JP2023113453A - Motor control device and rotary drum game machine - Google Patents

Abstract

To provide motor control device capable of diversifying stop operation of a motor when the motor to be a control object stops.SOLUTION: A motor control device includes a brake timing determination part 15 for determining timing when the rotation amount of a motor 2 calculated according to a detection signal outputted from a rotation angle sensor 4 each time the motor 2 rotates at a prescribed angle coincides with a brake start rotation amount as brake start timing, and a drive signal generation part 14 for outputting a drive signal to drive the motor 2 in a reverse direction from a rotation direction of the motor 2 to a motor drive circuit 3 to drive the motor 2 when the brake start timing arrives. The brake timing determination part 15 sets a rotation amount obtained by shifting the brake start rotation amount as much as an offset rotation amount from a prescribed target rotation amount until the rotation amount of the motor 2 first comes to coincide with the brake start rotation amount.SELECTED DRAWING: Figure 1

Description

The present invention relates to a motor control device for controlling a motor and a reel game machine having such a motor control device.

The reel game machine has a plurality of rotating reels (hereinafter sometimes simply referred to as reels) on which a plurality of symbols are displayed along the circumferential direction. Further, in the reel game machine, when the player presses a stop button while each reel is rotating, the rotation of the corresponding reel is stopped. At that time, the rotating reel corresponding to the pressed stop button is preliminarily selected from any of the plurality of symbols displayed on the rotating reel so that the symbols displayed on each rotating reel are stopped in a row. It is stopped so as to stand still at the set stop position. Therefore, a motor control device that controls a motor that drives the rotating reel is required to accurately stop the rotating reel at a target position.

Also, if the process of stopping the rotating reels until the rotating reels at a constant rotational speed are completely stopped is monotonous, the player may quickly become bored with the game. Therefore, a motor stop control device has been proposed that can diversify the stopping operation of the motor that drives the rotating reel when the motor stops (see, for example, Patent Document 1). This motor stop control device drives the motor with a driving force designated by a stop control signal received from a higher-level control device at the timing to start braking the motor.

JP 2020-182537 A

Even if the driving force exerted by the motor is the same, the actual rotation behavior may differ depending on the rotating body driven by the motor or the mechanism connecting the rotating shaft of the motor and the rotating body. Therefore, if the rotating body driven by the motor control device or the mechanism for connecting the rotating shaft of the motor and the rotating body is different, even if the drive amount specified by the stop control signal is the same, when the rotating body stops. They may behave differently.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a motor control apparatus capable of controlling the stopping operation of a rotating body driven by a motor to be controlled when the rotating body stops.

As one form of the present invention, a motor control device for controlling a motor is provided. This motor control device determines the timing at which the amount of rotation of the motor calculated according to the detection signal output from the rotation angle sensor each time the motor rotates by a predetermined angle coincides with the amount of rotation to start braking, as the brake start timing. and a drive signal generator for outputting a drive signal for driving the motor in a direction opposite to the direction of rotation of the motor to a motor drive circuit for driving the motor when it is time to start braking. The brake timing determination unit sets the brake start rotation amount to a rotation amount shifted from a predetermined target rotation amount by an offset rotation amount until the rotation amount of the motor first matches the brake start rotation amount.
With such a configuration, the motor control device can control the stopping operation of the rotating body when the rotating body is stopped according to the rotating body driven by the motor to be controlled.

It is preferable that this motor control device further includes a communication unit that receives the offset rotation amount from a higher-level control device.
As a result, the motor control device can arbitrarily adjust the swing width of the rotating body until the rotating body stops, centering on the stop position corresponding to the target amount of rotation.

Further, in this motor control device, the brake timing determination unit sets the brake start rotation amount to a predetermined target rotation amount in the rotation direction of the motor until the number of times that the rotation amount of the motor matches the brake start rotation amount reaches a predetermined number of times. It is preferable to set the amount of rotation that exceeds the amount of rotation by the offset amount from the amount of rotation, and set the amount of rotation to start braking to a predetermined target amount of rotation when the number of times exceeds a predetermined number of times.
As a result, the motor control device can increase the number of times the rotating body swings about the stop position corresponding to the target amount of rotation to some extent.

Alternatively, in this motor control device, the brake timing determination unit may set the brake start rotation amount to offset rotation from a predetermined target rotation amount in the rotation direction of the motor until the rotation amount of the motor first matches the brake start rotation amount. It is preferable to set the amount of rotation to exceed the amount of rotation, and decrease the amount of offset rotation each time the number of times the amount of rotation of the motor coincides with the amount of rotation to start braking increases.
As a result, the motor control device can increase the number of times the rotating body swings around the stop position corresponding to the target amount of rotation to some extent, and can gradually reduce the swing width.

Also, according to another embodiment, a reel game machine is provided. This spinning reel gaming machine comprises a gaming machine main body, a rotating reel arranged rotatably in the gaming machine main body and displaying a plurality of symbols along the circumferential direction, a motor for driving the rotating reel, A motor drive circuit that drives the motor, a rotation angle sensor that outputs a detection signal each time the motor rotates by a predetermined angle, a motor control device that controls the motor, and a game machine control device that controls the reel game machine. have.
Then, the game machine control device outputs information representing a predetermined target rotation amount to the motor control device according to the state of the game. The motor control device includes a communication unit that receives information representing a predetermined target rotation amount from the game machine control device, and determines the timing at which the rotation amount of the motor calculated according to the detection signal matches the brake start rotation amount as the brake start timing. and a drive signal generator that outputs a drive signal for driving the motor in the opposite direction to the rotation direction of the motor to the motor drive circuit at the brake start timing. The brake timing determination unit sets the brake start rotation amount to a rotation amount shifted from a predetermined target rotation amount by an offset rotation amount until the rotation amount of the motor first matches the brake start rotation amount.
By having such a configuration, this reel game machine can control the stop operation of the rotating reel when the rotating body stops according to the rotating reel driven by the motor to be controlled.

1 is a schematic configuration diagram of a motor control device according to one embodiment of the present invention; FIG. 3 is a circuit diagram of a motor drive circuit; FIG. FIG. 4 is a diagram showing an example of a table showing the relationship between the drive signal applied to each switch of the motor drive circuit and the direction of rotation of the DC motor; It is a figure which shows an example of a brake value table. (a) is a diagram showing an example of temporal changes in the braking force and the rotation speed of the motor when a normal stop is applied. (b) is a diagram showing an example of changes over time in the braking force and the rotational speed of the motor when the effect stop is applied. (a) to (c) are schematic diagrams showing temporal changes in the cumulative value when the offset setting value is set to 0, a negative value, and a positive value, respectively, when the effect stop is applied. . 4 is an operation flowchart of stop control processing for stopping the motor; (a) and (b) are schematic diagrams each showing a temporal change of the cumulative value when effect stop is applied according to the modified example. It is a schematic perspective view of a reel game machine provided with a motor control device according to an embodiment or a modified example. It is a circuit block diagram of the reel game machine. 4 is a schematic perspective view of one rotating reel included in the reel unit; FIG.

