JP5330265B2 - Control method of self-propelled carrier in flat knitting machine and flat knitting machine - Google Patents

Abstract

A flatbed knitting machine and a control method for a self-moving carrier in a flatbed knitting machine wherein when electric power source is shut off due to emergency stop or other circumstances, synchronization between a carriage and a self-moving carrier is kept so that the knitting can be properly restarted after release of the shut-off of the electric power source. When the electric driving power supplied to the carriage drive motor 6 is shut off due to electric power failure of the commercial AC source 20 or by the operation of the stop switch 22, the carriage 3 is decreased in speed and then stops. The controller 10 derived a predicted position of the carriage 3 and controls the carrier 13 so that a position of the carrier 13 can be synchronized with the predicted position. When the electric power supply is shut off in the middle of the carriage 3 being accelerated alone for e.g. reversal in direction, while the carrier 13 reaches the carrier start position, the carrier 13 is controlled to start up promptly so that the position of the carrier 13 can be synchronized with the predicted position of the decelerating carriage 3.

Description

  The present invention relates to a flat knitting machine that feeds yarn with a self-propelled carrier when knitting a knitted fabric by driving a knitting needle with a carriage that moves along a needle bed, and a self-propelled carrier with a flat knitting machine. It relates to a control method.

  2. Description of the Related Art Conventionally, in a flat knitting machine that knits a knitted fabric by driving a knitting needle with a carriage that reciprocates along a needle bed, a type in which a carriage mechanically entrains a carrier for supplying yarn is often used. A cam acting on the knitting needle is mounted on the carriage, and the carrier is entrained so as to maintain a certain positional relationship with the cam. When the carriage is released from the carriage, the carrier stops. In intarsia knitting where the knitting width of one course as a knitted fabric is divided into a plurality of sections and knitted by supplying different knitting yarns to each section, the carrier stops in the middle of adjacent sections. It becomes an obstacle to knitting a section where the carrier is stopped on the way. Retraction and return for avoiding obstacles can be realized by kicking the carrier by moving the carriage. However, if the carrier is kicked back by the carriage, the carriage must be moved without directly knitting the knitted fabric, and the knitting efficiency is lowered.

  In a flat knitting machine having a self-propelled carrier, the carrier can be individually moved along the needle bed without being accompanied by a carriage (see, for example, Patent Document 1). If the yarn is fed by a self-propelled carrier, it can be retracted and returned by self-propelled carrier in intarsia knitting, etc., so there is no need to move the carriage for kicking back, avoiding a decrease in knitting efficiency be able to. The self-propelled carrier can also be used for various knitting such as a plating knitting in which a front yarn and a back yarn are fed from two carriers with a certain phase difference to one cam.

  Since the carriage is heavy and has a large load for driving the knitting needle during knitting, the drive source is a main motor as a flat knitting machine. The main motor is controlled via a servo driver, for example. The position of the carriage is detected directly with respect to the needle bed, the frame of the flat knitting machine, or indirectly from the rotation amount of the main motor. The self-propelled carrier is also detected so that its position during movement is synchronized with the carriage position within a certain range.

The flat knitting machine is provided with a stop switch for stopping the knitting operation. When the stop switch is operated, the supply of driving power to the main motor for driving the carriage is cut off. The power supply for driving the carriage is cut off even when a power failure occurs or the power breaker is operated.
Japanese Examined Patent Publication No. 3-62821

  In a flat knitting machine having a self-propelled carrier, it is necessary to always synchronize the carriage and the carrier in order to reliably knit the knitted fabric by yarn feeding and to further knit various knitted fabrics. However, if the supply of power for driving the carriage is stopped due to a power failure of the flat knitting machine or an operation of a stop switch, the synchronization cannot be achieved. If the power supply is cut off during the movement, the carriage deviates from the control of the servo driver, gradually decelerates, and finally stops. If the carriage moves at a speed of, for example, 1 m / s and performs knitting, it moves a distance of about 100 mm or more before stopping. Since the carrier is stopped when it becomes out of synchronization with the carriage, there is no yarn feeding from the carrier, and a section in which only the knitting needle is driven for knitting occurs. With the knitting needles in this section, a new stitch is not formed and the fabric is dropped.

