit.
Develop with mEE and EEdiv. The value is acquired as the current exothermic temperature and is used as the initial value of ΔTsum. of course,
Even after the power is turned off, using the backup power supply, Δ
ΔT until Tsum drops to a predetermined temperature (eg 10 ° C)
You may continue to calculate sum.

Next, heat generation restriction control will be described with reference to FIGS.
And so on. In order to prevent the heat generation of the CR motor 6, regardless of the operation of the carriage 5, the heat generation amount Qsigma is always calculated at constant intervals (60 seconds) while the power is on, and C
The heat generation temperature ΔTsum of the R motor 6 is estimated. When the heat generation temperature ΔTsum of the CR motor 6 exceeds a specified value (threshold value), a duty limitation (heat generation limitation) is applied to provide a pause time Twait for maintaining the short brake state immediately after the carriage 5 stops.

FIG. 15 is a graph showing a temperature curve.
As shown in this graph, in the present embodiment, three thresholds ΔT1, ΔT2, and ΔT3 are set as thresholds for heat generation restriction.
(ΔT1 <ΔT2 <ΔT3) is set. In the present embodiment, the first threshold ΔT1 is set to a temperature lower than the standard temperature. The second threshold value ΔT2 and the third threshold value ΔT3 are both set below the standard temperature of the CR motor 6.

The CPU 23 monitors the heat generation temperature ΔTsum, and when ΔTsum exceeds the thresholds ΔT1, ΔT2 and ΔT3, the rest times T1wait and T2wa according to the exceeded thresholds.
Set it and T3wait respectively. That is, the heat generation temperature Δ
When Tsum exceeds the first threshold value ΔT1, a duty limit is imposed so that the pause time Twait is provided.

The ROM 25 stores the rest times T1wait and T2.
Data for determining wait and T3wait are shown in FIG. 16 and FIG.
The rest time tables W1 and W2 and the rest time T3 shown in FIG.
wait is stored. Rest time table W1 in FIG.
Is referred to when the heat generation temperature ΔTsum exceeds the first threshold value ΔT1, and by referring to the table W1, the pause time T1waitYV corresponding to the movement distance Y and the movement speed V is set. The first rest time T1waitYV is set to a short time such that the user does not feel uncomfortable even if the carriage 5 is rested while limiting heat generation. Therefore, even if a pause of the first pause time T1waitYV is entered for each pass, the user hardly feels uncomfortable. In this way, a time of less than 0.5 seconds is set, for example, in consideration of the time priority for shortening the pause time. In this example, the pause time T1waitYV is set according to the moving distance Y and the moving speed V. In this example, the pause time T1waitYV is set so that the effective current value Irms for all combinations of Y and V drops to the same target temperature. This is to provide. That is, the quiescent time T1waitYV is set to a value that results in an effective current value Irms that drops to the same temperature in all modes. Of course, the rest time T1wait is 0.
You may set it to 2 seconds.

The pause time table W2 of FIG. 17 is referred to when the heat generation temperature ΔTsum exceeds the second threshold value ΔT2. By referring to the table W2, the pause time table W2 corresponding to the moving distance Y and the moving speed V can be obtained. 2 Pause time T2w aitYV is set. The second rest time T2waitYV is the maximum load of the CR motor 6 and the maximum motor current Imax of the CR motor 6.
Even if (for example, Imax = 0.8 A) is applied, the heat generation temperature Δ
Tsum (motor temperature) is set to a value that drops to a safe temperature. Maximum motor current Ima for CR motor 6
Even if x (eg 0.8 A) is applied, the heat generation temperature ΔTsum
Is set to fall to the target temperature. In this embodiment, as shown in FIG. 17, a value in the range of, for example, about 0.7 to 3 seconds is set according to the moving distance Y and the moving speed V. The pause time T2waitYV is set according to Y and V in order to set the minimum pause time so that the effective current value Irms that drops to a safe temperature for all combinations of Y and V. is there. Of course, all Y, V
Commonly, the rest time T2wait may be set to about 3 seconds.

The third pause time T3wait is a value common to all Y and V and is set to about 5 seconds, for example. The third rest time T3wait is a case where the maximum designed load of the CR motor 6 is exceeded (for example, the motor current Imax = 0.8 A), and the maximum supply of the design assumed by the DC unit 29 is assumed. Even if a current IDCmax (for example, IDCmax = 1.2 A) is applied to the CR motor 6, the heat generation temperature ΔTsum (motor temperature) is set to a value that drops to a safe target temperature. Even if the maximum supply current IDCmax (for example, 1.2 A) is applied to the CR motor 6, the heat generation temperature ΔTsum falls to the target temperature.

