JP3823637B2 - Printing apparatus motor control method and apparatus, printing apparatus, and printing apparatus motor control program recorded thereon - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a printing apparatus motor control method and apparatus for suitably controlling a printing apparatus motor when a load acting on the printing apparatus motor changes, and a computer-readable recording medium recording the printing apparatus motor control program The present invention relates to a printing apparatus equipped with a printing apparatus motor control apparatus that controls the printing apparatus motor when a load acting on the printing apparatus motor changes.
[0002]
[Prior art]
In a printer as a printing apparatus connected to a personal computer, a carriage provided with a recording head scans in the main scanning direction (for example, the sheet width direction), and the sheet conveying apparatus scans the sheet in the sub-scanning direction (for example, the longitudinal direction of the sheet). Ink jet printers that print and record an image on a sheet by being conveyed in a direction) and ejecting ink particles from a large number of nozzles of the recording head onto the sheet are widely used.
[0003]
In such a printer carriage, the driving force from the carriage drive motor is transmitted through the timing belt wound around the drive pulley and the driven pulley, and is scanned as described above.
[0004]
A motor control device (usually a printer control device) that controls the carriage drive motor is used for a change in the mass of the carriage including the ink tank due to a decrease in ink in the ink tank mounted on the carriage, The maximum possible drive speed for the carriage drive motor to achieve the desired angular speed within the limit area (shaded area in FIG. 4) of the angular velocity-acceleration diagram in the single state of the carriage drive motor without considering the dynamic frictional force acting. The angular acceleration is determined and a command signal is output to the carriage drive motor.
[0005]
[Problems to be solved by the invention]
As described above, when the command signal is output to the carriage drive motor, the motor control device does not consider the change in the mass of the carriage or the change in the dynamic friction force acting on the carriage. It was not possible to generate the speed command that made the best use of it.
[0006]
SUMMARY OF THE INVENTION An object of the present invention has been made in consideration of the above-described circumstances, and a printing apparatus motor control method and apparatus capable of generating a speed command that makes the best use of the capability of a printing apparatus motor alone, printing An object of the present invention is to provide a computer-readable recording medium in which a motor control program for an apparatus and a printing apparatus is recorded.
[0007]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided a printing apparatus motor control method for controlling a motor by outputting a command signal to a printing apparatus motor on which a load is applied. A first calculation step of calculating the maximum acceleration of the printing apparatus motor alone that can be taken to achieve a desired speed, and the printing in the load acting state in consideration of the load on the maximum acceleration of the printing apparatus motor alone. A second calculation step for calculating the maximum acceleration of the apparatus motor; and a third calculation step for calculating and changing the maximum acceleration of the printing apparatus motor in the load acting state in response to the change in the load. The load is a carriage that is scanned in a predetermined direction by a printing apparatus motor, and the third calculation step takes into account the dynamic frictional force that acts on the carriage that changes according to the number of scans of the carriage. Change the maximum acceleration of the printer motor in the carriage drive state It is characterized by this.
[0008]
According to a second aspect of the present invention, there is provided a printing apparatus motor control apparatus for controlling a motor by outputting a command signal to a printing apparatus motor on which a load is applied. The first calculation means for calculating the maximum acceleration of the printing apparatus motor alone that can be taken to obtain the desired speed, and the load applied to the maximum acceleration of the printing apparatus motor calculated by the first calculation means. In consideration, the second calculation means for calculating the maximum acceleration of the printing apparatus motor in the load action state, and the maximum acceleration of the printing apparatus motor in the load action state calculated by the second calculation means, And a third calculation means for calculating and changing in response to changes in the load. The load is a carriage that is scanned in a predetermined direction by a motor for a printing apparatus, and the third calculation means takes into account the dynamic friction force acting on the carriage that changes according to the number of scans of the carriage, It was configured to change the maximum acceleration of the motor for the printing device in the carriage drive state It is characterized by this.
[0009]
The invention according to claim 3 is the invention according to claim 2, wherein the load is a carriage that is scanned in a predetermined direction by a motor for a printing apparatus, and the third calculation means is mounted on the carriage. The change in the mass of the carriage is calculated based on the reduced mass of the ink in the ink tank, and the maximum acceleration of the printing apparatus motor in the carriage driving state is changed.
[0010]
According to a fourth aspect of the present invention, in the third aspect of the present invention, the reduced mass of the ink takes into account the evaporated mass of the ink moisture, and the evaporated mass is predetermined based on the use environment. To do.
[0012]
Claim 5 The invention described in Claim 2 In the invention described in (1), the dynamic frictional force acting on the carriage is considered every time the carriage is scanned.
[0013]
Claim 6 The invention described in Claim 2 The dynamic friction force acting on the carriage is considered only when the carriage is scanned a number of times when the dynamic friction force changes abruptly.
