JP2010004713A - Motor control apparatus and motor control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress operation of a carriage from going into an unstable state, when controlling a motor that drives the carriage which is moving reciprocatively. <P>SOLUTION: A motor control apparatus for controlling a motor for driving a carriage that moves reciprocally includes a correlation value detecting part for detecting the rotational speed correlative value that correlates with the rotational speed of the motor; a contact detecting part for detecting a contact between the carriage and an end part member arranged at the end of a movement route of the carriage; and a control execution part which controls the motor, by supplying a drive voltage to the motor based on the rotational speed correlation value. The control execution part does not control the motor, based on the rotational speed correlative value during a predetermined period, after detection of contact. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a motor control device and a motor control method, and more particularly to a motor control device and a motor control method for controlling a motor for driving a reciprocating carriage.

  The ink jet printer has a carriage motor for reciprocally moving (main scanning) a carriage on which a print head and an ink container are mounted. When the carriage is driven by the carriage motor, in order to detect the reference position (home position) of the carriage, an operation of moving the carriage and bringing it into contact with a frame disposed at the end of the carriage movement path is performed. That is, the position of the carriage when the carriage and the frame are in contact with each other, or the position set based on the position is detected as the carriage reference position. The contact between the carriage and the frame is also referred to as “per unit”. For example, when the carriage is moved in the frame direction and the current value of the carriage motor exceeds a predetermined threshold value, it is determined that the carriage and the frame have hit each other (for example, Patent Document 1).

JP 2006-248104 A

  When the carriage and the frame hit each other, the frame may be elastically deformed by being pushed by the carriage. Therefore, when the carriage is moved in the opposite direction after hitting, a force is applied to the carriage as the elastic deformation of the frame is released, and the carriage operation becomes unstable if the carriage motor is controlled by feedback control. There was a problem of fear.

  Note that such a problem is not limited to controlling a carriage motor for driving a carriage on which an ink jet printer has a print head and an ink container, but controls a motor for driving a reciprocating carriage. The case was a common problem.

  The present invention has been made in order to solve the above-described problems, and can control the operation of the carriage from becoming unstable when controlling a motor for driving a reciprocating carriage. It aims at providing the technology to do.

  In order to solve at least a part of the above problems, the present invention can be realized as the following forms or application examples.

Application Example 1 A motor control device that controls a motor for driving a carriage that reciprocates,
A rotational speed correlation value detecting unit for detecting a rotational speed correlation value correlated with the rotational speed of the motor;
A contact detection unit that detects contact between the carriage and an end member disposed at an end of a movement path of the carriage;
A control execution unit that supplies a drive voltage to the motor based on the rotation speed correlation value and executes control of the motor;
The motor control device, wherein the control execution unit does not execute control of the motor based on the rotation speed correlation value in a predetermined period after detection of the contact.

  In this motor control device, since the control of the motor based on the rotational speed correlation value is not executed in a predetermined period after the detection of the contact between the carriage and the end member disposed at the end of the carriage movement path, the motor control device reciprocates. When the motor for driving the carriage is controlled, it is possible to suppress the operation of the carriage from becoming unstable.

[Application Example 2] The motor control device according to Application Example 1,
The motor control device, wherein the control execution unit does not supply a drive voltage to the motor during the predetermined period.

  In this motor control device, since the drive voltage is not supplied to the motor in a predetermined period, it is possible to prevent the operation of the carriage from becoming unstable when controlling the motor for driving the carriage that reciprocates. .

[Application Example 3] The motor control device according to Application Example 2,
The motor control apparatus, wherein the predetermined period is a period from when the contact is detected until a preset time elapses.

  In this motor control device, since a drive voltage is not supplied to the motor in a period from when contact is detected until a preset time elapses, when controlling a motor for driving a reciprocating carriage, It is possible to prevent the carriage operation from becoming unstable.

[Application Example 4] The motor control device according to Application Example 2, further comprising:
A determination unit for determining whether the rotational speed of the motor is zero based on the rotational speed correlation value;
The said predetermined period is a motor control apparatus which is a period until it determines with the rotation speed of the said motor being zero after the said contact is detected.

