JP2013154479A - Recording apparatus, control apparatus, and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a transmission defect of a driving force in a driving mechanism.SOLUTION: A recording apparatus includes: a carriage having a recording head mounted thereon and reciprocating; a driving mechanism for moving the carriage; a position detecting means for detecting a position of the carriage; and a determining means for determining the presence/absence of a transmission defect of a driving force in the driving mechanism on the basis of a speed of the carriage which is guided by the result detected by the position detecting means.

Description

  The present invention relates to abnormality detection of a drive mechanism.

  In a recording apparatus such as an ink jet printer, the quality of a recorded image is affected if a carriage misalignment or a carriage speed change during a recording operation occurs. Therefore, for example, Patent Document 1 proposes to detect the occurrence of misalignment from the detection result of the carriage position and the detection result of the rotation amount of the motor, and correct the carriage position information. Patent Document 2 discloses a technique for reducing speed fluctuation caused by torque ripple of a motor.

JP 2003-231319 A JP 2005-178334 A

  From the standpoint of improving the productivity and downsizing of the recording apparatus, there is a demand for minimizing the acceleration distance and deceleration distance of the carriage. For this reason, in the movement control of the carriage, control is required to decelerate the carriage as quickly as possible, make the stop time as short as possible, and accelerate as quickly as possible in the reverse direction.

  In such control, the load on the drive mechanism that reciprocates the carriage is increased, and a drive force transmission abnormality in the drive mechanism may occur. For example, when a belt transmission mechanism is employed as the drive mechanism, a transmission abnormality such as slippage of a pulley and a belt or so-called tooth skipping of a timing belt may occur. Further, when a rack-pinion mechanism is employed as the drive mechanism, rack tooth skipping may occur. Such transmission abnormality of the driving force may cause abnormal noise or failure.

  An object of the present invention is to detect an abnormal transmission of driving force in a driving mechanism.

  According to the present invention, a carriage mounted with a recording head and reciprocatingly moved, a drive mechanism for moving the carriage, a position detection means for detecting the position of the carriage, and the carriage derived from the detection result of the position detection means And a determination unit that determines whether there is an abnormality in transmission of the driving force in the driving mechanism based on the speed of the recording device.

  According to the present invention, it is possible to detect a drive force transmission abnormality in a drive mechanism.

FIG. 3 is an explanatory diagram of a recording apparatus according to an embodiment of the invention. (A) is explanatory drawing of the said recording device, (B) is explanatory drawing of the engagement state of a pulley and a belt. FIG. 3 is a block diagram of a control unit of the recording apparatus. (A) is a flowchart executed by the control unit, (B) is a diagram showing an example of carriage movement control. (A) And (B) is explanatory drawing of a tooth skip phenomenon. (A) is a flowchart of a transmission abnormality determination process, (B) is a flowchart of an acceleration setting process. The timing chart which shows the example of an acceleration change at the time of transmission abnormality generation | occurrence | production. (A) And (B) is a figure which shows the example of a setting of an acceleration. The timing chart which shows the example of a change of the acceleration at the time of transmission abnormality generation, and the constant speed. The figure which shows the example of a setting of the speed corresponding to an acceleration. (A) thru | or (C) is a flowchart which shows the other example of a process at the time of transmission abnormality generation | occurrence | production.

<First Embodiment>
<Overall configuration>
1 and 2A are explanatory views of the recording apparatus 1 according to an embodiment of the present invention. In particular, FIG. . In the present embodiment, a case where the present invention is applied to an ink jet recording apparatus will be described, but the present invention can also be applied to other types of recording apparatuses.

  In “recording”, not only when significant information such as characters and figures is formed, but also regardless of significance, images, patterns, patterns, etc. are widely formed on the recording medium, or the medium is processed. It does not matter whether or not it is manifested so that humans can perceive it visually. “Recording media” includes not only paper used in general recording devices but also a wide range of materials that can accept ink, such as cloth, plastic film, metal plate, glass, ceramics, wood, leather, etc. It is.

