JP4867020B2 - Method and program for controlling peripheral devices - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique for controlling peripheral devices used by being connected to a host.
[0002]
[Prior art]
2. Description of the Related Art Peripheral devices such as printers and scanners that are used by being connected to a host are equipped with various actuators such as a pulse motor that operates by drive pulses and a drive circuit that generates drive pulses. The printer interprets a command transmitted from the host at the time of printing, and generates a driving pulse by a driving circuit based on the result.
[0003]
[Problems to be solved by the invention]
In order to perform data processing in the host computer, various peripheral devices are connected to the host computer and operate under the control of the host computer in order to input data or output data processed data. Peripheral devices, particularly peripheral devices with mechanical movement, include an actuator that realizes the mechanical movement, and generate a pulse signal to drive the actuator. For example, a printer that outputs data to printing paper includes actuators such as a pulse motor (stepping motor) for feeding paper and a pulse motor that moves the print head in the scanning direction. A thermal type or piezo type actuator for ejecting ink droplets is provided.
[0004]
For this reason, the command transmitted from the driver program installed in the host computer is interpreted by the CPU mounted on the control board of the peripheral device, and the pulse signal for realizing the operation instructed by the command is generated. By controlling the drive circuit of each actuator, a drive pulse for driving the actuator is generated.
[0005]
As an image output from a printer becomes multi-colored and has a higher resolution, it is required to operate a motor and an actuator for inkjet with higher speed and higher accuracy. In addition, in order to print one page at a high speed, complicated control such as not moving the print head is required where printing is unnecessary, and commands for controlling the actuator are also complicated. . In addition, peripherals that perform versatile and complex operations, such as POS printers that process single-cut sheets and continuous sheets at the same time, and also have a check reading function, and scanner printers that have printer and scanner functions. In equipment, there are many actuators, and the control becomes more complicated. In addition, the functions of a personal computer, which is a host computer, are improving day by day, application programs that run on the host computer have become highly functional, and demands for specifications of peripheral devices are increasing. Therefore, it is necessary to improve the capability and function of the peripheral device, and it is required to mount a CPU with high processing capability.
[0006]
However, developing a high-performance processor for a peripheral device requires development time and cost, and further, it takes time and cost to develop firmware suitable for the processor. Compared with general-purpose devices such as personal computers, peripheral devices are specialized devices for printing and other specific purposes, and the number of units sold is not so large, and a control system suitable for these devices has been developed. There is also a condition that there is a need to do.
[0007]
Therefore, if a peripheral device suitable for the required specifications is to be developed in a short period of time, enormous labor and cost are required, and the manufacturing cost of the peripheral device becomes very high. For this reason, the progress or development speed of the function of the peripheral device cannot catch up with the development speed of the application program, and even if a high-performance peripheral device is sold, it is difficult for the user to easily replace it. Therefore, there is a possibility that the function of an application running on a personal computer or the like is limited to peripheral devices connected with the personal computer as a host machine.
[0008]
Therefore, an object of the present invention is to provide a peripheral device and a control method therefor that can follow the progress of a host computer or an application program and can improve the function at low cost. Another object of the present invention is to provide a peripheral device that can flexibly cope with various specifications required by an application program and a control method therefor.
[0009]
[Means for Solving the Problems]
  One embodiment of the present invention is a program for controlling a peripheral device having an actuator operated by a drive pulse from the host computer side. The peripheral device has a plurality of actuators, and each actuator of the plurality of actuators has a unique address. Further, the program has a command for executing a process of generating drive data corresponding to the drive pulse and a process of transmitting the drive data to the peripheral device. The process of generating includes generating drive data for each actuator and generating timing data indicating timing for executing the drive data of each actuator in each actuator together with the drive data. It includes bit data that corresponds one-to-one with the pulse and is immediately converted into a drive pulse based on the timing data. The process of transmitting includes transmitting the combination of the drive data and the timing data to the address of each actuator without waiting for the information on which the previous process has been executed. Another aspect of the present invention is an information processing method including means for generating drive data corresponding to a drive pulse for driving an actuator mounted on a peripheral device, and means for transmitting the drive data to the peripheral device. It is a terminal. The generating means generates drive data for each actuator and timing data indicating the timing for executing the drive data of each actuator by each actuator together with the drive data, and the drive data corresponds to the drive pulse on a one-to-one basis. And bit data that is immediately converted into drive pulses based on the timing data. The means for transmitting includes transmitting the combination of the drive data and the timing data to the address of each actuator without waiting for the information on which the previous processing has been executed. According to another aspect of the present invention, there is provided a peripheral device including a step of generating drive data corresponding to a drive pulse for driving an actuator mounted on the peripheral device, and a step of transmitting the drive data to the peripheral device. It is a method to control. The step of generating includes generating drive data for each actuator, and generating timing data indicating timing for executing the drive data of each actuator in each actuator together with the drive data, wherein the drive data is drive The step of transmitting and including bit data that corresponds to the pulse in a one-to-one manner and is immediately converted into a drive pulse based on the timing data includes a combination of the drive data and the timing data, and information on the previous processing performed. This includes sending to the address of each actuator without waiting.