  In this motor control device, the drive voltage is not supplied to the motor during the period from when contact is detected until the motor speed is determined to be zero, so the motor for driving the reciprocating carriage is controlled. In doing so, it is possible to prevent the operation of the carriage from becoming unstable.

[Application Example 5] The motor control device according to Application Example 1, further comprising:
A position detector for detecting the position of the carriage on the movement path;
The predetermined period is a period from when the contact is detected to when it is detected that the carriage has moved out of a predetermined range including the position of the elastic member on the movement path,
The control execution unit executes control of the motor on the assumption that the number of rotations of the motor is a preset value in the predetermined period.

  In this motor control device, the number of rotations of the motor is set in advance during a period from when contact is detected to when it is detected that the carriage has moved out of a predetermined range including the position of the elastic member on the movement path. Since the motor control is executed on the assumption that the value has been set, it is possible to prevent the operation of the carriage from becoming unstable when controlling the motor for driving the reciprocating carriage. .

[Application Example 6] The motor control device according to Application Example 1,
A position detector for detecting the position of the carriage on the movement path;
The predetermined period is a period from when the contact is detected to when it is detected that the carriage has moved out of a predetermined range including the position of the elastic member on the movement path,
In the predetermined period, the control execution unit supplies a drive voltage set in advance independently of the rotation speed correlation value, and executes control of the motor.

  In this motor control device, it is independent of the rotational speed correlation value during a period from when contact is detected until it is detected that the carriage has moved out of a predetermined range including the position of the elastic member on the movement path. Since the control of the motor is executed by supplying a preset driving voltage, it is possible to prevent the carriage operation from becoming unstable when controlling the motor for driving the carriage that reciprocates. Can do.

[Application Example 7] The motor control device according to any one of Application Example 1 to Application Example 6,
The contact detection unit detects the contact by determining that the carriage and the end member are in contact with each other when a current value of the motor becomes a predetermined threshold value or more.

  In this motor control device, it is possible to detect contact between the carriage and the end member disposed at the end of the carriage movement path.

  The present invention can be realized in various modes. For example, an image processing method and apparatus, an organ region detection method and apparatus, a computer program for realizing the functions of these methods or apparatuses, and the computer The present invention can be realized in the form of a recording medium recording the program, a data signal including the computer program and embodied in a carrier wave, and the like.

Next, embodiments of the present invention will be described in the following order based on examples.
A. First embodiment:
A-1. Printer configuration:
A-2. Carriage drive processing:
B. Second embodiment:
C. Third embodiment:
D. Fourth embodiment:
E. Variation:

A. First embodiment:
A-1. Printer configuration:
FIG. 1 is an explanatory diagram showing the appearance of the printer 100 according to the first embodiment of the present invention. The printer 100 is a so-called multifunction printer, and connects a scanner 110 for optically reading an image, a memory card slot 120 for inserting a memory card MC on which image data is recorded, and a device such as a digital camera. A USB interface 130. The printer 100 can print on the printing paper P an image captured by the scanner 110, an image read from the memory card MC, an image read from a device such as a digital camera via the USB interface 130, and the like. The printer 100 can also print an image input from a personal computer (not shown) connected by a printer cable or the like.

  FIG. 2 is an explanatory diagram functionally showing the internal configuration of the printer 100. As shown in FIG. 2, the printer 100 has a carriage 210 on which an ink cartridge 212 is mounted as a mechanism for printing on the printing paper P, and a carriage motor 220 that drives the carriage 210 to reciprocate in the main scanning direction. And a paper feed motor 230 that transports the printing paper P in the sub-scanning direction. The printer 100 also includes a control unit 150 that controls the operation of the printer 100. The control unit 150 is connected to the scanner 110, the memory card slot 120, and the USB interface 130 shown in FIG.

  The carriage 210 includes six ink cartridges 212 that contain cyan (C), light cyan (Lc), magenta (M), light magenta (Lm), yellow (Y), and black (K) inks. Is done. The carriage 210 has six ink heads 211 each corresponding to one of the six ink cartridges 212. The ink supplied from the ink cartridge 212 to the ink head 211 is ejected toward the printing paper P by driving a piezoelectric element (piezoelectric element) (not shown).