  The recording apparatus 1 includes a carriage 2 on which a recording head 3 is mounted. The carriage 2 is supported by the main guide rail 9 and the sub guide rail 10. The main guide rail 9 and the sub guide rail 10 support the carriage 2 so as to be capable of reciprocating in a direction B (main scanning direction) intersecting the conveyance direction (sub scanning direction) A of the recording medium P. The main guide rail 9 and the sub guide rail 10 are supported so that the recording head 2 is at a substantially constant interval with respect to the recording medium P.

  The recording head 3 includes a large number of recording elements. Ink is supplied to the recording head 3 from an ink tank (not shown) mounted on the carriage 2, and the ink is ejected from the recording element onto the recording medium P on the platen 13. As a result, an image is recorded.

  The transport roller 11 is rotated by a drive mechanism (not shown) using the transport motor 30 as a drive source. The pinch roller 12 is disposed so as to face the conveyance roller 11 and is pressed against the conveyance roller 11. The recording medium P is nipped at the nip portion between the transport roller 11 and the pinch roller 12 and is transported in the transport direction A according to the rotation amount of the transport roller 11.

  The recording apparatus 1 includes a drive mechanism DM that moves the carriage 2. The drive unit DM includes a motor 7 as a drive source. In the present embodiment, a DC motor is assumed as the motor 4. The drive unit DM includes pulleys 4a and 8 and an endless belt 7 wound around them as a power transmission mechanism for transmitting the driving force of the motor 4 to the carriage 2. In the present embodiment, the belt transmission mechanism is employed as the power transmission mechanism, but other mechanisms can also be employed.

  The pulley 4 a is a drive pulley connected to the motor 4. The pulley 8 is a driven pulley disposed on the opposite side of the pulley 4 a when viewed in the moving direction of the carriage 2. The running direction of the belt 7 is parallel to the guide rails 9 and 10, and the carriage 2 is fixed to a part thereof. Driving the motor 4 causes the belt 7 to travel, whereby the carriage 2 moves.

  FIG. 2B shows an engaged state between the pulley 4 a and the belt 7. In the case of the present embodiment, the belt 7 is a so-called toothed timing belt, and tooth portions 71a having a constant pitch are formed. The pulley 4a is also formed with a tooth portion 41a that engages with the tooth portion 71a. Similar teeth are formed on the pulley 8. The pulleys 4a and 8 and the belt 7 may not have tooth portions.

  Returning to FIGS. 1 and 2A, an encoder sensor 5 is attached to the carriage 2. The encoder scale 6 is provided in parallel with the moving direction of the carriage 2 and has markings with a predetermined interval. The encoder sensor 5 is a position detection sensor that detects the position of the carriage 2 in the scanning direction by reading the marking on the encoder scale 14. The encoder sensor 5 is, for example, an optical sensor, but may be another type of sensor as long as the position of the carriage 2 can be detected.

  In the recording apparatus 1 having such a configuration, the carriage 2 moves (scans) on the recording medium P transported by the transport roller 11 during recording. While the carriage 2 is moving, ink droplets are ejected from the recording head 3. When the carriage 2 moves to the side edge of the recording medium P, the recording medium P is conveyed by a certain amount by the conveying roller 11. By repeating this operation, an image is recorded on the recording medium P. The control unit 15 controls the entire recording apparatus 1. Hereinafter, the configuration of the control unit 15 will be described.

<Control unit>
FIG. 3 is a block diagram of the control unit 15. The control unit 15 stores a CPU 151 that executes various processes for controlling the entire recording apparatus 1, a RAM 152 that is used as a work area for executing a print buffer and a control program, a control program corresponding to the various processes, and the like. ROM 153. The RAM 152 and the ROM 153 can employ other types of storage devices.

  The control unit 15 further includes the following devices. The ASIC 154 executes various image processes including raster column conversion. The interface (I / F) 155 is provided for data communication between the CPU 151 and an external device. The head driver 156 performs drive control of the recording head 3. The motor driver 157 controls the carriage motor 4 and the conveyance motor 30.