[0010]
  Drive data generated by the program of the present inventionIsIt is bit data corresponding to the drive pulse on a one-to-one basis. In the method for controlling a peripheral device according to the present invention, all processing up to generation of a drive pulse is performed on the host side, and the peripheral device is driven by a drive pulse supplied from the host side or drive data corresponding thereto. . Therefore, data that can be supplied to the actuator as it is is supplied to the peripheral device, not data that requires interpretation on the peripheral device side such as a command. For this reason, on the side of the peripheral device, it is possible to move these actuators according to instructions from an application program running on the host side simply by converting drive data into drive pulses by the actuator drive circuit and supplying them to the actuators. .
[0011]
Therefore, by adopting the program of the present invention or the method for controlling peripheral devices, the peripheral device does not require a CPU or firmware for interpreting commands, and it can operate in any manner with a very simple configuration. Even if it exists, the actuator can be controlled in accordance with instructions from the host. In other words, a high-speed and high-performance CPU is used to make the actuator perform complex operations, and instead of increasing the number of commands or expanding the system, it receives drive data corresponding to the actuator drive pulse. Thus, the interface with the host side is simplified, and functions of the peripheral device are prevented from being limited to a command system and a processor such as a CPU mounted on the peripheral device. Therefore, according to the method for controlling a peripheral device of the present invention, any movement within the range in which the actuator of the peripheral device can be operated or followed can be realized by an instruction from the host side. For this reason, even if the hardware and control system of the peripheral device are not changed, if the specification of the application program is reflected in the drive data supplied from the host side, the peripheral device is controlled as intended by the application program. be able to.
[0012]
Further, in the program of the present invention or the method for controlling a peripheral device, processing for generating a pulse signal for each actuator by interpreting a command conventionally performed by a CPU or ASIC for controlling the peripheral device is performed. And executed by an information processing terminal such as a personal computer as a host. Therefore, the processing performed by the CPU for controlling peripheral devices or the processor such as ASIC can be executed by the CPU of the personal computer. In recent years, CPUs employed in personal computers have dramatically increased in performance and have a processing speed of several hundred MHz or higher. And the performance is improving further. For this reason, in the case of the program of the present invention or a peripheral device, processing for interpreting the command to control the actuator of the peripheral device is performed using the capability of the CPU on the host side whose performance has been dramatically improved. It becomes possible. Therefore, it is not necessary to develop an expensive processor or firmware for the peripheral device in order to execute complicated and high-speed processing by the peripheral device. For this reason, a peripheral device having a performance that satisfies the specifications of the application program can be realized in a short time and at a low cost by changing the program operating on the host side if necessary without changing the hardware.
[0013]
In addition, instead of transmitting a command to the peripheral device, the amount of communication between the host and the peripheral device may increase by transmitting drive data that can drive the actuator substantially directly. However, low-cost devices that can transmit a large amount of data such as USB or IEEE 1394 at high speed are widespread, and the drive data transmission speed is not significantly lower than the operation speed of the actuator, and the drive data is transmitted. As a result, the processing speed of the peripheral device is hardly reduced. Conversely, since it is not necessary to interpret the command on the peripheral device side, the processing speed can be improved by reducing the processing time.
[0014]
In addition, a command system according to a predetermined format has been developed for sending control data from the driver software installed on the host side to the peripheral device. However, if the program of the present invention or the method for controlling the peripheral device is used, There is no need to convert it into a command, and an instruction from the application may be finally output in the data format of the drive pulse. Therefore, it is possible to eliminate the double effort of converting the command from the application into a command and converting the command into a drive signal, and provide peripheral devices that can perform high-speed processing including processing on the host side. it can.