  The carriage 210 is movably held by a sliding shaft 280 installed in parallel with the axial direction of the platen 270. The carriage motor 220 reciprocates the carriage 210 in parallel with the axial direction of the platen 270 (that is, in the main scanning direction) by rotating the drive belt 260. The printer 100 includes an encoder 222 that emits a pulsed signal as the carriage motor 220 rotates.

  A frame 290 is disposed at the end of the movement path of the carriage 210. That is, the frame 290 is disposed at a position where it comes into contact with the carriage 210 when the carriage 210 moves to one end of the movement path. The frame 290 is formed of an elastically deformable material. The contact between the carriage 210 and the frame 290 is also referred to as “per unit”. The frame 290 corresponds to an “end member” in the present invention.

  The paper feed motor 230 rotates the platen 270 to convey the printing paper P in a direction perpendicular to the axial direction of the platen 270.

  The control unit 150 includes a CPU 151 and an internal memory 152 such as a ROM or a RAM. The internal memory 152 stores a print control unit 153 that is a computer program for controlling a printing operation in the printer 100. The print control unit 153 includes a carriage motor control unit 154, a speed detection unit 155, a contact detection unit 156, and a position detection unit 157 as modules.

  The carriage motor control unit 154 supplies drive voltage to the carriage motor 220 to execute drive control of the carriage motor 220. The speed detector 155 detects the rotation speed (rotation speed) of the carriage motor 220 based on the pulse period of the encoder signal output from the encoder 222. The contact detection unit 156 detects contact (per degree) between the carriage 210 and the frame 290 based on the current value of the carriage motor 220. Specifically, the contact detection unit 156 determines that the carriage 210, the frame 290, and the current when the current value of the carriage motor 220 when the carriage 210 is driven to move in the direction of the frame 290 is equal to or greater than the threshold value It. Is determined to have touched (per degree). In this embodiment, the position of the carriage 210 when the carriage 210 and the frame 290 meet each other is set as a reference position (hereinafter also referred to as “home position”) of the carriage 210. That is, the contact detection unit 156 detects that the carriage 210 is in the home position by detecting the contact between the carriage 210 and the frame 290. The position detection unit 157 detects the position of the carriage 210 on the movement path. Specifically, the position detection unit 157 detects the position of the carriage 210 based on the number of pulses of the encoder signal after the contact detection unit 156 detects that the carriage 210 is located at the home position.

  The carriage motor control unit 154 corresponds to a “control execution unit” in the present invention. The rotation speed of the carriage motor 220 detected by the speed detection unit 155 corresponds to the “rotation speed correlation value” in the present invention, and the speed detection section 155 corresponds to the “rotation speed correlation value detection unit” in the present invention.

  The CPU 151 implements the functions of the respective units by calling and executing the respective units (programs) from the internal memory 152.

A-2. Carriage drive processing:
FIG. 3 is a flowchart showing the flow of the carriage driving process in the first embodiment. FIG. 4 is an explanatory diagram showing the relationship between the carriage 210 and the frame 290 in the carriage driving process of the first embodiment. FIG. 5 is an explanatory diagram showing the current value of the carriage motor 220 and the speed of the carriage 210 in the carriage driving process of the first embodiment. The carriage driving process in the first embodiment is a process for driving the carriage 210 to cause the carriage 210 to perform a predetermined operation including an operation for detecting the home position. For example, the carriage driving process is executed when the printer 100 is turned on. Be started.

  In step S110 (FIG. 3), the carriage motor control unit 154 (FIG. 2) starts energizing the carriage motor 220 and starts moving the carriage 210 in the direction of the frame 290 (see FIG. 4A). This is for detecting and setting the home position of the carriage 210 by detecting the contact between the carriage 210 and the frame 290. Note that the control of the carriage motor 220 by the carriage motor control unit 154 is feedback control based on the number of rotations of the carriage motor 220 detected by the speed detection unit 155.

  As described above, in this embodiment, when the current value of the carriage motor 220 when the carriage 210 is driven to move in the direction of the frame 290 becomes equal to or greater than the threshold value It, the carriage 210 and the frame 290 are It is assumed that it has been hit. Therefore, the contact detection unit 156 (FIG. 2) monitors the current value of the carriage motor 220 and determines whether or not the current value of the carriage motor 220 is equal to or greater than the threshold value It (step S120).

