JP5061547B2 - Motor control apparatus, motor control method, and printing apparatus - Google Patents

Description

  The present invention relates to a motor control device, a motor control method, and a printing apparatus.

Motors are used in various devices as drive sources. For example, in a printing apparatus such as an ink jet printer, it is used as a drive source for moving a carriage to which a head is attached and as a drive source for transporting paper on which an image is printed. In this printing apparatus, there has been proposed one that uses different control information (acceleration region current value data, fixed cycle current value) depending on whether the carriage is accelerating or decelerating and moving at a constant speed (constant speed movement). (For example, refer to Patent Document 1).
JP 2003-63085 A

  In recent apparatuses, control is performed with various operation patterns. For example, there are a pattern in which the moving body is accelerated or decelerated in a very short time, and a pattern in which the moving body is accelerated relatively slowly. Further, there is a pattern in which the moving body is accelerated rapidly until the middle of the acceleration period or deceleration period, and then gradually accelerated. Here, when the degree of acceleration and the degree of deceleration in the moving body are suddenly changed in a short time, it is preferable to perform motor drive control at fine intervals. On the other hand, if the degree of acceleration and the degree of deceleration of the moving body are constant, the drive control of the motor may be performed at coarser intervals than when the degree of acceleration or the like is suddenly changed.

  The above-described apparatus has a problem that it is difficult to perform drive control suitable for the degree of acceleration or the like because the control information is given at regular intervals during the period of acceleration or the like. Suppose that the interval at which the control information is given is set based on a case where the degree of acceleration or the like is suddenly changed. In this case, the control becomes unnecessarily fine when the acceleration of the moving body is constant. And the amount of control information will increase too much, and the problem that the capacity | capacitance of the memory required will increase excessively will arise.

  The present invention has been made in view of such circumstances, and an object thereof is to perform control suitable for a pattern such as acceleration of a moving body.

The main invention for achieving the above object is (A) a counter that counts the amount of movement of a moving body that moves as the motor is driven, and (B) a memory that stores control information relating to the driving of the motor. , control pattern information having a first area for storing first control information corresponding to a plurality of count value of the counter, and a second area for storing the second control information corresponding to each of the count value of the counter, the a memory for storing a plurality of, (C) the selects the control pattern information according to the control mode of the mobile body based on the count value, the second region and the first region in the selected said control pattern information selects one of the selected regions, reads the control information corresponding to the count value of the counter, and a drive control unit for controlling the drive of the motor Wherein each of the control pattern information, the ratio of the second region and the first region is different from a motor controller.

  Other features of the present invention will become apparent from the description of this specification and the accompanying drawings.

  At least the following will be made clear by the description of the present specification and the accompanying drawings.

  That is, (A) a counter that counts the amount of movement of the moving body that moves with the drive of the motor, and (B) a memory that stores control information related to the drive of the motor, and a plurality of count values of the counter A memory having a first area for storing corresponding first control information, and a second area for storing second control information corresponding to each of the count values of the counter; (C) the first area and the first area; Select one of the two areas, read out the control information corresponding to the count value of the counter from the selected area, and realize a motor control device having (D) a drive control unit that performs drive control of the motor It is revealed that it can be done.

  Such a motor control device has a voltage change for determining timing, and has a timing signal generation unit that generates a timing signal in which the voltage change occurs every time the moving body moves by a predetermined amount, The counter preferably counts the number of voltage changes in the timing signal as the amount of movement of the moving body.

  In this motor control device, the drive control unit reads the first control information from the first area using a value obtained by dividing the count value, and uses the count value to A configuration in which the second control information is read from the second region is preferable.

  In this motor control apparatus, it is preferable that the drive control unit selects the first region and the second region according to an acceleration state of the moving body.

  In this motor control device, the memory corresponds to each of a plurality of control modes determined according to a moving speed of the moving body, with respect to control pattern information having at least one of the first area and the second area. A configuration in which the information is stored is preferable.

  In this motor control device, the memory stores, as the first control information, target speeds of the moving body corresponding to a plurality of count values of the counter, and counts of the counter as the second control information It is preferable that the target speed of the moving body corresponding to each value is stored.

  It will also be clarified that the following motor control method can be realized. That is, (A) counting the amount of movement of the moving body that moves as the motor is driven, and (B) a first area and a second area provided in a memory that stores control information relating to the driving of the motor. Select one of the first area for storing first control information corresponding to a plurality of count values of the counter and the second area for storing second control information corresponding to each of the count values of the counter. It is clarified that (C) the control information corresponding to the count value of the counter is read from the selected area, the drive control of the motor is performed, and the motor control method of (D) can be realized. .

  It is also clarified that the following printing apparatus can be realized. That is, (A) a head that ejects ink and moves in a predetermined movement direction by the first motor, a counter that counts the movement amount, and (B) control information related to driving of the first motor. In which a target speed of the moving body corresponding to a plurality of count values of the counter is stored as first control information, and each of the count values of the first counter is stored. A memory having a second area for storing the target speed of the movable body as second control information; and (C) the medium is moved so that the head reaches the ink ejection start position when the conveyance of the medium is completed. A drive control unit that starts driving the first motor while driving a second motor for transporting, the transport end timing of the medium, and the ink discharge start position; Drive control for the first motor based on the count value of the first counter corresponding to the amount of movement of the head up to and the target speed for the head stored in the first area and the second area. It is also clarified that it is possible to realize a printing apparatus having a drive control unit and (D) for obtaining a start timing and starting drive control for the first motor at the obtained start timing.

=== First Embodiment ===
The motor and the motor control device are used in various devices. In this specification, an ink jet printer (hereinafter also simply referred to as a printer) having these motors and a motor control device will be described as an example. This printer corresponds to a printing apparatus that prints an image on a medium using ink ejected from a head. As shown in FIG. 1, the printer 10 includes a controller unit 20 and an engine unit 30.