[0015]
Many peripheral devices such as a printing apparatus having a unit for printing on a sheet include a plurality of actuators such as a pulse motor for a unit for printing and a unit for forming dots on the sheet. Even for such peripheral devices, it is possible to control each actuator individually from the information processing terminal on the host side by transmitting drive data to each actuator. It can be operated.
[0016]
  A transmission path connecting these multiple actuators to an information processing terminal, for example, when the transmission speed of USB or the like becomes a bottleneck with respect to the timing when the actuators are controlled cooperativelyEvenIn addition, by transmitting timing data indicating the timing for executing the drive data in each actuator in combination with the drive data, it is possible to move a plurality of actuators at high speed without depending on the speed of the transmission path. it can.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in more detail with reference to the drawings. FIG. 1 shows an example of a system for realizing a method for controlling peripheral devices according to the present invention. The system 1 of this example operates as a personal computer (hereinafter referred to as a host or host computer) 2 as an information processing terminal in which an application 11 for processing image data and text data is installed, and peripheral devices of the host 2. And a printer 3 that prints images and texts on the printing paper 4. The host 2 and the printer 3 include appropriate interfaces 13 and 21 such as a USB cable, a SCSI cable, and an IEEE 1394 cable, and are connected by a cable 5 that matches the standards of these interfaces 13 and 21.
[0018]
The host 2 to the printer 3 includes header information H including a transmission destination address, data AD for moving a motor and a head that are actuators of the printer 3, and data TD indicating timing at which the data AD is used. A data packet 59 is transmitted.
[0019]
The printer 3 of this example is an ink jet printer that forms dots by ejecting ink droplets onto the printing paper 4. The print head 22 includes a plurality of nozzles 29 that eject ink droplets as an actuator, and the print head 22. Has a pulse motor 23 that reciprocates along the shaft 27 in the paper width direction (scanning direction), and a pulse motor 24 that drives the roller 28 to feed the printing paper 4 in the paper feed direction perpendicular to the scanning direction. is doing. Furthermore, the printer 3 has drive circuits 25 and 26 that output drive pulses P1 to P4 for operating the pulse motors 23 and 24. In this example, 4-pole stepping motors are employed as the pulse motors 23 and 24.
[0020]
The drive circuits 25 and 26 are assigned different addresses. In this example, the drive circuit 25 is assigned an address “Acr”, and the drive circuit 26 is assigned an address “Apf”. To do. The relay unit 32 distributes the data received by the interface 21 by the address of the transmission destination, and the data transmitted with the address from the host 2 is distributed to the drive circuit 25 and the drive circuit 26 inside the printer 3. Is done.
[0021]
The printer 3 of this example further includes an ink ejection circuit 31 that performs control to eject ink droplets from the nozzles 29 of the print head 22, and this circuit 31 is also assigned a different address “Actl”. .
[0022]
FIG. 2 shows a schematic configuration of each drive circuit 25 and 26. Each of the drive circuits 25 and 26 has the same configuration, and registers 25a and 26a for holding data AD for driving the actuator sent from the host 2 to the addresses of the drive circuits 25 and 26 in units of 4 bits. Motor drivers 25b and 26b having a function of converting the 4-bit data in the registers 25a and 26a into four drive pulses P1 to P4 and supplying them to the pulse motors 23 and 24 are provided. Therefore, the drive circuits 25 and 26 output drive pulses P1 to P4 corresponding to the number of poles of the pulse motors 23 and 24 corresponding to the 4-bit data AD set in the registers 25a and 26a. That is, each bit data 55 included in the data AD for driving the actuator of this example corresponds to the drive pulse on a one-to-one basis. As a result, drive pulses P1 to P4 are output from the motor drivers 25b and 26b to the pulse motors 23 and 24, respectively. For example, when serial data AD “0010” is sent from the host 2 to the register 25a of the drive circuit 25, “0010” is parallel-converted and set in the register 25a, the low level drive pulse P1, the low level Drive pulse P2, high-level drive pulse P3, and low-level drive pulse P4 are output from the motor driver 25b to the motor 23.
