JP2018187803A - Recorder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a recorder capable of accurately determining head rubbing and a sheet jam from disturbance at the time of reversal when abnormality occurs in carriage operation around the reversal.SOLUTION: A recorder comprises a carriage on which a recording head is mounted and which is reciprocatable along a guide part, control means for controlling the movement of the carriage, detection means provided in the carriage and detecting an acceleration of the carriage, and determination means for determining an abnormal state of the carriage based on a result of comparing the acceleration in a substantially gravity direction of at least the carriage as detected by the detection means and a predetermined threshold value. The carriage has a contact part which holds a part of the guide part in contact therewith, and is also separable from a contact state of the contact part in a substantially anti-gravity direction.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a recording apparatus.

  2. Description of the Related Art Conventionally, in a serial scan type ink jet recording apparatus, when recording is performed, scanning is performed by moving a carriage mounted with a recording head in the main scanning direction while being guided and supported by a guide rail. In such a configuration, the guide rail abuts on a bearing portion provided on the carriage to support the carriage and guides the movement of the carriage. In Patent Document 1, bearing portions including two inclined surfaces that respectively contact the arc portion of the guide rail are provided at two locations in the carriage movement direction.

  Also, in such a recording apparatus, when the floating recording medium and the carriage come into contact with each other and the face surface of the head mounted on the carriage is damaged, the carriage cannot operate normally or printing failure occurs. There is. In such a case, it is important to immediately stop the operation and notify the abnormality from the viewpoint of protecting the product and the device itself.

  However, there are various causes when the carriage malfunctions, and depending on the cause, there is a problem that it takes time to specify the carriage. For example, in Patent Document 2, an abnormal state is determined by comparing the detected acceleration with a set threshold value, the carriage is stopped, and the content of the abnormality is notified. As a result, the recording head and the print medium are in continuous contact, and the recording head is prevented from being damaged.

JP 2004-345187 A International Publication No. 2010/084606

  As described above, there are various causes of the vibration caused by the abnormality of the carriage. Considering each cause, it is necessary to detect the detection value of the acceleration sensor in Patent Document 2 with very high accuracy. However, the lighter the contact with the paper during a jam, the smaller the difference with respect to the threshold value, making it difficult to determine the cause from the comparison result.

  Also, when the carriage is reversed, the value in the scanning direction changes greatly with the acceleration / deceleration operation. Further, in the configuration in which the slight contact with the carriage due to the floating of the edge in the width direction of the conveyed paper and the acceleration / deceleration operation of the carriage can occur at the same time, it is difficult to provide the above threshold value in the scanning direction. There are challenges.

  In view of the above problems, an object of the present invention is to accurately detect an abnormal state without being influenced by a change value of vibration generated during acceleration / deceleration of a carriage.

  In order to solve the above problems, the present invention has the following configuration. That is, the recording apparatus is provided with a recording head and is capable of reciprocating along a guide portion, a control unit that controls movement of the carriage, and provided in the carriage, and detects acceleration of the carriage. Detecting means for determining the abnormal state of the carriage based on a result of comparing at least the acceleration in the substantially gravitational direction of the carriage detected by the detecting means with a predetermined threshold value. The carriage has a contact portion that holds and contacts a part of the guide portion, and can be separated from the contact state of the contact portion in a substantially anti-gravity direction.

  The present invention can accurately detect an abnormal state without being influenced by a change value of vibration generated during acceleration / deceleration.

1 is an external perspective view of a recording apparatus to which the present invention can be applied. The left view which showed the bearing body periphery part which concerns on this invention. The perspective view which showed typically the carriage sliding part which concerns on this invention. The left view which showed typically the carriage sliding part which concerns on this invention. The figure which shows the structural example of the control apparatus which concerns on this invention. FIG. 4 is a diagram illustrating a progress when an end portion of a sheet rubs against a lower portion of a recording head. The sequence diagram concerning the present invention. The figure which shows the acceleration waveform of each direction at the time of normal inversion. The figure which shows the acceleration waveform when the edge part of a sheet | seat and a carriage contact. The figure which shows the acceleration value at the time of the normal reversal of a Z direction, and a carriage contact.

