JP2007076103A - Recorder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a means for providing a recorder exhibiting high performance with a small power supply capacity by performing more rational control where the feature of feedback control in a DC motor and the feature of such a situation as power consumption increases in a printer system (occurrence of a sudden load variation when a UT sheet feed motor 221 feeds a sheet) are utilized. <P>SOLUTION: The recorder for recording on a recording sheet with a recording head employs a DC motor as a drive source for conveying a recording material wherein the DC motor is controlled by feedback control. In the feedback control, a maximum output limit can be set separately at each object sequence. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a recording apparatus, and relates to a technique for effectively using limited supply power.

  In recent serial printer apparatuses, for example, ink jet printer apparatuses (recording apparatuses), the number of motors to be mounted is increasing in order to cope with improvements in functions and performance. In such an apparatus, the number of motors that are driven simultaneously increases, and when the power required for driving the print head (means for performing an ink ejection operation in an inkjet printer apparatus) is added, the load on the power supply unit is increased. It has become very large. For example, in a device provided with a U-turn path (a path for feeding paper from the front surface of the housing) in addition to a straight path (a path for feeding paper from the top surface of the housing) that has been conventionally used as a paper feeding path, Since the paper path is longer than the straight path paper feed path, the U-turn path paper feed operation may be performed during the printing operation in order to increase the throughput in printing via the U-turn path. In such a case, the driving of the main scanning (carriage) motor, the ejection operation of the print head, and the driving of the U-turn path transport motor overlap, and the load on the power supply unit is large.

  On the other hand, in order to cope with noise reduction and high-speed rotation, an increasing number of models employ a DC motor as a transport motor (see Patent Document 1).

  The above configuration will be described with reference to FIGS.

  FIG. 1 is an example of the printing apparatus and is an overall view of a serial ink jet printer.

  In the figure, 101 is a recording head having an ink tank, and 102 is a carriage on which the recording head 101 is mounted. A guide shaft 103 is inserted into the bearing portion of the carriage 102 so as to be slidable in the main scanning direction, and both ends of the shaft are fixed to the chassis 114. The drive of the drive motor 105 which is a carriage drive means is transmitted via the belt 104 which is a carriage drive transmission means engaged with the carriage 102, and the carriage 102 can move in the main scanning direction. An encoder sensor 120 is attached to the carriage 102, and speed and position information is obtained by reading the linear encoder film 121.

  In the present printing apparatus, there will be described a case in which the paper feed path is provided with two paths, a straight path and a U-turn path, and the print medium is first conveyed via the straight path.

  During printing standby, the print medium 115 is stacked on the paper feed base 106, and at the start of printing, the print medium is fed by a paper feed roller (not shown). In order to transport the fed print medium, the transport roller is rotated via a gear train (motor gear 108, transport roller gear 109) as a transmission means by the driving force of the print medium transport motor 107, and a pinch roller spring (not shown) The printing medium 115 is conveyed by an appropriate feed amount by the pinch roller 111 that is pressed by the conveyance roller 110 and rotated by the conveyance roller 110 and the conveyance roller 110. Here, the carry amount is managed by detecting and counting the slits of the rotary encoder film 116 press-fitted into the carry roller 109 with the encoder sensor 117, thereby enabling high-precision feeding.

  The ink ejected from the recording head 101 lands on the printing medium 115 on the platen 112 to form a printing pattern. When the print pattern is completed, the print medium 115 is discharged from the discharge port 142 by the transport roller 110 and the discharge roller 113.

  Next, a case where the print medium is conveyed via the U-turn path will be described.

  During printing standby, the print medium 115 is stacked on the front paper feed tray 141, and the print medium is fed by the U-turn path transport roller 132 at the start of printing. Hereinafter, the process up to the paper discharge is the same as the case where the print medium is conveyed via the straight path.

  FIG. 2 is a cross-sectional view seen from the side in order to explain the conveyance path with respect to the printing apparatus.