  The following devices are connected to the I / F 155. The encoder controller 23 processes an output signal, which is a position detection result of the encoder sensor 5, and generates a signal indicating the position of the carriage 2 and a signal indicating the speed of the carriage 2 derived from the position. The CPU 151 can specify the position and speed of the carriage 2 from the output signal of the encoder controller 23. The speed of the carriage 2 may be calculated on the CPU 151 side.

  The host computer 16 is connected to the I / F 155 via the cable 17. A wireless connection using infrared rays or radio waves may be used instead of the cable 17. The host computer 16 transmits image data to be recorded by the recording apparatus 1, the type of recording mode, various control commands, and the like.

  The display device 18 is an LED, a liquid crystal display device, or the like. The sound output device 19 outputs a warning sound or the like. These are used to output information or call attention to the user.

  The control unit 15 may be connected to the monitoring center 24 through an external network 25 such as a telephone line. The monitoring center 24 is a server computer that remotely diagnoses the state of the recording device 1, for example. By being able to communicate with the monitoring center 24, the convenience of being able to determine failure diagnosis, maintenance time, etc. without bothering the user is added.

<Control example>
A control example executed by the CPU 151 will be described. FIG. 4A is a flowchart of the recording operation in image units (one page unit). In the recording operation, the three operations of the movement of the carriage 2 in the main scanning direction, the movement of the recording medium P in the sub-scanning direction by the transport roller 11 and the ejection of ink by the recording head 3 are combined.

  FIG. 4B shows a change in the moving speed when the carriage 2 moves once in the main scanning direction (one scan). “Acceleration” is a concept that includes both positive acceleration (increasing speed) and negative acceleration (decreasing speed). When referring to only positive acceleration, it is called “acceleration” and negative acceleration. When we say only, it is called deceleration. As shown in FIG. 4B, the carriage 2 is accelerated from the stopped state, and when it reaches a predetermined speed, it moves at a constant speed, decelerates and stops. While moving at a constant speed, ink is ejected onto the recording medium P to form an image.

  Referring to FIG. 4A, in S1, the carriage 2 in the stopped state starts to move to increase the speed. When the speed of the carriage 2 reaches a predetermined speed, the carriage 2 is moved at a constant speed in S2. When the carriage 2 reaches a location corresponding to the recording position of the recording medium P with reference to the signal from the encoder controller 23, image recording is started in S3. When the carriage 2 passes through the recording area on the recording medium P, the carriage is decelerated in S4, and the carriage 2 is stopped in S5. The carriage 2 is located at a reversal position where the moving direction is switched from the forward path to the backward path.

  In S6, the conveyance roller 11 is driven to move the recording medium P in the sub scanning direction by a predetermined recording width. In S7, it is determined whether or not image recording is completed. If completed, one unit of processing is terminated. If not completed, the process returns to S1 to change the moving direction of the carriage 2 and repeat the same processing. In the present embodiment, it is assumed that image recording is performed by both the forward movement of the carriage 2 and the movement of the carriage 2 in the forward direction, but the image recording may be performed only by the movement of the carriage 2 in the forward direction.

  Thus, it becomes possible to record an arbitrary image on the recording medium P by repeating the operations of S1 to S6 as many times as necessary.

  In order to increase the speed of the recording operation, S4 and S6 can be executed with time overlap if the carriage 2 is outside the recording area on the recording medium P. That is, control may be performed so that the driving of the transport roller 11 is started before the carriage 2 is stopped.

  Similarly, S6 and S1 can be executed with time overlap if the carriage 2 is outside the recording area on the recording medium P. In other words, before the carriage 2 is stopped, control may be performed so that the acceleration of the carriage 2 is started while the transport roller 11 is being driven.

<Transmission abnormality detection>
Next, drive force transmission abnormality in the drive mechanism DM and detection thereof will be described. When the carriage 2 stops at the reversal position in S5 and returns to S1 and starts speeding up in the reverse direction, the inertial force of the carriage 2 and the acceleration direction are opposite to each other.

  For this reason, a large load is temporarily generated on the tension side of the belt 7, and a corresponding “sag” is generated on the loose side of the belt 7. A so-called tooth skipping phenomenon may occur due to deterioration of the belt 7 with the passage of time or an increase in sliding resistance of the carriage 2.