<About the controller unit 20>
The controller unit 20 is a part in charge of control in the printer 10 and includes a CPU 21, an ASIC 22, a memory 23, a timer IC 24, and a DC unit 25. The CPU 21 is an arithmetic processing device for performing overall control of the printer 10. The CPU 21 is communicably connected to the ASIC 22, the memory 23, and the interface 26 via the bus BU. The interface 26 is communicably connected to the host computer HC. In addition, the CPU 21 is electrically connected to the DC unit 25, the carriage motor driver 33 (CR motor driver), and the transport motor driver 36 (PF motor driver). The ASIC 22 serially transmits control data for each dot based on print data from the host computer HC, and generates a drive waveform used for the head HD. The ASIC 22 is connected to the head driver 38 so as to be communicable. The memory 23 is used as an area for storing programs and variables for the CPU 21 and the ASIC 22 or used as a work area. The memory 23 is configured by a storage element such as a RAM, an EEPROM, or a ROM. With these storage elements, volatile areas used for work areas, non-volatile areas used for areas for storing programs, etc., and rewritable non-volatile areas used for areas for storing variables, constants, etc. Sex areas are constructed. The timer IC 24 generates a clock for recognizing time (hereinafter also referred to as a clock for clocking). Then, the clock for clocking is supplied to the CPU 21. Accordingly, the CPU 21 can recognize the elapsed time from a certain timing by counting the edge of the clock for clocking (voltage change indicating timing) in a clocking counter area (not shown) provided in the memory 23. Then, the CPU 21 outputs a timer signal based on the clock for clocking. This timer signal is used when determining the acquisition timing of the heat dissipation state. The DC unit 25 outputs a command signal (control signal) for controlling the carriage motor driver 33 and the conveyance motor driver 36. The DC unit 25 will be described in detail later.

<About engine unit 30>
The engine unit 30 is a part in charge of an operation for printing. The engine unit 30 includes a carriage 31, a carriage moving mechanism 32, a carriage motor driver 33, a linear encoder 34, a paper transport mechanism 35, a transport motor driver 36, a rotary encoder 37, and a head driver 38. Have.

  The carriage 31 is a member to which an ink cartridge (not shown) and the head HD are attached. The carriage 31 is moved in the carriage movement direction (the width direction of the paper S) by the carriage movement mechanism 32. Since the head HD is attached to the carriage 31, it moves as the carriage 31 moves. Accordingly, the carriage 31 and the head HD correspond to a moving body. The carriage moving mechanism 32 corresponds to a head moving mechanism and also corresponds to a moving mechanism for moving a moving body. In the present embodiment, the carriage moving mechanism 32 includes a timing belt 41, a drive pulley 42, an idler pulley 43, and a carriage motor 44. The timing belt 41 is connected to the carriage 31 and is stretched between the drive pulley 42 and the idler pulley 43. The carriage motor 44 is a drive source for moving the carriage 31, and its rotation shaft is connected to the drive pulley 42. The carriage motor 44 is constituted by a DC motor. In this DC motor, the rotation speed of the carriage motor 44 can be controlled in accordance with the applied current. Accordingly, the carriage motor driver 33 drives the carriage motor 44 in accordance with the amount of current of the command signal from the DC unit 25.

  The linear encoder 34 outputs an encoder signal ENC_C whose voltage level changes every time the carriage 31 (head HD) moves a predetermined distance. As shown in FIG. 2A, the linear encoder 34 includes a code plate 45 having a light transmitting portion formed at predetermined intervals, and a sensor unit 46 that moves together with the carriage 31 and outputs an encoder signal ENC_C. The code plate 45 is attached to the frame side of the printer 10 along the carriage movement direction. The encoder signal ENC_C output from the sensor unit 46 is two types of signals having different phases as shown in FIG. 2B, for example. The encoder signals ENC_CA and ENC_CB change the voltage alternately from one of the H level and the L level to the other corresponding to the detection of the light transmitting portion of the code plate 45. In the present embodiment, the sensor unit 46 causes a signal level change (voltage change) in one cycle every time the carriage 31 moves a distance of 1/180 inch. The phase of the second encoder signal ENC_CB is shifted by a quarter period from the first encoder signal ENC_CA. Therefore, the movement of the carriage 31 can be detected every 1/720 inch based on the edges of the first encoder signal ENC_CA and the second encoder signal ENC_CB. As will be described later, in the printer 10, drive control for the carriage motor 44 is performed at the edge timing (voltage change timing) of the encoder signal ENC_C. Therefore, the encoder signal ENC_C corresponds to a timing signal having a voltage change for determining the control timing. The linear encoder 34 corresponds to a timing signal generator, and causes a voltage change of the output encoder signal ENC_C every time the carriage 31 as a moving body moves a predetermined distance.

  The paper transport mechanism 35 is a mechanism that transports the paper S as a medium, and corresponds to a medium transport mechanism. Since the paper S corresponds to a moving body, the paper transport mechanism 35 also corresponds to a moving mechanism for moving the moving body. In FIG. 1, the conveyance roller 47 and the conveyance motor 48 which are the main parts are shown. The transport roller 47 is a member that feeds the paper S in the transport direction by rotation. This conveyance direction is a direction orthogonal to the movement direction of the carriage 31. The carry motor 48 is a drive source for rotating the carry roller 47, and is constituted by a DC motor. Therefore, the rotation speed of the transport motor 48 can be controlled according to the applied current amount. Then, the carry motor driver 36 drives the carry motor 48 according to the amount of current of the command signal from the DC unit 25.

  The rotary encoder 37 outputs an encoder signal ENC_P whose voltage level changes every time the transport roller 47 rotates by a predetermined angle. In other words, the encoder signal ENC_P whose voltage level changes every time the sheet S is conveyed by a predetermined distance is output. As shown in part in FIG. 3A, the rotary encoder 37 includes a code plate 49 in which translucent portions are formed at predetermined intervals, and a sensor unit 50 that outputs an encoder signal ENC_P. The code plate 49 has a disk shape, and translucent portions are formed at predetermined intervals. Then, it rotates with the rotation of the transport roller 47. In this example, a code plate 49 is attached to the rotation shaft of the transport roller 47. The sensor unit 50 has the same configuration as that of the linear encoder 34, and changes the level of the encoder signal ENC_P every time the translucent portion and other portions of the code plate 49 are detected. For example, as shown in FIG. 3B, two types of encoder signals ENC_PA and ENC_PB whose phases are different by a quarter period are output. Thereby, the conveyance amount of the paper S can be detected every 1/1440 inch. In the printer 10, drive control for the transport motor 48 is performed at the edge timing of the encoder signal ENC_P. For this reason, the encoder signal ENC_P also corresponds to a timing signal having a voltage change for determining the control timing. The rotary encoder 37 corresponds to a timing signal generation unit, and causes a voltage change of the output encoder signal ENC_P every time the sheet S as a moving body moves a predetermined distance.

