JP6177016B2 - Driving device and recording device - Google Patents

Description

The present invention relates to a driving apparatus and a recording apparatus including various moving bodies, such as a serial scan type recording apparatus using a carriage that is mounted with a recording head and reciprocates.

  Patent Document 1 describes an abnormality diagnosis device for a drive system of a printing cylinder in a rotary printing press including a printing cylinder as a moving body. In this apparatus, a bearing and two gears, which are drive system components, are obtained from a difference signal between an encoder signal of an encoder attached to a rotation driving unit of a printing cylinder and a master signal for controlling a driving motor of the printing cylinder. Each natural vibration signal is calculated in advance. During the operation of the rotary printing press, the difference signal between the encoder signal and the master signal is always acquired, and the difference signal is compared with the natural vibration signals of the normal bearing and the two gears. Then, the drive system component in which an abnormality has occurred is determined from the comparison result.

JP 2003165201 A

  The apparatus described in Patent Document 1 compares a master signal that controls a drive motor of a printing cylinder with an encoder signal of an encoder, and determines whether or not the natural vibration frequency of a drive system component is within an assumed range. The drive system component in which an abnormality has occurred is specified. However, it cannot be determined whether or not an abnormality has occurred in the encoder itself that generates the encoder signal. In addition, since the natural vibration frequency of the drive system component is easily affected by the vibration of related devices in the vicinity, it is difficult to identify the drive system component in which an abnormality has occurred in an environment that is easily affected by the vibration.

SUMMARY OF THE INVENTION An object of the present invention is to provide a drive device and a recording device that can determine a component in which an abnormality has occurred, including a detection unit that detects a moving state of a mobile body, from among various components related to drive control of the mobile body To provide an apparatus.

Drive device of the present invention, a moving body, a moving means for moving the moving body by using a motor as a drive source, to move within a predetermined range of movement the movable body from the reference position, the first driving force The driving means for driving the motor during the first driving time, the measuring means for measuring the moving amount of the moving body, and the moving amount measured by the measuring means during the first driving time are If not exceeding the first threshold, the measurement means determining means that an abnormality has occurred in, a Ru drive device wherein the drive means, the predetermined movement range of the moving body from the reference position To move to the movement limit position, the motor is driven during a second driving time with a second driving force that is smaller than the first driving force, and the determination means includes the second driving time. During the period measured by the measuring means. If the amount does not exceed the second threshold value, and wherein the determining the excessive load is applied to the abnormality occurs or the moving body to said measuring means.

  According to the present invention, by detecting the moving state of the moving body when the moving body is moved under a specific driving condition, not only the driving unit of the moving body but also the detecting unit that detects the moving state of the moving body. Abnormalities can also be determined. In addition, an abnormality can be reliably determined even in an apparatus that is susceptible to various vibrations, such as a serial scan type inkjet recording apparatus including a carriage as a moving body. Examples of the vibration source in the ink jet recording apparatus include a fan for discharging ink mist and a fan for adsorbing the recording medium to the platen. In such an ink jet recording apparatus, since the detection unit for detecting the moving state of the carriage as a moving body is easily affected by ink mist, it is extremely meaningful to determine the abnormality of the detection unit.

1 is a schematic configuration diagram of a recording apparatus according to a first embodiment of the present invention. FIG. 2 is a block configuration diagram of a control system of the recording apparatus in FIG. 1. It is a flowchart for demonstrating the abnormality determination process in the 1st Embodiment of this invention. It is a flowchart for demonstrating the abnormality determination process in the 1st Embodiment of this invention. It is explanatory drawing of the relationship between the drive time of a motor, and the moving speed of a carriage. It is explanatory drawing of the relationship between the drive time of a motor, and the moving amount of a carriage. It is a flowchart for demonstrating the abnormality determination process in the 2nd Embodiment of this invention. It is a flowchart for demonstrating the abnormality determination process in the 3rd Embodiment of this invention. It is a flowchart for demonstrating the abnormality determination process in the 4th Embodiment of this invention. It is a flowchart for demonstrating the abnormality determination process in the 4th Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIGS. 1A and 1B are schematic configuration diagrams of a serial scan type inkjet recording apparatus according to a first embodiment of the present invention.

  This recording apparatus records an image on a recording medium P by using an ink jet recording head H capable of ejecting ink. The recording head H has various ejection energies such as an electrothermal conversion element (heater) and a piezo element. Ink is ejected using the generating element. When the electrothermal conversion element is used, the ink is foamed by the heat generation, and the ink can be ejected from the ejection port using the foaming energy.