  In this embodiment, since the frame 290 is formed of an elastically deformable material, after the moment when the carriage 210 moves and contacts the frame 290 (see t1 in FIG. 4B and FIG. 5), the carriage 210 When pressed, the frame 290 is elastically deformed (see FIG. 4C). Along with this, the current value of the carriage motor 220 increases (see t1 to t2 in FIG. 5). When the contact detection unit 156 repeatedly checks the current value of the carriage motor 220 at predetermined intervals and detects that the current value of the carriage motor 220 is equal to or greater than the threshold value It, the carriage 210 and the frame 290 are hit. (Step S130). At this time, the carriage motor control unit 154 stops energization to the carriage motor 220 (see t2 in FIG. 5).

  The carriage motor control unit 154 waits for a predetermined time Tw without performing drive control of the carriage motor 220 after the contact between the carriage 210 and the frame 290 is detected and power supply to the carriage motor 220 is stopped (step Sw). S140). When the energization to the carriage motor 220 is stopped, the elastic deformation of the frame 290 by the carriage 210 is released (see FIG. 4D). As shown in FIG. 5, the predetermined time Tw is set in advance so as to be a time (t2 to t4) that is equal to or longer than the time (t2 to t3) required to release the elastic deformation of the frame 290.

  After waiting for a predetermined time Tw, the carriage motor control unit 154 drives and controls the carriage motor 220 so as to move the carriage 210 in the opposite direction (the direction toward the end where the frame 290 is not disposed) (see FIG. 5). t4 ~). As a result, the carriage 210 starts to move in the opposite direction (see FIGS. 4E and 4F).

  As described above, in the carriage driving process of the first embodiment, after the contact between the carriage 210 and the frame 290 is detected and the energization of the carriage motor 220 is stopped, the carriage motor 220 is driven for a predetermined time Tw. Control is not performed. If the carriage motor 220 is driven and controlled to move the carriage 210 in the opposite direction immediately after the contact between the carriage 210 and the frame 290 is detected, the elastic deformation of the frame 290 is released as shown by a broken line in FIG. The accompanying force acts on the carriage 210, and the operation of the carriage 210 becomes unstable. In the carriage driving process of this embodiment, since the drive control of the carriage motor 220 is not performed for a predetermined time Tw, the operation of the carriage 210 is prevented from becoming unstable due to the action of the force accompanying the release of the elastic deformation of the frame 290. can do.

  In the present embodiment, the predetermined time Tw is set in advance so as to be equal to or longer than the time required to release the elastic deformation of the frame 290. Therefore, the carriage 210 is caused by the action of the force accompanying the release of the elastic deformation of the frame 290. Can be reliably prevented from becoming unstable.

B. Second embodiment:
FIG. 6 is a flowchart showing the flow of the carriage driving process in the second embodiment. The carriage driving process in the second embodiment differs from the carriage driving process in the first embodiment shown in FIG. 3 in the processing contents from step S210 to step S250. In the second embodiment, after the contact between the carriage 210 and the frame 290 is detected and the energization to the carriage motor 220 is stopped (step S130), the rotation of the carriage motor 220 is stopped (the rotation speed is zero). After that, the movement of the carriage 210 in the opposite direction is started.

  The processing contents in steps S110 to S130 in the flowchart shown in FIG. 6 are the same as those in the first embodiment shown in FIG. In step S <b> 210, the speed detector 155 (FIG. 2) samples the encoder signal output from the encoder 222. FIG. 7 is an explanatory diagram illustrating an example of an encoder signal. In the present embodiment, the encoder signal includes two pulse signals of A phase and B phase whose half pulse phases are shifted from each other. Based on the pulse periods of the A-phase and B-phase pulse signals, the rotational speed of the carriage motor 220 is detected. Further, the direction of rotation of the carriage motor 220 (that is, the moving direction of the carriage 210) is detected based on the phase shift direction of the A-phase and B-phase pulse signals. In FIG. 7, the sampling timing of the encoder signal by the speed detector 155 is indicated by an arrow.