  The head driver 38 is a part in charge of driving control of the head HD. For example, control data for each dot serially transmitted from the ASIC 22 is converted into parallel data, and ink ejection control is performed based on the control data.

=== DC unit 25 ===
<About the overall configuration>
Next, the DC unit 25 will be described. The DC unit 25 performs drive control of the carriage motor 44 and the carry motor 48, and corresponds to a drive control unit in the motor control device. Therefore, the DC unit 25 outputs a command signal (control signal) for controlling the carriage motor driver 33 and the carry motor driver 36 based on various signals from the CPU 21 of the controller unit 20. As shown in FIG. 4, the DC unit 25 includes a CPU 61, a memory 62, and a PWM circuit 63. The functions shown in FIG. 5 are realized by these units. For convenience, each functional block shown in FIG. 5 will be described as a configuration of the DC unit 25. The DC unit 25 includes a carriage motor control unit 64 that controls the carriage motor 44 and a transport motor control unit 65 that controls the transport motor 48.

  The carriage motor control unit 64 includes a position calculator 71, a first subtractor 72, a target speed calculator 73, a target speed table 74, a speed calculator 75, a second subtractor 76, a proportional element 77P, an integral element 77I, and a differential element. 77D, an adder 78, a PWM circuit 63a, and a weight control unit 79. Similarly, the transport motor control unit 65 includes a position calculator 81, a first subtractor 82, a target speed calculator 83, a target speed table 84, a speed calculator 85, a second subtractor 86, a proportional element 87P, and an integral element 87I. , A differential element 87D, an adder 88, a PWM circuit 63b, and a weight control unit 89. In addition, each part 81-89 which the conveyance motor control unit 65 has is comprised similarly to each part 71-79 which the carriage motor control unit 64 has. Therefore, the configuration of the carriage motor control unit 64 will be described, and the description of the configuration of the transport motor control unit 65 will be omitted.

  The position calculation unit 71 detects each rising edge and falling edge in the encoder signal ENC_C from the linear encoder 34. Then, the detected edges are counted, and the position of the carriage 31 is obtained based on the count value. Edge counting is performed by a position counter 71 a included in the position calculation unit 71. During forward rotation of the carriage motor 44, the position counter 71a increments the count value by “+1” when one edge is detected. Further, when the carriage motor 44 rotates in the reverse direction, the position counter 71a increments the count value by “−1” when one edge is detected. The first subtracter 72 calculates a position deviation between the target position sent from the CPU 21 of the controller unit 20 and the calculated position of the carriage 31 obtained by the position calculating unit 71. The target speed calculation unit 73 calculates the target speed of the carriage 31. The target speed calculation unit 73 calculates a target speed when the carriage 31 is moving at a constant speed. That is, the target speed calculation unit 73 obtains the target speed by multiplying the position deviation from the first subtracter 72 by the gain Kp. The magnitude of the gain Kp is determined according to the position deviation. The gain Kp is stored in the memory 62 included in the DC unit 25. The target speed table 74 stores a target speed referred to when the carriage 31 is accelerated or decelerated in a state corresponding to the count value of the position counter 71a. The target speed table 74 is configured using, for example, a partial area (nonvolatile area) included in the memory 62.

  The speed calculation unit 75 calculates the moving speed of the carriage 31 based on the encoder signal ENC_C from the linear encoder 34. For example, the time from when a certain edge is detected until another edge is detected is measured by a timer counter or the like, and the moving speed is obtained by dividing the moving distance of the carriage 31 by the measuring time. The moving distance of the carriage 31 is recognized by the count value of the position counter 71a. When the carriage 31 is accelerating or decelerating, the second subtracter 76 deviates between the target speed read from the target speed table 74 and the moving speed of the carriage 31 calculated by the speed calculating unit 75 (speed deviation). Also called). Further, when the carriage 31 moves at a constant speed, the deviation between the target speed calculated by the target speed calculator 73 and the moving speed of the carriage 31 calculated by the speed calculator 75 is obtained. The proportional element 77P multiplies the speed deviation by a constant (Gp) and outputs the multiplication result. The integration element 77I multiplies the speed deviation by a constant (Gi) and integrates the multiplication results. The differential element 77D multiplies the difference between the current speed deviation and the previous speed deviation by a constant (Gd) and outputs the multiplication result. The calculation of the proportional element 77P, the integral element 77I, and the differential element 77D is performed at a timing determined by the edge of the encoder signal ENC_C from the linear encoder 34. That is, the encoder signal ENC_C corresponds to a first timing signal for determining execution timing of motor drive control. An edge in the encoder signal ENC_C corresponds to a voltage change for determining a control execution timing, and an interval between the edges corresponds to a first period that determines a control execution interval.

  The output from the proportional element 77P, the output from the integral element 77I, and the output from the differential element 77D are added by an adder 78, respectively. Then, the addition result is input to the PWM circuit 63a. That is, the addition result is input to the PWM circuit 63a as a signal indicating the duty value. The PWM circuit 63a generates and outputs a command signal corresponding to the addition result (duty value). The generated command signal is input to the carriage motor driver 33. The carriage motor driver 33 drives the carriage motor 44 according to the current amount of the command signal. As a result, the carriage motor 44 is driven with a control amount corresponding to the deviation between the current speed of the carriage 31 and the target speed.

  The weight control unit 79 acquires the heat generation state of the carriage motor 44 and performs control (drive stop control) related to the suspension of the carriage motor 44 based on the acquired heat generation state. When the carriage motor 44 generates excessive heat, the wait control unit 79 gives a necessary pause time (wait time). For example, when the movement direction of the carriage 31 is switched from the forward direction to the backward direction, or when the movement direction is switched to the opposite direction, a necessary pause time is given. Thereby, the heat generation state of the carriage motor 44 can be maintained in an appropriate range.

