JP2020137366A - Control apparatus, control method and program - Google Patents

Abstract

To appropriately sense step out of a stepping motor.SOLUTION: A control apparatus according to an aspect of a disclosed technology comprises: a drive pulse signal generation unit that generates a drive pulse signal of a stepping motor; a detection pulse signal input unit that inputs a detection pulse signal of a rotation angle of the stepping motor; a time difference variation detection unit that detects a time difference variation in which a time difference between time of a predetermined edge in the drive pulse signal and time of a predetermined edge in the detection pulse signal varies in a predefined predetermined period; a step out sensing unit that outputs a step out sensing signal when the time difference variation is more than or equal to a predefined step out threshold value.SELECTED DRAWING: Figure 3

Description

The present application relates to control devices, control methods, and programs.

Conventionally, there is known a technique for preventing step-out of a stepping motor by controlling the deviation between the drive pulse signal of the stepping motor and the detection pulse signal of the rotation angle of the stepping motor to be zero.

In addition, when overload step-out or over-vibration step-out is detected from an increase in the ratio of the pulse widths of the drive pulse signal and the detection pulse signal, or a periodic increase or decrease, the stepping motor is stopped and de-stepped. A technique for adjusting the drive of a stepping motor so as to recover from a tuned state is disclosed (see, for example, Patent Document 1).

However, in the technique of Patent Document 1, if chattering occurs at an edge such as the rising edge of a detection pulse signal, step-out may not be properly detected.

The present invention has been made in view of the above points, and an object of the present invention is to appropriately detect step-out of a stepping motor.

The control device according to one aspect of the disclosed technique includes a drive pulse signal generation unit that generates a drive pulse signal of a stepping motor, a detection pulse signal input unit that inputs a detection pulse signal of a rotation angle of the stepping motor, and the above. A time difference variation detection unit that detects a time difference variation in which the time difference between a predetermined edge time in the drive pulse signal and a predetermined edge time in the detection pulse signal fluctuates within a predetermined predetermined period, and the time difference variation. It has a step-out detection unit that outputs a step-out detection signal when is equal to or higher than a predetermined step-out threshold value.

According to one embodiment of the present invention, step-out of the stepping motor can be appropriately detected.

It is a figure explaining an example of the structure of the control device, the stepping motor and the rotary encoder which concerns on embodiment, (a) is the figure which shows the connection between a control device and a stepping motor and a rotary encoder, (b) is the structure of a rotary encoder. It is a figure which shows an example. It is a figure explaining the stepping motor step-out detection method by the control device which concerns on a comparative example. It is a figure explaining an example of the stepping motor step-out detection method by the control device which concerns on embodiment. It is a block diagram which shows an example of the hardware composition of the control device which concerns on embodiment. It is a block diagram which shows an example of the functional structure of the control device which concerns on 1st Embodiment. It is a flowchart which shows an example of the processing of the control apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the structure of the image formation system which concerns on 2nd Embodiment. It is a figure explaining an example of the structure of the image forming apparatus which concerns on 2nd Embodiment. It is a block diagram which shows an example of the functional structure of the image forming apparatus which concerns on 2nd Embodiment.

Hereinafter, modes for carrying out the invention will be described with reference to the drawings. In each drawing, the same components may be designated by the same reference numerals and duplicate description may be omitted.

<Structure of control device, stepping motor and rotary encoder according to the embodiment>
First, the configurations of the control device, the stepping motor, and the rotary encoder according to the embodiment will be described. FIG. 1 is a diagram illustrating an example of a configuration of a control device, a stepping motor, and a rotary encoder according to an embodiment, (a) is a diagram showing a connection between the control device, a stepping motor, and a rotary encoder, and (b) is a diagram. It is a figure which shows an example of the structure of a rotary encoder.

As shown in FIG. 1A, a slit disk 21 included in the rotary encoder 2 is attached to the rotating shaft 1a of the stepping motor 1. The slit disk 21 can rotate around the rotation shaft 1b according to the rotation of the rotation shaft 1a driven by the stepping motor 1.