A release threshold (release threshold temperature) ΔTstd (ΔTstd <ΔT1) is set as a safe target temperature. Once the duty limit is applied, the heat generation temperature ΔTsum
The duty limit is not released until is reduced to the release threshold ΔTstd. That is, when the heat generation temperature ΔTsum exceeds the first threshold value ΔT1, the duty is limited and the first heat generation limit mode is entered in which the first pause time T1waitYV is stopped for each pass, and the heat generation temperature ΔTsum is decreased to release threshold. This first heat generation limiting mode is maintained until ΔTstd is reached. Also, during the first heat generation restriction mode, the heat generation temperature ΔTsu
When m exceeds the second threshold value ΔT2, the second heat generation restriction mode is entered until the heat generation temperature ΔTsum reaches the release threshold value ΔTstd after shifting to the second heat generation restriction mode in which the second pause time T1waitYV is paused for each pass. Maintained at. Further, similarly, when the heat generation temperature ΔTsum exceeds the third threshold ΔT3 during the second heat generation restriction mode, the third pause time T1wait is set for each pass.
The third heat generation restriction mode is entered, and the third heat generation restriction mode is maintained until the heat generation temperature ΔTsum reaches the release threshold ΔTstd. The CPU 23 includes a heat generation restriction mode flag that determines which one of the three heat generation restriction modes is in use during duty limitation, and recognizes the current heat generation restriction mode by looking at the value of this flag.

As shown in FIG. 11 (b), when the pause for the pause time Twait is entered for each path, the unit time Tbox (60
The heat generation amount Qsigma per second becomes small (that is, 60
The effective current value Irms per second becomes smaller). Therefore, during the duty limitation, the latest heat generation temperature ΔTnew for one minute becomes small, and the total heat generation temperature ΔTsum changes small with the passage of time due to ΔTsum = K · ΔTsum + ΔTnew. This latest heat generation temperature ΔTnew becomes smaller as the pause time Twait becomes longer. Therefore, by setting the pause time Twait in three stages according to the degree of temperature rise of the CR motor 6, the motor temperature is surely set to a safe target temperature. I am trying to lower it.

Here, the heat generation temperature ΔTsum is Ka · Qsig
Calculated as ma. Since this Ka is a constant, ΔTsum
It can be calculated from the calculation of. Each threshold (temperature value)
By dividing each of the thresholds ΔT1, ΔT2,
It is also possible to set ΔT3 and ΔTstd.

The heat generation control routine will be described below with reference to FIG.
8 and FIG. In step (hereinafter, simply referred to as “S”) 110, it is determined whether the duty is being limited. If the duty is being limited, the process proceeds to S120. If the duty is not being limited, the process proceeds to S130.

In S120, the pause time T1waitYV is read from the pause time table W1. Rest time table W1
The rest time T1waitYV is obtained based on the moving speed V and the moving distance Y of this pass.

In S130, the unit heat generation amount reference table Q
The 1-pass heat generation amount QpassYV is read from T. That is, the unit heat generation amount reference table QT is referred to based on the moving speed V and the moving distance Y of the current pass, and the heat generation amount QpassYV (= I for one pass) is referred to.
pass ² * t) is calculated (Ipass: effective current value per pass).

At S140, the integrated value Qsig ma up to the previous time is calculated.
The current value Qsigma is calculated by adding the 1-pass heat generation value QpassYV of this time (Qsigma = Qsigma + QpassYV).
Qsigma is a value corresponding to the integrated value of the values within √ in formula (1).

In S150, it is determined whether or not the unit time Tbox (= 60 seconds) has elapsed since the previous heat generation determination.
When the unit time Tbox has not elapsed, the routine is terminated, and when the unit time Tbox has elapsed, the next step S160 is performed.
Proceed to. In S160, ΔT new = Ka · Qsigma is calculated. That is, the heat generation amount Qsigma of the unit time Tbox is converted into the rising temperature ΔTnew. At S170, ΔTsum
= ΔTsum + ΔTnew is calculated. That is, the temperature increase value ΔTnew per unit time of this time is added to the temperature integrated value up to the previous time to obtain the temperature integrated value ΔTsum up to this time.

In S180, the heat generation value is converted into one byte. Since the heat value is stored in 1 byte, ΔTsum is converted into a value that can be stored in 1 byte. That is, ΔTsu
Let m = ΔTsum / EEdiv. Where EEdiv is 1
This is a byte conversion coefficient (constant).

In S190, it is determined whether the duty is being limited (heat generation is being limited). If the duty is not being limited, the process proceeds to S200. If the duty is being limited, the process is S2.
Proceed to 30. S230 is a process during duty limitation, which will be described later.

In S200, it is determined whether or not ΔTsum> ΔT1. If this is established, the procedure proceeds to S210, and if not, the procedure proceeds to S300. At S210, ΔTsum
Exceeds ΔT1, heat generation duty limitation is started. At this time, the first heat generation restriction mode flag is turned on.