  A situation where tooth skip occurs will be described with reference to FIGS. In FIG. 5A, immediately after the carriage 2 completes the movement in the C direction, the rotation direction of the motor 4 is reversed to become the E direction, and the carriage 2 is accelerated in the D direction opposite to the C direction. It is a situation.

  In such a situation, the load on the engagement portion between the belt 7 and the pulley 4a becomes extremely large. In the situation of FIG. 5A, a part of the teeth 41a of the pulley 4a rides on the teeth 71a of the belt 7. I'm starting. In the situation of FIG. 5B, the tooth portion 41a 'adjacent to the tooth portion 41a of the pulley 4a starts to ride on the tooth portion 71a' of the belt 7. In this way, the tooth portions of the belt 7 and the pulley 4a run in a chain, and eventually re-engage at a position shifted by one tooth or more from the initial engagement state. This is the tooth skipping phenomenon. In the case where the pulleys 4a and 8 and the belt 7 do not have tooth portions, there is a slip phenomenon as a similar phenomenon. Both are transmission abnormalities in which the driving force is temporarily lost.

  When such a transmission abnormality occurs repeatedly, wear of the tooth portions 41a and 71a may progress to cause abnormal noise or failure. Therefore, in this embodiment, the occurrence of such a transmission abnormality is detected. Even if the tooth skipping phenomenon or the slipping phenomenon occurs, the image recording operation can be normally performed by detecting the position of the carriage 2 by the encoder sensor 5 and controlling the driving of the recording head 3.

  In the present embodiment, based on the speed (actual speed) of the carriage 2 output from the encoder controller 23, the presence / absence of transmission abnormality is determined. Generally, if no transmission abnormality has occurred, the deviation of the actual speed from the speed (speed command value) of the carriage 2 on the control is within a few percent and at most less than 10%. On the other hand, when a transmission abnormality such as a tooth skip phenomenon occurs, this deviation exceeds 10%, and in some cases exceeds several tens of percent. Therefore, by monitoring this deviation, it is possible to determine whether there is a transmission abnormality.

  In determining the transmission abnormality, the difference between the speed command value and the actual speed may be used as an index. However, in this embodiment, the speed fluctuation amount ΔV of the actual speed within the unit time Δt is used as an index. The speed fluctuation amount Δ can be a difference between the maximum speed and the minimum speed within Δt. Then, when the speed fluctuation amount ΔV is equal to or greater than a predetermined value, it is determined that a transmission abnormality has occurred.

  The unit time Δt may be derived from the relationship including the control cycle Sb, the tooth pitch p of the belt 7, the current speed (speed command value) vc of the carriage 2, and the like. For example, the unit time Δt may be m × Sb (m is a positive natural number), focusing on the distance (vc × Sb) moved in one control cycle and the tooth pitch p. Here, for example, m ≧ p ÷ (vc × Sb).

  As an example, the control cycle Sb is 2 ms, the normal speed fluctuation Δv with respect to the speed command value vd is less than 10% of the speed command value vd, and the speed command value vd and the current The speed vc is 300 mm / s and the belt tooth pitch p is 1 mm. In this case, the speed fluctuation Δv within one control cycle at normal time is suppressed to less than about 30 mm / s. Assuming that tooth skipping of one tooth (1 mm) occurs during two control cycles (4 ms), the calculated speed fluctuation is 250 mm / s, that is, the speed fluctuation rate with respect to the speed command value vd is 83%. Thus, the difference between the normal speed fluctuation and the speed fluctuation at the time of tooth jump is clear. The predetermined value for determining the transmission abnormality can be determined based on such an idea.

  FIG. 6A is a flowchart of a transmission abnormality determination process executed by the CPU 151. This processing may be performed at all times during the movement control of the carriage 2 or may be performed only at the time of speed increase at which transmission abnormality is likely to occur.

  In S11, the speed fluctuation amount ΔV of the carriage 2 is calculated. For example, the speed fluctuation amount ΔV can be calculated from the maximum speed and the minimum speed by sequentially storing the speed of the carriage 2 output from the encoder controller 23 in the RAM 152 for the latest unit time Δt.