A motor control device according to one embodiment of the present invention will be described below with reference to the drawings. This motor control device is used, for example, to control a motor that drives a rotating reel of a reel game machine. When this motor control device receives a stop control signal for designating a stop control method applied when stopping a rotating motor from a host control device, the stop set value included in the stop control signal is received. and the offset setting value, the driving force applied to the motor when stopping the motor (hereinafter sometimes referred to as braking force) and the timing of starting to apply the brake to the motor are controlled. The stop set value is a value for controlling the motor so as to stop the rotation of the motor when the amount of rotation of the motor reaches the target amount of rotation (hereinafter, such control is referred to as "normal stop"); Every time the amount of rotation reaches the target amount of rotation, the motor is controlled so as to continue to apply a constant braking force that rotates the motor in the opposite direction to the direction of rotation of the motor (hereinafter, such control is referred to as stoppage of production) It is selectable between the values for When the stop set value is set to a value for stopping the effect, the rotating reel driven by the motor gradually stops while vibrating before and after the target stop position according to the target amount of rotation. Furthermore, when the stop set value is set to a value for stopping the effect, the motor control device refers to the offset set value and shifts the first brake start timing by the amount of rotation corresponding to the offset set value. . Therefore, the swing width when the rotating reel stops is adjusted according to the offset setting value. Therefore, by adjusting the offset setting value, this motor control device can control the stopping operation of the rotating reel when the rotating reel is stopped.

FIG. 1 is a schematic configuration diagram of a motor control device according to one embodiment of the present invention. As shown in FIG. 1, the motor control device 1 includes a communication interface circuit 10, a memory 11, a drive control circuit 12, a rotation speed calculation circuit 13, a drive signal generation circuit 14, and a brake timing determination circuit 15. have Each of these parts of the motor control device 1 may be mounted on a circuit board (not shown) as separate circuits, or may be mounted on a circuit board as an integrated circuit in which these parts are integrated. may

A motor control device 1 controls a motor drive circuit 3 that drives a motor 2 according to a speed setting signal, a drive signal and a stop control signal received from a host control device. In this embodiment, the motor control device 1 generates a drive signal for switching ON/OFF of current supply to the motor 2 by a pulse width modulation (PWM) method. The motor control device 1 controls the rotation of the motor 2 by outputting the generated drive signal to the motor drive circuit 3 . At this time, the motor control device 1 sets the duty ratio of the drive signal to a duty ratio corresponding to the rotation speed specified by the speed setting signal, thereby rotating the motor 2 at the specified rotation speed. Then, the motor control device 1 uses a rotary encoder 4 for checking the amount of rotation of the motor 2 to detect that the rotating shaft (not shown) of the motor 2 has rotated by a predetermined sampling angle. It receives the signal and controls the timing to start applying the brake to the motor 2 according to the number of times the detection signal is received and the stop set value and the offset set value included in the stop control signal. Furthermore, the motor control device 1 controls the braking force when stopping the motor 2 according to the stop setting value included in the stop control signal.

In this embodiment, the motor 2 can be a DC motor.

FIG. 2 is a circuit diagram of the motor drive circuit 3. As shown in FIG. The motor drive circuit 3 has four switches TR1-TR4. It should be noted that each switch can be, for example, a transistor or a field effect transistor. Among them, two switches TR1 and TR3 are connected in series between power supply and ground. Similarly, two switches TR2 and TR4 are connected in series between power supply and ground. The positive terminal of motor 2 is connected between switches TR1 and TR3, while the negative terminal of motor 2 is connected between switches TR2 and TR4. The switch terminals of each of the switches TR1 to TR4 (for example, if the switches TR1 to TR4 are transistors, they correspond to the base terminals, and if the switches TR1 to TR4 are field effect transistors, they correspond to the gate terminals) are driven respectively. It is connected to the signal generation circuit 14 . A drive signal from the drive signal generation circuit 14 is input to switch terminals of the switches TR1 to TR4.

FIG. 3 is a diagram showing an example of a table showing the relationship between the drive signal applied to each switch and the rotation direction of the motor 2. As shown in FIG.
As shown in the table 300, when the motor 2 is rotated forward, the switch terminal of the switch TR1 and the switch terminal of the switch TR4 have a pulse width corresponding to the rotation speed of the motor 2, which is set according to the PWM method. A drive signal is applied that includes periodic pulses. On the other hand, no driving signal is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. As a result, the power supply voltage is applied to the positive terminal of the motor 2 only while the pulse is applied to the switches TR1 and TR4, so the motor 2 rotates forward at a speed corresponding to the pulse width. do.
When the motor 2 is to be rotated forward, the drive signal may be applied to one of the switches TR1 and TR4, and the other switch may be kept on at all times.

On the other hand, when the motor 2 is reversed, a drive signal having periodic pulses corresponding to the rotation speed of the motor 2, which is set according to the PWM method, is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. . On the other hand, no driving signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. As a result, the power supply voltage is applied to the negative terminal of the motor 2 only while the pulse is applied to the switches TR2 and TR3, so the motor 2 rotates in reverse at a speed corresponding to the pulse width. .
When the motor 2 is reversed, the drive signal may be applied to one of the switches TR2 and TR3, and the other switch may be kept on at all times.

In the present embodiment, the drive signal generation circuit 14 outputs a drive signal for rotating the motor 2 in reverse to the motor drive circuit 3 when braking the motor 2 while the motor 2 is rotating in the forward direction. Conversely, when braking the motor 2 while the motor 2 is rotating in the reverse direction, the drive signal generation circuit 14 outputs a drive signal for rotating the motor 2 in the forward direction to the motor drive circuit 3 .

When the motor 2 is kept stationary, the switch terminals of the switches TR3 and TR4 are turned on, and the switch terminals of the switches TR1 and TR2 are turned off.

Furthermore, when the motor 2 is not driven, the switch terminal of each switch is turned off.