In S220, the pause time T1wait in the first heat generation restriction mode is set. S during duty limitation
230, but in this S230, ΔTsum <ΔTst
Determine if d holds. When this is established, the process proceeds to S240 and the heat generation duty limitation is released. On the other hand, when ΔTsum <ΔTstop is not satisfied, S250
Proceed to.

At S250, it is determined whether or not ΔTsum> ΔT2 is satisfied. When ΔTsum> ΔT2 is satisfied, the process proceeds to S260, and when this is not satisfied, the process proceeds to S300. In S260, it is determined whether or not ΔTsum> ΔT3 is satisfied. When ΔTsum> ΔT3 is not satisfied, S
When it is satisfied, the procedure proceeds to S270.

In S270, it is determined whether or not the third heat generation restriction mode is being set (pause time Twait3 is being set). Third
If it is in the heat generation restriction mode, the process proceeds to S280, and if not, the process proceeds to S290. In S280, it switches to the pause time Twait3 in the third heat generation restriction mode. That is, ΔT
When sum> ΔT3 is established, the third heat generation restriction mode is entered, and the pause time is switched to Twait3. S290
Then, it switches to the pause time Twait2 in the second heat generation restriction mode.

In S300, it is determined whether or not the number of carriage movements (number of passes) Ncr is equal to or greater than the set number of times No.
If Ncr ≧ No is satisfied, the process proceeds to S310, and if this condition is not satisfied, the process proceeds to S320.

At S310, the first heat radiation coefficient is used.
That is, the heat generation time constant T1sink is set as the time constant for determining the heat radiation coefficient K so that the heat radiation coefficient K of the heat generating system is used. The heat generation time constant T1sink is a time constant of the heat generation system when the carriage is operating.

At S320, the second heat dissipation coefficient is used.
That is, the heat radiation time constant T2sink is set as the time constant for determining the heat radiation coefficient K so that the heat radiation coefficient K of the heat radiation system is used. The heat dissipation time constant T2sink is a time constant of the heat dissipation system when the carriage is stopped.

At S330, ΔTsum = K · ΔTsum
To calculate. Here, the total heat generation temperature ΔTsum after 1 minute, which is used as the previous total heat generation temperature in the next process, is obtained in advance. That is, S170 in the next process
Then, ΔTsum used on the right side of ΔTsum = ΔTsum + ΔTnew is obtained in advance. At this time, the heat dissipation coefficient K = exp (-60 / T1sink) is used in the case of a heat generating system,
In case of heat radiation system, heat radiation coefficient K = exp (−60 / T2sin
k) is used.

As described in detail above, according to this embodiment,
The following effects can be obtained. (1) The heat generation temperature ΔTsum of the CR motor 6 is estimated in consideration of heat radiation due to the passage of time, and the CR motor 6 is stopped when the heat generation temperature ΔTsum exceeds the threshold value ΔT1. As a result, the number of pauses can be reduced. As a result, the CR motor 6 can be reliably protected from excessive heat generation, and the suspension of the carriage 5 can be shortened, so that the printing throughput can be improved.

(2) The current value IFuka in the constant speed range is divided into the current value IBase in the acceleration / deceleration range, and the current value IBase in the acceleration / deceleration range is stored as a fixed value in the ROM 25. The method of actually measuring the value IFuka was adopted. For this reason,
The unit heat generation amount Qpass per pass can be obtained by a simple process only by actually measuring only the current value IFuka in the constant speed region.

(3) The current value IFuka in the constant speed region is actually measured by the measurement process when the printer power is turned on, and the data IBase, tpass of the tables IT and PT stored in the ROM 25 in advance.
Using, the unit heat generation amount reference table QT is created in advance. Then, during the actual printing operation, the method of obtaining the unit heat generation amount QpassQ per pass by referring to the table QT from the moving speed V and the moving distance Y is adopted, so that the current measurement processing and the calculation processing during the printing operation are performed. No need, table Q
Unit heat generation Q per pass only by reference processing of T
You can easily get the pass. Therefore, the CPU 23
Can reduce the burden of.

(4) The heat generation amount (integrated value) Qsigma per unit time obtained by integrating the heat generation amount Qpass for each pass for the unit time Tbox (1 minute), taking heat dissipation into consideration for each unit time. The method of integrating and obtaining the present total heat generation temperature ΔTsum is adopted. Therefore, the load on the CPU 23 can be reduced as compared with the method of calculating the heat generation temperature for each pass. Also,
Since the calorific value Qsigma is integrated every fixed unit time Tbox, if the system is the same, the same heat dissipation coefficient K (∵K =
exp (-Tbox / Tsink)) can be used. Therefore, Δ
The integration process for obtaining Tsum is simple.

(5) Heat generation temperature ΔTsum (heat quantity Qsigma)
When considering the natural heat dissipation due to the passage of time, it is determined whether it is a heat generating system that radiates heat while generating heat or a heat radiating system that radiates heat with almost no heat generation, and the heat dissipation coefficient K suitable for that system is adopted. . Therefore, by adopting the heat dissipation coefficient K suitable for the system, the heat generation temperature ΔTsum can be calculated as a value close to the actual heat generation temperature, and the estimation accuracy of the heat generation temperature can be improved.