<Target speed table 74>
Next, the target speed table 74 will be described. As described above, the target speed table 74 stores the target speed referred to when the carriage 31 is accelerated or decelerated in a state corresponding to the count value of the position counter 71a. The target speed information corresponds to a type of control information related to motor driving. In addition, the target speed table 74 is configured by a partial area of the memory 62. For this reason, the memory 62 included in the DC unit 25 corresponds to a memory that stores control information related to driving of the motor. As shown in FIG. 6, the target speed table 74 is composed of a plurality of pieces of control pattern information. This control pattern information stores the target speed of the carriage 31 at every predetermined timing. These control pattern information is prepared corresponding to a plurality of drive modes determined based on the moving speed of the carriage 31. For example, the first control pattern information 74A corresponding to the high speed mode with the fastest moving speed, the second control pattern information 74B corresponding to the speed mode with the second fastest moving speed,..., Corresponding to the low speed mode with the slowest moving speed. N types of control pattern information such as nth control pattern information 74N are prepared.

  Each of the control pattern information has an inter-edge table and a one-cycle table. Here, the inter-edge table is a table that stores a target speed corresponding to each edge of the encoder signal ENC_C. For example, in the example illustrated in FIG. 7, the first encoder signal ENC_CA has an edge at an odd-numbered timing such as timing t1, t3, t5, t7,. For the second encoder signal ENC_CB, an edge occurs at even-numbered timings such as timings t2, t4, t6, t8,. In the inter-edge table, the target speed determined corresponding to each edge is stored. For example, for the timing t1, the target speed v1 at the timing t1 is stored in an area corresponding to the count value (number of edges) C1. Further, for the timing t2, the target speed v2 is stored in an area corresponding to the count number C2. Similarly, the target speed is stored for other timings. For example, for the timing t3, the target speed v3 is stored in an area corresponding to the count number C3. Further, for the timing t11, the target speed v11 is stored in an area corresponding to the count number C11. Such an inter-edge table corresponds to a second area of the memory, and stores second control information (target speed v1 and the like) corresponding to each count value indicating the moving amount of the moving body.

  On the other hand, the one-cycle table is a table that stores target speeds corresponding to a plurality of edges of the encoder signal ENC_C. In the example of FIG. 8, the target speed is stored for each of a plurality of edges belonging to one cycle of the first encoder signal ENC_CA. And four edges corresponding to each of timing t1 to timing t4 belong to the same period. Also, four edges corresponding to each of timing t5 to timing t7 belong to the same period. In the one cycle table, a target speed determined in common for a plurality of edges belonging to these same cycles is stored. For example, for a plurality of timings t1 to t4, a common target speed v21 at these timings t1 to t4 (that is, a count value indicating these timings) is stored in the corresponding area. For a plurality of timings t5 to t8, the common target speed v22 at these timings t5 to t8 is stored in the corresponding area. The target speed is stored in the same manner for other timings. Such a one-cycle table corresponds to a first area of the memory, and stores first control information (target speed v21 and the like) corresponding to a plurality of count values indicating the moving amount of the moving body.

  Comparing the inter-edge table with the one-period table, the inter-edge table stores the target speed every quarter period of the encoder signal, whereas the one-period table shows the target speed every period of the encoder signal. It is remembered. For this reason, in the control based on the inter-edge table, the target period can be set more finely than in the control based on the one-period table. Therefore, an appropriate target speed can be given by using this inter-edge table when the carriage 31 is suddenly accelerated or decelerated suddenly. As a result, sudden acceleration and deceleration of the carriage 31 can be performed smoothly. On the other hand, in the control based on the one cycle table, a common target speed is stored corresponding to a plurality of timings (a plurality of count values). For this reason, the capacity required for storing the target speed can be reduced.

  Comparing the first control pattern information 74A, the second control pattern information 74B, and the nth control pattern information 74N, each control pattern information has one one-cycle table arranged between the two inter-edge tables. Yes. For example, in the first control pattern information 74A, a one-cycle table 74b is arranged between the front edge table 74a and the rear edge table 74c. In the second control pattern information 74B, a one-cycle table 74e is arranged between the front edge table 74d and the rear edge table 74f. Similarly, in the nth control pattern information 74N, a one-cycle table 74h is arranged between the front edge table 74g and the rear edge table 74i.

  In any of the control patterns, the front edge table 74a, 74d, 74g is in charge of control when gradually increasing the degree of acceleration and the degree of deceleration of the carriage 31. The rear side inter-edge tables 74c, 74f, and 74i are in charge of control when the degree of acceleration and deceleration of the carriage 31 are gradually suppressed. Also, is responsible for control when the acceleration and deceleration of the carriage 31 are stable. The control patterns 74A, 74B,... 74N have different ratios between the front edge table and the rear edge table and the one cycle table in each control pattern.

  Briefly, the first control pattern information 74A has the largest ratio between the front edge table 74a and the rear edge table 74c. In other words, the ratio of the one cycle table 74b is the smallest. Such first control pattern information 74A is suitable for control when the ratio of acceleration and deceleration in the carriage 31 is large because the ratio between the front edge table 74a and the rear edge table 74c is the largest. For example, in the high-speed mode in which the carriage 31 is moved at the highest moving speed, it is suitable for control in which the carriage 31 is accelerated to the maximum speed in the shortest possible time, and the carriage 31 is stopped from the maximum speed in the shortest possible time. .

  On the other hand, the nth control pattern information 74N has the smallest ratio of the front edge table 74g and the rear edge table 74i. In other words, the ratio of the one cycle table 74h is the largest. Such n-th control pattern information 74N is suitable for control when the change in the degree of acceleration and deceleration in the carriage 31 is small because the ratio between the front edge table 74a and the rear edge table 74c is the smallest. In other words, it is suitable for control when moving the carriage 31 with a constant degree of acceleration and deceleration. For example, it is suitable for control when the carriage 31 is accelerated or stopped in the low speed mode in which the carriage 31 is moved at the lowest moving speed.

  As described above, the carriage 31 is controlled based on the inter-edge table during a period in which sudden acceleration or deceleration is necessary, and is controlled based on the one-period table in a period where the degree of acceleration or deceleration is constant or moderate. Control can be performed at a necessary cycle, and the amount of necessary memory can be suppressed.

=== Motor drive control ===
Next, motor drive control will be described. This drive control is performed by the CPU 61 of the DC unit 25 and the like based on computer programs stored in the memory 23 of the controller unit 20 and the memory 62 of the DC unit 25. For this reason, these programs have codes for realizing the corresponding control. The illustrated printer 10 includes a carriage motor 44 and a conveyance motor 48 as motors to be controlled. The drive control of the carriage motor 44 and the drive control of the transport motor 48 have the same contents although they are different. Therefore, in this specification, the drive control of the carriage motor 44 will be described, and the description of the drive control of the transport motor 48 will be omitted.