The rotary encoder 4 is an example of a rotation angle sensor, and can be an optical rotary encoder, for example. The rotary encoder 4 includes, for example, a disk attached to the rotating shaft of the motor 2 and having a plurality of slits provided at predetermined sampling angles along the circumferential direction around the rotating shaft. It has a light source and a light-receiving element which are arranged to face each other on both sides. Every time any slit is positioned between the light source and the light receiving element, the light from the light source reaches the light receiving element, causing the rotary encoder 4 to output a pulsed detection signal. Thereby, the rotary encoder 4 outputs a detection signal to the motor control device 1 each time the motor 2 rotates by a predetermined sampling angle (that is, the minimum detection angle). For example, by providing 50 slits in the disk along the circumferential direction around the rotating shaft of the motor 2, the rotary encoder 4 can perform 50 detections during one rotation of the rotating shaft of the motor 2. Output a signal.

Each part of the motor control device 1 will be described below.

Communication interface circuit 10 is an example of a communication unit. The communication interface circuit 10 connects, for example, the motor control device 1 with a higher control device. The upper control device is, for example, the control unit of the reel game machine main body in which the motor control device 1 is mounted. The communication interface circuit 10 receives a serially transmitted speed setting signal having a plurality of bits from a host controller each time the rotation speed of the reel driven by the motor 2 is changed. For example, suppose the speed setting signal has 2 bits. In this case, a rotational speed of 40 [rpm] is set for the bit value '00' of the speed setting signal. Similarly, rotational speeds of 80 [rpm], 240 [rpm], and 333 [rpm] are set for bit values '01', '10', and '11' of the speed setting value, respectively. Further, the communication interface circuit 10 may receive a rotation direction setting signal indicating the rotation direction of the motor 2 from a higher control device.

Furthermore, the communication interface circuit 10 indicates that the rotation of the rotating reel is continued each time the rotating reel is rotated by the amount of rotation for one symbol from the host control device while the rotating reel is driven to rotate. Receive a drive control signal. Note that the drive control signal can be, for example, a rectangular single-pulse signal. Note that the drive control signal is not limited to a short rectangular pulse signal, and may be a cyclically changing signal such as a sine wave for one cycle.

Furthermore, the communication interface circuit 10 receives a serially transmitted stop control signal having a plurality of bits from a host control device each time the reel stop control method is changed.

The communication interface circuit 10 passes the received speed setting signal to the drive control circuit 12 each time it receives the speed setting signal. Similarly, the communication interface circuit 10 passes the received rotation direction setting signal to the drive control circuit 12 each time it receives the rotation direction setting signal. Further, the communication interface circuit 10 notifies the drive control circuit 12 of the reception of the drive control signal every time it receives the drive control signal. When the rotating reel is stopped, the upper control device does not transmit the drive control signal to the motor control device 1, so the communication interface circuit 10 also notifies the drive control circuit 12 of the reception of the drive control signal. not. Furthermore, every time the communication interface circuit 10 receives a stop control signal, the communication interface circuit 10 notifies the drive signal generation circuit 14 and the brake timing determination circuit 15 of the stop set value and the offset set value included in the stop control signal.

The memory 11 has, for example, a nonvolatile semiconductor memory circuit. The memory 11 stores information necessary for controlling the rotation of the rotating reels. In the present embodiment, the memory 11 stores a speed table representing the relationship between the speed setting signal and the rotation speed of the rotating reel, and a rotating speed table for each rotation speed so that any symbol stops at a predetermined stop position. The number of detection signals until the rotating reel stops, ie, until the rotating motor 2 stops (hereinafter referred to as the stop required detection number) is stored. Further, the memory 11 includes a duty ratio table representing the duty ratio for each rotation speed, a speed brake value table representing the relationship between the rotation speed and the duty ratio corresponding to the braking force, which is used at the time of normal stop, and the effect stop. A brake value table representing the relationship between the stop set value and the duty ratio according to the brake force, which is used in the above, is stored.

FIG. 4 is a diagram showing an example of a brake value table. The left column of the brake value table 400 shows the stop set values included in the stop control signal. In this example, the stop setting value is represented by 2 bits. On the other hand, the right column of the brake value table 400 shows the duty ratio corresponding to the brake force corresponding to the stop setting value included in the stop control signal. In the example shown in FIG. 4, when the bit value is '00', that is, in the case of a normal stop, the duty ratio corresponding to the braking force is a value dependent on the rotation speed of the motor 2. It is set to the set value (AA in FIG. 4). On the other hand, when the bit values are '01', '10', and '11', that is, when the performance is stopped, the duty ratios corresponding to the braking force are 20[%], 50[%], 100[%], respectively. %].

The drive control circuit 12 is an example of a drive control section, and sets the duty ratio of the drive signal for driving the motor 2 according to the rotation speed designated by the speed setting signal. Therefore, the drive control circuit 12 reads the speed table from the memory 11 each time it receives the speed setting signal, and refers to the speed table to obtain the rotational speed specified by the speed setting signal. Furthermore, the drive control circuit 12 sets the duty ratio of the pulse of the drive signal according to the set rotational speed. The drive control circuit 12 may refer to the duty ratio table to determine the duty ratio corresponding to the set rotational speed.

The drive control circuit 12 outputs the duty ratio to the drive signal generation circuit 14 every time it is notified that it has received the drive control signal. Further, the drive control circuit 12 notifies the drive signal generation circuit 14 of the rotation direction specified by the rotation direction setting signal.

Further, each time the drive control circuit 12 is notified that the drive control signal has been received, the number of detection signals from the rotary encoder 4 corresponding to the amount of rotation per symbol (hereinafter referred to as the number of detection signals per symbol) ) is output to the brake timing determination circuit 15 . For example, if the gear ratio between the motor 2 and the reel is 1:10, and the rotary encoder 4 outputs 50 detection signals while the motor 2 rotates once, 500 detection signals are output during one rotation of the reel. A detection signal is output. Therefore, when 20 symbols are provided on the rotating reel, 25 detection signals are output per symbol. Therefore, in this example, the drive control circuit 12 outputs '25' to the brake timing determination circuit 15 as the symbol unit detection signal number every time it is notified that the drive control signal has been received. When the rotating reels are stopped, the drive control circuit 12 does not output the symbol unit detection signal number because the reception of the drive control signal is not notified.
Furthermore, the drive control circuit 12 notifies the brake timing determination circuit 15 of the rotational speed of the rotating reel each time the rotational speed of the rotating reel is changed.

A rotation speed calculation circuit 13 calculates the current rotation speed of the motor 2 based on the detection signal received from the rotary encoder 4 . Therefore, the rotation speed calculation circuit 13 has, for example, a timer and a counter. The rotation speed calculation circuit 13 counts the number of detection signals received during a certain period of time measured by a timer, and calculates the rotation amount obtained by multiplying the number of detection signals by the sampling angle of the rotary encoder 4. The rotational speed is calculated by dividing by the constant period. Note that the rotation speed calculation circuit 13 may set the rotation speed of the motor 2 to 0 when the number of detection signals received within a certain period is one or less.