As shown in FIG. 1B, a plurality of slits 211 are provided on the outer peripheral portion of the slit disk 21 at predetermined angles in the circumferential direction. The slit 211 is a hole such as a rectangular hole that penetrates the slit disk 21 in the Y direction. Note that FIG. 1B shows an example in which the slit 211 is provided in the disk portion near the outer periphery of the slit disk 21, but the slit 211 may be provided on the outer periphery of the slit disk 21. That is, the term "outer peripheral portion of the slit disk 21" includes an outer peripheral portion of the slit disk 21 and a disk portion in the vicinity of the outer peripheral portion.

The slit detection unit 22 included in the rotary encoder 2 is provided on a part of the outer peripheral portion of the slit disk 21. As an example, the slit detection unit 22 includes a light source and a photoelectric conversion element provided so as to sandwich a flat surface portion of the slit disk 21. When the light source irradiates the photoelectric conversion element with light, the light passes through the portion of the rotating slit disk 21 provided with the slit 211, and the photoelectric conversion element can receive the passing light. On the other hand, in the portion of the slit disk 21 where the slit 211 is not provided, the light is blocked by the slit disk 21, and the photoelectric conversion element cannot receive the light from the light source.

Therefore, the slit detection unit 22 can detect the slit 211 by the output voltage of the photoelectric conversion element. The slit detection unit 22 outputs a pulse signal whose output voltage is high level in the portion where the slit 211 is provided and low level in the portion where the slit 211 is provided. By counting the number of pulses of this pulse signal, the rotation angle of the slit disk 21 can be detected, and the rotation angle of the stepping motor 1 can be detected. Alternatively, by counting the number of pulses per unit time, the rotation speed of the slit disk 21 can be detected, and the rotation speed of the stepping motor 1 can be detected.

The rotary encoder 2 is electrically connected to the control device 100, and can output a digital detection pulse signal obtained by DA (Digital / Analog) conversion of the output voltage of the slit detection unit 22 to the control device 100. The above-described rotary encoder configuration is an example, and various known rotary encoders such as an incremental type and an absolute type can be applied to the embodiment.

The control device 100 electrically connected to the stepping motor 1 outputs a motor drive current for rotationally driving the stepping motor 1, and can rotationally drive the stepping motor 1 with a rotational torque corresponding to the amount of current.

Here, the stepping motor 1 may step out without being able to obtain sufficient rotational torque when a large rotational load is applied or when the rotation is rapidly accelerated. When the stepping motor 1 is out of step, the drive pulse signal and the rotation of the stepping motor 1 cannot be synchronized with each other, so that it becomes difficult for the stepping motor 1 to drive the desired rotation.

<Method of detecting step-out by the control device according to the comparative example>
In order to detect such stepping motor step-out, the following method may be used as a comparative example of the embodiment. FIG. 2 is a diagram illustrating a step-out detection method by the control device according to the comparative example. In FIG. 2, pulse signals, which are changes in voltage over time, are shown in each of the upper, middle, and lower stages.

The signal D shown in the upper part of FIG. 2 is a drive pulse signal of the stepping motor including the pulse width (period during which the voltage becomes high level) t ₁ . The signal V in the middle stage of FIG. 2 is a pulse signal detected by the rotary encoder including the pulse width t ₂ .

Control device according to the comparative example, obtains the ratio t _{2 /} t ₁ of the pulse width t ₁ and the pulse width t _2, an increase in the ratio t _{2 /} t _1, or a periodic increase and decrease, the step-out of the stepping motor Detect. Then, when step-out is detected, the stepping motor is stopped, and the drive of the stepping motor is adjusted so as to recover from the step-out state.

Here, the signal V'in the lower part of FIG. 2 is a detection pulse signal of the rotation speed when chattering occurs at the rising edge. Chattering is high-frequency vibration generated at an edge such as a rising pulse signal.

