JP2016155329A - Register control unit, polychromatic printing system comprising register control unit and register control method - Google Patents

Register control unit, polychromatic printing system comprising register control unit and register control method Download PDF

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JP2016155329A
JP2016155329A JP2015035759A JP2015035759A JP2016155329A JP 2016155329 A JP2016155329 A JP 2016155329A JP 2015035759 A JP2015035759 A JP 2015035759A JP 2015035759 A JP2015035759 A JP 2015035759A JP 2016155329 A JP2016155329 A JP 2016155329A
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JP6341870B2 (en
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大介 平山
Daisuke Hirayama
大介 平山
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Sumitomo Heavy Industries Ltd
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Abstract

PROBLEM TO BE SOLVED: To achieve a register control unit high accuracy in calculating register displacement amounts at low costs.SOLUTION: The register control unit comprises: a first calculating portion 41a that calculates register displacement amounts; a second calculating portion 41b that calculates register displacement amounts less frequently than the first calculating portion 41a; a calculation-error computing portion 44 that computes calculation errors included in the register displacement amounts calculated by the first calculating portion 41a on the basis of the register displacement amounts calculated by the first calculating portion 41a and the register displacement amounts calculated by the second calculating portion 41b; a register displacement amount correcting portion 46 that corrects the register displacement amounts calculated by the first calculating portion 41a on the basis of the computed calculation errors; and a refraining portion 47 that corrects register displacement on the basis of corrected register displacement amounts.SELECTED DRAWING: Figure 2

Description

本発明は、見当制御ユニット、見当制御ユニットを備える多色刷印刷システムおよび見当制御方法。   The present invention relates to a register control unit, a multicolor printing system including a register control unit, and a register control method.

ウェブの搬送路に沿って複数の印刷ユニットを設置し、各印刷ユニットに設けられた版胴を個別に回転駆動し、ウェブに順次印刷を施す多色刷印刷システムが知られている。多色刷印刷システムでは、ウェブに印刷された見当マークを検出し、その検出結果に基づき各版胴間で生じる印刷位置のずれ量（見当ずれ量）を演算し、見当ずれが修正されるよう版胴の駆動モータを制御する。   There is known a multicolor printing system in which a plurality of printing units are installed along a web conveyance path, a plate cylinder provided in each printing unit is individually driven to rotate, and printing is sequentially performed on the web. In a multi-color printing system, a registration mark printed on the web is detected, and based on the detection result, a printing position deviation amount (registration deviation amount) between the plate cylinders is calculated, so that the registration cylinder is corrected. Control the drive motor.

見当ずれ量は、一般に、隣接する印刷ユニットの版胴で印刷された２つの見当マークを検出し、これら２つのマークの位置関係に基づき算出される（特許文献１参照）。   The registration deviation amount is generally calculated based on the positional relationship between two marks detected by detecting two registration marks printed on the plate cylinder of an adjacent printing unit (see Patent Document 1).

特開平０８−０５２８６５号Japanese Patent Application Laid-Open No. 08-052865

見当ずれ量を算出する手法としては、２つの印刷ユニットにおいて間隔を置いて印刷された２つの見当マークのそれぞれを、所定の基準間隔で配置された２つのセンサのそれぞれが検出し、その検出タイミングに基づいて見当ずれ量を演算する手法と、見当マークが通過する領域を撮像した画像から見当マークを検出し、検出された２つの見当マークの距離を演算し、その距離に基づいて見当ずれ量を演算する手法とがある。前者は、例えば下地となるウェブの色と見当マークの色とのコントラストが非常に小さい場合など、見当ずれ量の演算精度が低下することがある。後者は、前者に比べて演算精度が高いが、画像を高速で走査しうるコンピュータが必要になるため、装置が高価になる。   As a method of calculating the registration deviation amount, each of two registration marks printed at intervals in two printing units is detected by each of two sensors arranged at a predetermined reference interval, and the detection timing thereof. A method for calculating the amount of misregistration based on the image, and detecting a register mark from an image obtained by imaging an area through which the register mark passes, calculating the distance between the two registered marks, and calculating the amount of misregistration based on the distance And a method for calculating In the former case, for example, when the contrast between the color of the web serving as the background and the color of the register mark is very small, the calculation accuracy of the misregistration amount may decrease. The latter has higher calculation accuracy than the former, but requires a computer capable of scanning an image at a high speed, so that the apparatus becomes expensive.

本発明は、こうした状況に鑑みてなされたものであり、その目的は、見当ずれ量の演算精度が高い見当制御ユニットを低コストで実現することにある。   The present invention has been made in view of such circumstances, and an object of the present invention is to realize a register control unit having a high calculation accuracy of a register deviation amount at a low cost.

上記課題を解決するために、本発明のある態様の見当制御ユニットは、見当ずれ量を演算する第１演算部と、第１演算部よりも低い頻度で見当ずれ量を演算する第２演算部と、第１演算部によって演算された見当ずれ量に含まれる演算誤差を、第１演算部によって演算された見当ずれ量と、第２演算部によって演算された見当ずれ量とに基づいて算出する算出部と、算出された演算誤差に基づいて、第１演算部によって演算された見当ずれ量を補正する補正部と、補正された見当ずれ量に基づいて、見当ずれを修正する見合せ部と、を備える。   In order to solve the above problems, a registration control unit according to an aspect of the present invention includes a first calculation unit that calculates a registration deviation amount, and a second calculation unit that calculates the registration deviation amount at a lower frequency than the first calculation unit. And a calculation error included in the misregistration amount calculated by the first arithmetic unit based on the misregistration amount calculated by the first arithmetic unit and the misregistration amount calculated by the second arithmetic unit. A calculation unit, a correction unit that corrects the registration error amount calculated by the first calculation unit based on the calculated calculation error, and a matching unit that corrects the registration error based on the corrected registration error amount; Is provided.

本発明の別の態様は、見当制御方法である。この方法は、第１の頻度で見当ずれ量を演算する第１演算ステップと、第１の頻度よりも低い第２の頻度で見当ずれ量を演算する第２演算ステップと、第１演算ステップにおいて演算された見当ずれ量に含まれる演算誤差を、第１演算ステップにおいて演算された見当ずれ量と、第２演算ステップにおいて演算された見当ずれ量とに基づいて算出する算出ステップと、算出された演算誤差に基づいて、第１演算ステップにおいて演算された見当ずれ量を補正する補正ステップと、補正された見当ずれ量に基づいて、見当ずれを修正する見合せステップと、を含む。   Another embodiment of the present invention is a register control method. This method includes a first calculation step for calculating a registration deviation amount at a first frequency, a second calculation step for calculating a registration deviation amount at a second frequency lower than the first frequency, and a first calculation step. A calculation step for calculating a calculation error included in the calculated registration deviation amount based on the registration deviation amount calculated in the first calculation step and the registration deviation amount calculated in the second calculation step; A correction step for correcting the registration error amount calculated in the first calculation step based on the calculation error and a matching step for correcting the registration error based on the corrected registration error amount are included.