  The recording head H is detachably mounted on a carriage (moving body) 2 guided by a shaft 1 so as to be movable in the main scanning direction indicated by an arrow X. The carriage 2 is reciprocated in the main scanning direction by a drive mechanism (drive unit) 3. The drive mechanism 3 of this example includes a drive pulley 3A, a driven pulley 3B, a belt 3C spanned between these pulleys and connected to the carriage 2, and a reversible carriage motor 3D capable of rotating the drive pulley 3A. It has a configuration. Therefore, the carriage 2 reciprocates in the main scanning direction via the belt 3C within a predetermined movement range in which the movement is allowed by the forward and reverse rotations of the carriage motor 3D as a drive source. An encoder scale 4 is arranged in parallel with the shaft 1 in the recording apparatus main body, and an encoder sensor 5 facing the encoder scale 4 is provided in the carriage 2. The encoder scale 4 and the encoder sensor 5 constitute an encoder (a first detection unit, which is a measuring means in other words). The encoder scale 4 is formed with a plurality of detected portions arranged at equal intervals in the length direction, and the encoder sensor 5 outputs a detection signal of the detected portion of the encoder scale 4 according to the movement of the carriage 2. To do. By counting the detection signals, the amount of movement of the carriage 2 can be measured. The encoder scale 4 and the encoder sensor 5 may constitute various types of encoders such as an optical type or a magnetic type. In the case of the optical type, for example, the encoder scale 4 includes a plurality of transparent parts serving as detected portions. The light parts are formed at equal intervals.

  An optical sensor (origin sensor) 6 is provided at a fixed position of the recording apparatus main body, and a light shielding plate 7 is provided on the carriage 2. The carriage 2 is moved to the right in FIG. 1B, and the light path between the light emitting part and the light transmitting part in the origin sensor 6 is blocked by the light shielding plate 7, so that the carriage 2 is moved to the reference position. It is detected. The origin sensor 6 and the light shielding plate 7 constitute a second detection unit that detects that the carriage 2 is located at the reference position. The moving position of the carriage 2 can be detected using this reference position as the origin. For example, the detection signal of the encoder sensor 5 is counted with the reference position as the origin “0”, and the count value is counted up when the carriage 2 moves to the left in FIG. Count down when moving to the right in 1 (b). In this case, the count value of the detection signal corresponds to the movement position of the carriage 2 with the reference position as the origin. Further, the moving amount and moving speed of the carriage 2 can be detected based on the change in the count value. The count value of the detection signal of the encoder sensor 5 is also referred to as “encoder value”.

  The recording medium P is conveyed by the conveyance mechanism (conveyance unit) 8 in the sub-scanning direction (conveyance direction) indicated by an arrow Y that intersects (orthogonally in this example) the main scanning direction. The transport mechanism 8 of this example includes a pair of transport rollers 8A and 8B positioned upstream of the recording head H in the transport direction, and a pair of transport rollers 8C and 8D positioned downstream of the recording head H in the transport direction. It is the composition which includes.

  FIG. 2 is a block diagram of the control system of the recording apparatus of FIG. The components in the figure are mounted on a control board (not shown).

  The CPU 12 executes control processing of the operation of the recording apparatus, data processing, and the like. The ROM 13 stores programs such as those processing procedures, and the RAM 14 is used as a work area for executing these processes. The CPU 12 displays information to the user via the panel 15 and receives an instruction from the user via the panel 15. The CPU 12 is connected to the motor driver 16, the interrupt sensor 17, and other sensors 18 via the I / O interface 11. The motor driver 16 can control various motors in addition to the carriage motor 3D (see FIG. 1B) for driving the carriage 2. For example, a motor for driving the transport mechanism 8 (see FIG. 1A), a motor for moving a cap for capping the ejection port of the recording head H, and the like are included. The interrupt sensor 17 includes the sensor 5 in FIG. 1B, and the other sensors 18 include the origin sensor 6 in FIG. 1B and a sensor that detects opening and closing of the main body cover of the recording apparatus. . The main body cover includes an openable and closable upper cover that covers the top of the recording apparatus.