In the control device according to the comparative example, 'as if the chattering at the edge of the pulse signal is generated, the period t ₂ of the _chattering' signal V detected erroneously as the pulse width t ₂ of the detection pulse signal, the stepping In some cases, the step-out of the motor could not be detected properly.

<Method of detecting step-out by the control device according to the embodiment>
Therefore, in the embodiment, the stepping motor step-out is detected by the method shown below. FIG. 3 is a diagram illustrating an example of a step-out detection method by the control device according to the embodiment. In FIG. 3, three pulse signals are shown in the upper, middle, and lower rows as in FIG. 2. In addition, the upper row is the signal D which is the drive pulse signal of the stepping motor, the middle row is the signal V which is the detection pulse signal of the rotation speed by the rotary encoder, and the lower row is the detection of the rotation speed when chattering occurs at the rising edge. The signal V', which is a pulse signal, is shown.

In the embodiment, when the stepping motor is stepped out, or when there is a sign of stepping out, the variation in the time difference between the edge of the detection pulse signal of the rotation speed and the edge of the drive pulse signal becomes large. Focusing on this, step-out is detected when the time difference variation Δt'is equal to or higher than a predetermined step-out threshold value.

More specifically, a time difference variation Δt'in which the time difference between the time of the rising edge of the drive pulse signal and the time of the rising edge of the detection pulse signal fluctuates within a predetermined period is detected, and this time difference variation Δt' Detects step-out when is greater than or equal to a predetermined step-out threshold.

The time difference variation Δt'may be obtained by the difference between the maximum value and the minimum value of the above time difference variation within a predetermined period, or by the mean value, variance, or standard deviation of the above time difference variation within a predetermined period. You may. The "predetermined predetermined period" is, for example, a period corresponding to 20 cycles of a pulse signal. In this case, the time difference variation Δt'of the edges of the 20 pulse signals is detected.

When the time difference fluctuation Δt'is equal to or greater than a predetermined step-out threshold value, the control device outputs a step-out detection signal. Here, the step-out detection signal is a signal indicating that step-out has occurred or there is a sign of step-out.

Since the step-out detection method by the control device according to the embodiment does not use the pulse width information of the detection pulse signal as in the comparative example, even if chattering occurs in the detection pulse signal, it is not affected by this and stepping. The step-out of the motor 1 can be appropriately detected.

The rising edge of the detection pulse signal fluctuates to some extent even when the stepping motor 1 is not stepped out. The time difference variation Δt in the signal V of FIG. 3 indicates the time difference variation in the state where the stepping motor 1 is not stepped out, and the time difference variation Δt'in the signal V'is the state in which the stepping motor 1 is stepped out or stepped out. Shows time-lag fluctuations with signs of The time difference variation Δt'is larger than the time difference variation Δt.

Further, the time difference variation of the edge of the detection pulse signal includes both the one caused by the periodic variation of the detection pulse signal and the one caused by the pulse width variation of the detection pulse signal.

Further, in the above-described example, the rising edge of the detection pulse signal has been described, but the same applies to the falling edge of the detection pulse signal, and the control device 100 may detect the time difference variation of the falling edge. Further, in the above-described example, the positive logic detection pulse signal has been described, but the same applies to the negative logic detection pulse signal, and the control device 100 has a time difference between the rising edge and the falling edge of the negative logic detection pulse signal. Fluctuations may be detected. Here, the rising edge is an example of a “predetermined edge”.

Further, the detection of the stepping motor step-out in the embodiment includes not only the detection of the state after the stepping motor has stepped out, but also the detection of the state in which the stepping motor has a sign of step-out. In other words, the detection of stepping motor step-out in the embodiment includes a sign of stepping motor step-out.

<Hardware configuration of the control device according to the embodiment>
FIG. 4 is a block diagram showing an example of the hardware configuration of the control device according to the embodiment. As shown in FIG. 4, the control device 100 includes a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, and an external device connection I / F (Interface) 104. , The motor drive circuit 105 and the rotary encoder I / F 106. These are electrically connected to each other via the bus 110.