[Equipment configuration]
Hereinafter, an embodiment of the present invention will be described in detail. FIG. 1 is a perspective view illustrating a configuration example of a recording apparatus 100 according to the present embodiment. The recording apparatus 100 is an ink jet recording apparatus that performs recording by ejecting ink droplets from a recording head. The recording apparatus 100 is compatible with a plurality of sizes of recording media, and is also compatible with relatively large recording media. In the present embodiment, the recording apparatus 100 can record an image on roll paper, which is a continuous recording medium, and includes a recording head 2 as recording means, a paper feed mechanism corresponding to roll paper, a transport mechanism, and the like. Prepare. The recording apparatus 100 is a serial scanning recording apparatus in which recording is performed while the recording head 2 mounted on the carriage 3 scans along the main scanning direction (the direction of arrow A in FIG. 1).

  As shown in FIG. 1, the recording apparatus 100 will be described with the main scanning direction as the X axis, the sub scanning direction as the Y axis, and the vertical direction as the Z axis. The correspondence of the axes is assumed to be consistent in each drawing.

  A sheet 1 (sheet-like recording medium) drawn from the roll paper is supplied toward the recording head 2. An image is recorded on the sheet 1 by driving a recording element (not shown) of the recording head 2 while the sheet 1 is conveyed by the conveyance mechanism. The sheet 1 on which recording has been performed is sent out from a discharge port 99 as a discharge unit and discharged from the recording apparatus 100.

  The recording head 2 records an image (including characters and symbols) on the sheet 1 by driving the recording element based on the image information. When the recording head 2 is an ink jet type, recording is performed by ejecting ink from a plurality of ejection openings provided in the recording head 2 to a sheet based on image information. As the sheet 1, a sheet-like sheet such as a recording paper or a plastic sheet is generally used. The inkjet method may be a thermal method or a piezo method, and is not particularly limited.

  A carriage 3 on which the recording head 2 can be mounted is disposed at a position facing the sheet 1. Further, a first guide rail (guide portion) 4 is disposed at a position corresponding to the movement range of the carriage 3 so as to guide the scanning by the carriage 3 so as to extend in a direction intersecting the conveyance direction of the sheet 1. . The carriage 3 slides along the first guide rail 4 and is supported by the first guide rail 4 and guided in the scanning direction (the direction of arrow A in FIG. 1).

  A driving pulley 5 is disposed at one end of the movement range of the carriage 3. A carriage motor 9 is connected to the driving pulley 5. A driven pulley (idle pulley) 6 is disposed at the other end of the movement range of the carriage 3. A timing belt 7 is suspended between the driving pulley 5 and the driven pulley 6. A carriage 3 is attached to a part of the timing belt 7. The carriage 3 is scanned by these scanning means.

  A second guide rail 8 is arranged at a position corresponding to the movement range of the carriage 3 so as to extend in parallel with the first guide rail 4. A positioning member 23 is attached at a position near the second guide rail 8 in the carriage 3. The positioning member 23 is disposed so as to be able to contact the second guide rail 8. By sliding the positioning member 23 in contact with the second guide rail 8, the carriage 3 is pressed by the second guide rail 8. Thereby, it is possible to prevent the carriage 3 from rotating around the first guide rail 4. In addition, the carriage 3 includes an acceleration sensor 50 capable of detecting acceleration in three axial directions, and can detect acceleration when the carriage 3 is moved (during printing operation). In the present embodiment, the abnormal state of the carriage 3 is determined based on the detected acceleration value. An example of detection by the acceleration sensor 50 will be described later.

  Further, a conveyance roller 16 extending in the main scanning direction and a plurality of pinch rollers 15 arranged along the main scanning direction are provided in the conveyance path of the sheet 1. A conveyance motor 14 is connected to the conveyance roller 16. The conveyance roller 16 is a driving roller that is driven by the conveyance motor 14 when the sheet 1 is conveyed. The pinch roller 15 is a driven roller that rotates following the rotational drive of the transport roller 16. The transport roller 16 and the pinch roller 15 form a pair of rollers.

  The recording head 2 is provided with a large number of recording elements (not shown), and an FFC (Flexible Flat Cable) 13 for supplying a recording element drive signal from the main body of the recording apparatus 100 to the recording head 2 is arranged. To do. The FFC 13 has an elongated and thin film shape, and a conductor pattern for transmitting a drive signal is formed inside or on the surface. The FFC 13 is flexible so that it bends as the carriage 3 moves and the center position of the bending moves. Further, an ink tank (not shown) is disposed outside the carriage 3, and a tube 18 that supplies ink in the ink tank to the recording head 2 is disposed. The tube 18 is flexible so that it bends as the carriage 3 moves and the center position of the bending moves. A connection member 20 including the FFC 13 and the tube 18 is connected between the carriage 3 and the fixing portion 22 of the recording apparatus 100 main body.