  The CPU 12 controls various motors related to the controlled object via the motor driver 16 while monitoring the movement position of the controlled object by the sensors 17 and 18. When recording an image, the operation of ejecting ink from the recording head H while moving the recording head H together with the carriage 2 in the main scanning direction and the conveying operation of conveying the recording medium P in the sub-scanning direction are repeated. An instruction from the user may be notified to the CPU 12 from the interface 19.

  3 and 4 are flowcharts for explaining component abnormality determination processing (hereinafter, also referred to as “determination processing”) relating to movement control of the carriage 2. A program for controlling the flowcharts of FIGS. 3 and 4 is stored in the ROM 13 and executed by the CPU 12. The program is read from the ROM 13 and expanded in the RAM 14 when the recording apparatus is activated or by an instruction from the panel 15 and the interface 19.

  First, as preparation for discrimination processing, the operator is instructed to move the carriage 2. The CPU 12 determines whether the movement of the carriage 2 is restricted (whether it is locked), for example, whether the recording head H mounted on the carriage 2 is capped by a cap (not shown). . When determining that the movement of the carriage 2 is restricted, the CPU 12 uses the motor driver 16, the encoder sensor 5, the origin sensor 6, and the like to bring the carriage 2 into a movable state (unlocked state) ( Step S1). For example, when the recording head H mounted on the carriage 2 is capped with a cap, the recording head H and the cap are moved relative to each other to separate them.

  Thereafter, the CPU 12 requests the operator to open an upper cover (not shown) that covers the upper part of the recording apparatus using the display unit of the panel 15 (step S2). The opening operation of the upper cover is an operation necessary for the operator to move the carriage 2 as will be described later. The CPU 12 monitors a sensor that detects opening and closing of the upper cover. When the sensor detects the open state of the upper cover, the carriage 2 is moved to the movement limit position (origin position) to the right (arrow X1 direction) in FIG. An operation to move is requested to the worker (steps S3 and S4). Thereafter, the CPU 12 monitors the origin sensor 6. When the operator manually moves the carriage 2 to the origin position on the right side in FIG. 1B, the origin sensor 6 detects the light shielding plate 7 and is turned on (step S5). After the origin sensor 6 is turned on, the CPU 12 requests the operator to close the upper cover using the display unit of the display unit of the panel 15 (step S6). The CPU 12 monitors a sensor that detects opening and closing of the upper cover, and determines whether or not the origin sensor 6 is ON after the sensor detects the closed state of the upper cover (steps S7 and S8). If the origin sensor 6 is OFF, the process returns to the previous step S2, and if it is ON, the process proceeds to step S9 in FIG.

  In step S <b> 9, the CPU 12 obtains the encoder value C <b> 1 at the current time before driving the carriage motor 3 </ b> D and stores it in the RAM 14. In the case of this example, the detection accuracy of the movement position of the carriage 2 by the combination of the encoder sensor 5 and the encoder scale 4 is an accuracy corresponding to a recording density of 1200 dpi (dot / inch), and the carriage 2 can move in the main scanning direction. The maximum distance is about 1150 mm.

  Thereafter, the CPU 12 moves the carriage 2 to the left (in the direction of the arrow X2) with the first driving force (step S10). The first driving force is a relatively large force that can reliably move the carriage 2 even if the sliding load, static friction coefficient, and dynamic friction coefficient of the carriage 2 fluctuate to some extent due to the influence of ink mist or the like. Is output by controlling the drive. That is, the first driving force is a relatively large force that can reliably move the carriage 2 even when the load applied to the carriage 2 exceeds the management range. That is, the first driving force is a relatively large force that can reliably move the carriage 2 even when the load applied to the carriage 2 is larger than a predetermined value (maximum value in the management range). The first drive time (T1) is such that when the carriage 2 is moved to the left by the first drive force, the carriage 2 does not collide with the wall surface (stopper) that regulates the left movement limit position P. This is the time for driving the carriage motor 3D. As will be described later, the carriage motor 3D stops driving when the first driving time (T1) has elapsed. Since the carriage 2 moves by inertia after the carriage motor 3D stops, the first drive time (T1) is set to such an extent that the carriage 2 does not collide with the wall surface (stopper) due to the inertia. Further, the first driving time (T1) may be set to such an extent that the carriage 2 collides with the wall surface (stopper) due to inertia if the carriage 2 or the like is not damaged. In the case of this example, the first driving force is an output when the driving duty of the carriage motor 3D is 100%, and the movement limit position P of the carriage 2 is when the carriage 2 moves to the left about 1150 mm. The first drive time (T1) is 200 ms.