Of these, the CPU 101 controls the operation of the entire control device 100. The ROM 102 stores a program used to drive the CPU 101. The RAM 103 is used as a work area of the CPU 101.

The external device connection I / F 104 is an interface for connecting various external devices. The external device in this case is a controller of an image forming apparatus (described later), a PC (Personal Computer), or the like.

The motor drive circuit 105 is an electric circuit that is electrically connected to the stepping motor 1 and outputs a motor drive current to the stepping motor 1 to rotate and drive the stepping motor 1.

The rotary encoder I / F 106 is an interface that is electrically connected to the rotary encoder 2 and inputs a digital detection pulse signal output by the rotary encoder 2.

The control device 100 according to the embodiment can realize various functions described below by the hardware configuration shown in FIG. 2 and the command of the CPU 101.

<Functional configuration of the control device according to the embodiment>
FIG. 5 is a block diagram showing an example of the functional configuration of the control device according to the embodiment. As shown in FIG. 5, the control device 100 includes a drive pulse signal generation unit 121, a motor drive unit 122, a detection pulse signal input unit 123, a time difference fluctuation detection unit 124, a step-out detection unit 125, and a current adjustment. It has a unit 126 and a rotation speed adjusting unit 127.

The drive pulse signal generation unit 121, the time difference fluctuation detection unit 124, the step-out detection unit 125, the current adjustment unit 126, and the rotation speed adjustment unit 127 are realized by the CPU 101 executing a program or the like. The motor drive unit 122 is realized by a motor drive circuit 105 or the like, and the detection pulse signal input unit 123 is realized by a rotary encoder I / F 106 or the like.

The drive pulse signal generation unit 121 generates a drive pulse signal based on the clock of the CPU 101 and outputs the drive pulse signal to the motor drive unit 122. The motor drive unit 122 is electrically connected to the stepping motor 1, outputs a motor drive current corresponding to the drive pulse signal to the stepping motor 1, and rotationally drives the stepping motor 1.

The detection pulse signal input unit 123 is electrically connected to the rotary encoder 2, and can input the digital detection pulse signal output by the rotary encoder 2 and output it to the time difference fluctuation detection unit 124.

In the time difference fluctuation detection unit 124, the time difference between the rising edge time of the drive pulse signal input from the drive pulse signal generation unit 121 and the rising edge time of the detection pulse signal input from the detection pulse signal input unit 123 is predetermined. The time difference variation Δt'that fluctuates within the predetermined period is detected and output to the step-out detection unit 125.

The step-out detection unit 125 compares the time-difference fluctuation Δt'input from the time-difference fluctuation detection unit 124 with a predetermined step-out threshold value, and detects step-out detection when the time-difference fluctuation Δt'is equal to or greater than the step-out threshold value Δth. The signal is output to each of the current adjusting unit 126 and the rotation speed adjusting unit 127.

The current adjusting unit 126 executes a process of increasing the amount of current output to the stepping motor 1 via the motor drive unit 122 when the step-out detection unit 125 outputs a step-out detection signal. As an example, the current adjusting unit 126 applies a current amount of 1 ampere, which is an increase of 0.5 ampere current amount to 0.5 ampere of the current amount before the increase, via the motor drive unit 122, to the stepping motor 1. Output to. By increasing the amount of current output to the stepping motor 1, the rotational torque of the stepping motor 1 can be increased, whereby the stepping motor 1 can be recovered from the stepped-out state. Further, when the stepping motor 1 recovers from the step-out state, the current adjusting unit 126 can return to the state before increasing the amount of current output to the stepping motor 1.

The rotation speed adjusting unit 127 executes a process of decelerating the rotation speed of the stepping motor 1 when the step-out detection unit 125 outputs a step-out detection signal. As an example, the rotation speed adjusting unit 127 causes the drive pulse signal generation unit 121 to generate a drive pulse signal of 2500 pps, which is decelerated by 500 pps with respect to the rotation speed of 3000 pps (pulse per second) before deceleration. The motor drive unit 122 rotationally drives the stepping motor 1 in response to the decelerated drive pulse signal. As a result, the rotation speed of the stepping motor 1 can be reduced.