  Outside the knitting width, there is provided a section in which only the carriage moves while the carrier is stopped along with the deceleration and acceleration when the carriage reverses the moving direction. In the start-up after the reversal of the moving direction, following the acceleration of only the carriage in such a section, a synchronization sequence is executed while performing carrier movement. Here, the carriage cannot be stopped immediately even if the supply of driving power is interrupted in the moving section of the carriage alone due to the necessity of operating an emergency stop switch. If the stop position is in the section where the carrier should also move, when the carriage movement is started again after the power shut-off is released, the carriage position has already passed the position where the carrier movement is started, and the fabric is dropped. End up.

  The object of the present invention is to maintain the synchronization between the carriage and the self-propelled carrier even if the supply of power for driving the carriage is interrupted by operating a stop switch, etc. It is to provide a flat knitting machine that can be resumed, and a self-propelled carrier control method in the flat knitting machine.

The present invention reciprocates along a needle bed in which knitting needles are juxtaposed, a carriage on which a cam for selectively knitting driving the knitting needles is mounted, and a region in which the carriage reciprocates independently from the carriage. In a flat knitting machine provided with a carrier that supplies knitting yarn to a knitting needle that is knitted while being synchronized so as to maintain a certain relationship with the position of the carriage in a preset section inside
A sensor capable of detecting the position of the carriage and detecting the position at least until the carriage stops even if the supply of power for driving the carriage is interrupted during movement of the carriage;
When the supply of power for driving the carriage is interrupted during the movement of the carriage, the movement state of the carrier is determined,
If the carrier is moving, control the movement of the carrier so that the position of the carrier is synchronized with the position of the carriage detected by the sensor until the carriage stops moving,
If the carrier is not moving, it is judged whether or not the carriage moves in a section where the carriage moves in synchronization until the carriage stops, and if it enters, the carrier is moved and stopped in synchronization. A flat knitting machine including a controller for adding

The present invention also includes a memory for storing the position of the carriage in time series,
The controller predicts the position of the carriage based on the position stored in the memory, and controls the movement of the carrier so as to maintain the synchronization with the predicted position.

In the present invention, the controller may be
When the carriage is activated, only the carriage is accelerated alone until a predetermined carrier movement start condition is satisfied, then the carrier is activated, and the carrier is controlled so as to move in synchronization.
If power supply for driving the carriage is cut off while accelerating the carriage alone, the carrier is started and moved to synchronize with the carriage if the carrier movement start condition is satisfied before the carriage stops. It is characterized by controlling.

Furthermore, the present invention reciprocates along a needle bed on which knitting needles are juxtaposed, a carriage on which a cam for selectively knitting the knitting needles is mounted, and a self-propelled carriage independent of the carriage. A flat knitting machine equipped with a carrier that supplies knitting yarn to a knitting needle that is knitted and driven while the carriage is moving while synchronizing with the position of the carriage in a preset section within the area and in synchronization A self-propelled carrier control method in a flat knitting machine that controls the movement of the carrier when power for operation is cut off,
Even if the power supply for driving the carriage is cut off, the carriage position can be detected at least until the carriage stops,
When the supply of power for driving the carriage is interrupted during the movement of the carriage, the movement state of the carrier is determined,
If the carrier is moving, control the movement of the carrier to keep the carrier position synchronized with the carriage position until the carriage stops,
In a flat knitting machine, if the carrier is not moving, a control is performed so that the carrier is moved and stopped while being synchronized with the carriage when entering the section in which the carrier is synchronized before the carriage is stopped. This is a self-propelled carrier control method.

  According to the present invention, when the power supply for driving is interrupted during the movement of the carriage, the controller moves the carrier so as to maintain synchronization with the position of the carriage until the carriage stops. To control. As a result, even if the supply of power for driving the carriage is interrupted by operating the stop switch or the like, the carriage and the self-propelled carrier are kept synchronized and the supply of power for driving the carriage is released. It is possible to prevent troubles in resuming the organization.

  According to the present invention, the controller predicts the position of the carriage based on the position of the carriage stored in the memory in time series. The carrier can be controlled to quickly synchronize with the expected carriage position.

  Further, according to the present invention, at the time of start-up, only the carriage is accelerated alone. Even if the power supply for driving the carriage is cut off during the single acceleration of the carriage, the carrier is synchronized if the conditions for starting the carrier movement are satisfied before the carriage stops. The organization can be resumed appropriately later.