[0023]
Therefore, as shown in FIGS. 3A and 3B, when the data AD1 to AD6 for driving the actuator are sequentially sent from the host 2, the drive pulse is generated at time t1 corresponding to each data AD1 to AD6. P1 is high level, drive pulse P2 is high level at time t2, drive pulse P3 is high level at time t3, drive pulse P4 is high at time t4, drive pulse P1 is high level at time t5, and drive pulse P2 is high at time t6 Become a level. For this reason, the motor 23 supplied with these drive pulses P1 to P4 rotates in the one-phase excitation mode. As a result, a desired image can be output by feeding a head or printing paper by a desired amount at a desired timing and outputting ink droplets from the head at that position.
[0024]
As shown in FIG. 1, the host 2 that transmits such data AD to the printer 3 includes an operating system (OS) 12, an application 11 that processes image data 14 and text data, and the application 11. It has a printer driver 35 that prints designated images and characters. The printer driver 35 receives data AD including bit data (drive data) 55 corresponding to the drive pulses P1 to P4 of the pulse motors 23 and 24 and data (timing data) TD indicating the timing of outputting the drive pulses P1 to P4. Further, the head output data φ1 corresponding to the bitmap to be generated and printed by the print head 22 is generated. The data generated by the printer driver 35 is output from the interface 13 managed by the OS 12 with the addresses of the actuators of the printer 3, that is, the pulse motor 23, the pulse motor 24, and the print head 22. In this example, the addresses of the drive circuit 25, the drive circuit 26, and the ink discharge circuit 31 are given as those addresses.
[0025]
The printer driver 35 of this example has a function 36 for converting the image data into head output data φ1 and a command to print an image instructed to be output by the application 11 with the printer 3, and the head output data. Of the φ1 and the command, a generation function 37 that generates a command for operating the pulse motors 23 and 24 of the printer 3 as bit data 55 corresponding to the drive pulses P1 to P4, and the drive data 55 and the head output data φ1 are registered in the register 25a and 26a and the address of the circuit 31 are added, and a function 38 is provided that enables transmission to the interface 13 for transmission.
[0026]
The generation function 37 of the present example includes a function 41 for extracting a command for generating data related to the pulse motor 23 and the pulse motor 24 to be converted into the drive data 55 from the data input from the conversion function 36, and the command Is decoded (interpreted) to generate drive data (bit data) 55 corresponding to the drive pulses P1 to P4 of the pulse motor 23 on a one-to-one basis, and to the drive pulses P1 to P4 of the pulse motor 24 A second function 43 for generating bit data 55 corresponding to one-to-one is provided. Therefore, with these first and second functions 42 and 43, functions equivalent to those of a motor control circuit that conventionally generates drive pulses on the printer side are realized by software.
[0027]
The generation function 37 of this example further includes timing data TD indicating the timing at which the driving circuits 25 and 26 in the printer 3 output the driving pulses P1 to P4 according to the bit data 55 from the motor drivers 25b and 26b to the motors 23 and 24. Is provided with a timing analysis function 44. The drive circuit 25 and the drive circuit 26 can be controlled independently by the timing data TD generated by the function 44.
[0028]
When control is performed by sending data AD for driving the actuator from the host 2 to the printer 3, the host 2, that is, the printer driver 35 receives information on execution of the data AD from the printer 3, and sends the next data AD to send the motor. 23, the motor 24 and the head 22 can be controlled at appropriate timing. However, if the speed at which the host 2 receives the information from the printer 3 becomes a critical path with respect to the speed at which the actuator operates, the processing speed of the printer 3 decreases. On the other hand, by sending the data AD with the timing data TD added, the drive circuit 25, the drive circuit 26 and the print head 22 perform the processing of the first data AD according to the timing data TD of the respective data AD. Is possible. Therefore, it is possible to perform coordinated control based on the timing data TD only by operating the driving circuit 25, the driving circuit 26, and the print head 22 independently according to the timing data TD. Since there is no need to communicate with the printer driver 35, the processing speed of the printer 3 does not decrease due to the communication speed between the host 2 and the printer 3.
[0029]
FIG. 4 is a flowchart showing processing performed by the printer driver 35. First, in step 61, if the data converted and output by the converting function 36 is a command for controlling the pulse motors 23 and 24 in order to print an image or character instructed by the application 11, the first in step 62. The data 42 corresponding to the drive pulses P1 to P4 is generated by the second function 43 and the second function 43. Data corresponding to the generated drive pulse P is output as drive data 55 in the state of bit data in step 63. Before and after the drive data 55 is generated, timing data TD is generated at step 64. In step 65, the timing data TD and the data AD made up of a group of bit data 55 are combined, and from the interface 13 together with the addresses of the actuators to be driven, that is, the circuits 25 and 26 for driving the motors 23 and 24. It is output to the printer 3. On the other hand, head output data φ1 for ejecting ink droplets from the print head 22 is also output as addressed data.
