JP3073104B2 - Moving body driving device and moving body driving motor control method of moving body driving device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a cell drum (cartridge storage cell) for storing and storing a plurality of cartridge-type recording media, a plurality of magnetic tape devices, a cartridge loading / unloading mechanism, and a cartridge transportation. An accessor mechanism, and a controller for the accessor.
The present invention relates to a movable body driving device that can be used in a magnetic tape library device for automatically mounting, removing, storing, recording, and reproducing cartridges, and the like, and a method of controlling a moving body driving motor of the movable body driving device.

[0002]

2. Description of the Related Art FIG. 12 is a diagram showing a conventional example. In FIG. 12, 1 is a magnetic tape library device, 2 is a magnetic tape device, 4 is a cell motor, 5 is an accessor mechanism, and 6 is a cartridge charging / discharging unit. Mechanism, 7 is an accessor control unit, 8
Denotes a control unit, 9 denotes a cartridge (cartridge type magnetic tape recording medium), and 10 denotes a cell drum.

Description of Configuration of Magnetic Tape Library Apparatus FIG. 12 shows an example (an internal plan view) of a conventional magnetic tape library apparatus. This magnetic tape library device 1
Is a cell drum (cartridge storage cell) 10 for storing and storing a plurality of cartridge-type recording media (hereinafter, simply referred to as “cartridges”) 9, a plurality of magnetic tape devices 2, an accessor mechanism 5, an accessor controller 7
And a cartridge loading / unloading mechanism 6, a control unit 8 for controlling the entire apparatus, and the like.

The cell drum 10 can accommodate a plurality of cartridges 9 therein, and is driven to rotate to a predetermined position by a cell motor 4. The cartridge loading / unloading mechanism 6 separates the cartridge loaded by the operator from the outside one by one,
It is transported to a position to be delivered to the accessor mechanism 5.

The accessor mechanism 5 receives the cartridge transported by the cartridge loading / unloading mechanism 6 and transports the cartridge to insert it into the cell drum 10 or removes the cartridge from the cell drum 10 to remove the cartridge.
The cartridge is mounted on the magnetic tape device 2 or the cartridge is removed from the magnetic tape device and inserted into the cell drum 10.

Description of Operation of Magnetic Tape Library Apparatus In the above-described apparatus, when an operator inserts a plurality of cartridges from the insertion slot of the cartridge insertion / ejection mechanism 6, the cartridge insertion / ejection mechanism 6 turns the cartridge 9 one by one. The sheet is separated, transported to a predetermined position, and delivered to the accessor mechanism 5.

The accessor mechanism 5 includes a cartridge 9
Is received, the cartridge is transported and the cell drum 1
0 is inserted at a predetermined position. When performing recording or reproduction, the accessor mechanism 5 takes out the cartridge from the designated location of the cell drum 10 and transports it, inserts it into the magnetic tape device 2, or inserts the processed cartridge into the magnetic tape device 2. 2 and transported, and inserted into a predetermined location of the cell drum 10 and stored.

Description of Motor for Driving Moving Object In the magnetic tape library apparatus, for example, a large number of motors are used for driving various moving objects in the accessor mechanism 5, the cartridge loading / unloading mechanism 6, and the like. .

[0009] Of these motors, for example, when positional accuracy or the like is required, a servomotor with a tachometer is used. However, when positional accuracy or the like is not required, for example, an inexpensive gear motor or the like is used.

[0010]

The above-mentioned conventional apparatus has the following problems. (1) Even if a gear motor is used as the driving motor of the moving body, the control of the moving speed of the moving body and the control of the stop position are not performed.

In such a gear motor, there are variations in the motor stop position and the like due to variations in the motor, voltage fluctuations, and the like. Therefore, an inexpensive gear motor as described above cannot be used for a mechanism that requires positional accuracy.

(2) If the moving body is driven by using a servomotor with a tachometer, the demand for speed control and the demand for stop position accuracy are satisfied. But,
Such a servomotor is expensive and the drive circuit is complicated.