(6) Since the system for determining the heat radiation coefficient K is determined by determining whether the carriage movement number Ncr is equal to or greater than the set number No, the system for determining the heat radiation coefficient K can be easily determined. Can be done. For example, the burden on the CPU 23 can be reduced as compared with the method of monitoring the temperature change and determining the system.

(7) A plurality of thresholds (three in this example) are set so as to stop the heating when the heat generation temperature ΔTsum exceeds the threshold.
Therefore, the pause time when the heat generation temperature ΔTsum exceeds the threshold value and the heat generation is restricted can be set stepwise according to the threshold value, so that the pause time Twait as short as possible for the heat generation temperature ΔTsum can be set. As a result, the pause time Twait can be shortened as much as possible, and the printing throughput can be effectively improved.

(8) Heat generation temperature ΔTsum is the first threshold ΔT1
The first pause time T1waitYV that is set when
It is set to a short time (for example, within 0.5 seconds) so that the user does not feel uncomfortable even if the carriage 5 is stopped while heat generation is restricted. As a result, even if the carriage 5 is stopped for each pass, the user hardly feels uncomfortable.

(9) Heat generation temperature ΔTsum is the second threshold ΔT2
The second rest time T2waitYV that is set when
Even if the load applied to the CR motor 6 is maximum and the maximum motor current Imax (for example, Imax = 0.8 A) is applied to the CR motor 6, the heat generation temperature ΔTsum (motor temperature) is set to a time at which it falls to a safe temperature. There is. Therefore, even if the maximum motor current Imax (for example, 0.8 A) is applied to the CR motor 6, the heat generation temperature ΔTsu is generated by the second heat generation limit mode.
m can be lowered to the target temperature.

(10) Prepare the rest time tables W1 and W2, and set the rest time T1waitYV, according to the moving distance Y and the moving speed V so that the same effective current value Irms capable of dropping to a safe target temperature is obtained. T2waitYV is set. That is, the rest times T1waitYV and T2waitYV are set so that the degree of heat generation restriction is the same for all Y and V. Therefore, for each pass having a different combination of Y and V, it is possible to set a minimum pause time required to drop the temperature to a safe target temperature, and thus it is possible to effectively improve the printing throughput.

(11) Heat generation temperature ΔTsum is the third threshold ΔT
The third pause time T3wait that is set when it exceeds 3 is
Even if the designed maximum supply current IDCmax (for example, IDCmax = 1.2 A) assumed by the DC unit 29 is applied to the CR motor 6, the heat generation temperature ΔTsum (motor temperature) falls to a safe target temperature. It is set. Therefore, even if the maximum supply current IDCmax is applied to the CR motor 6, the heat generation temperature ΔTsum can be lowered to the target temperature.

(12) Once the heat generation limitation (duty limitation) is applied, the heat generation limitation is not released until the heat generation temperature ΔTsum drops to the release threshold ΔTstd. Therefore, the heat generation temperature ΔTsum can be promptly and surely lowered to the safe target temperature.

(13) Heat generation temperature ΔTsum is release threshold ΔT
Not only do not release the heat generation restriction until it descends to std,
If it is a temperature drop from the second heat generation restriction mode or the third heat generation restriction mode, the longer pause time Twait set in the heat generation restriction mode when the temperature starts to decrease is maintained as it is until the release threshold ΔTstd is reached. Therefore, the heat generation temperature ΔTsu
It is possible to lower m more quickly and more reliably to a safe target temperature.

Note that the embodiment is not limited to the above, and the following modified examples can be implemented. (Modification 1) It is also possible to adopt a method in which a measurement process of actually measuring a current value is performed for each pass during a printing operation, and a unit heat generation amount Qpass per pass is calculated based on the actually measured current value.

(Modification 2) The temperature of an electric motor other than the CR motor included in the printer may be estimated (calculated) by the temperature estimation method. Examples of the electric motor include a paper feed motor.

(Modification 3) In the above embodiment, a pause is provided for each path, but a pause may be provided for a plurality of paths. For example, every 2 passes (one round trip), every 3 passes, every 4 passes, every 5 passes, or every 10 passes, may be used. Further, the time may be managed, and the pause may be inserted at the timing at the end of the first one pass after elapsing one second, for example. This time is not limited to 1 second, but may be 2 seconds, 3 seconds, ....

(Modification 4) In the above embodiment, when the motor temperature exceeds the threshold value, the motor pause time is provided, but a means for adjusting the power of the motor may be provided. For example, even if the print speed is set to the high speed mode, when the motor temperature exceeds the threshold value, it is possible to switch to the low speed mode to control the electric power to be small, and to control the heat generation of the motor to be small. .