なお、以上の構成要素の任意の組み合わせや、本発明の構成要素や表現を方法、装置、システムなどの間で相互に置換したものもまた、本発明の態様として有効である。   Note that any combination of the above-described constituent elements, and those obtained by replacing the constituent elements and expressions of the present invention with each other among methods, apparatuses, systems, etc. are also effective as an aspect of the present invention.

本発明によれば、見当ずれ量の演算精度が高い見当制御ユニットを低コストで実現できる。   According to the present invention, it is possible to realize a registration control unit having a high calculation accuracy of the registration deviation amount at low cost.

実施形態に係る多色刷印刷システムの構成を示す図である。1 is a diagram illustrating a configuration of a multicolor printing system according to an embodiment. 図１の見当制御ユニットの機能および構成を示すブロック図である。It is a block diagram which shows the function and structure of the register control unit of FIG. 図３（ａ）、（ｂ）は、第１見当ずれ量に含まれうる演算誤差の一例について説明するための図である。FIGS. 3A and 3B are diagrams for explaining an example of a calculation error that can be included in the first misregistration amount. 補正された第１見当ずれ量を演算する動作について説明するための図である。It is a figure for demonstrating the operation | movement which calculates the correct | amended 1st registration deviation | shift amount.

以下、各図面に示される同一または同等の構成要素、部材、工程には、同一の符号を付するものとし、適宜重複した説明は省略する。また、各図面における部材の寸法は、理解を容易にするために適宜拡大、縮小して示される。また、各図面において実施の形態を説明する上で重要ではない部材の一部は省略して表示する。   Hereinafter, the same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are appropriately omitted. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

図１は、実施形態に係る多色刷印刷システム１００の構成を示す。多色刷印刷システム１００は、第１印刷ユニット１０Ａ、第２印刷ユニット１０Ｂ（以下、総称して「印刷ユニット１０」とも呼ぶ）と、見当制御ユニット２０と、を備える。各印刷ユニット１０は、版胴１１と、圧胴１２と、を含む。ウェブ２は、ガイドロール４により所定の搬送路に沿って案内され、圧胴１２により版胴１１に圧接される。ウェブ２には版胴１１に対応した色の絵柄および見当マークが印刷される。以下、第１印刷ユニット１０Ａ、第２印刷ユニット１０Ｂで印刷された見当マークを、それぞれ見当マーク６Ａ、見当マーク６Ｂ（不図示）と呼ぶ。   FIG. 1 shows a configuration of a multicolor printing system 100 according to the embodiment. The multicolor printing system 100 includes a first printing unit 10 </ b> A, a second printing unit 10 </ b> B (hereinafter collectively referred to as “printing unit 10”), and a register control unit 20. Each printing unit 10 includes a plate cylinder 11 and an impression cylinder 12. The web 2 is guided along a predetermined conveyance path by the guide roll 4 and is pressed against the plate cylinder 11 by the impression cylinder 12. On the web 2, a color pattern and a register mark corresponding to the plate cylinder 11 are printed. Hereinafter, the registration marks printed by the first printing unit 10A and the second printing unit 10B are referred to as a registration mark 6A and a registration mark 6B (not shown), respectively.

見当制御ユニット２０は、センサ３０と、制御部４０と、を備える。これらは、ウェブ２に印刷された見当マーク６Ａ、６Ｂを検出し、その検出結果に基づいて、第１印刷ユニット１０Ａと第２印刷ユニット１０Ｂとの間で見当ずれが生じているか判定する。見当ずれが生じている場合、制御部４０は、版胴１１の回転量を増減させて、見当ずれを解消させる。   The register control unit 20 includes a sensor 30 and a control unit 40. These detect the registration marks 6A and 6B printed on the web 2, and based on the detection result, determine whether or not there is a misregistration between the first printing unit 10A and the second printing unit 10B. When there is a registration error, the control unit 40 increases or decreases the rotation amount of the plate cylinder 11 to eliminate the registration error.

図２は、見当制御ユニット２０の機能および構成を示すブロック図である。センサ３０は、第１センサ部３１ａと、第２センサ部３１ｂと、撮像部３７と、を含む。第１センサ部３１ａと、第２センサ部３１ｂは、所定の基準間隔で配置される。この基準間隔は、見当ずれが生じていないときにおける、見当マーク６Ａと見当マーク６Ｂとの距離に相当する。第１センサ部３１ａおよび第２センサ部３１ｂは、光学式のセンサであり、それぞれ光源３２と、光学系３３と、光検出素子３４と、を含む。光源３２は、白色光源であり、ウェブ２に光を照射する。光源３２は特に、見当マークが通過する領域に光を照射する。ウェブ２に照射された光の反射光は、光学系３３により集光され、光検出素子３４の受光素子３５により受光される。光学系３３は公知の技術を用いて構成される。受光素子３５は、受光した光に応じた信号を出力する。   FIG. 2 is a block diagram showing the function and configuration of the register control unit 20. The sensor 30 includes a first sensor unit 31a, a second sensor unit 31b, and an imaging unit 37. The first sensor unit 31a and the second sensor unit 31b are arranged at a predetermined reference interval. This reference interval corresponds to the distance between the registration mark 6A and the registration mark 6B when no registration deviation occurs. The first sensor unit 31 a and the second sensor unit 31 b are optical sensors, and each include a light source 32, an optical system 33, and a light detection element 34. The light source 32 is a white light source and irradiates the web 2 with light. In particular, the light source 32 irradiates light to a region through which the registration mark passes. The reflected light of the light irradiated on the web 2 is collected by the optical system 33 and received by the light receiving element 35 of the light detecting element 34. The optical system 33 is configured using a known technique. The light receiving element 35 outputs a signal corresponding to the received light.