The present invention solves such a conventional problem, and enables the stop position control of a moving body to be performed with high accuracy even when an inexpensive gear motor or the like is used as a motor for driving the moving body. It is an object of the present invention to reduce the size and cost of a motor for driving a moving body.

[0014]

FIG. 1 is a view for explaining the principle of the present invention. In FIG. 1, the same components as those in FIG. 12 are denoted by the same reference numerals. Also, 5A is a mechanical unit, 17A is a moving body, 28A
A is a mechanism controller, 35A is a movement time measuring unit, M
Indicates a motor.

The present invention has the following configuration to solve the above problems. (1) A mechanism section 5A and a mechanism section controller 28A for controlling the mechanism section are provided, and the mechanism section 5A is driven by a motor M and has a predetermined interval.
17A that moves between two positions, and two sensors (sensor A, sensor A) that detect the moving position of the moving body 17A at two points.
Sensors B) 43 and 44 are provided,
A includes a processor 31 for performing various controls and a motor control unit 34 for controlling the motor M. In the moving body driving device, the mechanism controller 28A sends detection signals of two sensors (sensors A and B). And a moving time measuring unit 35 that measures a moving time T _S when the moving body 17A moves between two sensor positions (between the sensors A and B).
A is provided, and the processor 31
Based on the movement time T _S measured at A, the motor control unit 34
By instructing to change the rotation speed, the motor M is always rotated at a constant target speed.

(2) In the moving body driving motor control method in the moving body driving apparatus having the configuration (1), the motor M is driven to move the moving body 17A between two sensor positions (between the sensors A and B). Is moved, the moving time measuring unit 35A
Then, the processor 31A measures the movement time T _S of the moving body 17A, and based on the measured movement time T _S , the processor 31 instructs the motor control unit 34 to change the rotation speed, and the motor at the time of the next drive is driven. By changing the rotation speed of M, control is performed such that the rotation speed of the motor M always becomes a constant target speed.

(3) In the method of controlling a motor for driving a moving body in the moving body driving apparatus having the structure (1),
When A is moving, the mechanism controller 28A detects the position of the moving body 17A from the detection signal of the sensor, and when it is detected that the moving body 17A has come to a certain position, the processor 31 By instructing the motor control unit 34 to apply a brake to the motor M,
A was always stopped at a fixed position.

[0018]

The operation of the present invention based on the above configuration will be described with reference to FIG. Move the moving body 17A to the position of the sensor A and the sensor B
To move between the positions, the motor M is driven under the control of the motor control unit 34.

The moving time of the moving body 17A at this time is measured by the moving time measuring unit 35A. Then, the moving time measured by the moving time measuring unit 35A is taken into the MPU 31, and the moving speed of the moving body 17A is obtained.

The MPU 31 checks whether or not the rotation speed of the motor M has reached the target speed based on the obtained moving time, and instructs the motor control unit 34 to change the motor speed.

Thus, when the motor is driven next time, the motor M is rotated at the changed speed, and the motor M is driven so as to always have a constant target speed. In this case, the rotational speed of the moving body is measured each time, and the moving body is moved in both directions to perform the above check.

If the rotation speed of the motor is always constant, when the motor M is braked and stopped, the stop position is always constant. As described above, the moving time of the moving body 17A is measured (measured each time), and based on the data, the driving current of the motor is changed at the time of driving the next motor, so that the rotation speed of the motor always reaches the target speed. The stop position of the moving body 17A can always be adjusted to the target position.

Therefore, even if an inexpensive motor such as a gear motor is used without using a servo motor, the stop position of the moving body can be controlled with high accuracy.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. 2 to 11 are diagrams showing an embodiment of the present invention. In FIGS. 2 to 11, the same components as those in FIGS.
The same reference numerals are used.