The rotation speed calculation circuit 13 outputs the calculated rotation speed of the motor 2 to the drive signal generation circuit 14 every predetermined cycle, for example, every cycle of the pulse signal output from the drive signal generation circuit 14 to the motor drive circuit 3 . do.

The drive signal generation circuit 14 is an example of a drive signal generation unit. and a switch circuit for switching to which switch of the motor drive circuit 3 the periodic pulse signal is output. Each time the drive control circuit 12 notifies the drive signal generation circuit 14 of the duty ratio, the drive signal generation circuit 14 generates a pulse signal, which is a drive signal for driving the motor 2, in accordance with the PWM method. The rotation of the motor 2 is controlled by outputting the pulse signal to the motor drive circuit 3 . At that time, the drive signal generation circuit 14 may set the pulse width of the pulse signal according to the notified duty ratio. Further, the drive signal generation circuit 14 outputs the drive signal to rotate the motor 2 in the rotation direction notified from the drive control circuit 12 until the brake timing determination circuit 15 notifies that the timing to start braking has come. Generate. On the other hand, when notified by the brake timing determination circuit 15 that the brake start timing has come, the drive signal generation circuit 14 outputs to the motor drive circuit 3 a drive signal for braking and stopping the motor 2 . . In this embodiment, as described above, when the motor 2 is braked, the drive signal generation circuit 14 sends a drive signal to the motor drive circuit 3 to rotate the motor 2 in a direction opposite to the direction in which the motor 2 is rotating. output.

When applying the brake to the motor 2, the drive signal generation circuit 14 refers to the stop set value included in the stop control signal received from the host controller and the brake value table read from the memory 11, and applies the brake to the motor 2. Set the braking force to be applied.

For example, when the stop set value included in the stop control signal is '00', that is, when a normal stop is instructed, the drive signal generation circuit 14 rotates the motor 2 by the stop required detection number from the brake start timing. The braking force is controlled so that the motor 2 stops when the In this case, the duty ratio of the drive signal corresponding to the braking force is set according to the rotation speed of the motor 2 . That is, the drive signal generation circuit 14 may refer to the speed brake value table stored in the memory 11 to specify the duty ratio corresponding to the rotation speed of the motor 2 received from the rotation speed calculation circuit 13 . In the speed brake value table, for example, the higher the rotational speed of the motor 2 is, the higher the duty ratio, that is, the higher the braking force is set. Then, the drive signal generation circuit 14 outputs the drive signal with the specified duty ratio to the motor drive circuit 3 until the motor 2 stops.

On the other hand, when the stop set value included in the stop control signal is other than '00', that is, when the stop of the effect is instructed, the drive signal generation circuit 14 determines that the duty ratio of the drive signal is specified by the stop set value. The braking force is controlled so that the duty ratio is Until the motor 2 stops, the drive signal generation circuit 14 is notified from the brake timing determination circuit 15 that the rotation amount of the motor 2 has reached the brake start rotation amount, that is, that the brake start timing has come. Then, it outputs to the motor drive circuit 3 a drive signal for rotating the motor 2 in the direction opposite to the direction of rotation of the motor 2 .

When the rotation amount of the motor 2 reaches the target rotation amount and the rotation speed of the motor 2 calculated by the rotation speed calculation circuit 13 becomes 0, the drive signal generation circuit 14 stops braking the motor 2 and 2 may be output to the motor drive circuit 3 to maintain the stationary state.

The brake timing determination circuit 15 is an example of a brake timing determination unit, and determines the timing to start applying the brake to the motor 2 (that is, the brake start timing) according to the stop set value.

In this embodiment, the brake timing determination circuit 15 makes the brake start timing different between when the stop set value is a value indicating normal stop and when the stop set value is a value indicating stop of effect.

When the stop set value is a value indicating a normal stop, the brake timing determination circuit 15 starts braking when the difference between the predetermined target rotation amount and the rotation amount of the motor 2 (that is, the remaining rotation amount) becomes equal to or less than the detection required number. Decide that the time has come. In this embodiment, the brake timing determination circuit 15 starts braking based on the cumulative value of the number of symbol unit detection signals received from the drive control circuit 12 (hereinafter simply referred to as the cumulative value) and the number of received detection signals. determine the timing. When the motor 2 does not receive a drive control signal from the upper control device even after rotating the rotating reel by one symbol, that is, when an instruction to stop the rotation of the motor 2 is given, the cumulative value of the motor 2 , and the number of detection signals received after that corresponds to the rotation amount of the motor 2 . Therefore, the cumulative value updated each time the detection signal is received from the rotary encoder 4 corresponds to the remaining rotation amount up to the target rotation amount. For example, the brake timing determination circuit 15 sets the cumulative value to 0 before the rotating reels start rotating. After that, when the drive control circuit 12 notifies the brake timing determination circuit 15 of the rotation speed of the rotating reel, the brake timing determination circuit 15 reads from the memory 11 the required stop detection number corresponding to the rotation speed. Also, every time the brake timing determination circuit 15 receives the number of detection signals for each design from the drive control circuit 12, it adds the received number of detection signals for each design to the accumulated value. On the other hand, the brake timing determination circuit 15 subtracts 1 from the accumulated value each time it receives a detection signal from the rotary encoder 4 . Then, the brake timing determination circuit 15 determines the brake start timing when the accumulated value becomes equal to or less than the required stop detection number read from the memory 11 .

On the other hand, when the stop set value is a value indicating stop of the effect, the brake timing determination circuit 15 determines the timing at which the rotation amount of the motor 2 matches the brake start rotation amount as the brake start timing. In this embodiment, the brake timing determination circuit 15 sets the brake start rotation amount to the rotation amount specified by the offset setting value from the predetermined target rotation amount until the rotation amount of the motor 2 first matches the brake start rotation amount. A rotation amount shifted by an amount (hereinafter sometimes referred to as an offset rotation amount) is set. After that, the brake timing determination circuit 15 sets the brake start rotation amount to a predetermined target rotation amount.

More specifically, the brake timing determination circuit 15 determines that it is time to start braking when the amount of rotation obtained by subtracting the amount of rotation specified by the offset setting value from the predetermined target amount of rotation matches the amount of rotation of the motor 2 . judge. The offset rotation amount can be the minimum value of the rotation angle that can be detected by the rotary encoder 4, that is, the rotation amount obtained by multiplying the sampling angle by the offset setting value. Further, the brake timing determination circuit 15 subtracts 1 from the cumulative value each time it receives a detection signal from the rotary encoder 4 when the motor 2 is rotating in the same direction as before the brake was applied to the motor 2 . On the other hand, the brake timing determination circuit 15 adds 1 to the cumulative value each time it receives a detection signal from the rotary encoder 4 when the motor 2 is rotating in the direction opposite to that before the motor 2 is braked. . Therefore, the brake timing determination circuit 15 determines that it is time to start braking when the cumulative value matches the offset setting value. After that, the brake timing determination circuit 15 notifies the drive signal generation circuit 14 that the amount of rotation of the motor 2 has reached the target amount of rotation, that is, that it is time to start braking, every time the cumulative value becomes 0. .