  In S12, it is determined whether or not the speed fluctuation amount ΔV calculated in S11 is equal to or greater than a predetermined value. If this is the case, it is determined that a transmission abnormality has occurred, the process proceeds to S13, and the transmission abnormality flag is turned ON. The transmission abnormality flag is a flag using a predetermined storage area of the RAM 152. If not applicable, one unit of processing is terminated.

  Next, a processing example when a transmission abnormality occurs will be described. In the present embodiment, the acceleration (acceleration command value) on the control of the carriage 2 is changed to an acceleration with a smaller degree of speed change so that the transmission abnormality does not repeatedly occur. That is, the absolute value of acceleration at acceleration and acceleration at deceleration is reduced. As a result, the load on the drive mechanism DM is reduced, and the occurrence of transmission abnormalities such as tooth skipping can be reduced.

  FIG. 6B is a flowchart of acceleration setting processing executed by the CPU 151. In S21, it is determined whether or not the transmission abnormality flag is ON. If applicable, the process proceeds to S22, and if not, one unit of processing is terminated. In S22, the acceleration command value is changed to a small value. In S23, the transmission abnormality flag is turned OFF. Thus, one unit of processing is completed.

  FIG. 7 is a timing chart showing an example of acceleration change when transmission abnormality occurs. In the example of the figure, it is assumed that the speed fluctuation amount ΔV is equal to or greater than a predetermined value at time t during the acceleration of the carriage 2 and it is determined that a transmission abnormality has occurred. In this example, the current acceleration setting value is used as it is during the acceleration of the carriage 2, the acceleration setting value is changed during constant speed control, and the deceleration setting value is changed after the carriage 2 is decelerated next. Is adopted. The changed acceleration set value is similarly adopted in the subsequent acceleration control and deceleration control. The broken line shows the speed pattern before the change.

  While it is possible to change the acceleration set value immediately during the acceleration of the carriage 2 where it is determined that a transmission abnormality has occurred, it is considered that the control in the example of FIG. 7 is more stable. Note that the acceleration setting value can be changed at any time as long as the next deceleration control is in time.

  By changing the control acceleration in this manner, it is possible to reduce the occurrence of a transmission abnormality such as a tooth skipping phenomenon again thereafter. In this embodiment, it is assumed that the magnitude of acceleration is the same during acceleration and deceleration, but they may be different.

  Next, the control acceleration of the carriage 2 may be changed to a smaller acceleration step by step whenever it is determined that a transmission abnormality has occurred. FIG. 8A shows an example of changing the acceleration setting value based on such an idea. In the example shown in the figure, the acceleration setting value is gradually reduced according to the number of times transmission abnormality has occurred, and is the same value when it occurs three or more times. Thus, by changing the acceleration setting value stepwise, it is possible to reduce the occurrence of transmission abnormality without unnecessarily reducing the recording speed.

  Further, the acceleration in the control of the carriage 2 may be changed so that the degree of speed change becomes smaller as the speed fluctuation amount ΔV is larger. FIG. 8B shows an example of changing the acceleration setting value based on such an idea. In the example of the figure, when the speed fluctuation amount ΔV is a predetermined value or more and less than ΔV1, the acceleration set value a1 is set. Each of a4 is adopted. In this way, by changing the acceleration setting value according to the speed fluctuation amount ΔV, it is possible to reduce the occurrence of transmission abnormality without unnecessarily reducing the recording speed. In the example of FIG. 8B, the acceleration setting value is a value that changes stepwise, but may be a value that changes continuously according to the speed fluctuation amount ΔV.

  When the acceleration on the control of the carriage 2 is changed, it may be necessary to perform image recording during the acceleration unless the control speed during the constant speed movement (recording operation) of the carriage 2 is also changed. In this embodiment, the setting of the speed command value during the constant speed movement of the carriage 2 is also changed.

  FIG. 9 is a timing chart showing an example of changing acceleration and speed when transmission abnormality occurs. In the example of the figure, it is assumed that the speed fluctuation amount ΔV is equal to or greater than a predetermined value at time t during the acceleration of the carriage 2 and it is determined that a transmission abnormality has occurred.