  In step S220, the speed detection unit 155 determines whether or not the encoder signal has changed since the previous sampling timing. If it is determined in step S220 that there has been a change, N = 0 is set (step S230), and encoder signal sampling (step S210) is executed again. Note that, at the first sampling timing, it is determined that the encoder signal has changed.

  If it is determined in step S220 that there is no change, N = N + 1 is set (step S240), and it is determined whether N is equal to a predetermined threshold value Nt (step S250). Here, the threshold value Nt is determined by the action of the force accompanying the release of the elastic deformation of the frame 290 after the contact between the carriage 210 and the frame 290 is detected and the energization of the carriage motor 220 is stopped. It is preset based on the speed of the hour. That is, the threshold value Nt is set to a value larger than a value that N can take when the carriage 210 moves. Therefore, while the carriage 210 is moved by the action of the force accompanying the release of the elastic deformation of the frame 290, it is determined in step S250 that N is not equal to the threshold value Nt, and the encoder signal sampling (step S210) is executed again. Will be.

  On the other hand, when the release of the elastic deformation of the frame 290 is completed and the movement of the carriage 210 is stopped, it is determined in step S220 that there is no change until N = Nt as shown in FIG. If it is determined in step S250 that N is equal to the threshold value Nt, the carriage motor control unit 154 causes the carriage motor 220 to move the carriage 210 in the opposite direction (the direction toward the end where the frame 290 is not disposed). Is controlled (step S150).

  As described above, in the carriage driving process of the second embodiment, the contact between the carriage 210 and the frame 290 is detected and the energization of the carriage motor 220 is stopped, and then the carriage motor 220 stops rotating. The drive control of the carriage motor 220 is not performed until it is detected that the rotational speed has become zero, that is, until the movement of the carriage 210 is stopped. Therefore, in the carriage driving process of the second embodiment, it is possible to suppress the operation of the carriage 210 from becoming unstable due to the action of force accompanying the release of the elastic deformation of the frame 290. In the carriage driving process of the second embodiment, since the stop of the movement of the carriage 210 is detected, the driving time can be shortened and the efficiency of the carriage driving process can be improved.

C. Third embodiment:
FIG. 8 is a flowchart showing the flow of the carriage driving process in the third embodiment. FIG. 9 is an explanatory diagram showing the current value of the carriage motor 220 and the speed of the carriage 210 in the carriage driving process of the third embodiment. The carriage driving process in the third embodiment is different from the carriage driving process in the first embodiment shown in FIG. In the third embodiment, a predetermined range including the position of the frame 290 on the movement path of the carriage 210 is set as a mask section, and when the carriage 210 is located in the mask section, it is detected by the speed detection unit 155. The control of the carriage motor 220 based on the rotation speed of the carriage motor 220 is not executed.

  The processing contents in steps S110 to S130 in the flowchart shown in FIG. 8 are the same as those in the first embodiment shown in FIG. In step S310, the carriage motor control unit 154 drives and controls the carriage motor 220 so as to move the carriage 210 in the opposite direction (direction toward the end where the frame 290 is not disposed) (see t2 in FIG. 9). ). However, the drive control at this time is executed on the assumption that the rotational speed of the carriage motor 220 is not a rotational speed calculated based on the encoder signal but a fixed rotational speed set in advance.

  When the drive control of the carriage motor 220 that moves the carriage 210 in the opposite direction is started, the position detection unit 157 (FIG. 2) determines whether the carriage 210 is positioned within the mask section. Here, the mask section is set in advance as a section in which the carriage 210 and the frame 290 cannot come into contact with each other even if the frame 290 is deformed. That is, as shown in FIG. 9, the mask section is set to a section that includes a section in which the carriage 210 can be positioned while the elastic deformation of the frame 290 is released.

  While it is determined that the carriage 210 is located within the mask section, the drive control of the carriage motor 220 is continued assuming that the rotation speed of the carriage motor 220 is a fixed rotation speed set in advance. On the other hand, when it is determined that the carriage 210 has moved out of the mask section, the carriage motor control unit 154 determines that the rotation speed of the carriage motor 220 is the rotation speed calculated based on the encoder signal, and performs normal feedback control. The drive control of the carriage motor 220 is started (see t5 in FIG. 9).