FIG. 5(a) is a diagram showing an example of temporal changes in the braking force and the rotation speed of the motor 2 when the normal stop is applied. FIG. 5(b) is a diagram showing an example of temporal changes in the braking force and the rotation speed of the motor 2 when the effect stop is applied and the offset setting value is 0. FIG. 5A and 5B, the horizontal axis represents the elapsed time, the left vertical axis represents the rotation speed of the motor 2, and the right vertical axis represents the time from the drive signal generation circuit 14 to the motor drive circuit. 3 represents the duty ratio of the drive signal output to 3. When the motor 2 is rotating forward, the rotational speed is represented by a positive value. On the other hand, when the motor 2 is rotating in the reverse direction, the rotational speed is represented by a negative value. The duty ratio is positive when the drive signal for forward rotation of the motor 2 is output, and the duty ratio is negative when the drive signal for reverse rotation of the motor 2 is output.

In FIG. 5(a), waveform 501 represents the time change of the rotation speed of the motor 2, and waveform 502 represents the duty ratio of the drive signal output from the drive signal generation circuit 14 to the motor drive circuit 3 (that is, the braking force). ) represents the change over time. In this example, at time t1, the accumulated value becomes equal to or less than the required stop detection number, and the motor 2 starts to be braked. Therefore, after time t1, a braking force is applied to the motor 2 to rotate the motor 2 in a direction opposite to the direction of rotation of the motor 2 (normal direction in this example). After time t1, the rotation speed of the motor 2 decreases, and at time t2, the rotation speed of the motor 2 becomes zero. That is, since the motor 2 does not rotate beyond the target rotation amount, the rotating reel driven by the motor 2 also stops without exceeding the target stop position.

In FIG. 5B, a waveform 511 represents changes over time in the rotation speed of the motor 2, and a waveform 512 represents changes over time in the duty ratio of the drive signal output from the drive signal generation circuit 14 to the motor drive circuit 3. . In this example, a drive signal is applied to the motor 2 to rotate it in the normal direction until time t1 is reached. At time t1, the amount of rotation of the motor 2 reaches the target amount of rotation. A drive signal having a constant braking force (corresponding to a duty ratio of 20% in this example) specified by the stop set value is output to the motor drive circuit 3 . At time t2, the rotation speed of the motor 2 becomes 0, and after time t2, the motor 2 starts rotating in the reverse direction (that is, the motor 2 starts rotating in the reverse direction). At this point, the amount of rotation of the motor 2 exceeds the target amount of rotation, so the rotating reel driven by the motor 2 has also gone past the target stop position. At time t3, when the amount of rotation of the motor 2 reaches the target amount of rotation again, the motor drive circuit outputs a drive signal having a constant braking force designated by the stop setting value in the direction to rotate the motor 2 forward. 3 is output. At time t4, the rotation speed of the motor 2 becomes 0 again, and after time t4, the motor 2 starts rotating in the reverse direction (that is, the motor 2 starts rotating in the forward direction). At this point, the amount of rotation of the motor 2 has not reached the target amount of rotation, so the reel driven by the motor 2 is also positioned before the target stop position. At time t5, when the amount of rotation of the motor 2 reaches the target amount of rotation, a drive signal having a constant braking force designated by the stop set value is output to the motor drive circuit 3 in the direction of rotating the motor 2 in the reverse direction. . Thus, by reversing the braking direction each time the amount of rotation of the motor 2 reaches the target amount of rotation, the motor 2 gradually stops while changing the direction of rotation. Along with this, the rotating reel driven by the motor 2 is also gradually stopped while repeatedly moving back and forth before and after the target stop position.

FIGS. 6(a) to 6(c) show changes over time in the cumulative value when the offset setting value is set to 0, a negative value, and a positive value, respectively, when the effect stop is applied. It is a schematic diagram. In FIGS. 6A to 6C, the horizontal axis represents elapsed time, and the vertical axis represents cumulative value. That is, the greater the absolute value of the accumulated value, the greater the amount of deviation of the rotating reel from the target stop position represented by the target amount of rotation. A positive cumulative value indicates that the reel has not reached the target stop position. On the other hand, a negative cumulative value indicates that the reel has exceeded the target stop position. indicates that it is rotating. Furthermore, waveforms 601 to 603 each represent the time change of the accumulated value.

In the example shown in FIG. 6A, the offset setting value is set to 0. Therefore, as indicated by a waveform 601, the accumulated value is 0, ie, the amount of rotation of the motor 2 becomes the target amount of rotation, and the motor 2 is braked at time t1 when the rotating reel reaches the target stop position. After that, the motor 2 is braked in the opposite direction every time the accumulated value becomes zero. Therefore, the amount of deviation from the target amount of rotation when the rotational speed of the motor 2 becomes 0, that is, the swing width of the rotating reel centered on the target stop position, gradually decreases over time.

In the example shown in FIG. 6B, the offset setting value is set to a negative value. Therefore, as shown in the waveform 602, the motor 2 is braked at time t2 when the amount of rotation of the motor 2 exceeds the target amount of rotation and the amount of rotation corresponding to the offset setting value (-4 in this example). is hung. After that, the motor 2 is braked in the opposite direction every time the accumulated value becomes zero. Therefore, compared to the case where the offset setting value is set to 0, the absolute value of the cumulative value when the rotation speed of the motor 2 first becomes 0, that is, the swing width of the rotating reel with respect to the target stop position becomes larger. . Therefore, when the offset setting value is set to a negative value, the time required until the motor 2 stops becomes longer when the motor 2 drives the same rotating reel. In other words, the greater the weight of the rotating reel driven by the motor 2 or the greater the friction acting on the rotating reel, the larger the absolute value of the offset setting value and the more negative the offset setting value should be.