  When recording is performed, the carriage motor 9 connected to the driving pulley 5 is driven to rotate the driving pulley 5. As a result, the timing belt 7 suspended between the driving pulley 5 and the driven pulley 6 moves along the main scanning direction (arrow A direction in FIG. 1). As a result, the carriage 3 mainly moves along the first guide rail 4 between the one end portion (first end) and the other end portion (second end) in the axial direction of the first guide rail 4. Reciprocates in the scanning direction.

  When the sheet 1 is conveyed, the conveyance roller 16 is rotationally driven by the conveyance motor 14 in a state where the sheet 1 is sandwiched between a pair of rollers including the conveyance roller 16 and the pinch roller 15. As a result, the sheet 1 is conveyed on the platen 21 in the sub-scanning direction (arrow B direction in FIG. 1) orthogonal to the moving direction (main scanning direction) of the carriage 3. The platen 21 is provided with a plurality of suction holes on the upper surface, and sucks the sheet 1 by sucking air when the sheet 1 is conveyed, and keeps the correct posture in accordance with the upper surface of the platen 21. An image is recorded on the sheet by alternately performing the operation of the carriage 3 that reciprocates in the main scanning direction while driving the recording element of the recording head 2 and the conveyance of the sheet 1 in the sub-scanning direction that is performed by a predetermined amount. Is done. Ink is supplied to the recording head 2 from an ink tank mounted on the carriage 3 and temporarily stored.

  Next, the peripheral part of the carriage 3 and the first guide rail 4 will be described. FIG. 2 is a left side view of the peripheral portion of the sliding portion between the carriage 3 and the first guide rail 4 shown in FIG.

  Next, the peripheral part of the sliding part between the carriage 3 and the first guide rail 4 will be described with reference to FIGS. FIG. 3 is a perspective view schematically showing a peripheral portion of the sliding portion between the carriage 3 and the first guide rail 4 shown in FIG. 1 as viewed along an arrow III in FIG. is there. FIG. 4 is a left side view of the peripheral portion of the sliding portion between the carriage 3 and the first guide rail 4.

  The carriage 3 is formed with a support portion 11, and two bearing bodies 10 each having a flat plate-like or substantially flat bearing portion 12 are formed on the inner surface of the support portion 11. It arranges so that it may become a letter shape. And it is comprised so that the contact part 11a may contact | abut to the upper part side among the circumferential surfaces of the cylindrical 1st guide rail 4. FIG. The right side of the carriage 3 has the same configuration. That is, the first guide rail 4 is in contact with the carriage 3 at the two contact portions 11a. In addition, the carriage 3 is formed with a restricting portion 25 configured by a surface perpendicular to the Z direction so as to sandwich the first guide rail 4 substantially symmetrically. When the carriage 3 receives a force in the anti-gravity direction, the carriage 3 lifts from the first guide rail 4 and is in a non-contact state with respect to the first guide rail 4. That is, the carriage 3 can be separated from the first guide rail 4 in a substantially anti-gravity direction. With this configuration, by releasing the posture of the carriage 3 in the gravity direction, it is possible to prevent parts around the support portion from being damaged or deformed by an unexpected anti-gravity force. For example, there is a paper jam that is lifted by a carriage failure, such as when the carriage 3 rides on a paper.

  In this way, the contact portion that is in contact with and held on the peripheral surface of the guide portion can be separated from the contact state of the contact portion in a substantially gravity direction with respect to the guide portion. Therefore, the vibration when the carriage 3 comes into contact with the paper is easily detected in the antigravity direction. Further, in the present embodiment, the restricting portion 25 is formed by a part of the carriage 3, but the present invention is not limited to this, and for example, the same effect can be obtained even if a member separate from the carriage 3 and fixed to the carriage 3 is used. Is obtained.