  Furthermore, according to the present invention, even if the supply of power for driving the carriage is interrupted during the movement of the carriage, the movement of the carrier is performed so as to maintain the synchronization in a fixed relationship with the position of the carriage until the carriage stops. Control. As a result, even if the power supply for driving the carriage is cut off by operating a stop switch, the carriage and the self-propelled carrier can be kept synchronized, and the knitting can be restarted properly after the power supply is released. it can.

FIG. 1 is a block diagram showing a schematic electrical configuration of a flat knitting machine 1 according to an embodiment of the present invention. FIG. 2 shows the concept of predicting the position of the carriage 3 that decelerates after the supply of power for driving the carriage is cut off based on the previous position of the carriage 3 stored in the memory 25 in the flat knitting machine 1 of FIG. FIG. FIG. 3 is a diagram illustrating the control at the time of starting the carriage 3 and the concept of the control performed when the supply of power for driving the carriage is interrupted in the flat knitting machine 1 of FIG. FIG. 4 is a flowchart generally showing a control procedure by the controller 10 of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Flat knitting machine 2 Needle bed 3 Carriage 6 Carriage drive motor 7, 17 Encoder 8 Tooth mouth 10 Controller 13 Carrier 20 Commercial alternating current power supply 21 Backup apparatus 22 Stop switch 25 Memory

  FIG. 1 shows a schematic electrical configuration of a flat knitting machine 1 according to an embodiment of the present invention. The flat knitting machine 1 knits the knitted fabric by selectively driving the knitting needles arranged in parallel on the needle bed 2 with a cam mounted on the carriage 3. The carriage 3 is driven so as to reciprocate in the left-right direction in the figure. This direction is the longitudinal direction of the needle bed 2. The carriage 3 is connected to a timing belt 4 that is stretched between both longitudinal ends of the needle bed 2. Driving to the timing belt 4 is performed by a driving pulley 5 at one end in the longitudinal direction of the needle bed 2. The drive pulley 5 is attached to the output shaft of the carriage drive motor 6. The rotation angle of the output shaft is detected by the encoder 7. The needle bed 2 is usually provided so as to make a pair with the tooth opening 8 where the tip of the knitting needle advances and retreats. Although not shown in the drawings, the other needle beds provided with the tooth mouth 8 interposed therebetween have the same configuration as the needle bed 2. In order to support the carriage 3 so as to be able to reciprocate in the longitudinal direction of the needle bed 2, a carriage rail 9 is provided. In order to control the movement of the carriage 3, a controller 10 is provided. The controller 10 includes a CPU and the like, and controls the flat knitting machine 1 including the carriage 3 according to a preset program.

  In the flat knitting machine 1, a self-propelled carrier 13 including a yarn feeder 12 reciprocates along a yarn path rail 11 installed above the tooth mouth 8. The knitting yarn used for knitting the knitted fabric is supplied from the yarn feeder 12 to the knitting needle. The carrier 13 is connected to a timing belt 14 that is stretched between both ends of the yarn path rail 11. Driving to the timing belt 14 is performed by a driving pulley 15 at one end in the longitudinal direction of the yarn path rail 11. The drive pulley 15 is attached to the output shaft of the carrier drive motor 16. The rotation angle of the output shaft is detected by the encoder 17. Although a plurality of yarn path rails 11 and carriers 13 having such a configuration are provided above the mouth 8, only one is shown and the others are omitted. Although driving of the carriage 3 and the carrier 13 is shown as an example, it can be driven by various other methods.

  Data corresponding to the rotation angles of the output shafts of the carriage drive motor 6 and the carrier drive motor 16 detected by the encoders 7 and 17 is input to the controller 10. The controller 10 performs control so that the position of the carriage 3 and the position of the carrier 13 are synchronized with each other while maintaining a certain relationship based on the input data. A plurality of knitting needle driving cams may be mounted on the carriage 3. When a plurality of knitting needle driving cams are mounted on the carriage 3, the knitting drive can be performed a plurality of times in one stroke in which the carriage 3 moves once. In this case, the plurality of carriers 13 are moved in synchronism so that the positions match the positions of the respective cams. When performing plating knitting, the plurality of carriers 13 are moved with respect to one cam mounted on the carriage 3 so that the positions thereof are synchronized with each other for the front yarn and the back yarn.