By decelerating the rotation speed of the stepping motor 1, the load on the stepping motor 1 can be reduced, and the stepping motor 1 can be recovered from the step-out state. Further, when the stepping motor 1 recovers from the step-out state, the rotation speed adjusting unit 127 can return to the state before decelerating the rotation speed of the stepping motor 1.

Here, as described above, both the current adjusting unit 126 and the rotation speed adjusting unit 127 have a function of recovering the stepping motor 1 from the stepped-out state. Therefore, the control device 100 may be configured to include at least one of the current adjusting unit 126 and the rotation speed adjusting unit 127. Then, when the step-out detection unit 125 outputs the step-out detection signal, at least one of the current adjusting unit 126 and the rotation speed adjusting unit 127 may execute the process.

<Processing by the control device according to the embodiment>
Next, the processing by the control device 100 will be described. FIG. 6 is a flowchart of an example of processing of the control device according to the embodiment.

First, in step S61, the detection pulse signal input unit 123 inputs the detection pulse signal from the rotary encoder 2 and outputs it to the time difference fluctuation detection unit 124.

Subsequently, in step S62, the time difference between the rising edge time of the drive pulse signal input from the drive pulse signal generation unit 121 and the rising edge time of the detection pulse signal input from the detection pulse signal input unit 123 is predetermined. The time difference variation Δt'that fluctuates within the predetermined period is detected and output to the step-out detection unit 125.

Subsequently, in step S63, the step difference detection unit 125 compares the time difference variation Δt'input from the time difference variation detection unit 124 with the predetermined step difference threshold value, and the time difference variation Δt'is equal to or greater than the step difference threshold value Δth. It is determined whether or not it is.

If it is determined in step S63 that the time difference variation Δt'is equal to or greater than the step-out threshold value Δth (step S63, Yes), the process proceeds to step S64. If it is determined that the time difference fluctuation Δt'is not equal to or greater than the step-out threshold value Δth (step S63, No), the process proceeds to step S66.

Subsequently, in step S64, the step-out detection unit 125 outputs the step-out detection signal to the current adjustment unit 126. The current adjusting unit 126 executes a process of increasing the amount of current output to the stepping motor 1 via the motor driving unit 122.

Subsequently, in step S65, the step-out detection unit 125 outputs the step-out detection signal to the rotation speed adjusting unit 127. The rotation speed adjusting unit 127 executes a process of decelerating the rotation speed of the stepping motor 1.

The order of steps S64 and S65 can be changed as appropriate, and steps S64 and S65 may be executed in parallel.

Subsequently, in step S66, the control device 100 determines whether or not to end the process.

If it is determined in step S66 that the process is completed (step S66, Yes), the current adjusting unit 126 returns the amount of current output to the stepping motor 1 to the state before the increase. Further, the rotation speed adjusting unit 127 returns the rotation speed of the stepping motor 1 to the state before deceleration. After that, the process ends.

On the other hand, if it is determined in step S66 that the process is not completed (step S66, No), the process returns to step S61, and the processes after step S61 are executed again.

In this way, the control device 100 can detect the stepping motor 1 step-out, and when the step-out detection unit 125 outputs the step-out detection signal, the stepping motor 1 is recovered from the stepping motor 1 state. Can be made to.

<Effect>
As described above, in the embodiment, the time difference variation Δt'in which the time difference between the time of the rising edge of the drive pulse signal and the time of the rising edge of the detection pulse signal fluctuates within a predetermined predetermined period is detected. To do. Then, when the time difference fluctuation becomes equal to or higher than a predetermined step-out threshold value, a step-out detection signal is output.