  As described above, in the carriage driving process of the third embodiment, the carriage 210 is moved in the opposite direction immediately after the contact between the carriage 210 and the frame 290 is detected and the power supply to the carriage motor 220 is stopped. The drive control of the carriage motor 220 is started. However, while the carriage 210 is positioned within the mask section, the drive control of the carriage motor 220 is such that the rotation speed of the carriage motor 220 is not the rotation speed calculated based on the encoder signal, but a rotation with a fixed value set in advance. Implemented as a number. Therefore, even if the force accompanying the release of the elastic deformation of the frame 290 acts on the carriage 210 and the speed of the carriage 210 changes, that is, the number of rotations of the carriage motor 220 changes, the change is driven by the carriage motor 220. Does not affect control. Therefore, in the carriage driving process of the third embodiment, it is possible to suppress the operation of the carriage 210 from becoming unstable due to the action of the force accompanying the release of the elastic deformation of the frame 290. In the carriage driving process of the third embodiment, the drive control of the carriage motor 220 is started so as to move the carriage 210 in the opposite direction immediately after the contact between the carriage 210 and the frame 290 is detected. The time can be further shortened, and the efficiency of the carriage driving process can be improved.

D. Fourth embodiment:
FIG. 10 is a flowchart showing the flow of the carriage driving process in the fourth embodiment. The carriage driving process in the third embodiment is different from the carriage driving process in the third embodiment shown in FIG.

  In step S410 in the carriage driving process of the fourth embodiment, as in step S310 in the third embodiment, the carriage motor control unit 154 moves the carriage 210 in the opposite direction (the direction toward the end where the frame 290 is not disposed). The carriage motor 220 is driven and controlled so as to be moved. However, in the drive control at this time, the drive voltage supplied to the carriage motor 220 is set independently of the rotation speed of the carriage motor 220. Specifically, the drive voltage supplied to the carriage motor 220 is set so that the duty ratio increases at a preset constant rate.

  Thereafter, as in the third embodiment, while it is determined that the carriage 210 is located within the mask section, such drive control of the carriage motor 220 is continued. Thereafter, when it is determined that the carriage 210 has moved out of the mask section, drive control of the carriage motor 220 by normal feedback control is started (step S330).

  As described above, in the carriage driving process of the fourth embodiment, the carriage 210 is moved in the opposite direction immediately after the contact between the carriage 210 and the frame 290 is detected and the energization of the carriage motor 220 is stopped. The drive control of the carriage motor 220 is started. However, while the carriage 210 is positioned within the mask section, the drive voltage supplied to the carriage motor 220 is set independently of the number of rotations of the carriage motor 220. Therefore, even if the force accompanying the release of the elastic deformation of the frame 290 acts on the carriage 210 and the speed of the carriage 210 changes, that is, the number of rotations of the carriage motor 220 changes, the change is driven by the carriage motor 220. Does not affect control. Therefore, in the carriage driving process of the fourth embodiment, it is possible to suppress the operation of the carriage 210 from becoming unstable due to the action of a force accompanying the release of the elastic deformation of the frame 290. In the carriage driving process of the fourth embodiment, the drive control of the carriage motor 220 is started so as to move the carriage 210 in the opposite direction immediately after the contact between the carriage 210 and the frame 290 is detected. The time can be further shortened, and the efficiency of the carriage driving process can be improved.

E. Variation:
The present invention is not limited to the above-described examples and embodiments, and can be implemented in various modes without departing from the gist thereof. For example, the following modifications are possible.

E1. Modification 1:
In each of the above-described embodiments, the carriage driving process for controlling the carriage motor 220 for driving the carriage 210 of the printer 100 has been described. However, the present invention is not limited to the carriage of the printer, but for driving a reciprocating carriage. It can be generally applied when controlling a motor.

E2. Modification 2:
In each of the embodiments described above, the feedback control of the carriage motor 220 at the normal time has been described as being executed based on the rotation speed of the carriage motor 220. If there is, it may be executed based on another value (for example, the speed of the carriage 210).

E3. Modification 3:
In each of the above embodiments, a part of the configuration realized by hardware may be replaced by software, and conversely, a part of the configuration realized by software may be replaced by hardware. .