撮像部３７は、第１センサ部３１ａと第２センサ部３１ｂがセンシングしている領域を撮像する。すなわち、撮像部３７は、見当マーク６Ａと見当マーク６Ｂを撮像する。以下、各センサ部がセンシングしている領域や撮像部３７によって撮像される領域を「検出領域」と呼ぶ。   The imaging unit 37 images a region sensed by the first sensor unit 31a and the second sensor unit 31b. That is, the imaging unit 37 images the registration mark 6A and the registration mark 6B. Hereinafter, a region sensed by each sensor unit or a region imaged by the imaging unit 37 is referred to as a “detection region”.

制御部４０は、第１演算部４１ａと、第２演算部４１ｂと、変動量算出部４２と、変動量判定部４３と、演算誤差算出部４４と、演算誤差登録部４５と、見当ずれ量補正部４６と、見合せ部４７と、演算誤差保持部４８と、を備える。   The control unit 40 includes a first calculation unit 41a, a second calculation unit 41b, a variation calculation unit 42, a variation determination unit 43, a calculation error calculation unit 44, a calculation error registration unit 45, and a misregistration amount. A correction unit 46, a matching unit 47, and a calculation error holding unit 48 are provided.

第１演算部４１ａは、第１センサ部３１ａと第２センサ部３１ｂの出力信号に基づいて見当ずれ量を演算する。第１演算部４１ａは、第１見当マーク検出部５０ａと、第１見当ずれ量算出部５１ａと、を含む。第１見当マーク検出部５０ａは、第１センサ部３１ａ、第２センサ部３１ｂの各受光素子３５が出力した信号の信号強度と所定の閾値とを比較し、信号強度が閾値を超えたとき、見当マークを検出する。第１見当ずれ量算出部５１ａは、第１見当マーク検出部５０ａが見当マーク６Ａと見当マーク６ｂのそれぞれを検出したタイミングに基づいて見当ずれ量を演算する。以下、第１演算部４１ａによって演算された見当ずれ量を、「第１見当ずれ量」と呼ぶ。   The first calculation unit 41a calculates the amount of misregistration based on the output signals of the first sensor unit 31a and the second sensor unit 31b. The first calculation unit 41a includes a first registration mark detection unit 50a and a first registration deviation amount calculation unit 51a. The first register mark detection unit 50a compares the signal intensity of the signal output from each light receiving element 35 of the first sensor unit 31a and the second sensor unit 31b with a predetermined threshold, and when the signal intensity exceeds the threshold, Detect register marks. The first registration deviation amount calculation unit 51a calculates the registration deviation amount based on the timing at which the first registration mark detection unit 50a detects each of the registration mark 6A and the registration mark 6b. Hereinafter, the misregistration amount calculated by the first calculation unit 41a is referred to as “first misregistration amount”.

第２演算部４１ｂは、第１演算部４１ａよりも低い頻度で、見当ずれ量を演算する。本実施の形態では、第２演算部４１ｂは、見当マーク６Ａと見当マーク６Ｂのセットが検出領域をｎ（例えば５）セット通過するごとに１回だけ、見当ずれ量を演算する。   The second calculation unit 41b calculates the registration deviation amount at a lower frequency than the first calculation unit 41a. In the present embodiment, the second calculation unit 41b calculates the registration deviation amount only once each time the set of the registration mark 6A and the registration mark 6B passes n (for example, 5) sets through the detection area.

第２演算部４１ｂは、第２見当マーク検出部５０ｂと、第２見当ずれ量算出部５１ｂと、を含む。第２見当マーク検出部５０ｂは、見当マーク６Ａと見当マーク６Ｂのセットが検出領域をｎ（例えば５）セット通過するごとに１回だけ、撮像部３７が取得した撮像画像から見当マーク６Ａと見当マーク６Ｂを検出する。第２見当マーク検出部５０ｂは、例えば、所定の基準見当マーク画像と撮像画像とを照合することにより、見当マーク６Ａと見当マーク６Ｂを検出する。   The second calculation unit 41b includes a second registration mark detection unit 50b and a second registration deviation amount calculation unit 51b. The second registration mark detection unit 50b registers the registration mark 6A and the registration mark 6A from the captured image acquired by the imaging unit 37 only once every time the set of the registration mark 6A and the registration mark 6B passes through the detection area n (for example, 5) sets. The mark 6B is detected. The second registration mark detection unit 50b detects the registration mark 6A and the registration mark 6B, for example, by collating a predetermined reference registration mark image with a captured image.

第２見当ずれ量算出部５１ｂは、第２見当マーク検出部５０ｂが見当マーク６Ａおよび見当マーク６Ｂを検出すると（すなわち見当マーク６Ａと見当マーク６Ｂのセットが検出領域をｎ（例えば５）セット通過するごとに１回だけ）、撮像画像における見当マーク６Ａと見当マーク６Ｂの相対座標、すなわち距離を演算する。第２見当ずれ量算出部５１ｂは、その距離と、基準距離（見当ずれがない場合の２つの見当マーク６の距離）との偏差として見当ずれ量を演算する。以下、第２演算部４１ｂによって演算された見当ずれ量を、「第２見当ずれ量」と呼ぶ。このように、撮像画像に基づいて演算される第２見当ずれ量は、一般に、見当マークの検出タイミングに基づいて演算される第１見当ずれ量よりも演算精度が高い。   When the second registration mark detection unit 50b detects the registration mark 6A and the registration mark 6B (that is, the set of the registration mark 6A and the registration mark 6B passes n (for example, 5) sets of detection areas). Each time, the relative coordinates of the registration mark 6A and the registration mark 6B in the captured image, that is, the distance is calculated. The second misregistration amount calculation unit 51b calculates the misregistration amount as a deviation between the distance and the reference distance (the distance between the two registration marks 6 when there is no misregistration). Hereinafter, the misregistration amount calculated by the second calculation unit 41b is referred to as “second misregistration amount”. As described above, the second registration deviation amount calculated based on the captured image generally has higher calculation accuracy than the first registration deviation amount calculated based on the detection timing of the registration mark.

変動量算出部４２は、所定の期間に演算された第１見当ずれ量の変動量を算出する。本実施の形態では、見当マーク６Ａと見当マーク６Ｂのセットが検出領域をｎ（例えば５）セット通過する間に演算された第１見当ずれ量の変動量を算出する。変動量算出部４２は、例えば第１見当ずれ量の分散や標準偏差を変動量として算出する。変動量判定部４３は、変動量算出部４２によって算出された変動量が、所定の閾値以下であるか否か判定する。   The fluctuation amount calculation unit 42 calculates the fluctuation amount of the first registration deviation amount calculated during a predetermined period. In the present embodiment, the variation amount of the first registration deviation amount calculated while the set of the registration mark 6A and the registration mark 6B passes through the detection region by n (for example, 5) sets is calculated. The fluctuation amount calculation unit 42 calculates, for example, the variance or standard deviation of the first registration deviation amount as the fluctuation amount. The fluctuation amount determination unit 43 determines whether or not the fluctuation amount calculated by the fluctuation amount calculation unit 42 is equal to or less than a predetermined threshold value.