  In FIG. 2, 201 is a print medium 115 on a paper feed base, 203 is a printed print medium 115, 202 is a print medium 115 that is a current print target, and 204 is a paper feed roller not shown in FIG. Reference numeral 205 denotes a paper discharge side pinch roller which is not shown in FIG.

  Reference numeral 221 denotes a UT paper feed motor serving as a drive source for the U-turn path conveying roller 132, which is not shown in FIG. The driving force of the UT paper feed motor is transmitted to the pulley 223 coupled to the U-turn path conveying roller 132 via the belt 222. Reference numeral 211 denotes an unprinted print medium 115 on the front paper feed tray 141.

  FIG. 3 shows an example of a state when the print medium is conveyed via the U-turn path.

  Reference numeral 301 denotes a print medium 115 during printing on the platen, and 302 denotes the print medium 115 that is being fed by the U-turn path conveying roller 132. If control is performed so that the paper feeding operation is performed on 302 while the printing process for 301 is performed by moving the carriage 102, 302 has already reached near the platen 112 immediately after the printing process for 301 is completed. Can be controlled.

  In order to realize this sequence, it is necessary to simultaneously drive the drive motor 105 for moving the carriage 102, the ejection operation of the recording head 101, and the drive of the UT paper feed motor 221.

  FIG. 4 is a diagram provided to more specifically explain the state of FIG. 3 by clarifying the temporal relationship in the actual sequence. Two pages of the print medium are sequentially supplied via the U-turn path. It is the figure which showed using the simplest example about the flow of the process to paper, print and discharge.

  The horizontal axis shows the passage of time.

  Reference numerals 401 to 406 indicate the driving speed of the driving motor 105, and the vertical axis indicates the speed.

  Reference numerals 411 to 416 indicate that the ejection operation of the recording head 101 is performed.

  Reference numerals 421 to 425 denote driving speeds of the UT paper feed motor 221, and the vertical axis denotes the speed.

  Reference numerals 431 to 437 denote driving speeds of the conveyance motor 107, and the vertical axis denotes the speed.

  First, in order to feed the print medium of the first page, the UT paper feed motor 221 is driven by 421 and simultaneously the transport motor 107 is driven by 431. Driving of the motor 105 of 401 is started so that the driving of the recording head 101 can be started immediately after 431 is completed without any dead time.

  When 431 ends, the ejection operation of the recording head 101 is immediately performed by 411.

  When the ejection operation of the recording head 101 by 411 is completed and one line of the main scanning process is completed, the UT paper feed motor 221 is driven at 422 and simultaneously the transport motor 107 is driven at 432. Here, it is assumed that the print medium of the first page is released from the U-turn path conveying roller 132 by driving 422. The driving of the motor 105 of 402 is started so that the ejection operation of the recording head 101 can be started without waste time immediately after 432 is completed.

  When 432 is completed, the ejection operation of the recording head 101 is immediately performed by 412.

  Here, since the printing medium for the first page has already been released from the U-turn path conveying roller 132, the feeding process for the printing medium for the second page is started independently of the processing for the printing medium for the first page. I can do it. In step 423, the UT paper feed motor 221 is driven to start the print medium feed process for the second page.

  For the printing process for the first page, which continues independently of 423, when the ejection operation of the recording head 101 by 412 is completed and another line of main scanning is completed, the conveyance motor 107 is driven at 433. . Immediately after the completion of 433, driving of the motor 105 of 403 is started so that the ejection operation of the recording head 101 can be started without wasted time.

  When 433 is completed, the ejection operation of the recording head 101 is immediately performed at 413.

  When the ejection operation of the recording head 101 by 413 is completed and another line of main scanning is completed, the conveying motor 107 is driven at 434. The driving of the motor 105 of 404 is started so that the ejection operation of the recording head 101 can be started immediately after the completion of 434 without any dead time.

  When 434 is completed, the ejection operation of the recording head 101 is immediately performed by 414. Here, it is assumed that the printing process for the print medium of the first page is completed by 414.