  FIG. 5 shows a configuration example of the control device 40 that controls each component according to the present embodiment. The control device 40 includes a main control unit 41, a conveyance control unit 42, a recording control unit 43, and an operation panel control unit 44. Based on the input value from the acceleration sensor 50 and the input value from the encoder sensor 51, the main control unit 41 transmits an operation command to each of the transport control unit 42, the recording control unit 43, and the operation panel control unit 44. Moreover, the main control part 41 calculates the output value from the acceleration sensor 50, and when it determines with it being higher than the threshold value provided previously, it performs control which is mentioned later. Note that the control device 40 included in the recording apparatus 100 according to the present embodiment may include a control unit for performing other processing and control.

[Description of operation]
In the recording apparatus 100 configured as described above, an operation of detecting an abnormality of the carriage 3 and determining the cause will be described below.

  FIG. 6 is a diagram illustrating a process in which the end portion of the sheet 1 according to the present embodiment is rubbed against the lower portion of the recording head 2. In particular, on the platen 21, the carriage 3 is decelerating near the end of the sheet 1. The arrows in FIG. 6 indicate the magnitude and direction of the speed of the carriage 3. Note that the direction of the arrow shown in FIG. 6 (the movement direction of the carriage 3) corresponds to the direction of the arrow A in FIG.

  In FIG. 6A, the carriage 3 starts to decelerate from the constant speed operation. At this time, the end of the sheet 1 is turned up from the platen 21 for some reason. For example, curling of the sheet 1, poor suction of the platen 21, and catching of the leading end of the sheet 1 in the conveyance direction can be cited as examples of turning. In FIG. 6B, the sheet 1 turned up starts to come into contact with the left end portion of the carriage 3. In FIG. 6C, the end portion of the sheet 1 passes under the central portion of the carriage width. Since the sheet 1 is softer than the carriage 3, the sheet 1 is less likely to be separated from the carriage 3 due to the impact of the collision between the sheet 1 and the carriage 3. In FIG. 6D, the right end portion of the carriage 3 and the end portion of the sheet 1 are in contact with each other. In FIG. 6E, the carriage 3 reaches the reverse position. The acceleration of the carriage 3 at this moment is zero, and the carriage 3 is not in contact with the sheet 1. In FIG. 6F, the carriage 3 starts the acceleration operation after reversal, and therefore starts to accelerate toward the right side in FIG.

  Although FIG. 6 shows a process of rubbing on one end side of the sheet 1, rubbing can occur on the other end side of the sheet 1 as well.

  FIG. 7 is a flowchart showing an operation for detecting and notifying the abnormality of the carriage 3 during printing. This processing flow is executed and processed by the main control unit 41. Here, it is assumed that this operation is started simultaneously with the start of the printing operation. It is assumed that the detection result (reference value) by the acceleration sensor 50 in a state where the carriage 3 and the sheet 1 are not in contact is held before the start of this processing flow.

  In S100, the main control unit 41 starts checking the detection value of the acceleration sensor 50 and continuously performs the printing operation. In the present embodiment, it is assumed that a check cycle is defined in advance, and the check is performed during the print operation.

  In S101, main controller 41 determines whether or not the detection value of acceleration sensor 50 exceeds a preset threshold value. At this time, since the acceleration value fluctuates greatly in the scanning direction of the carriage 3 as described above, the determination is made using a value in at least one direction different from the X direction. Here, an example in which determination is made using the acceleration value in the Z direction is shown. However, the determination is not limited to this, and the determination may be made comprehensively including the X direction. The threshold value is held in a storage unit (not shown) or the like and is managed by the main control unit 41. If the output value (acceleration value) of acceleration sensor 50 exceeds the threshold value (NO in S101), the process proceeds to S103, and if it is equal to or less than the threshold value (YES in S101), the process proceeds to S102.

  In S102, the main control unit 41 determines whether the printing operation is completed. If the printing operation is completed (YES in S102), the process flow is terminated. If the printing operation is not completed (NO in S102), the process returns to S101 and the process is continued.

  In S103, the main control unit 41 confirms the difference from the threshold value in the Z direction calculated from the output value of the acceleration sensor 50 immediately before the operation is stopped. Then, it is determined whether or not the difference here is larger than a predetermined value. The predetermined value here is set for the difference from the threshold value used in S101. If the difference is larger than the predetermined value (YES in S103), the process proceeds to S104, and if it is equal to or smaller than the predetermined value (NO in S103), the process proceeds to S107.