演算誤差算出部４４は、第１見当ずれ量と第２見当ずれ量とに基づいて、第１見当ずれ量に含まれうる「演算誤差」を算出する。図３（ａ）、（ｂ）は、第１見当ずれ量に含まれうる演算誤差の一例について説明するための図である。図３（ａ）のグラフ７１は第１見当マーク検出部５０ａによって検出された見当マーク６Ａの信号波形を示し、図３（ｂ）のグラフ７２は第１見当マーク検出部５０ａによって検出された見当マーク６Ｂの信号波形を示す。現実には見当ずれが生じておらず、図３（ａ）、（ｂ）に示すように信号波形が立ち上がり始める時刻が時刻ｔ０で同じであっても、信号波形の高さ、すなわち信号強度の最大値の相違により、見当マーク６Ａが検出される時刻ｔ１と、見当マーク６Ｂが検出される時刻ｔ２とが異なるものと検出されうる。その結果、現実には見当ずれが生じていないにもかかわらず、見当ずれが生じている（すなわち第１見当ずれ量が０ではない）と演算される。第１見当ずれ量には、こうした演算誤差が含まれうる。   The calculation error calculation unit 44 calculates “calculation error” that can be included in the first registration deviation amount based on the first registration deviation amount and the second registration deviation amount. FIGS. 3A and 3B are diagrams for explaining an example of a calculation error that can be included in the first misregistration amount. A graph 71 in FIG. 3A shows a signal waveform of the registration mark 6A detected by the first registration mark detection unit 50a, and a graph 72 in FIG. 3B shows a registration detected by the first registration mark detection unit 50a. The signal waveform of the mark 6B is shown. In reality, there is no misregistration. As shown in FIGS. 3A and 3B, even if the time when the signal waveform starts to rise is the same at time t0, the height of the signal waveform, that is, the signal strength. Due to the difference in the maximum value, it can be detected that the time t1 at which the register mark 6A is detected and the time t2 at which the register mark 6B is detected are different. As a result, it is calculated that there is a misregistration (that is, the first misregistration amount is not 0) even though no misregistration actually occurs. Such a calculation error can be included in the first misregistration amount.

本実施の形態では、演算誤差算出部４４は、次式によって演算誤差を算出する。
（式１）（演算誤差）＝（第１見当ずれ量）−（第２見当ずれ量）
つまり、撮像画像より算出された第２見当ずれ量は正しい見当ずれ量であることを前提に、演算誤差算出部４４は、第１見当ずれ量と第２見当ずれ量との差を、第１見当ずれ量の演算誤差として算出する。 In the present embodiment, the calculation error calculation unit 44 calculates a calculation error by the following equation.
(Formula 1) (Calculation error) = (First registration deviation amount) − (Second registration deviation amount)
That is, on the assumption that the second registration deviation amount calculated from the captured image is a correct registration deviation amount, the calculation error calculation unit 44 determines the difference between the first registration deviation amount and the second registration deviation amount as the first registration deviation amount. Calculated as a calculation error of the misregistration amount.

演算誤差登録部４５は、演算誤差算出部４４によって算出された演算誤差を、演算誤差保持部４８に登録する。本実施の形態では、演算誤差登録部４５は、変動量が所定の変動閾値以下であった場合、演算誤差算出部４４によって算出された演算誤差を演算誤差保持部４８に登録する。逆に言うと、演算誤差登録部４５は、変動量が変動閾値より大きい場合、演算誤差算出部４４によって算出された演算誤差を演算誤差保持部４８に登録することなく破棄する。つまり、第１見当ずれ量の変動量が大きい不安定な状態のときに算出された演算誤差は信頼性が低いため、破棄する。   The calculation error registration unit 45 registers the calculation error calculated by the calculation error calculation unit 44 in the calculation error holding unit 48. In the present embodiment, the calculation error registration unit 45 registers the calculation error calculated by the calculation error calculation unit 44 in the calculation error holding unit 48 when the fluctuation amount is equal to or less than a predetermined fluctuation threshold. In other words, the calculation error registration unit 45 discards the calculation error calculated by the calculation error calculation unit 44 without registering it in the calculation error holding unit 48 when the fluctuation amount is larger than the fluctuation threshold. That is, the calculation error calculated when the fluctuation amount of the first misregistration amount is large and unstable is discarded because it has low reliability.

見当ずれ量補正部４６は、第１見当ずれ量を、演算誤差保持部４８に保持された演算誤差に基づいて補正する。見当ずれ量補正部４６は特に、次式によって第１見当ずれ量を補正する。
（式２）（補正された第１見当ずれ量）＝（第１見当ずれ量）−（演算誤差） The registration error amount correction unit 46 corrects the first registration error amount based on the calculation error held in the calculation error holding unit 48. In particular, the registration error amount correction unit 46 corrects the first registration error amount by the following equation.
(Expression 2) (corrected first registration deviation amount) = (first registration deviation amount) − (calculation error)

見合せ部４７は、「補正された第１見当ずれ量」に基づき、印刷ユニット１０の駆動モータ（不図示）またはサイドレー（不図示）に補正信号を出力する。つまり、見合せ部４７は、補正された第１見当ずれ量が、第１印刷ユニット１０Ａと第２印刷ユニット１０Ｂとの間で生じている見当ずれ量であるとして、補正信号を出力する。駆動モータまたはサイドレーは、補正信号に基づき見当ずれが修正されるよう版胴１１を駆動する。駆動モータはウェブ２の走行方向の見当ずれを調整し、サイドレーはウェブ２の幅方向の見当ずれを調整する。   The matching unit 47 outputs a correction signal to the drive motor (not shown) or side array (not shown) of the printing unit 10 based on the “corrected first registration deviation amount”. That is, the registering unit 47 outputs a correction signal on the assumption that the corrected first registration deviation amount is the registration deviation amount generated between the first printing unit 10A and the second printing unit 10B. The drive motor or sidelay drives the plate cylinder 11 so that the misregistration is corrected based on the correction signal. The drive motor adjusts the misregistration of the web 2 in the running direction, and the sidelay adjusts the misregistration of the web 2 in the width direction.