  Thereafter, the CPU 12 waits for the carriage 2 to stop moving (step S11). Since the carriage 2 continues to move to some extent even after the drive of the carriage motor 3D is stopped, the CPU 12 monitors the count value of the detection signal of the encoder sensor 5, and when the count value no longer changes, the carriage 2 Judge that stopped.

  Thereafter, the CPU 12 determines whether or not the origin sensor 6 has been turned off (step S12). If the origin sensor 6 does not change to OFF, it is determined that an abnormality has occurred in any of the control board (not shown) for the carriage motor 3D, the carriage motor 3D, or the belt 3C, and the carriage 2 has not moved. . Such an abnormality determination result is notified to the operator using the display unit of the panel 15 (step S13).

  When the origin sensor 6 changes to OFF, the CPU 12 acquires the current encoder value C2 and stores it in the RAM 14 (step S14). Thereafter, it is determined whether or not the difference between the encoder values C1 and C2 exceeds a predetermined first threshold value Th1 (step S15). Since this determination is to determine whether or not the encoder sensor 5 normally outputs a detection signal, the first threshold Th1 may be a small value. In the case of this example, the first threshold Th1 is “20”, and when the difference between the encoder values C1 and C2 does not exceed “20”, an abnormality occurs in the encoder sensor 5, which outputs a detection signal. Judge that it did not. Such an abnormality determination result is notified to the operator using the display unit of the panel 15 (step S16). When the difference between the encoder values C1 and C2 exceeds “20”, the process proceeds to the next step S17. At the stage of shifting to step S17, it is determined that the control board for the carriage motor 3D, the carriage motor 3D, the belt 3C, and the encoder sensor 5 are all normal.

  A dotted line A in FIGS. 5 and 6 indicates a driving duty of the carriage motor 3D for outputting the first driving force. As described above, the carriage motor 3D is driven for the first drive time (T1; 200 ms) with a drive duty of 100%. As a result, the moving speed of the carriage 2 changes as indicated by a dotted line A1 in FIG. 5, and the moving amount of the carriage 2 changes as indicated by a dotted line A2 in FIG. The carriage 2 is accelerated until the first driving time (T1; 200 ms), and then moves by inertia and then stops. The carriage 2 stops before reaching the movement limit position P where it collides with the wall surface, that is, before the movement amount of the carriage 2 reaches about 1150 mm. The carriage 2 may collide with the wall surface (stopper) due to inertia as long as the carriage 2 is not damaged.

  In step S17, the CPU 12 controls the carriage motor 3D to move the carriage 2 to the right in FIG. Thereafter, the CPU 12 obtains the current encoder value C3 and stores it in the RAM 14 (step S18).

  Thereafter, the CPU 12 moves the carriage 2 to the left (arrow X2 direction) by the second driving force for the second driving time (T2) (step S19). The second driving force is a force capable of moving the carriage 2 when the sliding load and the static friction coefficient of the carriage 2 are within a normal range (within the management range). Further, the second driving force is a force that does not cause damage to the carriage 2 or the like even when the carriage 2 collides with a wall surface (stopper) that restricts the left movement limit position P by the force. Such a second driving force is output by controlling the carriage motor 3D. The second drive time (T2) is determined by the second drive force until the carriage 2 collides with the left movement limit position P, that is, until the carriage 2 collides with a wall surface (stopper) that regulates the movement limit position P. Is the drive time of the carriage motor 3D that can move the maximum distance. After the second drive time (T2) has elapsed, the carriage 2 may collide with the wall surface (stopper) due to inertia. In this example, the second driving force is an output when the driving duty of the carriage motor 3D is 20%, and the second driving time (T2) is 2000 ms.

  Thereafter, the CPU 12 waits for the carriage 2 to stop moving (step S20). The CPU 12 monitors the count value of the detection signal of the encoder sensor 5 and determines that the carriage 2 has stopped when the count value stops changing. Thereafter, the CPU 12 obtains the current encoder value C4 and stores it in the RAM 14 (step S21). Thereafter, it is determined whether or not the difference between the encoder values C3 and C4 exceeds a predetermined second threshold Th2 (step S22). Since this determination is to determine whether or not the carriage 2 has normally moved the maximum distance, the second threshold Th2 is a value obtained by adding a predetermined error to the encoder value when the carriage 2 has moved the maximum distance. And In this example, the second threshold Th2 is “48000”. If the difference between the encoder values C3 and C4 does not exceed “48000” in step S22, the encoder scale 4 is abnormal or the static friction coefficient or sliding load when the carriage 2 moves is excessive (overload). Judge that it became.