In the example shown in FIG. 6(c), the offset setting value is set to a positive value (4 in this example). Therefore, as indicated by a waveform 603, the motor 2 is braked at time t3 when the amount of rotation of the motor 2 falls short of the target amount of rotation by the amount corresponding to the offset set value. After that, the motor 2 is braked in the opposite direction every time the accumulated value becomes zero. Therefore, compared to when the offset setting is set to 0, the absolute value of the accumulated value when the rotation speed of the motor 2 first becomes 0, that is, the amplitude of the deviation amount of the rotating reel from the target stop position is smaller. Become. Therefore, by setting the offset setting value to a positive value, the time required until the motor 2 stops is shortened when the motor 2 drives the same reel. In other words, the smaller the weight of the rotating reel driven by the motor 2 or the smaller the friction acting on the rotating reel, the larger the absolute value of the offset setting value and the more positive the offset setting value should be.
By adjusting the offset set value in this way, the motor control device 1 controls the motor 2 so that the behavior of the rotating reel when the motor 2 stops is the same regardless of the weight or friction of the rotating reel. can be controlled.

FIG. 7 is an operation flowchart of stop control processing for stopping the motor 2 by the motor control device 1 . This stop control process is executed when the motor control device 1 stops receiving the drive control signal from the host control device, that is, when an instruction to stop the rotation of the motor 2 is given.

The drive signal generation circuit 14 outputs a drive signal having a duty ratio corresponding to the rotation speed designated by the speed setting signal notified from the drive control circuit 12 to the motor drive circuit 3 that drives the motor 2 ( step S101).

When the brake timing determination circuit 15 receives the detection signal from the rotary encoder 4, it decrements by 1 the accumulated value of the number of symbol unit detection signals, which indicates the remaining rotation amount up to the target rotation amount (step S102).

Further, the brake timing determination circuit 15 determines whether or not the stop setting value received from the host control device and received from the communication interface circuit 10 indicates a normal stop (step S103). When the stop set value indicates a normal stop (step S103-Yes), the brake timing determination circuit 15 determines whether or not the accumulated value is equal to or less than the required stop detection number (step S104). If the cumulative value is greater than the number of detections of the need to stop (step S104-No), the motor control device 1 repeats the processes after step S101.

On the other hand, if the cumulative value is equal to or less than the required stop detection number (step S104-Yes), the brake timing determination circuit 15 notifies the drive signal generation circuit 14 that the brake start timing has come. Further, the drive signal generation circuit 14 refers to the speed brake value table stored in the memory 11 until the motor 2 stops, and determines the duty ratio corresponding to the rotation speed of the motor 2 received from the rotation speed calculation circuit 13 . identify. Then, the drive signal generation circuit 14 outputs a drive signal having a braking force corresponding to the duty ratio to the motor drive circuit 3 (step S105). The drive signal generation circuit 14 stops outputting the drive signal to the motor drive circuit 3 when the motor 2 stops, that is, when the accumulated value becomes zero.

In step S103, when the stop set value indicates the stop of the effect (step S103-No), the brake timing determination circuit 15 determines whether or not the accumulated value has reached the offset set value (step S106). If the cumulative value is greater than the offset setting value (step S106-No), the motor control device 1 repeats the processes after step S101.

On the other hand, if the accumulated value has reached the offset set value (step S106-Yes), that is, if the rotation amount of the motor 2 matches the brake start rotation amount, the brake timing determination circuit 15 outputs the drive signal generation circuit 14 that it is time to start braking. Then, the drive signal generation circuit 14 generates a drive signal that has a braking force corresponding to the duty ratio specified by the stop set value and rotates the motor 2 in the direction opposite to the previous rotation direction. It is output to the motor drive circuit 3 until the direction is reversed with respect to the previous rotation direction and the cumulative value becomes 0, that is, until the amount of rotation of the motor 2 reaches the target amount of rotation (step S107).

After that, when the cumulative value reaches 0, that is, when the rotation amount of the motor 2 reaches the target rotation amount, the drive signal generation circuit 14 determines whether the rotation speed of the motor 2 calculated by the rotation speed calculation circuit 13 has become 0. Determine (step S108). If the rotation speed of the motor 2 is not 0 (step S108-No), the motor control device 1 repeats the processes after step S107. On the other hand, if the rotation speed of the motor 2 is 0 (step S108-Yes), the motor 2 stops when the amount of rotation of the motor 2 reaches the target amount of rotation. Therefore, the drive signal generation circuit 14 stops outputting the drive signal to the motor drive circuit 3 (step S109).

After step S105 or step S109, the motor control device 1 terminates the stop control process.

As described above, this motor control device controls the start timing and braking force of the brake when stopping the motor according to the stop setting value included in the stop control signal received from the host control device. Therefore, the behavior of the motor until the motor stops rotating changes according to the stop set value. Therefore, this motor control device can diversify the stopping operation of the motor when the motor stops. Furthermore, this motor control device first applies a brake to the motor according to the offset setting value included in the stop control signal when effect stop is applied in which the rotating reel driven by the motor stops while vibrating. Timing can be adjusted. As a result, the swing width of the spinning reel is adjusted by the offset setting value. Thus, this motor control device can control the stopping operation of the motor when the motor stops according to the rotating reel driven by the motor.

According to a variant, the offset settings may be pre-stored in the memory 11 . The brake timing determination circuit 15 may read the offset setting value from the memory 11 and use it when the stop control signal received from the upper control device specifies the stop of the effect. Alternatively, a plurality of offset setting values may be stored in memory 11 in advance. In this case, the stop control signal may include specific information for specifying the offset setting value to be used among the plurality of offset setting values. In this case, the brake timing determination circuit 15 may refer to the specific information to specify the offset setting value to be used, read the specified offset value from the memory 11 and use it.

The load applied to the motor 2 changes due to friction or the like due to the rotating reel driven by the motor 2, the mechanism connecting the motor 2 and the rotating reel, or their deterioration over time. Times may change. In some cases, the load applied to the motor 2 may also differ depending on the rotational position of the rotating reel. Therefore, according to another modification, the drive signal generation circuit 14 measures the deceleration of the motor 2 from the change in the reception interval of the detection signal from the rotary encoder 4 after the brake start timing, and according to the deceleration, , may control the braking force. For example, the memory 11 stores in advance a deceleration that serves as a reference (hereinafter referred to as a reference deceleration) for each stop setting value. The drive signal generation circuit 14 measures the deceleration from the brake start timing until the rotational speed of the motor 2 becomes 0 every time the brake start timing comes, when the effect stop is applied. At this time, the drive signal generation circuit 14 may measure the deceleration assuming that the deceleration during deceleration is constant. Then, the drive signal generation circuit 14 controls the braking force at the next braking start timing so that the difference between the measured deceleration and the reference deceleration becomes small. For example, when the measured deceleration is greater than the reference deceleration, the drive signal generation circuit 14 adjusts the duty ratio of the drive signal corresponding to the rotation speed of the motor 2 by a predetermined adjustment, which is specified in the speed brake value table. Reduce the duty ratio by the amount. Conversely, if the measured deceleration is smaller than the reference deceleration, the drive signal generation circuit 14 reduces the duty ratio corresponding to the rotation speed of the motor 2 by a predetermined adjustment amount, which is specified in the speed brake value table. Increase the duty ratio.
According to this modified example, the motor control device 1 controls the behavior of the motor 2 and the rotating reel when the motor 2 decelerates due to the rotating reel, the mechanism connecting the motor 2 and the rotating reel, or their deterioration over time. can be suppressed.