  In S <b> 104, the main control unit 41 stops the operation of the carriage motor 9 via the recording control unit 43.

  In S <b> 105, the main control unit 41 stops the operation of the transport motor 14 via the transport control unit 42.

  In S <b> 106, the main control unit 41 displays “carriage collision error” on the operation panel 54 via the operation panel control unit 44. The “carriage collision error” means that the bottom of the carriage 3 and the sheet 1 are rubbed (contacted), and the printing operation may be greatly affected. Then, this processing flow ends.

  In S107, the main control unit 41 displays “Minor head rubbing” on the operation panel 54 via the operation panel control unit 44. “Minor head rubbing” means that rubbing (contact) between the bottom of the carriage 3 and the sheet 1 has occurred, but it is assumed that there is no influence to stop the printing operation.

  The display content is not limited to the above, and other display content may be used.

[About acceleration detection]
As described above, the acceleration in the scanning direction of the carriage 3 is affected by variations in the printing accuracy of the slits in the scale film and variations in reading values caused by dirt such as ink mist. In addition, there is a deceleration of the carriage 3 itself, and the acceleration value is likely to fluctuate. For this reason, the threshold value used in S101 is at least a value for a direction other than the scanning direction (X-axis direction) of the carriage 3. Further, the direction parallel to the paper feed direction (Y-axis direction) is less disturbed than the scanning direction described above, but is slightly influenced by the yawing of the carriage 3 during reversal. In comparison, the variation in acceleration in the gravitational direction (Z-axis direction) is less varied because it is pressed against the scanning guide (first guide rail 4) by the weight of the carriage 3. In addition, the carriage 3 can be separated, and the vibration of the end portion of the sheet 1 can be remarkably detected by rubbing against the lower surface of the carriage 3.

  FIG. 8 is a schematic waveform diagram in each direction in which values of the acceleration sensor 50 are plotted as time elapses when the carriage 3 is normally reversed. FIG. 8 shows acceleration on the vertical axis and time on the horizontal axis. As described above, in this embodiment, the main scanning direction is X, the paper transport direction orthogonal to the main scanning direction is Y, and the gravity direction is Z. FIGS. 8A, 8B, and 8C are respectively X and Y. , Shows the change in the Z direction. Here, a case where contact between the sheet 1 and the carriage 3 does not occur is shown. The acceleration value in the X direction varies greatly, and the fluctuation range in the vertical axis direction of the graph when the carriage 3 is reversed is large. On the other hand, since the acceleration in the Z direction is pressed against the lower scanning axis by the weight of the carriage 3, the deflection width is small.

  FIG. 9 is a diagram illustrating output values in the respective directions of the acceleration sensor 50 when the carriage 3 comes into contact with the sheet 1 when the carriage 3 is decelerated and reversed in the operation after FIG. 9A, 9B, and 9C show changes in the X, Y, and Z directions, respectively. Comparing FIG. 8 and FIG. 9, the amount of change is larger in the Y and Z directions shown in FIGS. 9B and 9C than in Y and Z shown in FIGS. Part). 8 and 9 are different in scale on the vertical axis (acceleration).

  FIG. 10A shows the change in acceleration on the Z axis, and is the difference between the values in FIG. 8C and FIG. 9C. FIG. 10B is a graph obtained by taking the product of the detected values N-1 and N in order of elapsed time with respect to the difference value. The dashed-two dotted line in FIG.10 (b) is a threshold value for determining the fluctuation | variation of the product in a broken-line circle as abnormality. In the present embodiment, the threshold value shown in FIG. 10B corresponds to the threshold value used in S101 of FIG. 7 and is defined in advance and managed by the main control unit 41. . Further, the predetermined value used in S105 of FIG. 7 is set for the difference between the acceleration and the threshold value shown in FIG.

The time from the start of contact of the carriage 3 to the end of the sheet 1 (FIG. 6B) to the end of the contact (FIG. 6D) is determined by the width, speed, and acceleration of the carriage 3 in the main scanning direction. It can be calculated. Specifically, from the equation of constant acceleration motion,
v0: Speed at which the carriage and the sheet start to contact (carriage moving speed)
a: Carriage acceleration (deceleration)
t: Time after the carriage starts decelerating x: The width that can come into contact with the sheet in the lower part of the carriage.