  When the ejection operation of the recording head 101 by 414 is completed and one line of the main scanning process is completed, the UT paper feed motor 221 is driven at 424 and the transport motor 107 is driven at 435. By these driving operations, the print medium for the first page is discharged, and at the same time, the print medium for the second page, which has been controlled to reach near the platen 112 by 423, is fed. Immediately after 435 is completed, the drive of the motor 105 is started so that the ejection operation of the recording head 101 can be started without wasted time.

  When 435 is completed, the ejection operation of the recording head 101 is immediately performed by 415.

  When the drive of the recording head 101 by 415 is completed and one line of the main scanning process is completed, the UT paper feed motor 221 is driven at 425 and simultaneously the transport motor 107 is driven at 436. Here, it is assumed that the printing medium for the second page is released from the U-turn path conveying roller 132 by driving 425. The driving of the motor 105 of 406 is started so that the ejection operation of the recording head 101 can be started immediately after the completion of 436 without any dead time.

  When 436 is completed, the ejection operation of the recording head 101 is immediately performed at 416. Here, it is assumed that the printing process for the print medium of the second page is completed by 416.

  When the ejection operation of the recording head 101 by 416 is completed and the main scanning process is completed for one line, the conveying motor 107 is driven at 437. By this driving, the print medium of the second page is discharged.

  Of the series of sequences described above, the present invention focuses on the operation 423. While the printing process for the first page is being performed, the paper feeding operation for the second page is performed in order to increase the throughput. As a result, operations such as 402 and 412 or 402 and 433 are performed simultaneously with 423.

That is, as described in the description of FIG. 3, the drive of the drive motor 105 for moving the carriage 102, the ejection operation of the recording head 101, and the drive of the UT paper feed motor 221 are performed simultaneously, or the carriage 102 is There is a case where the drive motor 105 for driving, the drive of the transport motor 107, and the drive of the UT paper feed motor 221 are simultaneously performed.
JP 2002-337414 A

  Thus, if a plurality of driving operations are performed simultaneously, the instantaneous power consumption increases. The situation is particularly serious when large power is required due to sudden load fluctuations in the UT paper feed motor 221.

  However, designing the power supply portion in accordance with the instantaneous power consumption is not cost effective.

  According to the present invention, in the situation where a plurality of driving operations described above are performed at the same time, the feature of feedback control in the DC motor and the situation in which the power consumption increases in the printer system (when the UT paper feeding motor 221 feeds paper) The present invention proposes a means for providing a high-performance recording apparatus with a small power supply capacity by taking advantage of the characteristics of sudden load fluctuations).

  The present invention is a recording apparatus that records on a recording material by a recording head, and uses a DC motor as a drive source for conveying the recording material, and the DC motor is controlled by feedback control. Further, the maximum output limit to the DC motor can be set separately.

  According to the present invention, in a printing apparatus that employs a power supply apparatus with a limited capacity and employs a sequence in which a plurality of motor drives or recording head ejection operations are performed simultaneously, feedback that applies an appropriate output limit depending on the situation. Control can be activated.

  As a result, the cost is improved by realizing a small power capacity (there is no need for a large margin due to the existence of an output limit), and the stability of the system (the existence of the output limit is overloaded to the power supply). Control) (for sequences where the output limit is detrimental, the output limit can be set to a marginal value), and the processing speed is increased (overload response to the output limit) Therefore, it is not necessary to avoid the overload by lowering the set drive speed).

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to examples.

  The basic configuration described with reference to FIGS. 1 to 4 is the same in this embodiment apparatus.

  Here, first, description will be given of how the feedback control of the UT paper feed motor 221 changes as a result of mounting the means that is characteristic of the apparatus of the present embodiment, with reference to FIGS.

  FIG. 5 is an operation profile when the UT paper feed motor 221 is controlled by feedback control without setting the maximum output limit, and FIG. 6 is a UT paper feed motor 221 by feedback control with the maximum output limit set. It is an operation profile at the time of performing control of.

  5 and 6, the horizontal axis represents time. The vertical axis indicates the speed, position, and output to the UT paper feed motor 221 for each data.