[0014]
Claim 7 The invention described in (1) includes a carriage that is scanned in a predetermined direction with respect to a sheet by driving a carriage drive motor, a recording head that is installed on the carriage and records and records an image on the sheet, and the sheet that is driven by a driving roller. A printing apparatus having a sheet conveying apparatus that conveys the image in a direction perpendicular to the scanning direction of the carriage and a motor control apparatus that outputs a command signal to the carriage driving motor to control the carriage driving motor. The control device includes first calculation means for calculating a maximum acceleration of the carriage drive motor alone that can be taken to bring the carriage drive motor to a desired speed from the drive capability of the carriage drive motor alone, and the first calculation. The maximum of the above carriage drive motor calculated by the means In consideration of the load including the carriage in the speed, second calculation means for calculating the maximum acceleration of the carriage drive motor in the carriage drive state, and the carriage drive in the carriage drive state calculated by the second calculation means And third calculating means for calculating and changing the maximum acceleration of the motor in response to a change in load including the mass of the carriage. The third calculation means in the motor control device is configured to change the maximum acceleration of the carriage drive motor in the carriage drive state in consideration of the dynamic friction force acting on the carriage that changes according to the number of times the carriage is scanned. The It is characterized by this.
[0015]
Claim 8 The invention described in Claim 7 In the invention described in the above item, the third calculation means in the motor control device calculates a change in the mass of the carriage based on the reduced mass of the ink in the ink tank mounted on the carriage, and the carriage drive motor in the carriage drive state The maximum acceleration is changed.
[0016]
Claim 9 The invention described in Claim 8 In the invention described in (1), the reduced mass of the ink takes into account the evaporated mass of the ink moisture, and this evaporated mass is determined in advance based on the use environment.
[0018]
Claim 10 The invention described in 1 is a computer-readable recording medium that records a motor control program for a printing apparatus that outputs a command signal to a motor for a printing apparatus on which a load acts to control the motor. In consideration of the load on the first acceleration step for calculating the maximum acceleration of the printing apparatus motor alone that can be taken to bring the motor to a desired speed from the driving capability, and the maximum acceleration of the printing apparatus motor alone, A second calculating step for calculating the maximum acceleration of the printing apparatus motor in the load operating state; and a third calculating step for calculating and changing the maximum acceleration of the printing apparatus motor in the load operating state in accordance with the change in the load. With computation steps The load is a carriage that is scanned in a predetermined direction by a motor for a printing apparatus, and the third calculation means takes into account the dynamic frictional force that acts on the carriage that changes according to the number of scans of the carriage. Change the maximum acceleration of the motor for the printer in the driving state It is characterized by this.
[0019]
Claim 11 The invention described in Claim 10 The load is a carriage that is scanned in a predetermined direction by a printing apparatus motor, and the third calculation step is based on a reduced mass of ink in an ink tank mounted on the carriage. The maximum acceleration of the printing apparatus motor in the carriage driving state is changed by calculating a change in mass of the printer.
[0020]
Claim 12 The invention described in Claim 11 In the invention described in (1), the reduced mass of the ink takes into account the evaporated mass of the ink moisture, and this evaporated mass is determined in advance based on the use environment.
[0022]
Claim 13 The invention described in Claim 10 In the invention described in (1), the dynamic frictional force acting on the carriage is considered every time the carriage is scanned.
[0023]
Claim 14 The invention described in Claim 10 The dynamic friction force acting on the carriage is considered only when the carriage is scanned a number of times when the dynamic friction force changes abruptly.
[0024]
Claims 1, 10 to 14 The invention described in (1) has the following effects.
[0025]
The first and second calculation steps calculate the maximum acceleration that can be taken in order to operate the printing device motor on which the load is applied at a desired speed in consideration of the driving ability and load of the printing device motor alone; Since the calculation step calculates and changes the maximum acceleration of the printing device motor in response to a load change, it generates a speed command that maximizes the capabilities of the printing device motor alone. Can do.
[0026]
Claims 2 to 6 The invention described in (1) has the following effects.
[0027]
The first and second calculation means calculate the maximum acceleration that can be taken to operate the printing device motor on which the load is applied at a desired speed in consideration of the driving ability and load of the printing device motor alone; Since the calculation means calculates and changes the maximum acceleration of the printing device motor in response to a load change, it generates a speed command that maximizes the capabilities of the printing device motor alone. Can do.
[0028]
Claims 7 to 9 The invention described in (1) has the following effects.
[0029]
The first and second calculation means calculate the maximum acceleration that can be taken to operate the carriage drive motor that drives the carriage at a desired speed in consideration of the single drive capability of the carriage drive motor and the load including the carriage. Since the third calculation means calculates and changes the maximum acceleration of the carriage drive motor in accordance with the change in the mass of the carriage in the carriage drive state, the speed command that makes the best use of the capability of the carriage drive motor alone Can be generated.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0031]
FIG. 1 is a perspective view showing an inkjet printer, which is an embodiment of a printing apparatus according to the present invention, with a part thereof omitted. FIG. 2 is a side sectional view of the ink jet printer of FIG.