Furthermore, according to another modification, the brake timing determination circuit 15 may include a mode in which the offset set value is referred to when determining the brake start timing for the second and subsequent times in the stop of the effect. For example, the stop control signal may further include a repeat setpoint along with a stop setpoint and an offset setpoint. Then, the brake timing determination circuit 15 keeps the brake start rotation amount in the current rotation direction of the motor 2 until the number of times the rotation amount of the motor 2 matches the brake start rotation amount reaches the number of times specified by the repetition set value. is set to a rotation amount exceeding the target rotation amount by the offset rotation amount specified by the offset setting value. Furthermore, when the number of times that the rotation amount of the motor 2 coincides with the brake start rotation amount exceeds the number of times specified by the repetition setting value, the brake timing determination circuit 15 sets the brake start rotation amount to the target rotation amount.

Alternatively, the effect stop may include a mode in which the brake start rotation amount is set so that the difference between the target rotation amount and the brake start rotation amount becomes smaller each time the brake start timing comes. In this case, the brake timing determination circuit 15 sets the amount of rotation to start braking to a rotation amount that exceeds the target amount of rotation in the direction of rotation of the motor 2 by the amount of offset rotation. However, the brake timing determination circuit 15 sets the offset rotation amount to the rotation amount specified by the offset set value until the rotation amount of the motor 2 first matches the brake start rotation amount. After that, the brake timing determination circuit 15 performs offset rotation by a predetermined amount (for example, the minimum detection angle of the rotary encoder 4 or 2 to 3 times the minimum detection angle of the rotary encoder 4) each time the number of times the rotation amount of the motor 2 matches the brake start rotation amount increases. reduce the amount.

FIGS. 8(a) and 8(b) are schematic diagrams showing temporal changes in the accumulated value when effect stop is applied according to the above modification. In FIGS. 8A and 8B, the horizontal axis represents elapsed time, and the vertical axis represents cumulative value. That is, the greater the absolute value of the accumulated value, the greater the amount of deviation of the rotating reel from the target stop position represented by the target amount of rotation. A positive cumulative value indicates that the reel has not reached the target stop position. On the other hand, a negative cumulative value indicates that the reel has exceeded the target stop position. indicates that it is rotating. Furthermore, waveforms 801 and 802 each represent the temporal change of the accumulated value.

In the example shown in FIG. 8(a), the offset setting value is referenced until the number of times that the rotation amount of the motor 2 reaches the brake start timing reaches the repetition setting value (4 in this example). . Therefore, as indicated by waveform 801, the motor 2 is braked at timings t1 to t4 when the accumulated value exceeds 0 by the amount of offset rotation defined by the offset set value. After that, the motor 2 is braked each time the accumulated value becomes zero.

In the example shown in FIG. 8B as well, as shown by the waveform 802, the motor 2 is braked each time the rotation amount of the motor 2 exceeds the target rotation amount and rotates by the offset rotation amount. However, in this example, as indicated by the dotted line 810, the offset rotation amount decreases by the minimum detectable angle of the rotary encoder 4 each time the brake start timing comes. That is, the absolute value of the cumulative value is subtracted by one from the offset setting value. Therefore, as shown by waveform 802, although the swing width of the rotating reel centered on the target stop position of the rotating reel corresponding to the target rotation amount gradually decreases, until the offset rotation amount becomes 0, the rotating reel vibration is maintained.

Note that the stop control signal may include mode information indicating which of the above two modified modes is to be specified. In this case, the brake start determination circuit 15 may set the brake start rotation amount according to the mode specified by the mode information when the effect stop is applied.
According to this modification, the motor control device can further diversify the behavior of the rotating reels when stopping the rotating reels.

According to still another modification, when stopping the rotation of the motor 2 , the host control device may notify the motor control device 1 of the target rotation amount. In this case, the communication interface circuit 10 of the motor control device 1 passes the target rotation amount to the brake timing determination circuit 15 . The brake timing determination circuit 15 counts the number of receptions of the detection signal since the motor 2 was stopped immediately before as the amount of rotation of the motor 2, and the number of receptions of the detection signal and the notified target rotation amount are counted. Based on this, the brake start timing may be determined in the same manner as in the above embodiment.

Also, the motor control device according to the above embodiment or modified example may be used to drive a movable member other than the rotating reels of the reel game machine. For example, a motor control device may be used to drive a movable member for performance of a pinball game machine.

FIG. 9 is a schematic perspective view of a reel game machine 100 having a motor control device according to the above embodiment or modification. 10 is a circuit block diagram of the reel game machine 100. As shown in FIG. Furthermore, FIG. 11 is a schematic perspective view of one rotating reel that the reel unit 120 has. As shown in FIG. 9, the reel game machine 100 has a main body housing 110, which is a game machine main body, a reel unit 120, a start lever 130, and stop buttons 140a to 140c.

In addition, the reel game machine 100 has a control circuit 150 for controlling each part of the reel game machine 100 and three motors 151-1 to 151-3, three motor drive circuits 152-1 to 152-3 for driving each motor, and three motor controllers 153-1 to 153-3. Note that the motor control devices 153-1 to 153-3 can be motor control devices according to the above embodiments or modifications. Also, the motor drive circuits 152-1 to 152-3 can be the motor drive circuits according to the above embodiments or modifications. Furthermore, the reel game machine 100 temporarily stores medals in response to control signals from a power supply circuit (not shown) that supplies power to each part of the reel game machine 100 and a control circuit 150, and discharges the medals. It has a medal storage and discharge mechanism (not shown) for. Note that the control circuit 150 is an example of a gaming machine control device.

An opening 111 is formed in the upper central portion of the front surface of the body housing 110, and a part of the reel unit 120 is visible through the opening 111. As shown in FIG. A medal slot 113 for inserting medals is formed on the upper surface of the frame 112 below the opening 111 .

The reel unit 120 has three rotating reels 121-1 to 121-3. Each of the rotating reels 121-1 to 121-3 rotates about a rotating shaft (not shown) substantially parallel and substantially horizontal to the front surface of the main housing 110 according to a drive control signal from the control circuit 150. , can be rotated separately. Furthermore, the respective rotating shafts of the rotating reels 121-1 to 121-3 are engaged with the rotating shafts of the motors 151-1 to 151-3 via gears (not shown). The rotation of the motors 151-1 to 151-3 also rotates the rotary reels 121-1 to 121-3. Furthermore, a rotary encoder (not shown) is attached to each rotating shaft of the motors 151-1 to 151-3. Then, a detection signal is output to the motor control devices 153-1 to 153-3.
In addition, the surfaces of the rotating reels 121-1 to 121-3 are each divided into a plurality of regions having approximately the same width along the direction of rotation, that is, the circumferential direction, and various patterns are drawn on each region. A part of these areas is visible to the player through the opening 111 .