  The motor drive control is characterized by acceleration and deceleration control in which the target speed stored in the target speed table 74 is read to perform drive control. For this reason, the acceleration time, which is characteristic control, will be described. Furthermore, control pattern information to be used is first control pattern information 74A. As shown in FIG. 6, the first control pattern information 74A includes 12 tables (12 counts) for the front edge table 74a, 3 tables (12 counts) for the one period table 74b, and 74c for the rear edge table. 12 tables (12 counts) are prepared.

  The carriage motor drive process (main process) is performed at a timing defined by the encoder signal ENC_C from the linear encoder 34. That is, it is performed at the timing determined by the edge. As shown in the flowchart of FIG. 9A, in the main process, first, a target speed reading process is performed (S1). This target speed reading process is a process of reading the target speed corresponding to the count value of the position counter 71a from the target speed table 74. The printer 10 also calculates a deviation between the read target speed and the current speed.

  As shown in FIG. 9B, in this target speed reading process, first, the count value of the position counter 71a is acquired (S11). That is, the CPU 61 (position calculation unit 71) refers to the position counter 71a and acquires the count value at that time. As described above, the position counter 71a changes the count value every time the edge of the encoder signal ENC_C is detected. For this reason, the count value of the position counter 71a is information indicating the current position of the carriage 31 (head HD). If the count value is acquired, the CPU 61 calculates the difference between the activation position (movement start point) and the current position (S12). That is, the movement distance from the activation position is calculated. Since the printer 10 uses the count value as position information, a value obtained by subtracting the count value at the starting position from the count value at that time is calculated.

  If the difference is calculated, the CPU 61 selects a target speed table to be referred to (S13). In this process, one of the front edge table 74a, the one-cycle table 74b, and the rear edge table 74c is selected based on the difference in the count values. This selection is performed based on the information on the switching position set as attached information in each table. As shown in FIGS. 6 and 10, in this example, the front edge table 74a corresponds to the count values [0] to [11], and the one cycle table 74b corresponds to the count values [12] to [23]. The rear edge table 74c corresponds to the count values [24] to [35]. Therefore, as the switching position information, the head count value [12] of the one cycle table 74b and the head count value [24] of the rear edge table 74c are set. CPU61 selects the target speed table which should be referred based on the difference of count value, and the information of a switching position. That is, when the difference is within the range of value [0] to value [11], the front edge table 74a is selected, and when the difference is within the range of value [12] to value [23]. The one cycle table 74b is selected. If the difference is within the range of value [24] to value [35], the rear edge table 74c is selected. Then, the CPU 61 refers to the storage type of the selected target speed table (S14). Here, the storage type is a type indicating whether the target speed is stored (stored) for each edge of the encoder signal ENC_C or stored for each cycle. The information indicating the storage type is set as attached information in each of the tables 74a, 74b, and 74c, similarly to the switching position information.

  If the storage type is referred to, the CPU 61 makes a determination based on the storage type (S15). If the storage type is “every edge”, the process proceeds to step S16, and if the storage type is “every period”, the process proceeds to step S19. When the storage type is “for each edge”, the CPU 61 sets to refer to the table with the count value of the position counter 71a (S16). Then, the CPU 61 sets a target cycle for each edge (S17). That is, the interval between adjacent edges is set as the target period. If these settings are made, the CPU 61 acquires the corresponding target speed from the target speed table 74 (S18). Referring to the example of FIG. 10, when the count value is the value [0], the front edge table 74a corresponding to the count value [0] is referred to, and the target speed Ta0 is acquired. When the count value is the value [10], the target speed Ta10 is acquired from the corresponding front edge table 74a. Similarly, when the count value is the value [24], the target speed Ta12 is acquired from the corresponding rear edge table 74c.

  On the other hand, when the storage type is “every period”, the CPU 61 sets to refer to the table with a value obtained by ¼ of the count value of the position counter 71a (S19). And CPU61 sets the target period for every period (S20). That is, the interval of one cycle of the first encoder signal ENC_CA is set as the target cycle. If these settings are made, the CPU 61 acquires the corresponding target speed from the target speed table 74 (S21). For example, when the count value is the value [14], the CPU 61 subtracts the value [12] from the value [14], and the count range (value [12] to value [23] corresponding to the one cycle table 74b). ) To obtain the count value. In this case, since the value obtained by subtraction is the value [2], it becomes the second count value in the count range. Then, this value is divided by the number of edges included in one cycle. In this example, since four edges are included in one cycle, the value is divided by [4]. As a result, the value [0] (= 2/4) is obtained. The CPU 61 refers to the one cycle table corresponding to this value [0] and obtains the target speed Tb0. When the count value is the value [18], the CPU 61 subtracts the value [12] from the value [18] to obtain the value [6] indicating the sixth count value in the count range. . Then, the value [6] is divided by the value [4] to obtain the value [1]. Based on the obtained value [1], the corresponding one-cycle table is referenced to obtain the target speed Tb1.

  If the target speed (S18) for each edge or the target speed (S21) for each cycle is acquired by the above procedure, the CPU 61 (second subtractor 76) obtains the deviation between the target speed and the current speed ( S22). This deviation is used in subsequent processing. If the deviation between the target speed and the current speed is obtained, the CPU 61 ends the series of target speed reading processing.

  When the target speed reading process (S1) is completed, a PID calculation process is performed (S2). In this PID calculation process, the CPU 61 (proportional element 77P, integral element 77I, differential element 77D, adder 78) multiplies the speed deviation by a constant (Gp), constant (Gi), constant (Gd), etc. Is added. This addition result is input to the PWM circuit 63a as a signal indicating the duty value.

  Next, PWM output processing (S3) is performed. In this PWM output process, the PWM circuit 63a generates and outputs a command signal corresponding to the addition result (duty value). The generated command signal is input to the carriage motor driver 33. The carriage motor driver 33 drives the carriage motor 44 according to the current amount of the command signal. As a result, the carriage motor 44 is driven with a control amount corresponding to the deviation between the current speed of the carriage 31 and the target speed.