[0032]
A printer 10 as a printing apparatus shown in these drawings is an ink jet printer that performs printing by ejecting ink particles from a large number of nozzles (not shown) onto a sheet S, and includes a carriage 11, a recording head 12, a sheet supply device 13, and a sheet. The apparatus includes a conveyance device 14, a sheet discharge device 15, and a motor control device 16 (FIG. 3) as a motor control device for a printing apparatus. The motor control device 16 controls a carriage drive motor 37 as a printing device motor that drives the carriage 11 as described below. The printer 10 also includes a main frame 17, a first subframe 18, a second subframe 19, a pair of left side frames 20, and a right side frame (not shown) for mounting the above-described devices.
[0033]
Here, the sheet S is, for example, a single sheet such as plain paper, coated paper, OHP (overhead projector) sheet, glossy paper, glossy film, and the like.
[0034]
As shown in FIG. 2, the sheet supply device 13 presses the sheet S between the supply roller 21, a hopper 22 that biases the sheet S toward the supply roller 21, and the supply roller 21. And a separation pad 23 for separating S. A plurality of sheets S are set in the hopper 22, and when the sheets S are supplied, the sheets S are pressed by the hopper 22 toward the supply roller 21 that rotates once, and separated by the separation pad 23. Only one sheet S is supplied toward the sheet conveying device 14.
[0035]
The sheet S supplied from the sheet supply device 13 toward the sheet conveying device 14 is supplied to the sheet conveying device 14 by a lower guide 24 attached to the first subframe 18 and an upper guide 25 attached to the main frame 17. To be guided to.
[0036]
The sheet conveying device 14 can sandwich the sheet S by the driving roller 26 and the driven roller 27, and can convey the sheet S in the sub-scanning direction B (FIG. 1) by driving the driving roller 26. The sub-scanning direction B is a direction orthogonal to a main scanning direction A of the carriage 11 described later.
[0037]
As shown in FIG. 1, the driving roller 26 is spanned between the left side frame 20 and the right side frame, is rotatably supported, and is rotationally driven by a roller driving system 28.
[0038]
The roller drive system 28 includes a roller drive motor 31 attached to the left side frame 20, a motor pinion gear 32, an intermediate gear 33, and a drive roller gear 34. The motor pinion gear 32 is rotatably integrated with the motor shaft of the roller drive motor 31. Further, the driving roller gear 34 is attached to one end portion of the driving roller 26 (one end portion on the left side frame 20 side) so as to rotate integrally. The intermediate gear 33 is rotatably supported by the left side frame 20 and meshes with the motor pinion gear 32 and the drive roller gear 34. Accordingly, the driving roller 26 is driven to rotate through the motor pinion gear 32, the intermediate gear 33, and the driving roller gear 34 by the driving of the roller driving motor 31.
[0039]
In addition, as shown in FIG. 2, two driven rollers 27 are arranged in parallel on one upper guide 25, and a plurality of these upper guides 25 are provided in the axial direction of the drive roller 26. Accordingly, a plurality of driven rollers 27 are installed along the axial direction of the drive roller 26 with the shaft 27A coinciding with the axial direction of the drive roller 26. As shown in FIG. 2, each upper guide 25 is pivotally supported by the main frame 17 and is urged by a torsion spring 30 supported by the main frame 17. The driven roller 27 is driven by this urging force. The roller 26 is pressed. Thus, the driven roller 27 is configured to be driven to rotate with respect to the rotation of the driving roller 26. Accordingly, when the sheet S is supplied between the driving roller 26 and the driven roller 27, the sheet S is sandwiched between the driving roller 26 and the driven roller 27 and conveyed below the recording head 12.
[0040]
As shown in FIGS. 1 and 2, the carriage 11 is slidably inserted into the carriage guide shaft 36 and is slidably locked to the upper end portion 17 </ b> A of the main frame 17. The carriage guide shaft 36 is spanned between the left side frame 20 and the right side frame and fixedly supported, and is disposed in parallel to the drive roller 26. Accordingly, the carriage 11 is provided so as to be movable (scanning) in the main scanning direction A that coincides with the axial directions of the carriage guide shaft 36 and the drive roller 26 without rotating around the carriage guide shaft 36.