Reference numerals 11 and 12 denote operator panels, 1
3 is an inlet, 14 is an outlet, 15 is a cartridge storage shelf, 16 is a base, 17 is a cartridge transport mechanism, 1
8 is a hand mechanism unit, 20 is a position correction sensor, 21 is a barcode scanner, 22 is a tray, 23 is a cartridge sensor, 24 is a tray motor, 25 is a transport motor, 26 is a magnetic tape controller, 27 is an accessor controller,
28 is an accessor mechanical controller, 29 is a host (host computer), 31 is an MPU (microprocessor), 32 is a ROM (read only memory), and 33 is an R
AM and 34 are motor controllers, 35 is a timer, and 37 is PW
M (pulse width modulation) circuits, 38 and 39 are AND gates,
40 and 41 are drivers (DV), 43 is a photo sensor (sensor A), 44 is a photo sensor (sensor B), 45
Is a shielding flag, Q1 to Q4 are transistors, d1 to d4
Indicates a diode.

Description of the magnetic tape library device
FIG. 2 is a perspective view (external view) of the magnetic tape library device of the present embodiment. On the front side of the magnetic tape library device 1, operator panels 11 and 12 are provided.
It can be operated by an operator.

Further, an inlet 13 and an outlet 14 of a cartridge loading / unloading mechanism are provided so that a cartridge can be loaded and a discharged cartridge can be taken out.

FIG. 3 is a perspective view showing the inside of the magnetic tape library device 1. As shown in FIG. As shown in FIG. 3, a cell drum 10 having a plurality of cartridge storage shelves 15 is provided inside the magnetic tape library device 1, and a plurality of magnetic tape devices 2 are provided near the cell drum 10. Also,
An accessor mechanism 5 is provided near the cell drum 10 and the magnetic tape device 2.

Description of Accessor Mechanism Section—See FIG. 4 FIG. 4 is a perspective view of the accessor mechanism section 5. The base 16 of the accessor mechanism 5 includes a cartridge transport mechanism 17, a hand mechanism 18, a position correction sensor 20,
Barcode scanner 21, tray (recording medium transport assist mechanism) 22, cartridge sensor 23, tray motor 2
4, a photo sensor (sensor A) 43, a photo sensor (sensor B) 44, a shielding flag 45, and the like are provided.

The cartridge transport mechanism 17 includes:
A transport motor 25 is provided, and the cartridge transport mechanism 17 is driven by the transport motor 25 (X-Y in the drawing).
Direction). In this embodiment, the transport motor 25 is constituted by a gear motor.

Of the photo sensors 43 and 44, the photo sensor 43 detects the home position (stop position in FIG. 4) of the cartridge transport mechanism 17, and the photo sensor 44 moves in the Y direction in FIG. This is a sensor that detects the position where the movement has occurred.

In the photo sensors 43 and 44, a light emitting element and a light receiving element are provided to face each other, and an output of the light receiving element is extracted as a detection signal of the sensor. In order to detect the position of the cartridge transport mechanism 17 with the photo sensors 43 and 44, the cartridge transport mechanism 17 is used.
Is provided with the shielding flag 45, and the shielding flag 45 shields light to the light receiving element,
The position is detected.

The hand mechanism 18 is for handling a cartridge, is driven by the cartridge transport mechanism 17, and is moved in the front-rear direction (the XY direction in FIG. 4).
You can move to.

The barcode scanner 21 reads a barcode from a barcode label attached to the side of the cartridge. The tray 22 is an auxiliary mechanism that supports the cartridge from below when the hand mechanism 18 grips the cartridge, and is driven by a tray motor 24.

In the following description, the moving body shown in FIG.
Will be described as an example in which the transport motor 25 is used. Description of the control system of the magnetic tape library device: see FIG. 5 A block diagram of the control system of the magnetic tape library device is shown in FIG.
Shown in

As shown in the figure, the control system of the magnetic tape library device includes a magnetic tape control device 26 for controlling the magnetic tape device 2 and an accessor control portion 7 for controlling the accessor mechanism 5 and the cartridge storage cell 10. And so on.