(Fifth Modification) In the above-described embodiment, when the heat generation temperature of the motor exceeds the threshold value, a pause time is provided between the driving of the motor. However, when the heat generation temperature exceeds the threshold value, the electric power to the motor is reduced. It is also possible to provide an electric power interruption means for interrupting the supply. In this case, a fourth threshold value is provided on the temperature side higher than the third threshold value, and when the fourth threshold value is exceeded, the current supply to the motor is cut off and the carriage is stopped in an emergency. According to this method, the motor temperature can be promptly lowered even when the third threshold value is exceeded, especially in the case of an emergency abnormality.
It is possible to minimize temperature fatigue of the motor windings and the like.

(Modification 6) In the above-described embodiment, once the heat generation limitation (duty limitation) is applied, the longer pause time T set in the heat generation limitation mode when the temperature starts to drop.
A method is adopted in which the wait is maintained until the heat generation temperature ΔTsum reaches the release threshold ΔTstd. On the other hand, the heat generation temperature Δ
If Tsum drops and becomes equal to or less than the threshold value ΔT3 or ΔT2, a method of switching the pause time to a value one step lower can be adopted.

(Modification 7) The time constant for determining the heat dissipation coefficient K is divided into two types, a heat generating system and a heat radiating system, but a plurality of (3 or more) time constants may be prepared. For example, a method of determining a time constant of three stages or more according to the number of carriage movements per unit time may be adopted. Further, the determination for determining the heat dissipation coefficient K is not limited to the number of carriage movements. For example, a method is possible in which a system is determined by monitoring a temperature change and a heat dissipation coefficient K suitable for the system is adopted.

(Modification 8) The unit time for obtaining the heat generation amount is not limited to a fixed time. For example, the unit time can be defined by the number of passes, and the required time for a certain number of passes can be set as the unit time. In this case, the unit time becomes irregular, but if the time is kept by a timer, the time can be known, so the amount of heat generation per unit time can be known. That is, since the heat dissipation coefficient K is a function of time, the heat dissipation can be correctly calculated if the time is known.

(Modification 9) The unit time is not limited to 1 minute. It is also possible to set 10 seconds, 20 seconds, 30 seconds, 2 minutes, 5 minutes, 10 minutes and the like. Unit time is 10 seconds ~
It is preferably between 5 minutes. Since the heat generation temperature changes relatively slowly with respect to time, if it is less than 10 seconds, the calculation load for heat generation determination increases, and if it exceeds 5 minutes, there is a risk that the heat generation restriction will be delayed.

(Modification 10) The heat dissipation of the electric motor is not limited to natural heat dissipation. For example, a configuration in which a cooling fan for cooling the CR motor 6 is provided, and a method of performing a correction calculation (heat dissipation calculation) in consideration of heat dissipation due to fan cooling can also be adopted.

(Modification 11) The present invention is not limited to the method of putting a pause when the carriage is reversed. Since the carriage of the printer performs constant-speed printing, it is necessary to put a pause at the time of reversing. For example, in a one-way printing system printer, a pause may be made in the middle of the return path where the carriage does not print.

(Modification 12) In the above-described embodiment, the calorific value is calculated in consideration of heat dissipation by the unit time Tbo including a plurality of paths.
However, the calorific value may be calculated for each pass, for example. The heat generation may be determined for each pass. However, in this case, since the time interval for integrating the heat generation amount becomes irregular, the heat dissipation coefficient becomes variable according to the irregular time interval.

(Modification 13) The purpose of adopting the processing method for obtaining the consumed current (effective current value) of the electric motor is not limited to the heat generation restriction control. When it is necessary to obtain the consumed current (effective current value) of the electric motor for other control, the current value acquisition method of the above embodiment can be adopted. Furthermore, it is not limited to being used to obtain the current consumption value required to obtain the heat generation temperature of the electric motor. It can also be used, for example, to determine the power consumption of an electric motor.

(Modification 14) The heat generation temperature of the electric motor obtained using the current consumption value (effective current value) acquired by the current value acquisition method of the above embodiment is not limited to being used for heat generation restriction control.

(Modification 15) When the electric motor is voltage-controlled as in the above embodiment, the effective voltage value per drive can be obtained by the same method as in the above embodiment. Even when the effective current value is required, the effective current value can be obtained from the effective voltage value.

(Modification 16) The electric motor is not limited to the CR motor. For example, it may be applied to a paper feed motor. The recording device is not limited to the ink jet printer, but can be applied to a bubble jet (registered trademark) printer, a dot impact printer, a laser printer, or the like.

The technical idea grasped from the above-mentioned embodiments and modifications will be described below. (1) The current value acquisition device according to any one of claims 3 to 8,
Alternatively, in the recording apparatus according to any one of claims 9 to 15, the load current value is a current value required to maintain the electric motor at a constant speed in a constant speed range, and a current consumption value per drive. The fixed current value (inertia current value) is set as a value obtained by subtracting the load current value from the (effective current value).