  Reference numeral 501 denotes an ideal speed profile. A position command profile 503 is obtained by plotting the position according to the ideal speed profile 501. The actual position profile as a result of applying the position feedback control described later with reference to FIG. 7 so as to follow the position command profile 503 is 504, and the actual speed profile corresponding to the actual position profile 504 is 502. An output profile 505 shows the transition of the magnitude of the output to the motor at this time.

  Since a large amount of power is required at the time of acceleration, it can be seen that when 25 msec has elapsed from the start of driving, the output to the motor becomes extremely large and a large amount of power is consumed.

  FIG. 6 shows a case where the feedback control of the position with the maximum output limit, which will be described later with reference to FIG.

  Reference numeral 601 denotes an ideal speed profile. A position command profile 603 is obtained by plotting the position according to the ideal speed profile 601. The actual position profile as a result of feedback control of the position with the maximum output limit described later in FIG. 8 to follow the position command profile 603 is 604, and the actual speed profile corresponding to the actual position profile 604 is 602. It is. The output profile 605 shows the transition of the magnitude of the output to the motor at this time.

  Since the maximum output limit is set, the output profile 605 has reached its peak at the time when 25 msec has elapsed from the start of driving when large power was consumed in the situation shown in FIG. Since the output is reduced, the actual speed profile 602 is also slower than the actual speed profile 502, and therefore the actual position profile 604 is also delayed compared to the actual position profile 504.

  However, since the position feedback control is performed, when the load decreases after 35 msec from the start of driving, the actual speed profile 602 can be output without requiring a large output. The actual position profile 604 gradually overcomes the delay with respect to the actual position profile 504. The time to finally reach the stop position is comparable to the result in FIG. 6 compared to the result in FIG.

  When the control as shown in FIG. 6 is applied to 421 and 422 described in FIG. 4, the speed of the conveyance motor 107 indicated by 431 and 432 does not match, and the print medium 115 being conveyed in two axes is pulled. It can be seen that there is a possibility of damage.

  On the other hand, the example of the control result shown in FIG. 6 is inferior to the example of the control result shown in FIG. The time to reach the stop position is the same, and there is no inferiority as a control result at the time of stopping. When the control of FIG. 6 is applied as the paper supply process for the second page of the print medium by the UT paper supply motor 221 described in 423, the deterioration of the control result at the end of the acceleration is not a problem, but rather the maximum output. The merit of setting the limit will be noticed more. This is because in the situation at 423, if the power to the motor output is consumed without limit as shown in FIG. 5, the driving of the driving motor 105 for moving the carriage 102 and the ejection operation of the recording head 101 overlap. This is because a power supply device having a large capacity is required.

  As described above, the feedback control of FIG. 5 and the feedback control of FIG. 6 have suitability in sequence, and the purpose of the apparatus of this embodiment is to rationally apply both controls to a sequence that suits suitability. It is to provide means to do.

  FIG. 7 is a flowchart for explaining means for performing general position feedback control, and shows the means for control used for driving the UT paper feed motor 221 in the apparatus of this embodiment.

  Steps 701 to 703 are processes belonging to the task hierarchy in terms of software, and steps 704 to 715 are processes belonging to the timer handler hierarchy.

  When the driving process is started in step 701, the variable intSum is initialized in step 702. intSum is a variable indicating an integral compensation amount calculated by integral calculation in feedback control.

  When the timer handler for performing feedback control in step 703 (1 msec in the present embodiment) is started, the processing in the task hierarchy is terminated.

  In the following, step 704 indicating the timer process starts the processing of step 705 and subsequent steps every 1 msec.

  In step 705, it is determined whether or not the target stop position has been reached. If so, the process proceeds to step 706 to stop the timer, and in step 707, the current output to the motor is turned off, and the process proceeds to step 715 to drive processing. End.

  If the target stop position has not been reached, the process proceeds to step 708 to acquire speed information. Specifically, the current speed information is obtained from the encoder and substituted for the variable spdNow.

  In step 709, position information is acquired. Specifically, the current position information is obtained from the encoder and assigned to the variable posNow.