  The change of the acceleration setting value is the same as the example described in FIG. The speed setting value during constant speed movement of the carriage 2 is changed to a lower speed value in time for the next constant speed movement after the acceleration setting value is changed. The broken line shows the speed pattern before the change.

  By changing the speed setting value in this manner, it is possible to eliminate the need for image recording during acceleration of the carriage 2.

  As described above, when there are a plurality of types of changed acceleration setting values, a plurality of types of speed setting values may be prepared corresponding to the acceleration setting values. FIG. 10 shows an example of a table in which the correspondence relationship between the acceleration setting value and the speed setting value is recorded. This table is stored in the ROM 153, for example. When it is determined that a transmission abnormality has occurred, first, an acceleration setting value is selected from a0 to an, and a speed setting value corresponding to the selected acceleration setting value is selected from the speed setting values v0 to vn. Will be selected.

Second Embodiment
It is known that speed fluctuation occurs during constant speed control of the carriage 2 due to torque ripple caused by the cogging torque of the motor 4. This speed fluctuation can be reduced by correcting the control data of the motor 4 with correction data having the same period, the same amplitude and the opposite phase as the torque ripple. The generation phase of torque ripple corresponds to the position of the carriage 2. Therefore, the correction data may be generated based on the position of the carriage 2.

  However, when a transmission abnormality such as a tooth skip phenomenon occurs, a deviation occurs between the position of the carriage 2 and the rotational phase of the motor 4. For this reason, unless the correction data is updated, the speed fluctuation due to the torque ripple cannot be reduced and may increase on the contrary.

  Therefore, when a transmission abnormality such as a tooth skip phenomenon occurs, a process for newly generating correction data may be performed. The correction data can be derived from the relationship between the speed fluctuation at that time and the position of the carriage 2 when the carriage 2 is reciprocated once.

  FIG. 11A is a flowchart of correction data generation processing executed by the CPU 151. In S31, it is determined whether or not the transmission abnormality flag is ON. If applicable, the process proceeds to S32. If not applicable, one unit of processing is terminated. In S32, it is determined whether a start condition is satisfied. If applicable, the process proceeds to S33, and if not, one unit of processing is terminated. As the start condition, for example, a period that does not affect the image recording process on the recording medium P can be set. For example, the correction data generation process of S33 can be started between pages, immediately before the power is turned off, during standby, or the like.

  In S33, correction data generation processing is performed. Here, for example, the carriage 2 is reciprocated once, and the actual speed of the carriage 2 at each position at that time is sequentially stored in the RAM 152. Then, the amount of speed fluctuation at each position is calculated, and correction data is generated from the calculation result. In S34, the transmission abnormality flag is turned OFF, and then one unit of processing is terminated.

<Third Embodiment>
If it is determined that a transmission abnormality has occurred, the occurrence of the transmission abnormality may be notified. Examples of the notification mode include notification to the user and notification to the monitoring center 24. Examples of the notification to the user include a notification screen or notification sound output instruction to the host computer 16, a display by the display device 18, and a warning sound notification by the sound output device 19. Such notification to the user prompts the user to perform maintenance before a serious failure occurs. The notification to the monitoring center 24 is a trigger for maintenance by visiting a service person or the like without bothering the user.

  FIG. 11B is a flowchart of notification processing executed by the CPU 151. In S41, it is determined whether or not the transmission abnormality flag is ON. If applicable, the process proceeds to S42. If not, one unit of processing is terminated. In S42, a notification process is performed. Examples thereof are as described above. In S43, the transmission abnormality flag is turned OFF, and then one unit of processing is terminated.

  In the present embodiment, the notification is performed when it is determined that a transmission abnormality has occurred. However, the acceleration setting value and the speed setting value are changed as in the first embodiment. Notification may be performed. Since the original performance is not exhibited, it is meaningful to notify the user of the reason.