  In addition, when part or all of the functions of the present invention are realized by software, the software (computer program) can be provided in a form stored in a computer-readable recording medium. In the present invention, the “computer-readable recording medium” is not limited to a portable recording medium such as a flexible disk or a CD-ROM, but an internal storage device in a computer such as various RAMs and ROMs, a hard disk, and the like. An external storage device fixed to the computer is also included.

FIG. 2 is an explanatory diagram illustrating an appearance of the printer 100 according to the first embodiment of the present invention. 2 is an explanatory diagram functionally illustrating an internal configuration of a printer 100. FIG. It is a flowchart which shows the flow of the carriage drive process in 1st Example. It is explanatory drawing which shows the relationship between the carriage 210 and the frame 290 in the carriage drive process of 1st Example. It is explanatory drawing which shows the electric current value of the carriage motor 220 in the carriage drive process of 1st Example, and the speed of the carriage 210. FIG. It is a flowchart which shows the flow of the carriage drive process in 2nd Example. It is explanatory drawing which shows an example of an encoder signal. It is a flowchart which shows the flow of the carriage drive process in 3rd Example. It is explanatory drawing which shows the electric current value of the carriage motor 220 and the speed of the carriage 210 in the carriage drive process of 3rd Example. It is a flowchart which shows the flow of the carriage drive process in 4th Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Printer 110 ... Scanner 120 ... Memory card slot 150 ... Control unit 151 ... CPU
DESCRIPTION OF SYMBOLS 152 ... Internal memory 153 ... Print control part 154 ... Carriage motor control part 155 ... Speed detection part 156 ... Contact detection part 157 ... Position detection part 210 ... Carriage 211 ... Ink head 212 ... Ink cartridge 220 ... Carriage motor 222 ... Encoder 230 ... Motor 260 ... Driving belt 270 ... Platen 280 ... Sliding shaft 290 ... Frame

Claims (8)

A motor control device for controlling a motor for driving a carriage that reciprocates,
A rotational speed correlation value detecting unit for detecting a rotational speed correlation value correlated with the rotational speed of the motor;
A contact detection unit that detects contact between the carriage and an end member disposed at an end of a movement path of the carriage;
A control execution unit that supplies a drive voltage to the motor based on the rotation speed correlation value and executes control of the motor;
The motor control device, wherein the control execution unit does not execute control of the motor based on the rotation speed correlation value in a predetermined period after detection of the contact. The motor control device according to claim 1,
The motor control device, wherein the control execution unit does not supply a drive voltage to the motor during the predetermined period. The motor control device according to claim 2,
The motor control apparatus, wherein the predetermined period is a period from when the contact is detected until a preset time elapses. The motor control device according to claim 2, further comprising:
A determination unit for determining whether the rotational speed of the motor is zero based on the rotational speed correlation value;
The said predetermined period is a motor control apparatus which is a period until it determines with the rotation speed of the said motor being zero after the said contact is detected. The motor control device according to claim 1, further comprising:
A position detector for detecting the position of the carriage on the movement path;
The predetermined period is a period from when the contact is detected to when it is detected that the carriage has moved out of a predetermined range including the position of the elastic member on the movement path,
The control execution unit executes control of the motor on the assumption that the number of rotations of the motor is a preset value in the predetermined period. The motor control device according to claim 1,
A position detector for detecting the position of the carriage on the movement path;
The predetermined period is a period from when the contact is detected to when it is detected that the carriage has moved out of a predetermined range including the position of the elastic member on the movement path,
In the predetermined period, the control execution unit supplies a drive voltage set in advance independently of the rotation speed correlation value, and executes control of the motor. The motor control device according to any one of claims 1 to 6,
The contact detection unit detects the contact by determining that the carriage and the end member are in contact with each other when a current value of the motor becomes a predetermined threshold value or more. A motor control method for controlling a motor for driving a reciprocating carriage,
(A) detecting a rotational speed correlation value correlated with the rotational speed of the motor;
(B) detecting contact between the carriage and an end member disposed at an end of a movement path of the carriage;
(C) supplying a drive voltage to the motor based on the rotation speed correlation value, and executing control of the motor,
The step (c) of executing the control of the motor is a step of not executing the control of the motor based on the rotation speed correlation value in a predetermined period after the detection of the contact.

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