  Electric power for driving the carriage drive motor 6 is supplied from, for example, a commercial AC power source 20 as an external power source to a carriage servo 23 via a backup device 21 and a stop switch 22 that constitute a power source as a flat knitting machine. . The carriage servo 23 performs servo drive of the carriage drive motor 6. The backup device 21 includes a large-capacity capacitor and an electromagnetic circuit breaker, and power is supplied to the stop switch 22 via the electromagnetic circuit breaker. When power reception from the commercial AC power supply 20 is stopped due to a power failure or the like, the electromagnetic circuit breaker is cut off, and the supply of drive power to the carriage drive motor 6 via the carriage servo 23 is cut off. Even when the stop switch 21 is operated due to an emergency situation during power reception, the power supply for driving the carriage 3 is cut off.

  From the backup device 21, power is also supplied to a load that is lighter than the carriage 3 including the carrier 13, such as the carrier servo 24 that performs servo driving of the carrier motor 16 and the controller 10. For these loads, backup power stored in a capacitor inside the backup device 21 is supplied when power reception from the commercial AC power supply 20 is stopped due to a power failure or the like. Capacitor capacity allows backup power to be supplied for several seconds. In the carrier servo 24, even if the power supply for driving is stopped, the power from the carrier motor 16 is regenerated, and the time until the power supply is stopped can be extended to about several seconds.

  For example, when the supply of drive power from the commercial AC power supply 20 to the carriage drive motor 6 is interrupted due to a power failure of the commercial AC power supply 20 or power cut off by operating the stop switch 22, the carriage 3 decelerates and stops. To do. As will be described later, the controller 10 controls the carrier 13 to keep the position of the carrier 13 synchronized with the position of the carriage 3. Even when power reception from the commercial AC power supply 20 is stopped, power supply from the backup device 21 can be performed at least during such control. Further, as described above, it is possible to regenerate power by the carrier servo 24 that drives the carrier motor 16 and to extend the time until the carrier motor 16 stops.

  A memory 25 is provided in order for the controller 10 to properly control the synchronization between the position of the carriage 3 and the position of the carrier 13. Data indicating the position of the carriage 3 is stored in the memory 25 at regular intervals, for example, every 1 ms. In the memory 25, a certain area is allocated for storing the position of the carriage 3, and when data is stored in all the areas, new data is stored so as to overwrite the oldest data.

  Control of the carriage drive motor 6 and the carrier drive motor 16 by the controller 10 is performed via a carriage servo 23 and a carrier servo 24. The servo driver 25 supplies the power supplied from the main power supply 20 to the carriage drive motor 6 under the control of the controller 10. When the supply of power is cut off, the carriage servo 23 keeps a state in which the rotation angle can be detected by the encoder 7 by using the regenerative power generated by the carriage drive motor 6 as a generator. The memory 25 is provided with a backup power source capable of supplying power for a longer time than the backup power from the backup device 21, or a non-volatile flash memory is used. From such a memory 25, it is possible to read the data of the position of the carriage 3 held even when the operation is stopped even when the operation is resumed after the operation of the flat knitting machine 1 is stopped.

FIG. 2 shows a concept of predicting the position of the carriage 3 that decelerates after the operation of the emergency stop switch 21, for example, based on the past position of the carriage 3 stored in the memory 25 of FIG. In the memory 25, data indicating the position of the carriage 3 in the past is stored in time series, for example, every 1 ms. The position of the carriage 3 is calculated based on the rotation angle of the output shaft of the carriage drive motor 6 output from the encoder 7. A linear encoder that directly detects the position can be provided along the needle bed 2 and the carriage rail 9 to detect the position. The size of the storage area provided in the memory 25 only needs to store at least three pieces of position data necessary for the following prediction. The position after 1 ms is predicted as P3 based on the data P0, P1, and P2 for the past 3 ms including the current position. The current position is P2, the position past 1 ms is P1, and the position past 1 ms is P0. If the difference between P0 and P1 is dP1, and the difference between P1 and P2 is dP2,
dP1 = P1-P0 (1)
dP2 = P2-P1 (2)
It becomes. If the deceleration continues, the difference dP3 between the position P3 after 1 ms and the current position P2 is considered to decrease further by the difference between dP1 and dP2 than dP2.
dP3 = dP2- (dP1-dP2) = 2dP2-dP1 (3)
It becomes. Therefore, the position P3 after 1 ms is
P3 = P2 + dP3 = P2 + (2dP2-dP1) (4)
As can be expected.