  Next, proceeding to step 710, ideal position information posCmd at the time of processing is acquired by the ideal position profile generation means. As for a method for creating an ideal position profile, a method using a cubic curve and a quintic curve as a speed command profile is referred to in Japanese Patent Application Publication No. 2000-188894, and the ideal position profile is the speed command profile. Since it can be easily obtained by integration of the profile, it may be said to be a known means, and detailed description thereof is omitted here.

  Hereinafter, the calculation processing from step 711 to step 713 shows an example of a known configuration in which feedback control generally called PID control is applied to position control.

  First, the process proceeds to step 711, where a position proportional calculation for position servo is performed. The difference in the current position information posNow is calculated from the ideal position information posCmd to calculate the distance delay amount, and this is multiplied by the position proportional gain coefficient posTbl, and is substituted into the speed command value spdCmd. .

  Next, the process proceeds to step 712, where processing for performing integral calculation in the speed servo is performed. The difference between the current speed information spdNow is calculated from the speed command value spdCmd, the speed delay amount is calculated, and this is multiplied by intTbl, which is the speed integral gain coefficient, when the 1 msec period timer interrupts the previous time. By adding to the obtained integral compensation amount intSum, a new intSum is obtained as the calculation result of the integral term.

  Next, the process proceeds to step 713, and a process for determining a current output value is performed after performing a proportional calculation in the speed servo. The difference in the current speed information spdNow is calculated from the speed command value spdCmd to calculate the speed delay amount, and this is multiplied by intTbl which is the speed integral gain coefficient. The current output value mtr_pwm is obtained by adding intSum, which is the calculation result of the integral term, to the calculation result of the proportional term thus obtained.

  Next, in step 714, a current corresponding to the magnitude of mtr_pwm obtained as a calculation result is output to the motor. Thereafter, returning to step 704, another task is processed until 1 msec elapses.

  FIG. 8 is a diagram in which a calculation for enabling processing with an output limit, which is necessary for realizing the apparatus of this embodiment, is added to the general position feedback control unit described in FIG. It is. Such feedback control with an output limit is also known, but will be described in order to clarify the contents of this embodiment.

  Steps 801 to 803 are processes belonging to the task hierarchy in terms of software, and steps 804 to 818 are processes belonging to the timer handler hierarchy.

  When the driving process is started in step 801, the variable intSum is initialized in step 802. intSum is a variable indicating an integral compensation amount calculated by integral calculation in feedback control.

  When a timer handler for performing feedback control in step 803 (1 msec in the present embodiment) is activated, the processing in the task hierarchy is terminated.

  In the following, step 805 indicating the timer process starts the processing in step 805 and subsequent steps every 1 msec.

  In step 805, it is determined whether or not the target stop position has been reached. If so, the process proceeds to step 806 to stop the timer, and in step 807, the current output to the motor is turned off, and the process proceeds to step 819 to drive processing. End.

  If the target stop position has not been reached, the process proceeds to step 808 to acquire speed information. Specifically, the current speed information is obtained from the encoder and substituted for the variable spdNow.

  In step 809, position information is acquired. Specifically, the current position information is obtained from the encoder and assigned to the variable posNow.

  Next, in step 810, ideal position information posCmd at the time of processing is acquired by the ideal position profile generation means. The method for creating an ideal position profile may be said to be a known means as described in the description of FIG. 7, and detailed description thereof will be omitted here.

  Hereinafter, the calculation processing from step 811 to step 813 shows an example of a known configuration in which feedback control generally called PID control is applied to position control.

  First, the process proceeds to step 811 to perform position proportional calculation for position servo. The difference in the current position information posNow is calculated from the ideal position information posCmd to calculate the distance delay amount, and this is multiplied by the position proportional gain coefficient posTbl, and is substituted into the speed command value spdCmd. .

  Next, the processing proceeds to step 812, where processing for performing integral calculation in the speed servo is performed. The difference between the current speed information spdNow is calculated from the speed command value spdCmd, the speed delay amount is calculated, and this is multiplied by intTbl, which is the speed integral gain coefficient, when the 1 msec period timer interrupts the previous time. By adding to the obtained integral compensation amount intSum, a new intSum is obtained as the calculation result of the integral term.