[0030]
The processing executed on the host 2 by the printer driver 35 can be provided as a program having instructions for executing the above steps. This program can be provided by being recorded on a recording medium such as a CD-ROM that can be read by a computer serving as the host 2, or distributed via a computer network such as the Internet. Then, by installing in the host 2, the above-described conventional printer-side functions can be realized in the host 2.
[0031]
When the data packet 59 including the data AD composed of the bit data 55 transmitted from the host 2 is acquired by the printer 3, it is distributed to the drive circuit 25 or 26 according to the address of the header H.
[0032]
As described above, in the system 1 including the host 2 and the printer 3 in this example, the bit data 55 corresponding to the drive pulses P 1 to P 4 of the pulse motors 23 and 24 is generated and transmitted to the printer 3. That is, the process of interpreting commands and generating the drive pulses P1 to P4 of the pulse motors 23 and 24 conventionally performed by the printer is performed by the printer driver 35 driven by the host 2. For this reason, it is not necessary to interpret the commands of the actuator, in this example, the pulse motors 23 and 24 on the printer 3 side, and the data AD consisting of the bit data 55 transmitted from the host 2 is substantially converted to the pulse motor 23 and These pulse motors 23 and 24 can be moved by supplying them to 24. Therefore, the printer 3 does not require hardware or firmware that interprets commands from the host 2 and generates the drive pulses P1 to P4 of the respective pulse motors, and has a very simple configuration.
[0033]
Also, the pulse driver 23 and 24 can be controlled by the printer driver 35 of the host 2 in steps or clock units, and with extremely universal data corresponding to the drive pulses P1 to P4. Therefore, without realizing a complicated movement in each of the pulse motors 23 and 24, a CPU having a high processing capability on the printer side is not used, the number of commands supplied from the printer driver is not increased, and the command system is not expanded. The pulse motors 23 and 24 can be controlled from the host 2 at high speed in a clock unit and flexibly. This further means that the functions of the printer 3 are not limited to the command system mounted on the control board and the capability of a processor such as a CPU, and the pulse motors 23 and 24 can operate. In other words, it can be controlled in any way by software that runs on the host side, and simply by developing appropriate driver software, processing that satisfies the application specifications without changing the printer itself. Can be done.
[0034]
Furthermore, almost all of the processing for controlling such a printer can be performed using the host CPU's ability to significantly improve performance. Therefore, there is a merit that the processing capability of the printer can be improved as the host-side capability is improved without developing an expensive processor or firmware. Therefore, it is possible to improve the functions of the printer following the progress of the host and application, and the need to replace the printer is reduced.
[0035]
In addition, by transmitting bit data 55 corresponding to drive pulses P1 to P4 that can directly drive the pulse motors 23 and 24 to the printer 3 instead of a command that requires processing to be interpreted on the printer side, the printer side Thus, it is not necessary to perform processing for interpreting the command in order to generate the drive pulse. Therefore, the time required for the processing can be eliminated, and the processing speed of the printer can be increased. On the other hand, sending bit data 55 instead of a command may increase the amount of communication between the host 2 and the printer 3, but it is a low-cost and general-purpose device that can transmit a large amount of data such as USB or IEEE 1394 at high speed. Interface devices are widespread, and it is easy to secure the transmission speed by using them effectively. If the transmission speed of the bit data 55 becomes a bottleneck for controlling the actuators in a coordinated manner, it is possible to send the data AD to the printer 3 in combination with the timing data TD as described above. The present invention is sufficiently effective even for a system having a low transmission rate.
[0036]
The printer driver 35 can use resources of the conventional printer driver 35 by converting application image and text data into data and commands that are output once by the print head 22. On the other hand, it is also possible to output the data corresponding to the drive pulse or the bit data as the drive data by interpreting the image and character data without passing through the command. Therefore, it is possible to omit the process of converting the command into a drive pulse, and therefore, it is possible to provide a printer capable of performing a high-speed print output process including the process on the host side.
[0037]
In addition, although the example in which the drive data corresponding to the drive pulses of the pulse motors 23 and 24 is generated has been described, the drive data corresponding to the drive pulse supplied to the actuator for ejecting ink droplets from the nozzles is also generated by the printer driver 35. The printer can be generated and transmitted to the printer, and as the printer, a printer that is simply combined to the limit that does not require a processor such as a CPU or firmware that generates drive pulses can be realized.