  The series of processes described above are performed at the timing specified by the encoder signal ENC_C. For example, as shown in FIG. 11, at the front and rear portions in the acceleration period, the edge of the encoder signal ENC_C The carriage motor 44 is controlled based on the target speed determined for each. Further, in the intermediate portion in the acceleration period, the carriage motor 44 is controlled based on the target speed determined for each cycle of the encoder signal ENC_C. Thereby, drive control of the carriage motor 44 can be performed at a cycle suitable for the portion. In addition, an area for storing the target speed can be set to a necessary capacity.

=== Summary ===
As described above, in the printer 10, the target speed table 74 provided in the non-volatile area of the memory 62 includes the one cycle table (first area), the front edge table, and the rear edge table (second area). And are provided. Then, the target speed (first control information) corresponding to the plurality of count values of the position counter 71a is stored in the one cycle table, and the count value of the position counter 71a is stored in the front edge table and the rear edge table. The target speed (second control information) corresponding to each of these is stored. Then, the DC unit 25 (drive control unit) selects any one of the front edge table, the one period table, and the rear edge table, and according to the count value of the position counter 71a from the selected area. The target speed is read and drive control of the carriage motor 44 is performed.

  With this configuration, when the acceleration degree and the deceleration degree in the carriage 31 and the head HD (moving body) are suddenly changed in a short time, the target speed is read from the front edge table or the rear edge table and the carriage motor 44 is read. By performing this control, drive control can be performed at fine intervals (interval for each edge of the encoder signal ENC_C). On the other hand, when the degree of acceleration and deceleration in the carriage 31 and the head HD are constant or gradual changes, the target speed is read from the one-period table and the carriage motor 44 is controlled to control the drive control at an appropriate interval ( This can be performed at intervals of one cycle of the encoder signal ENC_C). As a result, the problem that the capacity of the memory 62 increases excessively can be prevented, and control can be optimized.

  The printer 10 also includes a linear encoder 34 that generates an encoder signal ENC_C that changes the voltage level from one of the H level and the L level each time the carriage 31 moves by a predetermined amount. The rotary encoder 37 also generates an encoder signal ENC_P that changes the voltage level from one of the H level and the L level each time the sheet S is conveyed by a predetermined amount. The position counters 71a and 81a count the number of edges (the number of voltage changes) of these encoder signals ENC_C and ENC_P as the movement amount of the carriage 31 and the conveyance amount of the paper S. With this configuration, the movement amount of the carriage 31 and the conveyance amount of the paper S can be easily recognized.

  Further, the DC unit 25 (drive control unit) uses the value obtained by dividing the count value of the position counter 71a to obtain target speeds (first control information) corresponding to a plurality of count values of the position counter 71a. Reading out. Further, the target speed (second control information) corresponding to each count value is read using the count value of the position counter 71a. With this configuration, different types of target speeds (first control information and second control information) can be read using a common count value.

  Then, the DC unit 25 (drive control unit) selects any one of the front edge table, the one-period table, and the rear edge table according to the acceleration state (acceleration change degree) of the carriage 31. Yes. With this configuration, control suitable for the acceleration state of the carriage 31 can be performed.

  The target speed table 74 provided in the memory 62 stores each control pattern information (first control pattern information 74A, second control pattern information 74B,..., Nth control pattern information 74N), the moving speed of the carriage 31 and the paper. The data is stored in correspondence with each of a plurality of control modes determined according to the transport speed of S. With this configuration, control can be performed with a pattern suitable for the moving speed of the carriage 31 and the like. It should be noted that the control pattern information may be composed of only a table that gives a target speed for each count value of the position counter 71a, such as a front edge table or a rear edge table, as in a one-cycle table. Alternatively, the table may be composed of only a table in which a target speed is given in correspondence with a plurality of count values of the position counter 71a.

=== Second Embodiment ===
In the first embodiment described above, the target speed table 74 indicates that the target speed given at each drive control timing is related to the movement distance of the carriage (the count number of the edges of the encoder signals ENC_C and ENC_P). It was remembered. By using the information on the target speed and the moving distance, the elapsed time from a certain control timing to the next control timing can be known in advance. As a result, it is possible to know in advance the elapsed time from the start to the end of the conveyance of one unit of the sheet S (also referred to as the conveyance time of the sheet S for convenience).

  Further, the moving distance of the carriage 31 (head HD) to the ink ejection start position can be acquired based on the dot formation data input to the head HD. Here, the dot formation data indicates the amount of ejected ink for each unit region (a space virtually defined as a place where dots can be formed). Then, the elapsed time from the start of the movement of the carriage 31 until the head HD starts ejecting ink (also referred to as the time until the start of ejection for convenience) can be known in advance.

  As described above, since the conveyance time of the sheet S and the time until the start of ejection can be known in advance, the movement of the carriage 31 is started at a timing that is traced back from the end of conveyance of the sheet S to the start of ejection. And the time when the conveyance of the paper S is completed and the time when the ink discharge is started can be made uniform. Thereby, the transport operation of the paper S and the movement operation of the carriage 31 are performed in a superposed manner in a certain period, and the printing operation can be speeded up. Hereinafter, the second embodiment configured as above will be described. In the second embodiment, the hardware configuration is the same as that of the first embodiment described above. Therefore, the description is omitted.

  In this embodiment, the carriage motor 44 corresponds to a first motor for moving the head HD in the head movement direction (predetermined movement direction). The position counter 71a included in the position calculation unit 71 corresponds to a first counter that counts the amount of movement of the head HD. Similarly, the transport motor 48 corresponds to a second motor for transporting the paper S in a transport direction that intersects the head movement direction. The position counter 81 a included in the position calculation unit 81 corresponds to a second counter that counts the transport amount (movement amount) of the paper S.

  In addition, the target speed table 74 provided in the memory 62 is a memory that stores the target speed of the carriage motor 44 corresponding to the count value of the position counter 71a. Similarly, the target speed table 84 provided in the memory 62 is a memory that stores the target speed of the transport motor 48 corresponding to the count value of the position counter 81a. The target table 74 is provided with a front edge table 74a, a one-cycle table 74b, and a rear edge table 74c. Similarly, the target speed table 84 is provided with a front edge table, a period table, and a rear edge table.