(2) In the current value acquisition device in the recording device according to any one of claims 4 to 6, the memory has a plurality of the individual values having individual values according to driving conditions of the electric motor. Data of fixed current value is stored,
Initial control means for initially driving the electric motor by at least one drive when the recording apparatus is powered on, and the current measurement for actually measuring a current value in a constant speed region when the electric motor is driven by at least one during the initial drive. Data for calculating a plurality of consumption current values according to a driving condition of the electric motor using the fixed current value data and the actually measured current value stored in the memory, and storing the data in the memory. A current value acquisition device in a recording device, comprising: a preparation means. Here, the driving condition is a driving speed,
At least one of the driving amount (driving distance), the moving speed of the moving body, the moving distance of the moving body, and the speed mode, or a combination of the speed system and the distance system.

(3) In the current value acquisition device in the recording device according to the seventh aspect, an initial control means for initially driving the electric motor by at least one drive when the recording device is turned on, and the electric motor during the initial drive. Using the current measuring means for actually measuring the current value in the constant speed range when the motor is driven by at least one, the fixed current value data and the actually measured current value stored in the memory, the electric motor Data preparation means for calculating a plurality of consumption current values according to the driving speed and the driving amount, and storing a plurality of data individually obtained using the consumption current value in a memory in association with the driving speed and the driving amount The point is to have and. According to this configuration, at the time of main driving, if the data corresponding to the driving speed and the driving amount at that time is acquired from the memory every time one driving is performed, desired data at the time of one driving can be easily acquired. . Therefore, the calculation process for calculating the necessary data from the current consumption value is not required, and the load on the control process of the CPU or the like is further reduced.

(4) In the above technical idea (3), the plurality of data stored in the memory is the heat generation amount per one drive. According to this configuration, in the main drive, if the data corresponding to the drive speed and the drive amount at that time is acquired from the memory every time the drive is performed, the heat generation amount data per drive in the one drive can be easily obtained. To be obtained.

(5) In the recording apparatus according to any one of claims 12 to 15, a plurality of the inertia current values having individual values according to a moving speed and a moving distance of the carriage are stored in the memory. The recording device is characterized by storing the data of.

(6) The recording apparatus according to claim 14, wherein the correction calculation is a calculation using a heat dissipation coefficient determined from a time constant of a system for heat dissipation over time.

(7) In the above-mentioned technical idea (6), a determining means for determining whether the heat dissipation system is a heat generating system that dissipates heat with heat generation or a heat dissipation system that dissipates heat without heat generation, and the above judgment. A recording apparatus, wherein the correction calculation is performed by selecting a heat dissipation coefficient according to the system determined by the means.

(8) In the technical idea (7), the determining means counts the number of times the carriage driven by the electric motor is moved, and determines the heat dissipation coefficient based on the counted number of times the carriage is moved. A recording apparatus characterized by determining a system for performing.

(9) In any one of claims 9, 10 and 13 to 15, when the heat generation temperature estimated by the temperature estimating means exceeds a predetermined threshold value, electric power for suppressing the electric power consumption of the electric motor to be small. Equipped with adjusting means.

(10) In any one of claims 9, 10, and 13 to 15, when the heat generation temperature estimated by the temperature estimating means exceeds a predetermined threshold value, the supply of electric power to the electric motor is cut off. Equipped with power cut-off means.

(11) Claims 9 to 15 are provided in a computer.
A program that causes each of the means in the recording apparatus according to any one of claims 1 to 3 to function.

[0156]

As described in detail above, according to the invention described in claims 1 to 15, it is possible to simply measure the current in the constant speed region.
The current consumption value per one drive of the electric motor can be obtained by a simple process.

According to the invention described in claims 2 and 9 to 15, when the heat generation temperature of the electric motor is estimated without further using the temperature sensor, the process of acquiring the consumed current becomes simple. Even if there is, it is possible to reduce the load of control processing such as CPU.

According to the invention described in claims 2 to 11, the heat generation temperature of the electric motor, which is obtained on the basis of the integrated value obtained by integrating the heat generation amount obtained on the basis of the consumption current of the electric motor and the driving time, has a threshold value. When the control for stopping the electric motor between driving is performed when it exceeds, the acquisition process of the consumed current is simplified, so that the load of the control process of the CPU or the like can be reduced.

[Brief description of drawings]

FIG. 1 is a block diagram showing an electrical configuration of a printer system according to an embodiment.

FIG. 2 is a perspective view of a main part of the printing apparatus.

FIG. 3 is a block diagram showing an electrical configuration of a DC unit.

FIG. 4 is a graph of (a) motor current value and (b) carriage speed.

FIG. 5 is a graph of motor current, where (a) shows a low load and (b) shows a high load.