[0041]
The carriage 11 is scanned by a carriage drive system 29 including a carriage drive motor 37 and a timing belt 38. That is, the carriage drive motor 37 is fixedly attached to the right side frame side of the main frame 17, the drive pulley 39 is attached to the motor shaft of the carriage drive motor 37, and is further attached to the left side of the main frame 17. A driven pulley 40 is rotatably supported on the frame 20 side. The timing belt 38 is wound around the driving pulley 39 and the driven pulley 40, and the carriage 11 is coupled to the upper side or the lower side of the timing belt 38 in FIG. Accordingly, the carriage 11 is guided to the carriage guide shaft 36 and the upper end portion 17A of the main frame 17 through the timing belt 38 by the forward or reverse rotation of the carriage drive motor 37, and is directed rightward or leftward in FIG. Scanned.
[0042]
The carriage drive motor 37, the timing belt 38, the drive pulley 39, and the driven pulley 40 described above constitute the carriage drive system 29. Here, the carriage drive motor 37 is a DC motor.
[0043]
The recording head 12 is installed below the carriage 11 and includes a number of nozzles (not shown). The recording head 12 prints and records an image (including characters) on the sheet S by ejecting ink particles from these nozzles by the action of an actuator using, for example, a piezo element. Ink is supplied from the ink tank 41 mounted on the carriage 11 to the recording head 12.
[0044]
The recording operation by the recording head 12 is performed for one line by ejecting ink particles from the nozzles of the recording head 12 while the carriage 11 scans in the main scanning direction A, and this one line is printed. Each time the sheet conveying device 14 conveys the sheet S by a predetermined amount (for the normal line interval), these operations are repeated.
[0045]
A sheet guide member 42 is disposed below the recording head 12. The sheet guide member 42 is formed with a protrusion 43 that protrudes toward the recording head 12 at an appropriate position along the axial direction of the carriage guide shaft 36, and the protrusion 43 supports the lower surface of the sheet S for recording. The distance between the head 12 and the sheet S is defined. Even if ink adheres to the upper surface of the sheet S and the undulation phenomenon occurs in the sheet S, the undulated sheet is provided between the protrusion 43 and the upper surface of the sheet guide member 42 so that the sheet S can be suitably conveyed. S is stored.
[0046]
The sheet discharge device 15 includes a discharge drive roller 44 and a driven star wheel 45, and the discharge drive roller 44 is positioned below the second subframe 19. The driven star wheel 45 is rotatably supported by the second subframe 19 and a plurality of driven star wheels 45 are installed along the axial direction of the discharge drive roller 44. The discharge driving roller 44 and the driven star wheel 45 discharge the sheet S to the outside of the printer 10 when the printed sheet S is carried between them.
[0047]
Incidentally, for the carriage drive motor 37 that drives the carriage 11, the carriage 11, the timing belt 38, the drive pulley 39, and the driven pulley 40 become loads. The motor control device 16 shown in FIG. 3 controls the carriage drive motor 37 by outputting a command signal Z to the carriage drive motor 37 on which the load is applied, that is, driving the carriage 11.
[0048]
The motor control device 16 is actually a partial function of a printer control device (not shown) that controls all operations of the printer 10, and a CPU (central processing unit), a recording device, and the like constituting the printer control device are included in the motor control device 16. The function of the motor control device 16 is executed.
[0049]
The motor control device 16 executes the first calculation circuit 51 as the first calculation means for executing the first calculation step (step S1 in FIG. 5) and the second calculation step (step S2 in FIG. 5). A second arithmetic circuit 52 as second arithmetic means and a third arithmetic circuit 53 as third arithmetic means for executing a third arithmetic step (steps S3 and S4 in FIG. 5) are configured.
[0050]
In the first calculation step, no load is applied to the carriage drive motor 37, that is, the angular velocity ω in the same state of the motor 37 indicating the drive capability of the carriage drive motor 37 in a single state. ₀ -Angular acceleration α ₀ From the diagram (FIG. 4), the maximum angular acceleration α in a single state of the carriage drive motor 37 that can be taken to set the carriage drive motor 37 to which the load is applied to a desired angular velocity. _0max Is calculated. In the diagram shown in FIG. 4, the horizontal axis and the vertical axis indicate the angular velocity ω when the carriage drive motor 37 is in a single state. ₀ , Angular acceleration α ₀ And the desired angular velocity ω on the straight line L ₀ Maximum angular acceleration α to obtain _0max Is plotted.
[0051]
Therefore, in this first calculation step, the desired angular velocity ω of the carriage drive motor 37 to which the load is applied is changed to the angular velocity ω of the carriage drive motor 37 to which the load is not applied. ₀ As this angular velocity ω ₀ Maximum angular acceleration α to obtain _0max Is obtained from the straight line L.
[0052]
In the second calculation step, the maximum angular acceleration α in the single state of the carriage drive motor 37 calculated by the first calculation circuit 51 is obtained. _0max From the load component of the load acting on the carriage drive motor 37, the maximum angular acceleration α of the carriage drive motor 37 in the load acting state (that is, the carriage 11 driving state) is subtracted from _max Is calculated.