<Fourth embodiment>
After it is determined that a transmission abnormality has occurred, when the operation time of the drive mechanism DM reaches a predetermined time, the recording operation including the operation of the drive mechanism DM may be prohibited. This has the meaning of avoiding a situation that leads to a failure that is difficult to recover. Further, when the recording operation is prohibited, this may be notified to the user.

  FIG. 11C is a flowchart of the prohibition process executed by the CPU 151. In S51, it is determined whether or not the transmission abnormality flag is ON. If applicable, the process proceeds to S52, and if not, the process proceeds to S54. In S52, the operation time of the drive mechanism DM is started. For example, a timer program can be separately prepared to measure the operating time. Then, the accumulated drive time of the motor 4 is measured. In S53, the transmission abnormality flag is turned OFF, and then one unit of processing is terminated.

  In S54, it is determined whether or not the operating time at which time measurement is started in S52 is a predetermined time or more. If applicable, the process proceeds to S55, and if not, one unit of processing is terminated. The predetermined time can be set to a sufficient time until the user recognizes the occurrence of the transmission abnormality and receives maintenance, for example, 50 hours. In S55, a prohibition process is performed. After that, image recording is not performed.

<Other embodiments>
Each of the above embodiments can be implemented alone or in combination. When combining, a transmission abnormality flag may be set for each embodiment. In each of the above embodiments, the recording apparatus is targeted. However, the field of application of the present invention is not limited to this, and the present invention can be applied to various control apparatuses that move a moving body instead of the carriage 2 with a driving mechanism.

Claims (11)

A carriage mounted with a recording head and reciprocating;
A drive mechanism for moving the carriage;
Position detecting means for detecting the position of the carriage;
Determination means for determining the presence or absence of an abnormality in transmission of the driving force in the drive mechanism based on the speed of the carriage derived from the detection result of the position detection means;
Recording device. The determination means includes
The recording apparatus according to claim 1, wherein it is determined that there is a transmission abnormality when a speed fluctuation amount of the carriage per unit time is equal to or greater than a predetermined value.   The recording apparatus according to claim 1, further comprising: a setting unit that changes an acceleration in controlling the carriage to an acceleration with a smaller degree of speed change when the determination unit determines that there is a transmission abnormality.   3. A setting unit that, when the determination unit determines that there is a transmission abnormality, includes a setting unit that changes the acceleration in the control of the carriage so that the degree of speed change becomes smaller as the speed fluctuation amount increases. The recording device described in 1.   The recording apparatus according to claim 3, wherein the setting unit also changes a moving speed of the carriage during a recording operation by the recording head when an acceleration in the control of the carriage is changed. The drive mechanism includes a motor as its drive source,
The recording apparatus according to claim 1, further comprising a generation processing unit that performs a process of generating correction data for reducing torque ripple of the motor when the determination unit determines that there is a transmission abnormality.   The recording apparatus according to claim 1, further comprising notification means for notifying the occurrence of a transmission abnormality when the determination means determines that there is a transmission abnormality.   The recording apparatus according to claim 1, further comprising a prohibiting unit that prohibits the operation of the drive mechanism when the operation time of the drive mechanism reaches a predetermined time after the determination unit determines that there is a transmission abnormality. A movement control means for controlling the movement of the carriage by controlling the driving mechanism;
The movement control means includes
When the carriage moves in the forward direction and the backward direction, the carriage is accelerated, the carriage is moved at a constant speed, the carriage is decelerated and stopped,
The setting means includes
The recording apparatus according to claim 3, wherein when the determination unit determines that there is a transmission abnormality during acceleration of the carriage, the speed change degree is changed to a smaller acceleration from the next time the carriage is decelerated. . A drive mechanism for moving the moving body;
Position detecting means for detecting the position of the moving body;
Determination means for determining the presence or absence of an abnormality in transmission of the driving force in the drive mechanism based on the speed of the moving body derived from the detection result of the position detection means;
A control device comprising: A step of moving the moving body by a driving mechanism;
A position detecting step for detecting the position of the moving body;
A determination step of determining the presence or absence of an abnormality in transmission of the driving force in the driving mechanism, based on the speed of the moving body derived from the detection result in the position detection step;
With a method.

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