以上のように構成された見当制御ユニット２０による動作、特に、「補正された第１見当ずれ量」を演算する動作について説明する。図４は、見当ずれ量を演算する動作について説明するための図である。ここでは、第１見当ずれ量の分散を変動量とし、変動閾値は０．１ｍｍ２とする。 The operation of the register control unit 20 configured as described above, particularly, the operation of calculating the “corrected first registration deviation amount” will be described. FIG. 4 is a diagram for explaining the operation of calculating the registration deviation amount. Here, the variance of the first misregistration amount is defined as a variation amount, and the variation threshold is 0.1 mm 2 .

図４において、「見当マーク６１」は、検出領域を通過する見当マーク６Ａと見当マーク６Ｂのセットを一意に識別するＩＤを示す。例えば、「１」は、検出領域を１番目に通過した見当マーク６Ａと見当マーク６Ｂのセットを示し、「２」は、検出領域を２番目に通過した見当マーク６Ａと見当マーク６Ｂのセットを示す。   In FIG. 4, a “register mark 61” indicates an ID that uniquely identifies a set of the register mark 6A and the register mark 6B that pass through the detection area. For example, “1” indicates a set of the register mark 6A and the register mark 6B that first passes through the detection area, and “2” indicates a set of the register mark 6A and the register mark 6B that passes through the detection area second. Show.

「第１見当ずれ量６２」は、第１演算部４１ａが見当ずれ量を演算するタイミングと、第１演算部４１ａによって演算された見当ずれ量を示す。「○」は、第１見当ずれ量が演算されるタイミングを示す。図４に示すように、第１見当ずれ量は、見当マーク６Ａと見当マーク６Ｂのセットが検出領域を通過するたびに演算される。「（）」括弧内の数字は、演算された第１見当ずれ量をｍｍ単位で示す。   The “first misregistration amount 62” indicates the timing at which the first calculation unit 41a calculates the misregistration amount and the misregistration amount calculated by the first calculation unit 41a. “◯” indicates the timing at which the first misregistration amount is calculated. As shown in FIG. 4, the first registration deviation amount is calculated every time a set of the registration mark 6A and the registration mark 6B passes through the detection area. The number in parentheses “()” indicates the calculated first registration deviation amount in mm.

「第２見当ずれ量６３」は、第２演算部４１ｂが見当ずれ量を演算するタイミングと、第２演算部４１ｂによって演算された見当ずれ量を示す。「○」は、第２見当ずれ量が演算されるタイミングを示す。図４に示すように、第２見当ずれ量は、見当マーク６Ａと見当マーク６Ｂのセットが検出領域を５回通過するごとに１回だけ演算される。括弧内の数字は、演算された第２見当ずれ量をｍｍ単位で示す。   The “second misregistration amount 63” indicates the timing at which the second calculation unit 41b calculates the misregistration amount and the misregistration amount calculated by the second calculation unit 41b. “◯” indicates the timing at which the second misregistration amount is calculated. As shown in FIG. 4, the second registration deviation amount is calculated only once every time the set of the registration mark 6A and the registration mark 6B passes the detection area five times. The numbers in parentheses indicate the calculated second misregistration amount in mm.

「登録されている演算誤差６４」は、演算誤差保持部４８に登録されている演算誤差を示す。「補正された第１見当ずれ量６５」は、見当ずれ量補正部４６によって算出された「補正された第１見当ずれ量」を示す。「変動量６６」は、変動量が変動閾値以下であるか否かと、変動量とを示す。「○」は変動量が変動閾値以下であることを示し、「×」は変動量が変動閾値より大きいことを示す。括弧内の数字は変動量をｍｍ２単位で示す。「算出された演算誤差６７」は、演算誤差算出部４４によって算出された演算誤差をｍｍ単位で示す。 The “registered calculation error 64” indicates a calculation error registered in the calculation error holding unit 48. The “corrected first registration deviation amount 65” indicates the “corrected first registration deviation amount” calculated by the registration deviation amount correction unit 46. The “variation amount 66” indicates whether or not the variation amount is equal to or less than the variation threshold and the variation amount. “◯” indicates that the fluctuation amount is equal to or less than the fluctuation threshold value, and “X” indicates that the fluctuation amount is larger than the fluctuation threshold value. The numbers in parentheses indicate the variation in mm 2 units. The “calculated calculation error 67” indicates the calculation error calculated by the calculation error calculation unit 44 in mm.

１〜５セットでは、演算誤差保持部４８はまだ演算誤差を保持していないため、第１見当ずれ量の値がそのまま補正された第１見当ずれ量となる。また、１セット目の第１見当ずれ量が０．５ｍｍで、第２見当ずれ量が０．３ｍｍであるため、演算誤差は０．２ｍｍと算出されている。１〜５セットは、変動量が変動閾値以下であるため、この演算誤差（０．２ｍｍ）は演算誤差保持部４８に登録される。   In the first to fifth sets, since the calculation error holding unit 48 does not hold the calculation error yet, the value of the first registration deviation amount becomes the first registration deviation amount corrected as it is. Further, since the first registration deviation amount of the first set is 0.5 mm and the second registration deviation amount is 0.3 mm, the calculation error is calculated to be 0.2 mm. In the 1st to 5th sets, the fluctuation amount is equal to or less than the fluctuation threshold value.

６〜１０セットでは、演算誤差保持部４８に保持される演算誤差すなわち１セット目の第１見当ずれ量および第２見当ずれ量より算出された演算誤差（０．２ｍｍ）を、第１見当ずれ量から引いた値が補正された第１見当ずれ量となる。また、６セット目の第１見当ずれ量が０．６ｍｍで、第２見当ずれ量が０．５ｍｍであるため、演算誤差は０．１ｍｍと算出されている。６〜１０セットは、変動量が変動閾値以下であるため、この演算誤差（０．１ｍｍ）が演算誤差保持部４８に登録される。   In 6 to 10 sets, the calculation error (0.2 mm) calculated from the calculation error held in the calculation error holding unit 48, that is, the first registration deviation amount and the second registration deviation amount of the first set is changed to the first registration deviation. The value subtracted from the amount is the corrected first registration amount. Further, since the first registration deviation amount of the sixth set is 0.6 mm and the second registration deviation amount is 0.5 mm, the calculation error is calculated to be 0.1 mm. In 6 to 10 sets, the fluctuation amount is equal to or less than the fluctuation threshold value, so this calculation error (0.1 mm) is registered in the calculation error holding unit 48.