[0053]
In the load component, J is an equivalent inertia of the load, D is a torque (function of the mass of the carriage 11) obtained by converting the dynamic friction force acting on the carriage 11 in the rotational direction, and τ is a torque generated in the load. 38, the transmission efficiency of the driving force from the carriage driving motor 37 by the driving pulley 39 and the driven pulley 40 to the carriage 11 is η.
(D + τ / η) / J
It becomes. Therefore, the maximum angular acceleration α of the carriage drive motor 37 in the load acting state (carriage 11 drive state) that can be taken to set the above-described carriage drive motor 37 to the desired angular velocity ω. _max Is
α _max = Α _0max -(D + τ / η) / J (1)
It becomes.
[0054]
Here, the torque τ is a torque required to move the carriage 11 by the timing belt 38 and is a function of the mass of the carriage 11. Further, the equivalent inertia J of the load is defined as follows. In FIG. 3, when the radius of the driving pulley 39 and the driven pulley 40 is r, the mass of the carriage 11 including the ink tank 41 and the like is M, and the mass of the timing belt 38 is m, the timing belt 38 that is driving the carriage 11 is illustrated. The speed v of
v = rω (2)
Determined by Therefore, the kinetic energy Mv of the carriage 11 ² / 2, kinetic energy mv of timing belt 38 ² / 2 is respectively
Mv ² / 2 = M (rω) ² / 2 = Mr ² ω ² / 2 ... (3)
mv ² / 2 = m (rω) ² / 2 = mr ² ω ² / 2 ... (4)
It is. Furthermore, when the inertia of the drive pulley 39 and the driven pulley 40 is I, the kinetic energy of the drive pulley 39 and the driven pulley 40 is
Iω ² / 2 (5)
It becomes. From these equations (3), (4) and (5), the equivalent inertia J of the load (carriage 11, timing belt 38, drive pulley 39, driven pulley 40) in the carriage drive motor 37 is
J = {I + (M + m) r ² } (6)
It becomes.
[0055]
In the third calculation step, first, a decrease mass Y of ink in the ink tank 41 mounted on the carriage 11 is calculated, and a change in the mass M of the carriage 11 including the ink tank 41 and the like is calculated (FIG. 5). Next, in step S3), the maximum angular acceleration of the carriage drive motor 37 in the load applied state calculated by the second arithmetic circuit 52 according to the equation (1) in response to the change in the mass M of the carriage 11. α _max Is changed (step S4 in FIG. 5).
[0056]
The ink reduction mass Y is the initial ink mass when the ink tank 41 is almost full. ₀ And X is the number of times ink is ejected from the nozzles of the recording head 12, and a is the mass of ink per ejection from the nozzles.
Y = Y ₀ -AX (7)
It becomes. The ink mass per discharge is a constant or a variable determined by print data or the like. This reduced mass Y of ink is the initial mass Y of ink ₀ Further, since the ink mass a per discharge is a known value, it is determined by the number of discharges X. At this time, when cleaning for sucking ink from the nozzle is appropriately performed on the nozzle, the ink consumption (ink sucking amount) per cleaning is also converted and considered as the number of ink discharges.
[0057]
The ink decrease mass Y takes into account the evaporation of moisture in the ink, where T is the mounting time from when the ink tank 41 is mounted on the carriage 11, and b is the evaporation mass of ink moisture per unit time. The
Y = Y ₀ -AX-bT (8)
May be calculated as This evaporative moisture changes depending on the use environment, for example, the region where the printer 10 is used (Japan, Russia, Kenya, Brazil, etc.) and the working environment where the printer 10 is used (with or without cooling operation). In consideration of the environment, it is set in advance before using the printer 10.
[0058]
As described above, the change in the mass M of the carriage 11 including the ink tank 41 and the like is calculated from the reduced mass Y of ink calculated by the equation (7) or (8). In the equation (1), the equivalent inertia J of the load, the torque τ generated in the load, and the torque conversion value D of the dynamic friction force acting on the carriage 11 are functions of the mass M of the carriage 11 including the ink tank 41. Corresponding to the change in the mass M of the carriage 11, from the equation (1), the carriage drive motor 37 in the load acting state (carriage 11 drive state) that can be taken to set the carriage drive motor 37 to the desired angular velocity ω. Maximum angular acceleration α _max To change.
[0059]
Maximum angular acceleration α of the carriage drive motor 37 _max The third calculation step is to change the number of times from when the ink tank 41 in the ink full state is mounted on the carriage 11 until it becomes empty (for example, every predetermined number of times X of ejection of ink from the recording head 12). 2 to 3 times, or several times every predetermined time). Maximum angular acceleration α of the carriage drive motor 37 _max The reason why the number of times is changed as appropriate is to reduce the load on the CPU in the printer control device that performs the function of the motor control device 16.