The accessor controller 7 includes an accessor controller 27 and an accessor mechanical controller 2.
8 are provided. The accessor controller 27 performs various controls with the host 29 and controls the entire accessor. The accessor mechanical controller 28 controls the accessor mechanism 5 and controls the drive of the cell motor 4 (see FIG. 12) to rotate the cartridge storage cell 10.

Explanation of accessor mechanical controller
FIG. 6 shows a configuration diagram of the accessor mechanical controller 28. The accessor mechanism controller 28 includes an MP
U31, ROM32, RAM33, motor control unit 34,
A timer 35 (corresponding to the movement time measuring unit in FIG. 1) and the like are provided.

The MPU 31 is a processor that performs various controls in the accessor mechanical controller 28, and issues instructions to the motor control section 34 such as starting, stopping, and rotating direction of the motor.

The ROM 32 is a memory storing instructions to be executed by the MPU 31, and the motor control unit 34 controls various motors of the accessor mechanism unit 4 and a cell motor for rotating the cartridge storage cell 10.

The timer 35 measures the moving time of the cartridge transport mechanism 17 based on the detection signals from the sensors (in this example, the sensors A and B). RA
M33 is a memory that is used for the operation of the MPU 31 and that stores measurement data of the timer 35. In this case, an example in which the motor control unit 34 drives the transport motor 25 (gear motor) among the various motors of the accessor mechanism unit 4 will be described.

Description of the Timer--See FIG. 7 FIG. 7A shows the configuration of the timer shown in FIG. 6, and FIG. 7B shows the operation of the timer.

As shown in the figure, detection signals from the sensors A and B are input to the timer 35, and a clock (CLK) in the accessor mechanism controller 28 is input to measure the time.

The sensor A and the sensor B are installed at two positions having a fixed interval, and detect the movement position of the cartridge transport mechanism 17 at two points. For example, when the cartridge transport mechanism 17 moves from the position of the sensor A to the position of the sensor B, the movement time is measured as follows.

As shown in FIG. 7B, at timing t1
Then, the cartridge transport mechanism 17 leaves the position of the sensor A, and at a timing t2, the cartridge transport mechanism 17
Has reached the position of the sensor B.

At this time, the sensor A signal is output at the timing t1.
Changes from the high level “H” to the low level “L”, and the sensor B signal changes from the low level “L” to the high level “H” at timing t2.

The timer 35 detects such a change in the sensor signal and outputs the clock C between the timings t1 and t2.
LK is counted, and a time T _S during which the cartridge transport mechanism 17 moves between the sensor A and the sensor B is measured.

The data of the measured movement time T _S is M
The data is stored in the RAM 33 by the PU 31. Since the distance between the sensors A and B is known, the moving speed of the cartridge transport mechanism 17 can be calculated using the measured moving time.

Description of the configuration of the motor control section--FIG.
Reference FIG. 8 shows a configuration diagram of the motor control unit shown in FIG. In FIG. 8, the transport motor 25 is indicated by a motor M.

As shown in the figure, the motor control unit 34
M circuit (pulse width modulation circuit) 37, AND gate 38,
39, drivers (DV) 40, 41, transistor Q
1, Q2, Q3, Q4, diodes d1, d2, d3,
d4 and the like.

The transistors Q1 to Q4 are connected to the motor M
(Transistor motor 25), and drivers 40 and 41 are drivers for driving transistors Q2 and Q4.

The AND gates 38 and 39 are connected to the PWM circuit 3
7 is a gate for driving the transistors Q1 and Q3 by an AND signal of the output pulse 7 and the control signals BU and FU.

The PWM circuit 37 is connected to the MP
U31 (see FIG. 6).
However, the motor control unit 34 starts, stops,
An instruction such as a rotation direction can be issued, or a pulse width of a PWM output pulse can be set.

In this case, the MPU 31 calculates the moving speed of the moving body based on the measurement data (measured data of the timer 35) read from the RAM 33, and sets the motor M so that the moving body has a constant target speed. Is obtained, and the data is set in the PWM circuit 37.