  The controller 10 in FIG. 1 controls the carriage drive motor 6 and the carrier drive motor 16 so that the position of the carriage 3 and the position of one or a plurality of carriers 13 are synchronized while maintaining a certain relationship. In a state where the flat knitting machine 1 is normally operated with power supplied from the main power source 20, the carriage 3 reciprocates along the needle bed 2 within a range set according to the knitting width of the knitted fabric to be knitted. In addition, the carriage drive motor 6 performs acceleration / deceleration control of the carriage 3. When the supply of power to the carriage servo 23 is interrupted while the position of the carrier 13 is synchronized with the position of the carriage 3, the controller 10 predicts the position of the carriage 3 and brings it to the expected position. Control is performed so that the positions of the carriers 13 are synchronized.

  FIG. 3 shows the concept of control when the supply of power for driving the carriage is interrupted when the carriage 3 is started. Usually, the carriage 3 moves outside the carrier 13 on the one end side of the knitting width, for example, and then reverses the moving direction. As shown by the solid line in FIG. 3A, in the startup sequence after reversal, the movement starts at a constant acceleration from the stationary state toward the other side of the knitting width at time t0. The carrier 13 stands by at a position close to the knitting width outside the one end side of the knitting width. Until the time t1, since the carriage 3 moves alone, it is naturally not synchronized with the carrier 13. At time t1, the carriage 3 reaches a carrier movement start position at which the movement of the carrier 13 is to start, and the movement of the carrier 13 to the other side of the knitting width also starts as indicated by a broken line. Since the carrier 13 having a smaller load than the carriage 3 can accelerate more quickly, the carrier 13 reaches the same speed as the carriage 3 at time t2 and can maintain a synchronized positional relationship. . When the carrier 13 and the carriage 3 are synchronized, the knitting needle is knitted and driven by the carriage 3, and the knitted fabric can be knitted with the knitting yarn fed from the yarn feeder 12 of the carrier 13. Control when the supply of power to the carriage servo 23 is interrupted after synchronization may be performed while predicting the position of the carriage 3 as shown in FIG.

  As shown in FIG. 3B, the interruption of the supply of power to the carriage servo 23 can also occur between time t1 and time t2. If the supply of electric power is interrupted at time tx during this period, the carriage 3 stops accelerating from time t0 at time tx, as indicated by a thick solid line. That is, like the activation sequence indicated by the two-dot chain line, after time tx, acceleration does not continue but switches to deceleration. The controller 10 performs control so that the position of the carrier 13 is immediately synchronized with the expected position of the carriage 3 after time tx, as indicated by a thick broken line. Since the load on the carrier 13 is small, more rapid acceleration is possible. After the time tx, the carriage 3 decelerates, so that synchronization can be achieved in a short time. After synchronization is achieved, the position of the carrier 13 may be adjusted to the predicted position while the position of the carriage 3 is predicted.

  The interruption of the supply of power to the carriage servo 23 can also occur between time t0 and time t1 when the carriage 3 is accelerating alone. If the position where the carriage 3 is decelerated and stopped due to the interruption of the power supply does not reach the carrier movement start position, it is not necessary to start the carrier 13. When the operation is resumed after the interruption of the supply of electric power, the carriage 13 may be synchronized by controlling the carrier 13 after the carriage 3 reaches the carrier movement start position. If the carriage 3 reaches the carrier movement start position while decelerating and stopping, the carrier 13 reaches the expected position of the carriage 3 as in the case between the time t1 and the time t2 shown in FIG. Control may be performed so that synchronization occurs immediately.

  FIG. 4 generally shows the control procedure of the carrier 13 by the controller 10 described above. During normal operation of the flat knitting machine 1, the current position of the carriage 3 is stored in the memory 25 in step s1. In step s2, it is determined whether the stop switch 22 has been pressed or whether a commercial AC power supply 20 has a power failure. This determination is made, for example, by monitoring the voltage on the input side of the carriage servo 23. If there is no interruption of power supply, the target position of the carrier 13 with respect to the target position of the carriage 3 after 1 ms is calculated in step s3. The target position of the carriage 3 is a sequence including acceleration at start-up, constant speed after acceleration, deceleration at stop (not shown), etc., as shown by a solid line from time t0 in FIG. It can be set according to. The calculated target position of the carrier 13 is output to the carrier servo 24 in step s4, and the carrier drive motor 16 is controlled. In the normal knitting process, the procedure from step s1 to step s4 is repeated, and the carriage 3 and the carrier 13 are controlled to move in synchronization.