[0060]
The motor control program that executes the algorithm of the first, second, and third calculation steps described above may be stored in a storage device (for example, ROM) of a printer control device that performs the function of the motor control device 16, or 10 or a recording medium that can be loaded into a personal computer connected to the printer 10.
[0061]
The first calculation circuit 51 of the motor control device 16 executes the first calculation step, the second calculation circuit 52 executes the second calculation step, and outputs the command signal Z to the carriage drive motor 37. When the three arithmetic circuit 53 executes the third arithmetic step and outputs a command signal Z to the carriage drive motor 37, the motor control device 16 causes the carriage including the ink tank 41 and the like to be a load of the carriage drive motor 37. 11, the maximum angular acceleration α of the carriage drive motor 37 that can be taken to set the carriage drive motor 37 to the desired angular velocity ω. _max And the carriage drive motor 37 is controlled.
[0062]
Therefore, according to the said embodiment, there exists the following effect.
[0063]
The first calculation step executed by the first calculation circuit 51 and the second calculation step executed by the second calculation circuit 52 are the maximum angular acceleration α for operating the carriage drive motor 37 for driving the carriage 11 at a desired angular velocity. _max Is the angular velocity ω of the carriage drive motor 37 in a single state. ₀ -Angular acceleration α ₀ The third calculation step executed by the third calculation circuit 53 in consideration of the diagram and the load component (D + τ / η) / J including the carriage 11 is a carriage drive motor in the drive state of the carriage 11. 37 maximum angular acceleration α _max Is calculated and changed in response to a change in the mass M of the carriage 11 including the ink tank 41 and the like, so that the single angular velocity ω of the carriage drive motor 37 is calculated. ₀ -Angular acceleration α ₀ Based on the diagram (FIG. 4), it is possible to generate a speed command that maximizes the capability of the carriage drive motor 37 alone. For example, since the acceleration / deceleration of the carriage drive motor 37 can be increased when the ink weight in the ink tank 41 decreases, the ability of the carriage drive motor 37 can be utilized to the maximum. In addition, since the carriage drive motor 37 can be quickly operated when the ink weight is reduced in this way, there is an effect of increasing the throughput.
[0064]
As mentioned above, although this invention was demonstrated based on the said embodiment, this invention is not limited to this.
[0065]
For example, the CPU that executes the third calculation step or the first, second, and third calculation steps may be separately installed in addition to the CPU in the control device of the printer 10. When the carriage drive system 29 that drives the carriage 11 scans the carriage 11 using a ball screw or the like connected to the carriage drive motor 37, or when the carriage drive motor 37 directly scans the carriage 11 with a linear motor. Also, the present invention may be applied.
[0066]
Further, the dynamic friction force acting on the carriage 11 with respect to the carriage guide shaft 36 decreases as the number of main scans of the carriage 11 increases. Therefore, in the third calculation step executed by the third calculation circuit 53 in the motor control device 16, the carriage is based on a table representing the relationship between the dynamic friction force stored in advance in the recording apparatus and the number of main scans of the carriage 11. It is also possible to read the dynamic friction force at every 11 main scanning times and change the maximum acceleration of the carriage drive motor in the carriage drive state according to the change of the dynamic friction force.
[0067]
Further, when the dynamic friction force acting on the carriage 11 changes abruptly depending on a certain number of main scans of the carriage 11, the dynamic friction force is calculated for each main scan of the carriage 11 in the third calculation step. The dynamic friction force is read from the table only at the number of times of main scanning of the carriage where the dynamic friction force changes rapidly, and the maximum acceleration of the carriage drive motor in the carriage driving state is changed according to the change of the dynamic friction force. It may be.
[0068]
【The invention's effect】
As described above, according to the first aspect of the present invention, in the printing apparatus motor control method for controlling the motor by outputting a command signal to the printing apparatus motor on which a load acts, the printing apparatus motor alone A first calculation step for calculating the maximum acceleration of the printing apparatus motor alone that can be taken to bring the motor to a desired speed from the driving capability of the printing apparatus, and taking the load into consideration for the maximum acceleration of the printing apparatus motor alone A second calculation step of calculating the maximum acceleration of the printing apparatus motor in the load acting state; and calculating and changing the maximum acceleration of the printing apparatus motor in the load acting state in accordance with the change in the load. Since it has three calculation steps, it is possible to generate a speed command that makes the best use of the capability of the printing apparatus motor alone.
[0069]
According to the second aspect of the present invention, in the printing apparatus motor control device that controls the motor by outputting a command signal to the printing apparatus motor on which a load acts, from the driving capability of the printing apparatus motor alone, First calculating means for calculating the maximum acceleration of the printing apparatus motor that can be taken to set the motor to a desired speed, and the maximum acceleration of the printing apparatus motor calculated by the first calculating means In consideration of the load, the second computing means for computing the maximum acceleration of the printing apparatus motor in the load acting state, and the maximum acceleration of the printing apparatus motor in the load acting state calculated by the second computing means And a third calculation means for calculating and changing in response to the change in the load, and generates a speed command that makes the best use of the capability of the printing apparatus motor alone. It is possible.