It should be noted that control signals BU, FU, FL, inputted to the AND gates 38, 39 and drivers 40, 41,
BL is a signal output from a control circuit (not shown) in the motor control unit 34 in accordance with an instruction from the MPU 31.

Description of the Operation of the Motor Control Unit—See FIGS. 8 and 9A FIG. 9 is an explanatory diagram of the motor control unit shown in FIG.
FIG. 9A is an explanatory view of a motor driving state, and FIG.
FIG. 4 is an explanatory diagram of control. Hereinafter, the operation of the motor control unit shown in FIG. 8 will be described with reference to FIG.

In the following description, the transfer motor 2
5 (gear motor) will be described as the motor M. Also,
The motor control unit 34 performs an operation described below based on an instruction from the MPU 31 (an instruction such as a rotation direction of the motor).

-1: Control signals BU, FU, FL, BL
Is a binary signal of, for example, a high-level signal “1” and a low-level signal “0”, and drives and controls the motor M (gear motor) by a combination as shown in FIG. 9A.

-2: While the PWM circuit 37 is outputting a drive pulse, the control signals are
When FU = 1, FL = 1, BU = 0, and BL = 0, the motor M rotates in the forward direction (FWD).

At this time, the transistors Q1 and Q4 are turned off,
The transistors Q2 and Q3 are turned on, and the power supply (+24
V) → transistor Q3 → motor M → transistor Q2
→ Motor current flows through the GND path.

-3: FU = 0, FL = 0, BU
= 1 and BL = 1, the motor M rotates in the reverse direction. At this time, the transistors Q2 and Q3 are turned off, the transistors Q1 and Q4 are turned on, and the power supply (+24 V) → the transistor Q1 → the motor M → the transistor Q4 → GND
The motor current flows through the path.

-4: FU = 0, FL = 0, BU = 0,
When BL = 0 is set, the motor M coasts (Coast).
I do. At this time, the transistors Q1, Q2, Q3, and Q4 are all turned off, and the motor current disappears.

-5: FU = 0, FL = 1, BU = 0,
When BL = 1 is set, the motor M is subjected to dynamic braking and stops. At this time, the transistors Q1, Q
3 is off, transistors Q2 and Q4 are on, and both ends of the motor M are connected to the GND potential.

Then, due to the back electromotive force of the motor M, a current flows through the diode d2 or the diode d4,
Apply the brakes with the motor confidence. When the motor M rotates in the forward direction, the cartridge transport mechanism 17 (FIG.
4) moves forward (moves in the Y direction in FIG. 4) from the home position, and returns to the home position from the moving position by the reverse rotation of the motor M.

: Explanation of pulse width change of PWM circuit
FIG. 9B is an explanatory diagram of the PWM control. The motor M is driven as described above. In this case, when the pulse width of the pulse output from the PWM circuit 37 is changed, the rotation speed of the motor M changes.

As shown in FIG. 9B, when the pulse width is changed with the pulse period kept constant, the value (current value) of the current flowing through the motor M changes, and the rotation speed of the motor M decreases. Change.

For example, assuming that the pulse width during normal rotation is W1, the pulse width is widened and the pulse width W2 (W2>
When W1) is set, the motor current increases and the motor M rotates at high speed.

When the pulse width W1 is reduced to a pulse width W2 (W2 <W1), the motor current decreases and the motor current rotates at a low speed. Thus, by changing the pulse width of the pulse output from the PWM circuit 37, the rotation speed of the motor M can be arbitrarily changed. The pulse width is set by the MPU 31 (see FIG. 6).

Description at the time of driving the moving body: FIG. 4, FIG.
FIG. 10 shows an explanatory diagram when the moving body is driven. FIG. 10A is an explanatory diagram of the cartridge transport mechanism, and FIG. 10B is a waveform diagram of each unit.

-1: Description of cartridge transport mechanism
.. See FIGS. 4 and 10A The cartridge transport mechanism 17 moves the base 16 by a predetermined distance by the transport motor 25 to insert and remove the cartridge. In this case, on the base
In order to detect the position of the cartridge transport mechanism 17,
Two photo sensors 43 (sensor A) and sensor 44 (sensor B) are provided.