  In the present embodiment, the carriage 3 comes into contact with the sheet 1 using as a trigger the time during which the acceleration in the Z direction continues to exceed the threshold value exceeds the value t, which is a predetermined time defined by the above calculation formula. It is determined that That is, the output value of the acceleration continuously exceeds the threshold value from when the carriage 3 starts to contact the end of the sheet 1 (FIG. 6B) until it finishes contacting (FIG. 6D). In this case, it is determined that the carriage 3 and the sheet 1 are in contact with each other. This determination corresponds to S101 in FIG. Note that t may improve the detection accuracy using a coefficient depending on the actual number of samplings and other detection specifications.

  Further, after detecting that the threshold value has been exceeded, the carriage 3 may be stopped immediately, or after displaying on the operation panel 54 as a slight touch, the apparatus is stopped based on the judgment / instruction of the user. Also good.

  In addition, when comparing the actual acceleration with the threshold value as shown in FIG. 10B, in order to detect the fluctuation in an easy-to-understand manner, the change becomes more remarkable by taking the product of the data at intervals. This makes it easier to set thresholds.

  In the present embodiment, the slight contact at the end of the sheet, which is difficult to detect with the acceleration sensor, is taken as an example, but the value of the acceleration sensor is similarly applied to a jam where the carriage rides on the sheet and stops. Can be judged as jam.

  As described above, according to the present embodiment, it is accurately determined that the sheet edge has contacted based on at least the threshold value of the output value of the acceleration sensor other than the carriage scanning direction and the detection time thereof, Can be notified. Therefore, after printing a long image over time, it is possible to prevent the recording head from being wasted due to an image defect or being damaged due to continuous rubbing between the paper and the head.

DESCRIPTION OF SYMBOLS 100 ... Recording device, 1 ... Sheet, 3 ... Carriage, 9 ... Carriage motor, 14 ... Conveyance motor, 41 ... Main control part, 42 ... Conveyance control part, 43 ... Recording control part, 44 ... Operation panel control part, 50 ... Acceleration sensor 51 ... Encoder sensor 54 ... Operation panel

Claims (9)

A carriage mounted with a recording head and capable of reciprocating along the guide;
Control means for controlling movement of the carriage;
Detection means provided on the carriage for detecting acceleration of the carriage;
Determination means for determining an abnormal state of the carriage based on a result of comparing at least an acceleration in the direction of gravity of the carriage detected by the detection means with a predetermined threshold value;
The recording apparatus according to claim 1, wherein the carriage includes a contact portion that holds and holds a part of the guide portion, and can be separated from a contact state of the contact portion in a substantially anti-gravity direction. A carriage mounted with a recording head and capable of reciprocating;
Control means for controlling movement of the carriage;
Detection means provided on the carriage for detecting acceleration of the carriage;
Based on the result of comparing at least one acceleration detected by the detection means, which is different from the moving direction of the carriage, with a predetermined threshold during the movement of the carriage, the abnormal state of the carriage is determined. A recording apparatus comprising: determination means for determining. The predetermined threshold value is defined from acceleration at the time of reversing the carriage,
The recording apparatus according to claim 2, wherein the determination unit determines an abnormal state when the carriage is reversed.   4. The recording apparatus according to claim 2, wherein the one direction different from the moving direction of the carriage includes a substantially gravity direction.   The determination means determines that an abnormal state is detected when it is detected that the acceleration exceeds the predetermined threshold during a movement of the carriage for a predetermined time. The recording apparatus according to any one of 1 to 4   The predetermined time is defined on the basis of a time during which a sheet passes through a lower portion of the carriage, which is calculated from a length in a moving direction of the lower portion of the carriage, a moving speed and an acceleration of the carriage. 5. The recording device according to 5.   The determination means further determines an abnormal state when detecting that the acceleration of movement of the carriage exceeds the predetermined threshold at a timing different from that at the time of reversal. The recording apparatus according to claim 6.   The recording apparatus according to claim 1, wherein the determination unit determines an abnormal state using a product of a plurality of accelerations detected at a predetermined interval by the detection unit. . The determination means further determines whether or not a difference between the acceleration detected by the detection means and the predetermined threshold value is greater than a predetermined value,
The recording apparatus according to claim 1, wherein the control unit stops the movement of the carriage when it is determined that the control unit is larger than the predetermined value.