  Among these tables, the one-cycle table indicates target speeds of the head HD and the paper S (moving body) corresponding to a plurality of count values of the position counter 71a (first counter) and the position counter 81a (second counter). This corresponds to the first area stored as the first control information. The front edge table and the rear edge table are stored in the second area for storing the target speeds of the head HD and the paper S corresponding to the count values of the position counter 71a and the position counter 81a as second control information. Equivalent to.

  Then, the DC unit 25 (CPU 61, memory 62) as the drive control unit is based on the count value of the position counter 81a at the end of conveyance of the sheet S and the target speed for the sheet S stored in the target speed table 84. The end timing of the drive control for the transport motor 48 is obtained, the obtained end timing, the count value of the position counter 71a corresponding to the amount of movement of the head HD to the ink discharge start position, and the head stored in the target table 74 The drive control start timing for the carriage motor 44 is obtained based on the HD target speed, and the drive control for the carriage motor 44 is started at the obtained start timing.

<Specific examples of processing>
The above process will be specifically described with reference to FIG. First, the DC unit 25 (drive control unit) obtains one unit of transport time WP for the paper S, that is, the time required for transport of the paper S when shifting from one pass to the next. For example, the conveyance time WP is stored in the memory 62 as a constant. That is, the transport period WP is determined mainly based on the transport amount, and is less affected by fluctuations due to other factors. When the transport time WP is obtained, the DC unit 25 can recognize the drive end timing t2 (paper S transport end timing) corresponding to the drive start timing t1 of the transport motor 48.

  Next, the DC unit 25 acquires the position P1 (position in the carriage movement direction) of the head HD from which ink ejection is started. This acquisition is performed based on information from the CPU 21 of the controller unit 20, for example. As this information, for example, information on the dot formation position based on the dot formation data is used. Since the stop position of the carriage 31 (head HD) can be recognized from the count value of the position counter 71a, the movement from the stop position of the carriage 31 to the ink discharge start position P1 is obtained by obtaining the ink discharge start position P1. The distance X can be recognized.

  If the movement distance X of the carriage 31 is recognized, the DC unit 25 acquires the movement time WC1 necessary for moving the movement distance X. The movement time WC1 can be obtained based on the target speed stored in the target speed table 74 and the unit movement amount of the carriage defined by the edges of the encoder signal ENC_P. For convenience, it is assumed that the count value of the position counter 71a corresponding to the ejection start position P1 is the value [30]. Since the count value is related to the discharge start position P1, the DC unit 25 can acquire the count value from the information of the discharge start position P1.

  The DC unit 25 refers to the target speed table 74 based on the count value [30], and specifies a table in the target range. For example, when the first control pattern information 74A is used, as shown in FIG. 10, up to the seventh table of the front edge table 74a, the one-period table 74b, and the rear edge table 74b as target tables. Are identified. For each identified table, the required time is calculated for each target speed.

  For example, the target speed Ta0 is stored in the first table of the front edge table 74a. This target speed Ta0 can be considered as the moving speed of the carriage 31 when the carriage 31 is moved by 1/4 of 1/180 inch (that is, 1/720 inch). Therefore, the required time corresponding to the target speed Ta0 can be calculated by dividing the moving distance (1/720 inch) by the target speed Ta0. The required time corresponding to each target speed Ta1 to Ta18 can be calculated by the same calculation for the other tables belonging to the front edge table 74a and the rear edge table 74c.

  In addition, the target speed Tb0 is stored in the first table of the one cycle table 74b. This target speed Tb0 can be considered as the moving speed of the carriage 31 when the carriage 31 is moved by 1/180 inch. Therefore, the required time corresponding to the target speed Tb0 can be calculated by dividing the moving distance (1/180 inch) by the target speed Tb0. It should be noted that the required time corresponding to each target speed Tb1, Tb2 can be calculated for other tables belonging to one cycle table 74b by the same calculation.

  If the required times corresponding to the target speeds Ta0 to Ta18 and Tb0 to Tb2 are obtained, the DC unit 25 adds all the required times. Thereby, the movement time WC1 shown in FIG. 12 is obtained.

  If the movement time WC1 is obtained, the DC unit 25 specifies a timing t3 that is back by the movement time WC1 from the timing t2, and sets this timing t3 as the drive start timing of the carriage 31.

  The DC unit 25 starts driving the transport motor 48 at timing t1, and then monitors the arrival of timing t3. Then, on the condition that the timing t3 has come, the driving of the carriage motor 44 is started while the transport motor 48 is being driven. As a result, the conveyance end timing of the sheet S and the ejection timing of the ink from the head HD are both aligned at the timing t2. As a result, the printing speed can be increased. In the printer 10, since the drive start timing t3 of the carriage motor 44 is determined using the target speed stored in the target speed table 74, the movement time WC1 can be accurately determined. As a result, the conveyance end timing of the paper S and the ejection timing of the ink from the head HD can be determined with higher accuracy.

  In the above description, the conveyance time WP is stored in the memory 62 as a constant. However, the conveyance time WP may be obtained by calculation. In this case, in the acceleration period WP1 and the deceleration period WP3, it is necessary based on the target speed stored in the target speed table 84 and the unit transport amount (the transport amount determined by the corresponding edges) defined by the encoder signal ENC_P. Time is required. Further, in the constant speed period WP2, the required time is obtained based on the target carry amount, the number of times the target carry amount is given, and the gain Kp.

=== Other Embodiments ===
Although the above-described embodiment has been described mainly with respect to the motor control device incorporated in the printer 10, the disclosure includes a motor control method and a control program. The above-described embodiments are for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof. In particular, the embodiments described below are also included in the present invention.

<About controlled motors>
In each of the embodiments described above, the printer 10 has the carriage motor 44 and the conveyance motor 48, but other types of motors can also be controlled. These motors are constituted by DC motors, but may be constituted by other types of motors. Further, in the above-described embodiment, the command signal output from the PWM circuit 63 is used as a signal for acquiring the heat generation amount. However, the signal is not limited to the command signal as long as it can recognize the heat generation amount of the motor. For example, a duty signal input to the PWM circuit 63 may be used.

<About the target device in which the motor control device is incorporated>
In each of the above-described embodiments, the printer 10 has been described as an example of the target device in which the motor control device is incorporated. However, the target device is not limited to the printer 10. Other devices having a motor can also be the target device.