Since the step-out is detected without using the pulse width information of the detection pulse signal, the step-out of the stepping motor 1 can be appropriately detected without being affected by the chattering of the detection pulse signal.

Further, the control device 100 according to the embodiment includes a process of increasing the amount of current output to the stepping motor 1 by the current adjusting unit 126 when the step-out detection unit 125 outputs a step-out detection signal, and a rotation speed adjusting unit. At least one of the processes of reducing the rotational speed of the stepping motor 1 by 127 is executed. As a result, the stepping motor 1 can be recovered from the stepped-out state.

[Second Embodiment]
Next, the image forming system according to the second embodiment will be described. The description of the same components as those in the embodiment described above will be omitted.

FIG. 7 is a diagram showing an example of the configuration of the image forming system according to the present embodiment. The image forming system 20 includes an image forming device 10 and a computer 13. The image forming apparatus 10 and the computer 13 are communicably connected to each other via a network such as the Internet or a LAN (Local Area Network). Further, the image forming apparatus 10 includes an operation panel 11.

As an example, the computer 13 is a computer provided in an office or the like where a service person of the image forming apparatus 10 is enrolled, and manages an operating status of the image forming apparatus 10. Here, the computer 13 is an example of a "terminal".

<Structure of the image forming apparatus according to the second embodiment>
Next, FIG. 8 is a diagram illustrating an example of the configuration of the image forming apparatus according to the present embodiment. The image forming apparatus 10 is a four-color full-color image forming apparatus. As shown in FIG. 8, the image forming apparatus 10 includes four image forming units 31a, 31b, 31c, and 31d arranged along the traveling direction of the transfer belt 30.

The image forming unit 31a includes a photosensitive drum 32a as an image carrier, a charging device 33a, an exposure device 34a, a developing device 35a, a transfer device 36a, and a cleaning device 37a. The image forming units 31b to 31d are also configured in the same manner as the image forming units 31a.

The image forming units 31a to 31d form images having different colors, for example, 31a is yellow, 31b is magenta, 31c is cyan, and 31d is black.

When the photosensitive drum 32a receives a start instruction signal for an image forming operation from a controller (not shown), the photosensitive drum 32a starts rotating in the direction of arrow B and continues to rotate until the image forming operation is completed. When the photosensitive drum 32a starts rotating, a high voltage is applied to the charger 33a, and the surface of the photosensitive drum 32a is uniformly charged with a negative charge.

Then, when the character data or graphic data converted into the dot image is sent from the controller as an on / off signal of the exposure device 34a, the surface of the photosensitive drum 32a is not irradiated with the portion irradiated with the laser beam from the exposure device 34a. A part is formed. When the reduced charge portion on the photosensitive drum 32a reached a position facing the developing device 35a due to the irradiation of the laser beam from the exposure apparatus 34a, the reduced charge portion on the photosensitive drum 32a was charged with a negative charge. Toner is attracted to form a toner image.

When the toner image formed on the photosensitive drum 32a reaches the transfer device 36a as the primary transfer means, the toner image is transferred in the direction of arrow A by the action of the high voltage applied to the transfer device 36a. Transferred onto the belt 30. The toner that remains on the photosensitive drum 32a without being transferred even after passing through the transfer position is cleaned by the cleaning device 37a to prepare for the next image forming operation.

The image forming operation is similarly performed in the image forming unit 31b following the image forming unit 31a, and the toner image formed on the photosensitive drum 32b is placed on the transfer belt 30 by the action of the high voltage applied to the transfer device 36b. Transferred. At this time, the timing at which the image formed by the image forming unit 31a and transferred onto the transfer belt 30 reaches the transfer device 36b and the timing at which the toner image formed on the photosensitive drum 32b is transferred to the transfer belt 30. By combining the above, the toner images formed by the image forming unit 3a and the image forming unit 3b overlap on the transfer belt 30. Similarly, by superimposing the toner images formed by the image forming units 31c and 31d on the transfer belt 30, a full-color image is formed on the transfer belt 30.