[0070]
According to the eighth aspect of the present invention, a carriage that is scanned in a predetermined direction with respect to a sheet by driving a carriage drive motor, a recording head that is installed on the carriage and prints and records an image on the sheet, and a driving roller Printing having a sheet conveying device that conveys the sheet in a direction orthogonal to the scanning direction of the carriage by driving and a motor control device that outputs a command signal to the carriage driving motor to control the carriage driving motor. In the apparatus, the motor control device includes first calculation means for calculating a maximum acceleration of the carriage drive motor alone that can be taken to obtain the desired speed from the drive capability of the carriage drive motor alone. The carriage drive motor simply calculated by the first calculation means In consideration of the load including the carriage in the maximum acceleration in the second, the second calculation means for calculating the maximum acceleration of the carriage drive motor in the carriage drive state, and the carriage drive state calculated in the second calculation means Since there is a third calculation means for calculating and changing the maximum acceleration of the carriage drive motor in accordance with the load change including the mass of the carriage, a speed command that makes the best use of the capability of the carriage drive motor alone is provided. Can be generated.
[0071]
According to a twelfth aspect of the present invention, in the computer-readable recording medium on which a printing apparatus motor control program for controlling the motor by outputting a command signal to a printing apparatus motor on which a load acts is recorded, the printing is performed. A first calculation step for calculating the maximum acceleration of the printing apparatus motor alone that can be taken to bring the motor to a desired speed from the drive capability of the apparatus motor alone; and the load on the maximum acceleration of the printing apparatus motor alone In consideration of the above, a second calculation step for calculating the maximum acceleration of the printing apparatus motor in the load application state, and calculating the maximum acceleration of the printing apparatus motor in the load application state corresponding to the change in the load And a third calculation step to change, so that the speed that makes the best use of the capabilities of a single motor for a printing device It is possible to generate a decree.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an ink jet printer that is an embodiment of a printing apparatus according to the present invention with a part thereof omitted.
FIG. 2 is a side sectional view showing the ink jet printer of FIG. 1;
FIG. 3 is a conceptual diagram showing in principle the carriage drive system of FIG. 1;
FIG. 4 is a graph showing an angular velocity-angular acceleration diagram in a single state of a carriage drive motor.
FIG. 5 is a flowchart showing a control algorithm executed by the motor control device of FIG. 3;
[Explanation of symbols]
10 Printer
11 Carriage
12 Recording head
14 Sheet conveying device
16 Motor control device (motor control device for printing device)
26 Drive roller
29 Carriage drive system
37 Carriage drive motor (motor for printing device)
38 Timing belt
39 Drive pulley
51 First arithmetic circuit (first arithmetic means)
52 Second arithmetic circuit (second arithmetic means)
53 Third arithmetic circuit (third arithmetic means)
ω ₀ Angular speed of carriage drive motor alone
α ₀ Angular acceleration of carriage drive motor alone
α _0max Maximum angular acceleration of carriage drive motor alone
α _max Maximum angular acceleration of carriage drive motor in carriage drive state
D Torque conversion value of dynamic friction force
J Load equivalent inertia
τ Torque generated in the load
η Transmission efficiency
S sheet
Z command signal

Claims (14)

In a printing apparatus motor control method for outputting a command signal to a printing apparatus motor on which a load acts and controlling the motor,
A first calculation step of calculating a maximum acceleration in the printing apparatus motor alone that can be taken to bring the motor to a desired speed from the driving capability of the printing apparatus motor alone;
A second calculation step of calculating the maximum acceleration of the printing apparatus motor in a load operation state in consideration of the load on the maximum acceleration of the printing apparatus motor alone;
The maximum acceleration of the motor the printing apparatus in the load introduction state, possess a third calculation step of changing is calculated in response to changes in the load,
The load is a carriage that is scanned in a predetermined direction by a motor for a printing apparatus. A printing apparatus motor control method, comprising: changing a maximum acceleration of the printing apparatus motor in a state . In a printing apparatus motor control apparatus that outputs a command signal to a printing apparatus motor on which a load acts and controls the motor,
A first calculating means for calculating a maximum acceleration in the printing apparatus motor alone, which can be taken from the driving ability of the printing apparatus motor alone to make the motor a desired speed;
Second calculation means for calculating the maximum acceleration of the printing apparatus motor in a load acting state in consideration of the load on the maximum acceleration of the printing apparatus motor alone calculated by the first calculation means;
The maximum acceleration of the printing apparatus for the motor in the load acting state, which is calculated by the second arithmetic means, possess a third arithmetic means for changing is calculated in response to changes in the load,