  In step 813, intSum is temporarily copied to intOld, which is a variable area for backup. Although intSum is overwritten in the subsequent process, it may be used again depending on the result of the subsequent process, so it is backed up in intOld as the old integral compensation amount.

  Next, the process proceeds to step 814, and a process for determining a current output value is performed after performing a proportional calculation in the speed servo. The difference in the current speed information spdNow is calculated from the speed command value spdCmd to calculate the speed delay amount, and this is multiplied by intTbl which is the speed integral gain coefficient. The current output value mtr_pwm is obtained by adding intSum, which is the calculation result of the integral term, to the calculation result of the proportional term thus obtained.

  Step 815 is the process in which the difference between the process described in FIG. 7 and the process in FIG. If the current output value mtr_pwm does not exceed the predetermined mtrLimit, the process proceeds to step 818 as it is, and a current corresponding to the magnitude of mtr_pwm obtained as a calculation result is output to the motor. However, if it has exceeded, mtrLimit is set as the current output value mtr_pwm.

  In this state, a problem generally called reset windup will occur. The reset windup is a problem that occurs when the output of the calculation result exceeds the limit imposed on the output in the system to be controlled.

  When the output exceeds the limit, the basic function of feedback control that the output increases in proportion to the increase of the integral compensation amount is lost. If the integration process is continued at this time, the integral compensation amount is increased. (Winded up). As a result, even if the deviation decreases and the integral compensation amount starts to be subtracted, the output decreases in proportion to the decrease in the integral compensation amount until the amount of winding up the integrated compensation amount is canceled by the subtraction process. The feedback control function does not recover.

  In other words, the recovery of the original feedback control function is delayed only during the rewinding period, resulting in problems such as increased control result overshoot.

  In order to solve this problem, there is a widely known method of stopping the integral calculation in the direction exceeding the limit when the output reaches the limit. In step 817, the integral compensation amount intSum is returned to the backup variable intOld. The integration operation is stopped.

  The post-processing proceeds to step 818, and a current corresponding to the magnitude of mtr_pwm obtained as a calculation result is output to the motor. Thereafter, returning to step 804, another task is processed until 1 msec elapses.

  FIG. 9 is a flowchart that characterizes the apparatus of this embodiment.

  When a drive command for the UT paper feed motor is received in step 901, it is determined in step 902 whether or not the drive is established even if the output limit is set low.

  For example, 423 described in FIG. 4 is a drive that is established even when the output limit is set low. As a result of setting the output limit low, the time to reach the stop position is the same even if the delay amount of the position during the drive becomes extremely large as in the drive in FIG. This is because there is no inferiority in the control results at the time of doing. Since 423 is a sheet feeding operation, there is a high possibility of load fluctuations on the mechanical mechanism, and there is a high risk of consuming large power, but there is a possibility that it may be performed simultaneously with the ejection operation 413 of the recording head. large.

  On the other hand, 421, 422, 424, and 425 are drives that cannot be established if the output limit is set low. If the output limit is set low, and the amount of delay in the position during driving may become extremely large as in the driving in FIG. 6, the conveyance motor 107 indicated by 431, 432, 435, 436 This is because the printing medium 115 being transported by two axes may be pulled and damaged without being matched.

  Therefore, in step 902, if the driving can be established even if the output limit is set low as in 423, the processing proceeds to step 904. Determination processing is performed so as to proceed to step 903.

  In step 903, the output current limit mtrLimit is set to a large value, and the process proceeds to step 905 to start the driving process.

  In step 904, the output current limit mtrLimit is set to a small value, and the process proceeds to step 905 to start the driving process.

  In step 905, the processing after step 801 in FIG. 8 already described is performed.

  Since the apparatus of the present embodiment is a modification of the flowchart of FIG. 9 in the apparatus described in the first embodiment, the configuration from FIGS.

  FIG. 10 is a flowchart that characterizes the apparatus of this embodiment.

  When a drive command for the UT paper feed motor is received in step 1001, it is determined in step 1002 whether or not the drive is performed simultaneously with the heat processing.