<About control information>
In the first embodiment, the target speed is exemplified as the control information stored in the table. Control information is not limited to the target speed. Other types of information may be used.

FIG. 2 is a block diagram illustrating a configuration of a printer. FIG. 2A is a diagram for explaining the configuration of the linear encoder. FIG. 2B is a diagram for explaining an encoder signal from the linear encoder. FIG. 3A is a diagram for explaining the configuration of the rotary encoder. FIG. 3B is a diagram for explaining an encoder signal from a rotary encoder. It is a block diagram explaining the structure of DC unit. It is a block diagram explaining the function of DC unit. It is a conceptual diagram explaining a target speed table. It is a conceptual diagram explaining the electric current value (target speed) for every edge of an encoder signal. It is a conceptual diagram explaining the electric current value (target speed) for every period of an encoder signal. FIG. 9A is a flowchart for explaining a carriage motor drive process (main process). FIG. 9B is a flowchart illustrating target speed reading processing in the carriage motor driving processing. It is a conceptual diagram explaining reading of the target speed from the target speed table. It is a figure explaining the electric current value of the command signal in one pass period, the moving speed of a carriage, and an encoder signal. It is a figure explaining 2nd Embodiment.

Explanation of symbols

10 printer, 20 controller, 21 CPU, 22 ASIC,
23 memory, 24 timer IC, 25 DC unit, 26 interface,
30 engine unit, 31 carriage, 32 carriage moving mechanism,
33 Carriage motor driver, 34 Linear encoder,
35 paper transport mechanism, 36 transport motor driver, 37 rotary encoder,
38 Head driver, 41 Timing belt, 42 Drive pulley,
43 idler pulley, 44 carriage motor, 45 sign plate,
46 sensor unit, 47 transport roller, 48 transport motor,
49 Code plate, 50 Sensor unit, 61 CPU, 62 Memory,
63 PWM circuit, 63a PWM circuit on the carriage motor control unit side,
63b PWM circuit on the conveyance motor control unit side,
64 Carriage motor control unit, 65 Carriage motor control unit,
71 position calculation unit, 71a position counter, 72 first subtractor,
73 target speed calculation unit, 74 target speed table, 74A first control pattern information,
74B second control pattern information, 74N nth control pattern information,
74a, 74d, 74g Front edge table,
74c, 74f, 74i Table between rear side edges,
74b, 74e, 74h 1 period table,
75 speed calculator, 76 second subtractor,
77P proportional element, 77I integral element, 77D differential element, 78 adder,
79 weight control unit, 81 position calculation unit, 82 first subtractor,
83 Target speed calculator, 84 Target speed table, 85 Speed calculator,
86 second subtractor, 87P proportional element, 87I integral element, 87D differential element,
88 adder, 89 wait control unit, BU bus, HC host computer,
HD head, ENC_CA first encoder signal,
ENC_CB second encoder signal, ENC_PA first encoder signal,
ENC_PB Second encoder signal, Kp gain

Claims (8)

(A) a counter that counts the amount of movement of the moving body that moves as the motor is driven;
(B) A memory storing control information related to driving of the motor,
A first area for storing first control information corresponding to a plurality of count value of the counter, and a second area for storing the second control information corresponding to each of the count value of the counter, the control pattern information with Multiple memories ,
(C) Select the control pattern information according to the control mode of the moving body, and select one of the first area and the second area in the selected control pattern information based on the count value , A drive control unit that reads out control information corresponding to the count value of the counter from the selected area and performs drive control of the motor;
With
Each of the plurality of control pattern information is a motor control device in which a ratio of the first area and the second area is different . The motor control device according to claim 1,
Having a voltage change for determining timing, and generating a timing signal for generating the voltage change every time the moving body moves by a predetermined amount;
The counter is
The motor control apparatus which counts the frequency | count of the said voltage change in the said timing signal as a movement amount of the said mobile body. The motor control device according to claim 2,
The drive control unit
Using the value obtained by dividing the count value, the first control information is read from the first area,
A motor control device that reads out the second control information from the second region using the count value. The motor control device according to any one of claims 1 to 3,
The drive control unit
The motor control apparatus which selects the said 1st area | region and the said 2nd area | region according to the acceleration degree of the said mobile body. The motor control device according to claim 4,
The memory is
The motor control apparatus which memorize | stores the control pattern information which has at least one of the said 1st area | region and the said 2nd area | region corresponding to each of several control modes defined according to the moving speed of the said mobile body. The motor control device according to any one of claims 1 to 5,
The memory is
As the first control information, the target speed of the moving body corresponding to a plurality of count values of the counter is stored,
The motor control apparatus which memorize | stores the target speed of the said mobile body corresponding to each of the count value of the said counter as said 2nd control information. And counting the amount of movement of the moving body which moves along with the driving of (A) a motor,
(B) A memory storing control information relating to driving of the motor, wherein the first area stores first control information corresponding to a plurality of count values of the counter, and corresponds to each of the count values of the counter The control pattern information is selected in accordance with the control mode of the moving body from a memory that stores a plurality of control pattern information having a second area that stores second control information, and is selected based on the count value. Selecting either the first region or the second region in the control pattern information;
(C) from the selected area, reads the control information corresponding to the count value of the counter, and to perform the drive control of the motor,
Each of the plurality of control pattern information includes a ratio of the first area to the second area, and the motor control method is different . (A) a counter that counts the amount of movement of a head that ejects ink and is moved in a predetermined movement direction by the first motor;
(B) A memory storing control information related to driving of the first motor,
The target speed of the head corresponding to a plurality of count value of the counter, a first region for storing a first control information, the target speed of the head corresponding to each of the count value of the counter, second control information A memory having a plurality of control pattern information having a second area stored as
(C) a drive control unit that starts driving the first motor while driving the second motor for transporting the medium so that the head reaches the ink ejection start position at the end of transport of the medium; There,
Select the control pattern information according to the control mode of the head,
Based on the count value of the counter corresponding to the movement amount of the head to the ink discharge start position, the first area and the second area in the selected control pattern information are selected, and the selected area Read the target speed for the head from
Based on the read target speed and the conveyance end timing of the medium, a start timing of drive control for the first motor is obtained,
A drive control unit for starting drive control for the first motor at the determined start timing;
Each of the plurality of pieces of control pattern information has a ratio of the first area to the second area different from each other .

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