Among these sensors, the photo sensor 43 detects the home position (stop position in FIG. 4) of the cartridge transport mechanism 17, and the photo sensor 44 detects the position moved in the Y direction in FIG. Is what you do.

In the photo sensors 43 and 44, a light emitting element and a light receiving element are provided to face each other, and the output of the light receiving element is extracted as a detection signal of the sensor. In order to detect the position of the cartridge transport mechanism 17 with the photo sensor, a shielding flag 45 is provided in a part of the cartridge transport mechanism 17.
5 blocks the light to the light receiving element to detect the position.

-2: Description of the operation of the cartridge transport mechanism section--see FIG. 10B The cartridge transport mechanism section 17 is in the normal stopped state.
At the position (home position) of the photo sensor 43,
When taking the cartridge in and out, the photo sensor 44
Move to the position.

At the time of this movement, first, the movement is started at timing t1 in FIG. 10B, and the shielding flag 17 comes out of the photo sensor 43. Then, it is assumed that the shielding flag 17 is inserted into the photo sensor 44 at the timing t2.

At this time, at the timing t1, the photo sensor 4
The detection signal of Sensor 3 (sensor A) changes from high level “H” to low level “L”. At timing t2, the detection signal of photosensor 44 (sensor B) changes to low level “L”.
To a high level “H”.

The signals (sensor A signal, sensor B signal) from each photo sensor are input to the accessor mechanism controller 28 (see FIG. 6), and the timer 35 measures the movement time of the cartridge transport mechanism 17. At the same time, it is recognized by the MPU 31.

Then, at timing t2 in FIG. 10B, a dynamic brake is applied to the transport motor 25, and the transport motor 25 is stopped. At this time, assuming that the stop curve due to the dynamic brake is constant, the transfer motor 2
Due to the speed of 5, the stop position shifts.

For example, if the target speed of the transport motor 25 is V1
When the dynamic brake is applied at t2, the motor stops at timing t4. However, when the speed V2 is faster than the target speed V1 (V2> V1), the application stops at timing t5 when the dynamic brake is applied at T2.

Further, a speed V3 (V
In the case of 3 <V3), if the dynamic brake is applied at T2, it stops at timing t3. In other words, when moving at the speed V2, the stop position becomes a position ahead of the target position by a distance moving between t5 and t4 (over the stop position), and when moving at the speed V3, between t4 and t3. The stop position is on the near side by the moving distance.

Therefore, the timer 35 measures the moving time of the cartridge transport mechanism 17 based on the signals (sensor A signal and sensor B signal) from the photo sensor. The measured data (moving time) is recognized by the MPU 31 and stored in the RAM 33.

The MPU 31 obtains the moving speed of the cartridge transport mechanism 17 using the data in the RAM 33,
The difference between this value and the target speed V1 is calculated. Then, the PWM value of the motor control unit 34 is changed so that the moving speed of the cartridge transport mechanism unit 17 always becomes a constant target speed V1.

In this way, the PW is set so that the moving speed of the cartridge transport mechanism 17 always becomes the target speed V1.
By changing the pulse width of the M output pulse, the timing t
2, the dynamic brake can be applied and stopped at timing t4.

Accordingly, the stop position of the cartridge transport mechanism 17 is always a fixed target position. In other words, it is possible to always keep the stop position of the cartridge transport mechanism 17 at a constant target position by keeping the speed of the transport motor always at a constant target speed even if there is a variation in the motor, a voltage fluctuation, and the like. Become.

Description by Flowchart—See FIG. 11 FIG. 11 shows a processing flowchart when driving the moving body. Hereinafter, the processing at the time of driving the moving body will be described with reference to FIG. Note that S1 to S9 in FIG. 11 indicate each processing number.

S1: After the power is turned on, the motor control section 34 moves the cartridge transport mechanism section (moving body) 17 to the home position (photo sensor 43) in accordance with an instruction from the MPU 31.
Position).