The transfer belt 30 is controlled by using the speed of the transfer belt drive roller 40 and the surface speed of the transfer belt 30. Alternatively, it is controlled using any of the speeds described above. The detection of the surface velocity of the transfer belt 30 is performed by the means 41 for detecting the scale inside the transfer belt 30. Further, the transfer belt 30 is corrected by the belt position detection sensor 42 and the steering roller 43.

At the same time that the full-color image reaches the paper transfer device 38 as the secondary transfer means, the paper P as the recording medium conveyed from the paper feed tray (not shown) of the image forming apparatus 10 in the direction of arrow C is the paper transfer device. When the image reaches 38, the full-color image on the transfer belt 30 is secondarily transferred to the paper P by the action of the high voltage applied to the paper transfer device 38. Then, when the paper P is conveyed to the fixing device 39, the unfixed toner image on the paper P is pressurized and heated by the fixing means in the fixing device 39, and the unfixed toner image on the paper P is transferred to the paper P. It is melt-fixed.

On the other hand, after the full-color image passes through the paper transfer device 38, residual toner that is not transferred is attached to the transfer belt 30, and the residual toner is cleaned by the belt cleaning mechanism 44.

As described above, the image forming apparatus 10 can form a four-color full-color image on the paper P.

Here, the image forming apparatus 10 includes a plurality of stepping motors 1 for rotationally driving the photosensitive drums 32a to 32d, the transfer belt drive roller 40, the steering roller 43, and the like. Further, the image forming apparatus 10 includes one or a plurality of control devices 100b for controlling the drive of each stepping motor 1.

<Functional configuration of the image forming apparatus according to the second embodiment>
FIG. 9 is a block diagram showing an example of the functional configuration of the image forming apparatus according to the present embodiment. The image forming apparatus 10 has a control device 100b and a controller 14.

The step-out detection unit 125a provided in the control device 100b outputs a step-out detection signal to the operation panel 11 and the transmission unit 141 provided in the controller 14 when the time difference variation Δt'is equal to or greater than the step-out threshold value Δth.

When the step-out detection signal is input from the step-out detection unit 125a, the display unit 111 included in the operation panel 11 sends a message indicating that the stepping motor in the image forming apparatus 10 has stepped out or there is a sign of step-out. It can be displayed and notified to the user of the image forming apparatus 10.

Further, the transmission unit 141 is realized by a network I / F or the like, and when a step-out detection signal is input from the step-out detection unit 125a, the step-out notification signal is transmitted to the computer 13 via the network. Here, the step-out notification signal is a signal for notifying that the stepping motor 1 has stepped out or has a sign of step-out.

The computer 13 has a receiving unit 131 and a display unit 132. The receiving unit 131 outputs the step-out notification signal received from the transmitting unit 141 via the network to the display unit 132. The display unit 132 is a display or the like of the computer 13, and displays a message indicating that the stepping motor in the image forming apparatus 10 has stepped out or has a sign of stepping out in response to the step-out notification signal, and provides a service. It is possible to notify the man.

As described above, in the present embodiment, when the stepping motor 1 used in the image forming apparatus 10 is out of step, or when there is a sign of out of step, the user or the service person can be notified of this. it can. By promptly prompting the user or the service person to maintain the image forming apparatus 10 by the notification, the downtime of the image forming apparatus 10 due to the stepping motor 1 stepping out can be reduced.

The effects other than those described above are the same as those described in the first embodiment.

Although the embodiments have been described above, the present invention is not limited to the above-described embodiments specifically disclosed, and various modifications and changes can be made without departing from the scope of claims. ..

The embodiment also includes a control method. For example, the control method includes a drive pulse signal generation step of generating a drive pulse signal of the stepping motor, a detection pulse signal input step of inputting a detection pulse signal of the rotation angle of the stepping motor, and a predetermined drive pulse signal. A time difference variation detection step for detecting a time difference variation in which the time difference between the edge time and a predetermined edge time in the detection pulse signal fluctuates within a predetermined predetermined period, and a predetermined time difference deviation. Includes a step-out detection step unit that outputs a step-out detection signal when the tuning threshold is equal to or higher than the tuning threshold. By such a control method, the same effect as that of the control device described above can be obtained.