The load is a carriage that is scanned in a predetermined direction by a motor for a printing apparatus, and the third computing means drives the carriage in consideration of a dynamic frictional force that acts on the carriage that changes according to the number of scans of the carriage A printing apparatus motor control device configured to change a maximum acceleration of the printing apparatus motor in a state . The load is a carriage scanned in a predetermined direction by a motor for a printing apparatus, and the third calculation means calculates a change in the mass of the carriage based on a reduced mass of ink in an ink tank mounted on the carriage. The printing apparatus motor control apparatus according to claim 2, wherein the maximum acceleration of the printing apparatus motor in the carriage driving state is changed. 4. The motor control device for a printing apparatus according to claim 3, wherein an evaporation mass of ink moisture is taken into account for the decrease mass of the ink, and the evaporation mass is determined in advance based on a use environment. The motor control apparatus for a printing apparatus according to claim 2 , wherein the dynamic friction force acting on the carriage is taken into account every number of scans of the carriage. 3. The motor control device for a printing apparatus according to claim 2, wherein the dynamic friction force acting on the carriage is considered only when the carriage is scanned a number of times when the dynamic friction force changes abruptly. A carriage that is scanned in a predetermined direction with respect to the sheet by driving a carriage drive motor;
A recording head installed on the carriage for printing and recording an image on the sheet;
A sheet conveying device that conveys the sheet in a direction orthogonal to the scanning direction of the carriage by driving a driving roller;
In a printing apparatus having a motor control device that outputs a command signal to the carriage drive motor and controls the carriage drive motor,
The motor control device includes first calculation means for calculating a maximum acceleration of the carriage drive motor alone that can be taken to set the carriage drive motor to a desired speed from the drive capability of the carriage drive motor alone;
Second calculation means for calculating the maximum acceleration of the carriage drive motor in the carriage drive state in consideration of a load including the carriage in the maximum acceleration of the carriage drive motor alone calculated by the first calculation means; ,
The maximum acceleration of the carriage drive motor in the carriage driving state, which is calculated by the second arithmetic means, possess a third arithmetic means for changing is calculated in response to changes in load, including the weight of the carriage,
The third calculation means in the motor control device is configured to change the maximum acceleration of the carriage drive motor in the carriage drive state in consideration of the dynamic friction force acting on the carriage that changes according to the number of times the carriage is scanned. A printing apparatus characterized by the above. The third calculation means in the motor control device calculates a change in the mass of the carriage based on the reduced mass of the ink in the ink tank mounted on the carriage, and changes the maximum acceleration of the carriage drive motor in the carriage drive state. The printing apparatus according to claim 7 , wherein the printing apparatus is configured as described above. The printing apparatus according to claim 8 , wherein an evaporation mass of ink moisture is taken into account for the decrease mass of the ink, and the evaporation mass is determined in advance based on a use environment. In a computer-readable recording medium recording a motor control program for a printing apparatus that outputs a command signal to a motor for a printing apparatus on which a load acts and controls the motor,
A first calculation step of calculating a maximum acceleration in the printing apparatus motor alone that can be taken to bring the motor to a desired speed from the driving capability of the printing apparatus motor alone;
A second calculation step of calculating the maximum acceleration of the printing apparatus motor in a load operation state in consideration of the load on the maximum acceleration of the printing apparatus motor alone;
The maximum acceleration of the motor the printing apparatus in the load introduction state, possess a third calculation step of changing is calculated in response to changes in the load,
The load is a carriage that is scanned in a predetermined direction by a motor for a printing apparatus, and the third calculation means takes into account a dynamic frictional force that acts on the carriage that changes according to the number of scans of the carriage. A computer-readable recording medium recording a printing apparatus motor control program, wherein the maximum acceleration of the printing apparatus motor is changed . The load is a carriage that is scanned in a predetermined direction by a printing apparatus motor, and the third calculation step calculates a change in the mass of the carriage based on a reduced mass of ink in an ink tank mounted on the carriage. The computer-readable recording medium recording the printing apparatus motor control program according to claim 10 , wherein the maximum acceleration of the printing apparatus motor in the carriage driving state is changed. 12. The computer-readable recording of a motor control program for a printing apparatus according to claim 11 , wherein the reduced mass of ink takes into account the evaporated mass of ink moisture, and the evaporated mass is determined in advance based on the use environment. Possible recording media. The computer-readable recording medium recording the motor control program for a printing apparatus according to claim 10 , wherein the dynamic frictional force acting on the carriage is taken into account every number of scans of the carriage. 11. The computer-readable computer readable recording motor control program for a printing apparatus according to claim 10 , wherein the kinetic friction force acting on the carriage is considered only when the carriage is scanned a number of times when the kinetic friction force changes abruptly. Recording medium.

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