[0038]
Furthermore, in the above description, the present invention has been described by taking a printer including a pulse motor (stepping motor) as an example. However, the present invention is not limited to a pulse motor but can be applied to peripheral devices including an actuator that operates by a driving pulse. Also, instead of outputting the bit data corresponding to the drive pulse on a one-to-one basis, it is possible to output the drive data at the timing of changing the level of the drive pulse, or to send the drive data after being compressed, As in the above example, it is possible to provide a system in which peripheral devices can be flexibly moved from the host side with the simplest configuration by transmitting drive data and bit data corresponding to one-to-one.
[0039]
The present invention as described above can be applied not only to a printer but also to a peripheral device including an actuator that is driven by a driving pulse such as a scanner, a CD-ROM, or a DVD drive device.
[0040]
【The invention's effect】
As described above, in the present invention, drive data corresponding to the drive pulse of the actuator of the peripheral device is generated on the host computer side and can be transmitted to the peripheral device. This eliminates the need for hardware or firmware that interprets commands on the peripheral device side and generates drive pulses, allows the peripheral device to have a simpler configuration, and allows the host device to freely control the peripheral device. . In the present invention, it is possible to provide a peripheral device capable of following the progress of the host computer and improving the function.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a schematic configuration of a printer and a host according to the present invention.
FIG. 2 is a diagram showing a schematic configuration of a drive circuit of each pulse motor in the printer of this example.
FIG. 3 is a diagram for explaining a relationship between a drive pulse output from a drive circuit in the printer of this example and drive data sent from the host of this example to the printer.
FIG. 4 is a flowchart showing a schematic process in a printer driver operating on the host of this example.
[Explanation of symbols]
1 system
2 Host (information processing terminal)
3 Printer
23, 24 Pulse motor
25, 26 Drive circuit
25a, 26a registers
25b, 26b Motor driver
35 Printer Driver
37 Generation function
42 First function
43 Second function
44 Timing analysis function
55-bit data (drive data)

Claims (5)

A program for controlling a peripheral device having an actuator operated by a drive pulse from the host computer side,
The peripheral device has a plurality of the actuators, and each actuator of the plurality of actuators has a unique address,
The program is
Processing for generating drive data corresponding to the drive pulse;
Have a command for executing a process of transmitting the driving data to the peripheral device addressed,
The generating process generates the drive data for each of the actuators;
Generating timing data indicating a timing for executing the driving data of each actuator by each of the actuators together with the driving data, the driving data corresponding to the driving pulse on a one-to-one basis, Bit data that is immediately converted to the drive pulse based on the data,
The transmitting process includes transmitting a combination of the drive data and the timing data to the address of each actuator without waiting for information on which the previous process has been executed . 2. The program according to claim 1, wherein each of the actuators is a pulse motor or means for forming dots on a sheet. 3. The program according to claim 1, wherein the peripheral device has means for printing on paper, and each of the actuators is a pulse motor of the means for printing or means for forming dots on the paper. Means for generating drive data corresponding to a drive pulse for driving an actuator mounted on a peripheral device;
An information processing terminal having means for transmitting the drive data to the peripheral device ,
The peripheral device has a plurality of the actuators, and each actuator of the plurality of actuators has a unique address,
The generating means generates the drive data for each actuator, and timing data indicating timing for executing the drive data of each actuator by each actuator together with the drive data. Bit data corresponding to the drive pulse on a one-to-one basis and immediately converted into the drive pulse based on the timing data;
The information transmitting terminal includes transmitting the combination of the drive data and the timing data to the address of each actuator without waiting for the information on which the previous process has been executed . Generating drive data corresponding to a drive pulse for driving an actuator mounted on a peripheral device;
Transmitting the drive data to the peripheral device, and controlling the peripheral device ,
The peripheral device has a plurality of the actuators, and each of the plurality of actuators has a unique address;
The generating step includes generating the drive data for each of the actuators;
Generating timing data indicating a timing for executing the driving data of each actuator by each of the actuators together with the driving data, the driving data corresponding to the driving pulse on a one-to-one basis, Bit data that is immediately converted to the drive pulse based on the data,
The transmitting step includes transmitting the combination of the drive data and the timing data to the address of each actuator without waiting for information on which a previous process has been executed .

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