１１〜１５セットでは、演算誤差保持部４８に保持される演算誤差すなわち６セット目の第１見当ずれ量および第２見当ずれ量より算出された演算誤差（０．１ｍｍ）を、第１見当ずれ量から引いた値が補正された第１見当ずれ量となる。また、１１セット目の第１見当ずれ量が０．３ｍｍであり、第２見当ずれ量が０．１ｍｍであるため、演算誤差は０．２ｍｍと算出されている。しかしながら、１１〜１５セットは変動量が変動閾値（０．１ｍｍ２）より大きいため、この演算誤差（０．２ｍｍ）は演算誤差保持部４８に登録されずに破棄される。 In the 11th to 15th sets, the calculation error (0.1 mm) calculated from the calculation error held in the calculation error holding unit 48, that is, the first registration deviation amount and the second registration deviation amount of the sixth set is changed to the first registration deviation. The value subtracted from the amount is the corrected first registration amount. Further, since the first registration deviation amount of the 11th set is 0.3 mm and the second registration deviation amount is 0.1 mm, the calculation error is calculated to be 0.2 mm. However, since the fluctuation amount of the 11 to 15 sets is larger than the fluctuation threshold value (0.1 mm 2 ), the calculation error (0.2 mm) is discarded without being registered in the calculation error holding unit 48.

１６〜２０セットでは、演算誤差保持部４８に保持される演算誤差すなわち６セット目の第１見当ずれ量および第２見当ずれ量より算出された演算誤差（０．１ｍｍ）を、第１見当ずれ量から引いた値が補正された第１見当ずれ量となる。また、１６セット目の第１見当ずれ量が０．７ｍｍであり、第２見当ずれ量が０．４ｍｍであるため、演算誤差は０．３ｍｍと算出されている。１６〜２０セット目は、変動量が閾値以下であるため、この演算誤差（０．３ｍｍ）が演算誤差保持部４８に登録される。   In 16 to 20 sets, the calculation error (0.1 mm) calculated from the calculation error held in the calculation error holding unit 48, that is, the first registration deviation amount and the second registration deviation amount of the sixth set is changed to the first registration deviation. The value subtracted from the amount is the corrected first registration amount. Further, since the first registration deviation amount of the 16th set is 0.7 mm and the second registration deviation amount is 0.4 mm, the calculation error is calculated to be 0.3 mm. In the 16th to 20th sets, since the fluctuation amount is equal to or less than the threshold value, this calculation error (0.3 mm) is registered in the calculation error holding unit 48.

２１〜２５セットでは、演算誤差保持部４８に保持される演算誤差すなわち１６セット目の第１見当ずれ量および第２見当ずれ量より算出された演算誤差（０．３ｍｍ）を、第１見当ずれ量から引いた値が補正された第１見当ずれ量となる。また、２１セット目の第１見当ずれ量が０．６ｍｍであり、第２見当ずれ量が０．４ｍｍであるため、演算誤差は０．２ｍｍと算出されている。１６〜２０セットは、変動量が閾値以下であるため、この演算誤差（０．２ｍｍ）が演算誤差保持部４８に登録される。
以上のようにして、補正された第１見当ずれ量が算出される。 In the 21st to 25th sets, the calculation error (0.3 mm) calculated from the calculation error held in the calculation error holding unit 48, that is, the first registration deviation amount and the second registration deviation amount of the 16th set is changed to the first registration deviation. The value subtracted from the amount is the corrected first registration amount. Further, since the first registration deviation amount of the 21st set is 0.6 mm and the second registration deviation amount is 0.4 mm, the calculation error is calculated to be 0.2 mm. In 16 to 20 sets, since the fluctuation amount is equal to or less than the threshold value, this calculation error (0.2 mm) is registered in the calculation error holding unit 48.
As described above, the corrected first registration deviation amount is calculated.

以上説明した本実施形態に係る見当制御ユニット２０では、第１演算部４１ａによって演算された見当ずれ量は、演算誤差により補正される。この演算誤差は、第１演算部４１ａよりも演算精度の高い第２演算部４１ｂによって演算された見当ずれ量に基づいて算出される。そして、補正された見当ずれ量を、印刷ユニット１０に生じている見当ずれ量とする。そのため、第１演算部４１ａによって演算された見当ずれ量を、そのまま印刷ユニット１０に生じている見当ずれ量とする場合に比べ、見当ずれ量の演算精度は高くなる。   In the register control unit 20 according to the present embodiment described above, the register deviation amount calculated by the first calculator 41a is corrected by the calculation error. This calculation error is calculated based on the amount of misregistration calculated by the second calculation unit 41b having higher calculation accuracy than the first calculation unit 41a. The corrected misregistration amount is set as the misregistration amount generated in the printing unit 10. For this reason, the calculation accuracy of the misregistration amount is higher than when the misregistration amount calculated by the first calculation unit 41a is directly used as the misregistration amount generated in the printing unit 10.

また、第２演算部４１ｂは、第１演算部４１ａよりも低い頻度で見当ずれ量を演算する。具体的には、第２演算部４１ｂは、見当マークが検出領域を通過するたびに見当ずれ量を演算せずに、見当マークが検出領域を複数通過するたびに１回だけ、見当ずれ量を演算する。そのため、見当マークが検出領域を通過するたびに第２演算部４１ｂによって見当ずれ量を演算し、その見当ずれ量を印刷ユニット１０に生じている見当ずれ量とする場合に比べ、処理速度の低いコンピュータ等により第２演算部４１ｂを構成することができる。すなわち、見当制御ユニット２０を安価に構成できる。   Moreover, the 2nd calculating part 41b calculates a registration deviation amount with a frequency lower than the 1st calculating part 41a. Specifically, the second calculation unit 41b does not calculate the registration deviation amount every time the registration mark passes through the detection area, and calculates the registration deviation amount only once every time the registration mark passes through the detection area. Calculate. Therefore, each time the registration mark passes through the detection area, the second calculation unit 41b calculates the registration deviation amount, and the processing speed is lower than that in the case where the registration deviation amount is set as the registration deviation amount generated in the printing unit 10. The second calculation unit 41b can be configured by a computer or the like. That is, the register control unit 20 can be configured at a low cost.