S2: In the motor control section 34, the transport motor 25 (motor M) is driven by the normal PWM, and the cartridge transport mechanism 17 (moving body) is
It is moved from the position (home position) of (sensor A) to the position of photosensor 44 (sensor B) (movement in the Y direction in FIG. 4).

At this time, the cartridge transport mechanism 1 between the photo sensor 43 and the photo sensor 44 is operated by the timer 35.
7 (moving body) is measured. S3, S4: When the photo sensor 44 (sensor B) detects the cartridge transport mechanism 17, the motor controller 34 applies a dynamic brake to the motor.

In this case, the data of the movement time measured by the timer 35 is stored in the RAM 33. S5: Move the cartridge transport mechanism 17 (moving body) from the position of the photo sensor 44 (sensor B) to the photo sensor 4
Return to the position (home position) of 3 (sensor A) (movement in the X direction in FIG. 4).

At this time, the MPU 31 checks the rotation speed of the motor from the previously measured movement time, and changes the PWM pulse width so as to reach the target speed. That is, MP
U31 is based on the movement time (measured data at the previous movement measured by the timer 35) stored in the RAM 33,
The moving speed of the cartridge conveying mechanism 17 is obtained, the speed of the conveying motor is checked, and the PWM value (pulse width of the output pulse) in the motor control unit 34 is changed so as to reach the target speed.

S6: In the timer 35, the photo sensor 4
The movement time of the cartridge transport mechanism 17 (moving body) between the photo sensor 44 and the photo sensor 43 is measured based on the signals 3 and 44.

S7, S8: When the cartridge transport mechanism 17 is detected by the photo sensor 43 (sensor A), the motor controller 34 applies a dynamic brake to the motor.

In this case, the data of the movement time measured by the timer 35 is stored in the RAM 33. S9: Thereafter, similarly to the above, the motor is driven with the previous PWM value, and the speed is adjusted to the target speed.

The processing at the time of driving the moving body is as described above. In the control of the motor M according to the present embodiment, the rotation speed of the motor M (moving speed of the moving body) is measured every time. The value is stored in the RAM 33. Then, immediately before the driving of the motor M, the previous value (data of the measured moving speed) is compared with the previous value (data of the measured moving speed).

As a result, if the two values are different, the value (PWM value) of the motor control unit before last time is rewritten to the previous value, and the motor M is driven by the rewritten previous PWM value.

This method uses the cartridge transport mechanism 17
This is performed in both directions when the (moving body) moves forward and backward. This is because the rotation speed of the motor M is in a state immediately after the power supply of the apparatus is turned on, and when the drive of the cartridge transport mechanism 17 (moving body) is being performed for a long time after the power supply of the apparatus is turned on. Then, it depends on the fact that it is different due to the "familiarity" of the motor drive.

That is, the rotation of the motor is heavy immediately after the apparatus power is turned on, and the rotation of the motor becomes lighter as the motor becomes warmer. Further, by performing the measurement of the movement time every time, the driving accuracy of the cartridge transport mechanism 17 (moving body) until the motor M warms can be improved.

In the above processing, the MPU 31 counts the number of times the value is equal to the previous value (moving time) if the value is equal to the previous value (moving time). The number of measurements, not every time, every few times,
It may be performed.

The cartridge transport mechanism 17
No error processing is performed for the (moving body) movement time measurement processing for the following reason. That is, a:
In order to reduce the design cost, b: in the error processing, the control unit of the apparatus has already monitored the delivery of the cartridge by the cartridge transport mechanism unit 17 using a timer, which is sufficient.

(Other Embodiments) Although the embodiments have been described above, the present invention can be implemented as follows. (1) The motor for driving the moving body is not limited to the above-described transport motor, but can be applied to other similar motors. Further, the present invention is not limited to the magnetic tape library device, but is applicable to other similar devices.

(2) Although the moving speed of the moving body is measured and the speed of the motor is checked, it may be performed at all times.
For example, it may be performed periodically at the time of device startup processing at power-on, or at the time of device self-diagnosis processing.