  In step s2, when it is determined that an operation of pressing the stop switch 21 is performed or a power failure occurs in the commercial AC power supply 20 and the power supply is cut off, the position of the carriage 3 after 1 ms is determined in step s5. The concept is as shown in FIG. Next, in step s6, it is determined whether the carrier 13 and the carriage 3 are not yet synchronized. When synchronized, in step s7, the target position of the carrier 13 with respect to the expected position of the carriage 3 after 1 ms is calculated, and the process proceeds to step s4. Such synchronization of the position of the carrier 13 with respect to the expected position of the carriage 3 can maintain a synchronized state even after the supply of power is cut off.

  In the case shown before time t1 in FIG. 3A, it is determined in step s6 that the carrier 13 and the carriage 3 are not yet synchronized. For example, this corresponds to the case where the carriage 3 reverses the moving direction beyond the end of the knitting width. In this case, in step s8, it is determined whether or not the predicted position of the carriage 3 has passed the carrier movement start position. If the predicted position of the carriage 3 has passed the carrier movement start position, the target position of the carrier 13 with respect to the predicted position of the carriage 3 after 1 ms is calculated in step s9. This corresponds to instantaneous synchronization between the carrier 13 and the carriage 3. If the predicted position of the carriage 3 is not past the carrier movement start position in step s8, the target position of the carrier 13 is not calculated, and the process proceeds to step s4 without setting the target position. In step s4, since there is no carrier target position to be output, the carrier 13 does not move and only the carriage 3 moves.

Claims (4)

A carriage carrying a cam that moves back and forth along a needle bed in which knitting needles are arranged side by side, and a cam that selectively drives the knitting needles, and self-runs independently of the carriage, and is set in advance in the reciprocating movement area of the carriage. In a flat knitting machine comprising a carrier that supplies knitting yarn to a knitting needle that is knitted and driven while maintaining a certain relationship with the position of the carriage in the section
A sensor capable of detecting the position of the carriage and detecting the position at least until the carriage stops even if the supply of power for driving the carriage is interrupted during movement of the carriage;
When the supply of power for driving the carriage is interrupted during the movement of the carriage, the movement state of the carrier is determined,
If the carrier is moving, control the movement of the carrier so that the position of the carrier is synchronized with the position of the carriage detected by the sensor until the carriage stops moving,
If the carrier is not moving, it is determined whether or not the carriage moves in a section where the carriage moves in synchronization until the carriage stops. If it enters, the carrier is moved and stopped while synchronizing with the carriage. A controller for adding control,
A flat knitting machine characterized by including. Including a memory for storing the position of the carriage in time series,
2. The controller according to claim 1, wherein the position of the carriage is predicted based on a position stored in a memory, and the movement of the carrier is controlled so as to maintain the synchronization with the predicted position. Flat knitting machine. The controller is
When the carriage is activated, only the carriage is accelerated alone until a predetermined carrier movement start condition is satisfied, then the carrier is activated, and the carrier is controlled so as to move in synchronization.
If power supply for driving the carriage is cut off while accelerating the carriage alone, the carrier is started and moved to synchronize with the carriage if the carrier movement start condition is satisfied before the carriage stops. The flat knitting machine according to claim 1, wherein the flat knitting machine is controlled. A carriage carrying a cam that moves back and forth along a needle bed in which knitting needles are arranged side by side, and a cam that selectively drives the knitting needles, and self-runs independently of the carriage, and is set in advance in the reciprocating movement area of the carriage. In a flat knitting machine that includes a carrier that supplies knitting yarn to a knitting needle that is knitted and driven while maintaining a certain relationship with the position of the carriage in the section that is being driven, the driving power is cut off while the carriage is moving A method for controlling a self-propelled carrier in a flat knitting machine that controls the movement of the carrier,
Even if the power supply for driving the carriage is cut off, the carriage position can be detected at least until the carriage stops,
When the supply of power for driving the carriage is interrupted during the movement of the carriage, the movement state of the carrier is determined,
If the carrier is moving, control the movement of the carrier to keep the carrier position synchronized with the carriage position until the carriage stops,
In a flat knitting machine, if the carrier is not moving, a control is performed so that the carrier is moved and stopped while being synchronized with the carriage when entering the section in which the carrier is synchronized before the carriage is stopped. Self-propelled carrier control method.

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