以上、実施の形態に係る多色刷印刷システムについて説明した。この実施の形態は例示であり、それらの各構成要素や各処理プロセスの組合せにいろいろな変形例が可能なこと、またそうした変形例も本発明の範囲にあることは当業者に理解されるところである。以下変形例を示す。   The multicolor printing system according to the embodiment has been described above. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. is there. A modification is shown below.

（変形例１）
実施の形態では、多色刷印刷システム１００は、第１印刷ユニット１０Ａと第２印刷ユニット１０Ｂの２つの印刷ユニットを備える場合について説明したがこれに限られない。多色刷印刷システム１００は、ｎ（≧３）個の印刷ユニットを備えていてもよい。この場合、見当制御ユニット２０は、ｎ−１個のセンサおよび機側制御部を備えてもよい。
（変形例２）
実施の形態では特に言及しなかったが、第１見当マーク検出部５０ａは、見当マーク６Ａ、見当マーク６Ａを検出したタイミングを示す情報（例えば、版胴１１の回転位相や、検出した時刻）を第２見当マーク検出部５０ｂに渡してもよい。第２見当マーク検出部５０ｂは、第１見当マーク検出部５０ａから取得した情報から、撮像部３７が取得した撮像画像における見当マーク６Ａ、見当マーク６Ａの概略位置を特定してもよい。例えば、第１見当マーク検出部５０ａから取得した情報に対応する撮像画像の位置を中心とする所定の範囲に見当マーク６Ａ、見当マーク６Ｂが存在すると特定してもよい。この場合、第２見当マーク検出部５０ｂは、撮像画像から見当マーク６Ａ、見当マーク６Ｂを検出するとき、撮像画像の全体を走査しなくてもよいため、第２見当マーク検出部５０ｂによる見当マークの検出速度が向上する。あるいは、処理速度のより低いコンピュータ等により第２見当マーク検出部５０ｂを構成することができる。すなわち、見当制御ユニット２０をより安価に構成できる。 (Modification 1)
In the embodiment, the case where the multicolor printing system 100 includes the two printing units of the first printing unit 10A and the second printing unit 10B has been described, but the present invention is not limited to this. The multicolor printing system 100 may include n (≧ 3) printing units. In this case, the register control unit 20 may include n−1 sensors and a machine-side control unit.
(Modification 2)
Although not particularly mentioned in the embodiment, the first register mark detection unit 50a receives the information indicating the timing of detecting the register mark 6A and the register mark 6A (for example, the rotation phase of the plate cylinder 11 and the detected time). You may pass to the 2nd registration mark detection part 50b. The second registration mark detection unit 50b may specify the approximate positions of the registration mark 6A and the registration mark 6A in the captured image acquired by the imaging unit 37 from the information acquired from the first registration mark detection unit 50a. For example, the registration mark 6A and the registration mark 6B may be specified to exist in a predetermined range centered on the position of the captured image corresponding to the information acquired from the first registration mark detection unit 50a. In this case, the second registration mark detection unit 50b does not need to scan the entire captured image when detecting the registration mark 6A and the registration mark 6B from the captured image. Detection speed is improved. Alternatively, the second registration mark detection unit 50b can be configured by a computer having a lower processing speed. That is, the register control unit 20 can be configured at a lower cost.

（変形例３）
実施の形態では、変動量が変動閾値より大きい場合、演算誤差登録部４５は、演算誤差算出部４４によって算出された演算誤差を演算誤差保持部４８に登録しない場合について説明したが、これに限られない。例えば、変動量が変動閾値より大きい場合、演算誤差登録部４５は、過去に算出された演算誤差を上書きしないように、演算誤差算出部４４によって今回算出された演算誤差を演算誤差保持部４８に登録してもよい。演算誤差登録部４５は特に、演算誤差と、変動量と所定の閾値との大小関係と、登録日時と、を対応づけて演算誤差保持部４８に登録してもよい。この場合、見当ずれ量補正部４６は、変動量が所定の閾値以下である演算誤差のうち登録日時が最新である演算誤差に基づいて第１見当ずれ量を補正すればよい。 (Modification 3)
In the embodiment, the case where the calculation error registration unit 45 does not register the calculation error calculated by the calculation error calculation unit 44 in the calculation error holding unit 48 when the variation amount is larger than the variation threshold has been described. I can't. For example, when the fluctuation amount is larger than the fluctuation threshold value, the calculation error registration unit 45 stores the calculation error calculated this time by the calculation error calculation unit 44 in the calculation error holding unit 48 so as not to overwrite the calculation error calculated in the past. You may register. In particular, the calculation error registering unit 45 may register the calculation error, the magnitude relationship between the fluctuation amount and the predetermined threshold, and the registration date and time in the calculation error holding unit 48 in association with each other. In this case, the misregistration amount correction unit 46 may correct the first misregistration amount based on the calculation error whose registration date is the latest among the calculation errors whose variation amount is equal to or less than a predetermined threshold.

また例えば、変動量が変動閾値より大きい場合、そもそも演算誤差算出部４４が演算誤差を算出しないよう構成してもよい。   Further, for example, when the fluctuation amount is larger than the fluctuation threshold, the calculation error calculation unit 44 may be configured not to calculate the calculation error in the first place.

（変形例４）
実施の形態では、第２演算部４１ｂが、見当マーク６Ａと見当マーク６Ｂのセットが検出領域をｎ（例えば５）セット通過するごとに１回だけ、見当ずれ量を演算する場合、すなわち第２演算部４１ｂが一定の間隔で見当ずれ量を演算する場合について説明したが、これに限られない。第２演算部４１ｂは、第１演算部４１ａよりも低い頻度で見当ずれ量を演算すればよい。例えば、第２演算部４１ｂは、印刷ユニット１０を稼働させた直後は見当ずれ量を演算する頻度を高くし、所定の時間が経過したら見当ずれ量を演算する頻度を低くしてもよい。 (Modification 4)
In the embodiment, when the second calculation unit 41b calculates the registration deviation amount only once every time the set of the register mark 6A and the register mark 6B passes through the detection region by n (for example, 5) sets, that is, the second Although the case where the calculation unit 41b calculates the amount of misregistration at regular intervals has been described, the present invention is not limited to this. The second calculation unit 41b may calculate the misregistration amount at a lower frequency than the first calculation unit 41a. For example, the second calculation unit 41b may increase the frequency of calculating the misregistration amount immediately after operating the printing unit 10, and may decrease the frequency of calculating the misregistration amount after a predetermined time has elapsed.