(3) The motor for driving the moving body is not limited to a gear motor, and other similar motors can be used.

[0102]

As described above, the present invention has the following effects. (1) Even if the speed varies due to variations in motor characteristics or voltage fluctuations, the motor speed can be reduced by checking at power-on or checking during each operation.
The target speed can always be kept constant.

As a result, the stop position of the moving body can always be set to a constant target position. Therefore, the stop position control of the moving body can be performed with high accuracy. (2) The circuit configuration is simpler than that of a servomotor or the like, so that downsizing and cost reduction of the motor can be realized.

(3) Even if an inexpensive gearmotor is used,
High-precision stop position control of the moving body can be performed. (4) Although inexpensive gear motors are used and open-loop motor control is performed, the movement time of the moving body is measured, and the PWM value of the motor control is corrected based on the data to obtain the above-described data. A highly accurate stop position control of the moving body as described above can be performed. That is, high-precision stop position control can be performed without using a servomotor.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is an external view of a magnetic tape library device according to an embodiment of the present invention.

FIG. 3 is a perspective view of the inside of the magnetic tape library device according to the embodiment of the present invention.

FIG. 4 is a perspective view of an accessor mechanism according to the embodiment of the present invention.

FIG. 5 is a block diagram of a control system of the magnetic tape library device according to the embodiment of the present invention.

FIG. 6 is a configuration diagram of an accessor mechanical controller according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram of a timer according to the embodiment of the present invention.

FIG. 8 is a configuration diagram of a motor control unit in the embodiment of the present invention.

FIG. 9 is an explanatory diagram of a motor control unit in the embodiment of the present invention.

FIG. 10 is an explanatory diagram at the time of driving a moving body in the embodiment of the present invention.

FIG. 11 is a processing flowchart at the time of driving a moving body in the embodiment of the present invention.

FIG. 12 is a configuration diagram (an internal plan view) of a conventional magnetic tape library device.

[Explanation of symbols]

 5A mechanism 17A moving body 28A mechanism controller 31 MPU (microprocessor) 34 motor controller 43 sensor A (photo sensor) 44 sensor B (photo sensor)

Claims (3)

(57) [Claims] A mechanism (5A) and a mechanism controller (28A) for controlling the mechanism are provided. The mechanism (5A) is driven by a motor (M) at a predetermined interval. 2 with
A moving body (17A) that moves between two positions, and two sensors (sensors A and B) (43, 44) that detect the moving position of the moving body (17A) at two points; 28A) includes a processor (31) for performing various controls, and a motor control unit (34) for controlling the motor (M). In the moving body driving device, the mechanism unit controller (28A) includes two sensors ( A movement time measurement unit (A) that captures detection signals of the sensors A and B and measures a movement time (T _S ) when the moving body (17A) moves between two sensor positions (between the sensors A and B). 35A), wherein the processor (31) includes a moving time measuring unit (35A).
The motor (M) is always rotated at a constant target speed by instructing the motor control unit (34) to change the rotation speed based on the movement time (T _S ) measured in (1). Moving body driving device. 2. The motor (M) is driven to move the moving body (17A) between two sensor positions (between the sensors A and B).
Is moved, the moving time measuring unit (35A) measures the moving time (T _S ) of the moving body (17A), and based on the measured moving time (T _S ), the processor (3)
1) instructs the motor control unit (34) to change the rotation speed to change the rotation speed of the motor (M) at the next drive, so that the rotation speed of the motor (M) is always 2. The method according to claim 1, wherein the control is performed such that the target speed is constant. 3. When the moving body (17A) is moving, the processor (31) detects a position of the moving body (17A) from a detection signal of a sensor, and the moving body (17A) is kept constant. When the processor (31) detects that the moving body (17A) has arrived at the position (1), the moving body (17A) is always kept constant by instructing the motor control unit (34) to apply a brake to the motor (M). 2. The method according to claim 1, wherein the motor is stopped at a target position.