  For example, 423 described in FIG. 4 is a drive that is established even when the output limit is set low. As a result of setting the output limit low, the time to reach the stop position is the same even if the delay amount of the position during the drive becomes extremely large as in the drive in FIG. This is because there is no inferiority in the control results at the time of doing. Since 423 is a sheet feeding operation, there is a high possibility of load fluctuations on the mechanical mechanism, and there is a high risk of consuming large power, but there is a possibility that it may be performed simultaneously with the ejection operation 413 of the recording head. large.

  On the other hand, 421, 422, 424, and 425 are drives that cannot be established if the output limit is set low. If the output limit is set low, and the amount of delay in the position during driving may become extremely large as in the driving in FIG. 6, the conveyance motor 107 indicated by 431, 432, 435, 436 This is because the printing medium 115 being transported by two axes may be pulled and damaged without being matched.

  Therefore, in step 1002, if the drive is performed simultaneously with the heat process as in 423, the process proceeds to step 1004. If the drive is not performed simultaneously with the heat process, such as 421, 422, 424, 425, the process proceeds to step 1003. The determination process is performed.

  In step 1003, the output current limit mtrLimit is set to a large value, and the process proceeds to step 1005 to start the driving process.

  In step 1004, the output current limit mtrLimit is set to a small value, and the process proceeds to step 1005 to start the driving process.

  In step 1005, the processing after step 801 in FIG. 8 already described is performed.

  Since the apparatus of the present embodiment is a modification of the flowchart of FIG. 9 in the apparatus described in the first embodiment, the configuration from FIGS.

  FIG. 11 is a flowchart that characterizes the apparatus of this embodiment.

  When a drive command for the UT paper feed motor is received in step 1101, it is determined in step 1102 whether or not the print medium is driven to carry the print medium by biaxial drive with the carry motor 107 (= LF).

  For example, 423 described in FIG. 4 is a drive that is established even if the output limit is set low. As a result of setting the output limit low, the time to reach the stop position is the same even if the delay amount of the position during the drive becomes extremely large as in the drive in FIG. This is because there is no inferiority in the control results at the time of doing. Since 423 is a paper feed operation, there is a high possibility of load fluctuations on the mechanical mechanism, and there is a high risk of consuming large power, but there is a possibility that it may be performed simultaneously with the ejection operation 413 of the print head. large.

  On the other hand, 421, 422, 424, and 425 are drives that cannot be established if the output limit is set low. If the output limit is set low, and the amount of delay in the position during driving may become extremely large as in the driving in FIG. 6, the conveyance motor 107 indicated by 431, 432, 435, 436 This is because the printing medium 115 being transported by two axes may be pulled and damaged without being matched.

  Therefore, in step 1102, if it is not a drive for conveying the print medium by biaxial driving with the conveyance motor 107 (= LF) as in 423, the print medium is in steps 1104, 421, 422, 424, and 425. Is determined to proceed to step 1103 if it is a drive for transporting the image by the biaxial drive with the transport motor 107 (= LF).

  In step 1103, the output current limit mtrLimit is set to a large value, and the process proceeds to step 1105 to start the driving process.

  In step 1104, the output current limit mtrLimit is set to a small value, and the process proceeds to step 1105 to start the driving process.

  In step 1105, the processing after step 801 in FIG. 8 already described is performed.