The start lever 130 is provided on the left side of the frame 112 of the main housing 110 as viewed from the front. In addition, stop buttons 140a to 140c are provided at approximately the center of the front surface of the frame 112. As shown in FIG. The stop buttons 140a-140c correspond to the rotating reels 121-1-121-3, respectively.

A medal ejection port 114 for ejecting medals is formed in the lower part of the front surface of the main body housing 110 . A medal tray 115 is attached below the medal discharge port 114 to prevent the discharged medals from falling.

When the start lever 130 is operated after medals are inserted into the medal slot 113, a signal indicating that the start lever 130 has been operated is transmitted to the control circuit 150. FIG. Then, the control circuit 150 starts rotating the rotary reels 121-1 to 121-3. That is, the control circuit 150 outputs a speed setting signal to the motor control devices 153-1 to 153-3, and each time the reels 121-1 to 121-3 rotate by one symbol, a drive control signal is output. to output It should be noted that the control circuit 150 may change the rotation speed of the rotating reels 121-1 to 121-3 according to the game state. In this case, every time the control circuit 150 changes the rotational speed of the reels 121-1 to 121-3, it outputs a speed setting signal designating the changed rotational speed to the motor control devices 153-1 to 153-3. do it. The control circuit 150 may set different rotation speeds for each of the reels 121-1 to 121-3. Further, the control circuit 150 may vary the timing of changing the rotation speed for each of the reels 121-1 to 121-3.

Furthermore, the control circuit 150 changes at least one of the stop set value and the offset set value according to the state of the game, and each time at least one of the stop set value and the offset set value is changed, the stop after the change is changed. A stop control signal containing the set value or the offset set value is output to the motor controllers 153-1 to 153-3. In addition, the control circuit 150 may further include a repeat set value or mode information in the stop control signal according to the state of the game. Further, the control circuit 150 may change the stop set value or the offset set value included in the stop control signal for each of the motor control devices 153-1 to 153-3 according to the game state. As a result, each of the rotating reels 121-1 to 121-3 stops while acting differently from each other when instructed to stop.

After that, when any one of the stop buttons 140a to 140c provided substantially in the center of the front surface of the frame 112 of the main housing 110 is pressed, the control circuit 150 outputs a signal indicating that the pressed button has been pressed. It receives and stops the rotation of the reel corresponding to the pressed button. Alternatively, the control circuit 150 controls the rotation of the reels 121-1 to 121-3 for which the corresponding stop button has not been pressed within a predetermined period of time after the start of rotation. stop later. When stopping the rotating reel, the control circuit 150 should stop outputting the drive control signal. Then, each of the motor control devices 153-1 to 153-3 may execute the stop control process described above.
When all the rotating reels are stopped and the same symbols are lined up on all the rotating reels, the control circuit 150 discharges a predetermined number of medals according to the symbol through the medal discharge port 114.例文帳に追加.

Thus, a person skilled in the art can make various modifications within the scope of the present invention according to the embodiment.

1 Motor Control Device 2 Motor 3 Motor Drive Circuit 4 Rotary Encoder 10 Communication Interface Circuit 11 Memory 12 Drive Control Circuit 13 Rotational Speed Calculation Circuit 14 Drive Signal Generation Circuit 15 Brake Timing Determination Circuit 100 Spindle Game Machine 110 Body Housing 120 Reel Unit 121-1 to 121-3 Rotating reel 130 Start lever 140a to 140c Stop button 150 Control circuit 151-1 to 151-3 Motor 152-1 to 152-3 Motor drive circuit 153-1 to 153-3 Motor control device

Claims (5)

A motor control device for controlling a motor,
a brake timing determination unit that determines, as brake start timing, a timing at which a rotation amount of the motor calculated according to a detection signal output from a rotation angle sensor each time the motor rotates by a predetermined angle coincides with a brake start rotation amount;
a drive signal generation unit that outputs a drive signal for driving the motor in a direction opposite to the rotation direction of the motor to a motor drive circuit that drives the motor when the brake start timing is reached;
has
The brake timing determination unit sets the brake start rotation amount to a rotation amount shifted from a predetermined target rotation amount by an offset rotation amount until the rotation amount of the motor first matches the brake start rotation amount. , motor controller. 2. The motor control device according to claim 1, further comprising a communication unit that receives said offset rotation amount from a host control device. The brake timing determination unit determines the brake start rotation amount from the predetermined target rotation amount in the rotation direction of the motor until the number of times that the rotation amount of the motor matches the brake start rotation amount reaches a predetermined number of times. 3. The motor control device according to claim 1, wherein the amount of rotation is set to exceed the amount of offset rotation, and when the number of times exceeds the predetermined number of times, the amount of rotation to start braking is set to the predetermined target amount of rotation. . The brake timing judging section sets the brake start rotation amount by an offset rotation amount from a predetermined target rotation amount in the rotation direction of the motor until the rotation amount of the motor first matches the brake start rotation amount. 3. The motor control device according to claim 1, wherein the offset rotation amount is reduced each time the number of times the rotation amount of the motor coincides with the brake start rotation amount increases. A reel game machine, comprising: a game machine main body;
a rotating reel rotatably arranged in the gaming machine main body and displaying a plurality of symbols along the circumferential direction;
a motor that drives the rotating reel;
a motor drive circuit that drives the motor;
a rotation angle sensor that outputs a detection signal each time the motor rotates by a predetermined angle;
a motor control device that controls the motor;
a game machine control device for controlling the reel game machine;
has
The game machine control device outputs information representing a predetermined target rotation amount to the motor control device according to a game state,
The motor control device
a communication unit that receives information representing the predetermined target rotation amount from the gaming machine control device;
a brake timing determination unit that determines a timing at which the amount of rotation of the motor calculated according to the detection signal coincides with the amount of rotation to start braking, as brake start timing;
a drive signal generation unit that outputs a drive signal for driving the motor in a direction opposite to the direction of rotation of the motor to the motor drive circuit when the timing for starting the braking is reached;
has
The brake timing determination unit sets the brake start rotation amount to a rotation amount shifted from the predetermined target rotation amount by an offset rotation amount until the rotation amount of the motor first matches the brake start rotation amount. A spinning machine.

Images