In addition, embodiments also include programs. For example, the computer is equipped with a drive pulse signal generation unit that generates a drive pulse signal of a stepping motor, a detection pulse signal input unit that inputs a detection pulse signal of the rotation angle of the stepping motor, and a predetermined edge time in the drive pulse signal. And the time difference fluctuation detection unit that detects the time difference fluctuation in which the time difference from the time of the predetermined edge in the detection pulse signal fluctuates within a predetermined predetermined period, and the step-out threshold value or more in which the time difference fluctuation is predetermined. In this case, it functions as a step-out detection step unit that outputs a step-out detection signal. With such a program, the same effect as that of the control device described above can be obtained.

1 Stepping motor 2 Rotary encoder 10 Image forming device 11 Operation panel 111 Display unit 13 Computer (example of terminal)
131 Reception unit 132 Display unit 14 Controller 141 Transmission unit 21 Slit disk 211 Slit 22 Slit detection unit 100 Control device 101 CPU
102 ROM
103 RAM
104 External device connection I / F
105 Motor drive circuit 106 Rotary encoder I / F
110 Bus 121 Drive pulse signal generation unit 122 Motor drive unit 123 Detection pulse signal input unit 124 Time difference fluctuation detection unit 125 Step-out detection unit 126 Current adjustment unit 127 Rotation speed adjustment unit D Drive pulse signal V Detection pulse signal V'Rising edge Detection pulse signal when chattering occurs in Δt'Time difference fluctuation Δth Step-out threshold

Japanese Patent No. 3623943

Claims (7)

A drive pulse signal generator that generates a drive pulse signal for a stepping motor,
A detection pulse signal input unit that inputs a detection pulse signal of the rotation angle of the stepping motor,
A time difference fluctuation detection unit that detects a time difference variation in which the time difference between a predetermined edge time in the drive pulse signal and a predetermined edge time in the detection pulse signal fluctuates within a predetermined predetermined period.
A control device including a step-out detection unit that outputs a step-out detection signal when the time difference fluctuation is equal to or higher than a predetermined step-out threshold value. The control device according to claim 1, further comprising a current adjusting unit that increases the amount of current output to the stepping motor when the step-out detection unit outputs the step-out detection signal. The control device according to claim 1 or 2, further comprising a rotation speed adjusting unit that reduces the rotation speed of the stepping motor when the step-out detection unit outputs the step-out detection signal. An image forming apparatus having the control device according to any one of claims 1 to 3. The image forming according to claim 4, further comprising a transmitting unit that transmits a step-out notification signal to a terminal communicably connected to the image forming apparatus when the step-out detection unit outputs the step-out detection signal. apparatus. A drive pulse signal generation step that generates a drive pulse signal for a stepping motor,
A detection pulse signal input step for inputting a detection pulse signal of the rotation angle of the stepping motor, and
A time difference variation detection step for detecting a time difference variation in which the time difference between a predetermined edge time in the drive pulse signal and a predetermined edge time in the detection pulse signal fluctuates within a predetermined predetermined period.
A control method including a step-out detection step unit that outputs a step-out detection signal when the time difference fluctuation is equal to or higher than a predetermined step-out threshold value. Computer,
Drive pulse signal generator that generates the drive pulse signal of the stepping motor,
A detection pulse signal input unit that inputs a detection pulse signal of the rotation angle of the stepping motor.
A time difference fluctuation detection unit that detects a time difference variation in which the time difference between a predetermined edge time in the drive pulse signal and a predetermined edge time in the detection pulse signal fluctuates within a predetermined predetermined period, and the time difference. A program for functioning as a step-out detection step unit that outputs a step-out detection signal when the fluctuation is equal to or higher than a predetermined step-out threshold value.

Images