FIG. 6 is a graph illustrating a load current and an acceleration / deceleration current of a CR motor.

FIG. 7 is a table diagram showing a reference effective current table IT.

FIG. 8 is a table diagram showing a CR1 pass time table PT.

FIG. 9 is a table diagram showing a unit heat generation amount reference table QT.

FIG. 10 is a flowchart of measurement processing.

FIG. 11 is a graph showing a relationship between a motor current per unit time and a unit heat generation amount, (a) shows no pause, and (b) shows pause.

FIG. 12 is a graph for explaining an integrating procedure for obtaining a heat generation temperature in consideration of heat radiation over time.

FIG. 13 is a graph showing a heat radiation temperature curve of a heat generating system.

FIG. 14 is a graph showing a heat radiation temperature curve of a heat radiation system.

FIG. 15 is a graph illustrating heat generation restriction processing.

FIG. 16 is a table diagram showing a rest time table W1.

FIG. 17 is a table diagram showing a rest time table W2.

FIG. 18 is a flowchart of heat generation restriction processing.

FIG. 19 is a flowchart of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Inkjet recording device (printer) as a recording device 5 ... Carriage 6 as a moving body ... Carriage motor (DC motor) as an electric motor 9 ... Print head 23 as a recording head ... Current measurement means, calculation means, initial Control unit, data preparation unit, heat generation amount acquisition unit, temperature estimation unit, control unit and pause control unit CPU 25 ... ROM as memory 27 ... Second memory EEPROM 28 ... Heat amount acquisition unit Timer IC 29 ... DC unit 30 constituting initial control means, control means and pause control means ... Carriage motor driver IBase constituting initial control means, control means, pause control means ... Inertia current value IFuka as fixed current value ... Load Current value Ipass ... 1 drive (1 as consumption current value per drive)
RMS current value per path)

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 2C056 EB11 EB30 EB39 EB59 EC11                       EC36 FA10                 5H571 AA20 BB02 BB09 EE02 EE03                       GG02 HB01 HC02 HD02 JJ03                       JJ17 JJ18 JJ22 JJ23 JJ24                       JJ28 KK06 LL07 LL22 LL36                       LL41 LL43 MM04 MM06

Claims (15)