It is a perspective view of the exterior of the serial type inkjet printer to which the present invention is applied, and shows a state in which a paper feed tray and a paper discharge tray are opened. It is sectional drawing seen from the side in order to demonstrate the conveyance path | pass of a printing apparatus. It shows about an example of a state when a printing medium is conveyed via a U-turn path of a printing apparatus. FIG. 10 is a diagram illustrating a flow of processing for sequentially feeding, printing, and discharging two pages of a print medium via a U-turn path. It is the figure which showed the operation profile at the time of controlling by the feedback control which does not set the maximum output limit. It is the figure which showed the operation | movement profile at the time of controlling by the feedback control which set the maximum output limit. 6 is a flowchart illustrating a means for performing general position feedback control. It is the flowchart explaining the means to perform the feedback control which added the calculation for enabling the process with an output limit. 3 is a flowchart that is a feature of the apparatus according to the first embodiment. 10 is a flowchart that is a feature of the apparatus according to the second embodiment. 10 is a flowchart that is a feature of the apparatus according to the third embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Recording head 102 Carriage 103 Guide shaft 104 Belt 105 Drive motor 106 Paper feed base 107 Conveyance motor 108 Motor gear 109 Conveyance roller gear 110 Conveyance roller 111 Pinch roller 112 Platen 113 Discharge roller 114 Chassis 115 Print medium 116 Rotary encoder film 117 Encoder sensor 201 Print medium 202 on the paper feed base Print medium 203 that is the current print target 203 Printed print medium 204 Paper feed roller 205 Pinch roller 211 on the paper discharge side Unprinted print medium 221 on the front paper feed tray UT paper feed Motor 222 Belt 223 Pulley 301 coupled to U-turn path conveying roller Printing medium 302 on printing platen Printing medium being fed by U-turn path conveying roller The drive speed of the body 401 drive motor is shown, and a vertical axis | shaft shows speed.
402 shows the drive speed of the drive motor, and the vertical axis shows the speed.
403 shows the drive speed of the drive motor, and the vertical axis shows the speed.
404 shows the drive speed of the drive motor, and the vertical axis shows the speed.
The driving speed of the 405 driving motor is shown, and the vertical axis shows the speed.
406 shows the drive speed of the drive motor, and the vertical axis shows the speed.
411 indicates that the ejection operation of the recording head is being performed.
412 indicates that the ejection operation of the recording head is being performed.
413 indicates that the ejection operation of the recording head is being performed.
414 indicates that the ejection operation of the recording head is being performed.
415 indicates that the ejection operation of the recording head is being performed.
416 indicates that the ejection operation of the recording head is being performed.
421 shows the driving speed of the UT paper feed motor, and the vertical axis shows the speed.
422 shows the drive speed of the UT paper feed motor, and the vertical axis shows the speed.
423 shows the drive speed of the UT paper feed motor, and the vertical axis shows the speed.
The driving speed of the 424 UT paper feed motor is shown, and the vertical axis shows the speed.
425 indicates the driving speed of the UT paper feed motor, and the vertical axis indicates the speed.
431 shows the driving speed of the conveying motor, and the vertical axis shows the speed.
432 shows the drive speed of the conveying motor, and the vertical axis shows the speed.
433 shows the driving speed of the conveying motor, and the vertical axis shows the speed.
434 shows the driving speed of the conveying motor, and the vertical axis shows the speed.
435 indicates the driving speed of the transport motor, and the vertical axis indicates the speed.
436 shows the driving speed of the conveying motor, and the vertical axis shows the speed.
437 shows the driving speed of the conveying motor, and the vertical axis shows the speed.
501 Ideal speed profile 502 Real speed profile 503 Position command profile 504 Real position profile 505 This is an output profile showing the transition of the magnitude of the output to the motor.
601 Ideal speed profile 602 Real speed profile 603 Position command profile 604 Real position profile 605 This is an output profile showing the transition of the magnitude of the output to the motor.

Claims (4)

A recording apparatus for recording on a recording material by a recording head,
A DC motor is used as a drive source for conveying the recording material, and the DC motor is controlled by feedback control. In the feedback control, a maximum output limit to the DC motor can be set separately for each target sequence. Recording device.   The DC motor controls the feeding of the U-turn path among the conveyance of the recording material, and as a means for separately setting the maximum output limit to the motor, in the sequence where the output limit should be set low. The maximum output limit is set to a small value when the motor is driven, and the maximum output limit is set to a large value when the motor is driven in other sequences. Item 2. The recording device according to Item 1.   The recording apparatus according to claim 2, wherein a drive that may be performed simultaneously with a printing process of main scanning is targeted as a sequence for setting the output limit to be low.   The recording apparatus according to claim 2, wherein the sequence for setting the output limit to be low targets a drive for feeding paper of the next page.

Images