また、印刷ユニット１０を稼働させた直後に、第１見当ずれ量の変動量が大きい不安定な状態となることがある。そこで、印刷ユニット１０を稼働させた直後は、第２演算部４１ｂによる演算は行わず、第１見当ずれ量の変動量が落ち着いてから第２演算部４１ｂによる演算を開始してもよい。例えば、見当マーク６Ａと見当マーク６Ｂのセットが検出領域をｍ（例えば２０）セット通過してから第２演算部４１ｂによる演算を開始してもよい。   In addition, immediately after the printing unit 10 is operated, an unstable state in which the variation amount of the first misregistration amount is large may occur. Therefore, immediately after the printing unit 10 is operated, the calculation by the second calculation unit 41b may not be performed, and the calculation by the second calculation unit 41b may be started after the fluctuation amount of the first misregistration amount has settled. For example, the calculation by the second calculation unit 41b may be started after the set of the register mark 6A and the register mark 6B passes m (for example, 20) sets through the detection area.

（変形例５）
実施の形態では、第１センサ部３１ａおよび第２センサ部３１ｂは、ウェブ２からの反射光を受光する場合について説明したが、これに限られず、例えば第１センサ部３１ａおよび第２センサ部３１ｂは、ウェブ２からの透過光を受光するよう構成されてもよい。 (Modification 5)
In the embodiment, the case where the first sensor unit 31a and the second sensor unit 31b receive reflected light from the web 2 has been described. However, the present invention is not limited to this, and for example, the first sensor unit 31a and the second sensor unit 31b. May be configured to receive transmitted light from the web 2.

上述した実施の形態と変形例の任意の組み合わせもまた本発明の実施の形態として有用である。組み合わせによって生じる新たな実施の形態は、組み合わされる実施の形態および変形例それぞれの効果をあわせもつ。   Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment generated by the combination has the effects of the combined embodiment and the modified examples.

１０ 印刷ユニット、 ２０ 見当制御ユニット、 ３０ センサ、 ３７ 撮像部、 ４１ａ 第１演算部、 ４１ｂ 第２演算部、 ４４ 演算誤差算出部、 ４６ 見当ずれ量補正部、 ４７ 見合せ部、 ５０ａ 第１見当マーク検出部、 ５０ｂ 第２見当マーク検出部、 ５１ａ 第１見当ずれ量算出部、 ５１ｂ 第２見当ずれ量算出部、 １００ 多色刷印刷システム。   DESCRIPTION OF SYMBOLS 10 Printing unit, 20 Registration control unit, 30 Sensor, 37 Image pick-up part, 41a 1st calculating part, 41b 2nd calculating part, 44 Calculation error calculating part, 46 Registration deviation amount correction | amendment part, 47 Registering part, 50a 1st register mark Detection unit, 50b Second registration mark detection unit, 51a First registration deviation amount calculation unit, 51b Second registration deviation amount calculation unit, 100 Multicolor printing system.

Claims (5)

見当ずれ量を演算する第１演算部と、
前記第１演算部よりも低い頻度で見当ずれ量を演算する第２演算部と、
前記第１演算部によって演算された見当ずれ量に含まれる演算誤差を、前記第１演算部によって演算された見当ずれ量と、前記第２演算部によって演算された見当ずれ量とに基づいて算出する算出部と、
算出された演算誤差に基づいて、前記第１演算部によって演算された見当ずれ量を補正する補正部と、
補正された見当ずれ量に基づいて、見当ずれを修正する見合せ部と、
を備えることを特徴とする見当制御ユニット。 A first calculation unit for calculating a misregistration amount;
A second calculation unit that calculates the amount of misregistration at a lower frequency than the first calculation unit;
A calculation error included in the amount of misregistration calculated by the first arithmetic unit is calculated based on the amount of misregistration calculated by the first arithmetic unit and the amount of misregistration calculated by the second arithmetic unit. A calculating unit to
A correction unit that corrects the amount of misregistration calculated by the first calculation unit, based on the calculated calculation error;
Based on the corrected misregistration amount, a register unit for correcting the misregistration,
A register control unit comprising: 前記第１演算部は、２つの印刷ユニットにおいて間隔を置いて印刷された２つの見当マークのそれぞれを、所定の基準間隔で配置された２つのセンサのそれぞれが検出するタイミングに基づいて、見当ずれ量を演算し、
前記第２演算部は、２つの見当マークを撮像した撮像画像より演算される２つの見当マークの距離に基づいて、見当ずれ量を演算することを特徴とする請求項１に記載の見当制御ユニット。 The first arithmetic unit is configured to detect misregistration based on timings at which two sensors arranged at a predetermined reference interval detect each of two registration marks printed at intervals in two printing units. Calculate the quantity,
2. The register control unit according to claim 1, wherein the second calculation unit calculates a registration deviation amount based on a distance between two registration marks calculated from a captured image obtained by imaging two registration marks. . 所定の期間に前記第１演算部によって演算された見当ずれの変動量が、所定の値以下であるか否か判定する判定部をさらに備えることを特徴とする請求項１または２に記載の見当制御ユニット。   The register according to claim 1, further comprising a determination unit that determines whether or not a variation amount of the registration error calculated by the first calculation unit during a predetermined period is equal to or less than a predetermined value. Controller unit. 請求項１から３のいずれかに記載の見当制御ユニットを備えることを特徴とする多色刷印刷システム。   A multicolor printing system comprising the register control unit according to claim 1. 第１の頻度で見当ずれ量を演算する第１演算ステップと、
第１の頻度よりも低い第２の頻度で見当ずれ量を演算する第２演算ステップと、
前記第１演算ステップにおいて演算された見当ずれ量に含まれる演算誤差を、前記第１演算ステップにおいて演算された見当ずれ量と、前記第２演算ステップにおいて演算された見当ずれ量とに基づいて算出する算出ステップと、
算出された演算誤差に基づいて、前記第１演算ステップにおいて演算された見当ずれ量を補正する補正ステップと、
補正された見当ずれ量に基づいて、見当ずれを修正する見合せステップと、
を含むことを特徴とする見当制御方法。 A first calculation step of calculating a misregistration amount at a first frequency;
A second calculation step of calculating a misregistration amount at a second frequency lower than the first frequency;
A calculation error included in the registration error amount calculated in the first calculation step is calculated based on the registration error amount calculated in the first calculation step and the registration error amount calculated in the second calculation step. A calculating step to
A correction step of correcting the amount of misregistration calculated in the first calculation step based on the calculated calculation error;
A registration step for correcting the misregistration based on the corrected misregistration amount;
A registration control method comprising:
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