[Claims] 1. A motor control method for a recording apparatus for controlling an electric motor based on control information obtained based on a current consumption value per drive of the electric motor, wherein the electric motor accelerates and decelerates a moving body. Speed is controlled so as to move one drive at a speed setting in which the speed range and the constant speed range are set, and the consumption current value per one drive of the electric motor is a load applied to the electric motor when the moving body is moved. Divided into a load current value dependent on the load current value and a fixed current value corresponding to inertia when the moving body is accelerated / decelerated, and the fixed current value obtained in advance is stored in a memory, and the current in the constant speed region is A step of actually measuring to obtain a current measured value, a load current value determined based on the current measured value in the constant speed region,
1 using the inertia current value stored in the memory
And a step of obtaining a current consumption value per drive, the method of controlling a motor in a recording apparatus. 2. The motor control method for a recording apparatus according to claim 1, wherein a heat generation amount per drive is obtained based on the acquired consumption current value per drive of the electric motor and drive time, A step of integrating the heat generation amount to estimate a heat generation temperature of the electric motor; and a step of controlling the electric motor to pause between driving when the heat generation temperature exceeds a predetermined threshold value. And a motor control method in a recording apparatus. 3. A current value acquisition device in a recording device for acquiring a current consumption value per one drive of an electric motor, wherein the speed is controlled by one drive speed setting in which an acceleration / deceleration range and a constant speed range are set. The motor and the consumption current value per one drive of the electric motor are divided into a load current value that depends on the load applied to the electric motor and a fixed current value that does not substantially depend on the load, and the fixed current value obtained in advance A memory that stores the current, a current measuring unit that measures the current in the constant speed region to obtain a current measured value, a load current value that is determined based on the current measured value in the constant speed region, and a fixed value stored in the memory. A current value acquisition device in a recording device, comprising: a calculation unit that calculates a current consumption value per drive using the current value. 4. A current value acquisition device in a recording device for acquiring a current consumption value per one drive of an electric motor, wherein the speed is controlled by one drive speed setting in which an acceleration / deceleration range and a constant speed range are set. A motor, a current consumption value per drive of the electric motor, a load current value depending on a load applied to the electric motor, and a fixed current substantially dependent on mass corresponding to inertia when the electric motor is accelerated or decelerated. A memory for storing the fixed current value obtained in advance, a current measuring unit for actually measuring the current in the constant speed region to obtain a measured current value, and a current measured value in the constant speed region. A current value acquisition device in a recording device, comprising: a calculation unit that calculates a consumption current value per drive using a load current value and a fixed current value stored in the memory. 5. A current value acquisition device in a recording device for acquiring a current consumption value per drive of an electric motor for use in controlling the electric motor, wherein the electric motor sets the moving body to an acceleration / deceleration region. The constant speed region and the speed are controlled so as to move one drive at a set speed setting, and the current consumption value per one drive of the electric motor depends on the load applied to the electric motor when moving the moving body. A load current value and a fixed current value that is substantially mass-dependent and corresponds to an inertia amount when accelerating and decelerating the moving body, a memory that stores the fixed current value obtained in advance, and a current in the constant speed region. A current measuring means for actually measuring the current to obtain a current measured value, and a load current value determined based on the current measured value in the constant speed region,
A current value acquisition device in a recording device, comprising: a calculation unit that calculates a consumption current value per drive using the fixed current value stored in the memory. 6. The current value acquisition device in the recording device according to claim 3, wherein the current consumption value per one drive is an effective current value per one drive. Current value acquisition device in a recording device that operates. 7. The current value acquisition device in the recording device according to claim 4, wherein the memory has a plurality of individual values corresponding to a drive speed and a drive amount of the electric motor. 2. The current value acquisition device in a recording device, wherein the fixed current value data is stored. 8. The current value acquisition device for a recording apparatus according to claim 7, wherein when the recording apparatus is powered on, initial control means for initially driving the electric motor with at least one drive; and the electric motor during the initial driving. Driving the electric motor by using the current measuring means for actually measuring the current value in the constant speed region when driven by at least one, and the fixed current value data and the actually measured current value stored in the memory. A current value acquisition device in a recording device, comprising: a data preparation unit that calculates a plurality of current consumption value data according to speed and drive amount and stores the data in a memory. 9. The current value acquisition device according to claim 3, further comprising: a current consumption value of the electric motor per drive and a drive time obtained by the calculation unit. A recording apparatus comprising: a heat generation amount obtaining unit that obtains a heat generation amount per drive; and a temperature estimation unit that integrates the heat generation amount per drive to estimate a heat generation temperature of the electric motor. 10. The recording apparatus according to claim 9, further comprising a determination unit that determines that the heat generation is abnormal when the heat generation temperature exceeds a predetermined threshold value. 11. The recording apparatus according to claim 9, further comprising a pause control unit that controls the electric motor to pause when the heat generation temperature exceeds a predetermined threshold value. Recording device. 12. A serial type recording apparatus in which a carriage having a recording head reciprocates in a main scanning direction to perform recording on a recording medium by the recording head, for reciprocating the carriage in a main scanning direction. An electric motor driven by an electric motor, a control unit that controls the electric motor so that the carriage is driven at a speed setting in which an acceleration / deceleration range and a constant speed range are set, and the electric motor when the carriage drives one time. The effective current value of the motor is divided into a load current value that depends on the load applied to the electric motor when the carriage is moved, and an inertia current value that substantially depends on the carriage mass. A memory for storing, a current measuring unit for measuring the current in the constant speed region to obtain a measured current value, and a current measurement in the constant speed region. A determined load current value based on,
A calculation unit that calculates an effective current value using the inertia current value stored in the memory, and a heat generation amount per drive based on the effective current value per drive and the driving time obtained by the calculation unit. And a temperature estimation means for sequentially integrating the heat generation amount and estimating the heat generation temperature of the electric motor; and when the heat generation temperature exceeds a predetermined threshold value, the electric motor is provided to provide a pause when the carriage is reversed. A recording apparatus comprising: a pause control unit that controls a motor. 13. A serial type recording apparatus in which a carriage having a recording head reciprocates in the main scanning direction to perform recording on a recording medium by the recording head, in order to reciprocate the carriage in the main scanning direction. An electric motor driven by the electric motor, a control means for controlling the electric motor so as to drive the carriage 1 at a speed setting in which an acceleration / deceleration range and a constant speed range are set, The effective current value of the electric motor is divided into a load current value that depends on the load applied to the electric motor when the carriage is moved, and an inertia current value that substantially depends on the carriage mass, and the inertia current value obtained in advance A memory for storing the current, a current measuring means for actually measuring the current in the constant speed region to obtain a measured current value, and a current in the constant speed region. A load current value determined based on the measurement value,
A calculation means for calculating an effective current value using the inertia current value stored in the memory, and a heat generation temperature of the electric motor based on the effective current value per driving and the driving time obtained by the calculation means. And a temperature estimating means for estimating the temperature. 14. The recording apparatus according to claim 9, wherein the temperature estimation unit sequentially integrates the heat generation amount with a correction calculation in consideration of natural heat dissipation due to elapsed time, and a heat amount. The recording apparatus is characterized in that the heat generation temperature of the electric motor is estimated based on the calculated integrated value. 15. The recording apparatus according to claim 9, further comprising a second memory that stores the heat generation temperature immediately before the power is turned off, and the second memory when the power is turned on. A recording apparatus, wherein the heat generation temperature stored in is read and used as an initial value.