  The encoder scale 4 extends and is exposed over the entire movement range of the carriage 2, and is more susceptible to the influence of ink mist generated due to ink ejection from the recording head H than the encoder sensor 5. Therefore, in this example, when the difference between the encoder values C3 and C4 does not exceed “48000”, that is, when the encoder sensor 5 cannot read the encoder scale 4 normally, it is determined that an abnormality has occurred in the encoder scale 4. . Depending on the degree to which the encoder scale 4 and encoder sensor 5 are easily affected by ink mist or the like, it may be determined that an abnormality has occurred in the encoder sensor 5, or it is determined that an abnormality has occurred in the encoder scale 4 and the encoder sensor 5. May be. Such an abnormality determination result is notified to the worker using the display unit of the panel 15 (step S23). When the difference between the encoder values C3 and C4 exceeds “48000”, the process proceeds to the next step S24. There is a possibility that the load when the encoder scale 4 and the carriage 2 are moved is normal at the stage of shifting to step S24.

  A solid line B in FIGS. 5 and 6 indicates a driving duty of the carriage motor 3D for outputting the second driving force. As described above, the carriage motor 3D is driven for the second drive time (T2; 2000 ms) with a drive duty of 20%. As a result, the movement speed of the carriage 2 changes as indicated by a solid line B1 in FIG. 5, and the movement amount of the carriage 2 changes as indicated by a solid line B2 in FIG. The carriage 2 collides with a wall surface (stopper) that regulates the movement limit position P and stops. As described above, even if the carriage 2 collides with the wall surface (stopper), the carriage 2 and the like are not damaged.

  In step S24, the CPU 12 controls the carriage motor 3D to move the carriage 2 to the right in FIG. 1B and return it to the origin position, thereby resetting the encoder value to “0” (step S24). . The return of the carriage 2 to the origin position can be confirmed by turning on the origin sensor 6. When the origin sensor 6 is not turned ON and the encoder value reset cannot be completed normally, the encoder scale 4 is abnormal or the static friction coefficient or the sliding load when the carriage 2 moves is excessive (overload). (Steps S25 and S26). The reason why the CPU 12 makes the encoder scale 4 an abnormality target is that it is easily affected by ink mist as described above. Further, depending on the state of the ink mist and the like, there may be a situation where the encoder sensor 5 can read the encoder scale 4 normally and a situation where the encoder scale 4 cannot be read. In this example, the encoder scale 4 again, as in the previous step S23. Is included in the abnormal target. On the other hand, since the origin sensor 6 is provided at a position outside the moving range of the carriage 2 during the recording operation, the origin sensor 6 is not easily affected by ink mist. Such an abnormality determination result is notified to the operator using the display unit of the panel 15 (step S26).

  When the resetting of the encoder value is normally completed, the process proceeds to the next step S27, and the carriage 2 is reciprocated under a predetermined condition. That is, the carriage 2 is moved to 50 ips (inch / second) in the movement range between the rightward movement position of the carriage 2 corresponding to the encoder value “100” and the leftward movement position of the carriage 2 corresponding to the encoder value “49800”. Reciprocate 20 times at a speed of The CPU 12 controls the carriage motor 3D based on the counter value acquired from the encoder sensor 5 so that the carriage 2 has a constant speed (50 ips) when a periodic interrupt is generated by a timer (not shown). At this time, if the CPU 12 does not reach a constant speed (50 ips) even if the output of the carriage motor 3D is maximized, the reciprocation of the carriage 2 does not end normally. That is, if the carriage 2 does not reach a constant speed (50 ips) within a predetermined time in which the carriage 2 reciprocates 20 times at a speed of 50 ips (inch / second), the reciprocating movement of the carriage 2 does not end normally. In this case, it is determined that the encoder scale 4 is abnormal, or the static friction coefficient or the sliding load when the carriage 2 moves is excessive (overload). The reason for making the encoder scale 4 an abnormality is as described above. Such an abnormality determination result is notified to the operator using the display unit of the panel 15 (steps S28 and S29).

  When the reciprocating movement of the carriage 2 is normally completed, it is determined that there is no problem in the function related to the movement control of the carriage 2, and the series of abnormality determination processes is ended. Such a determination result is notified to the operator using the display unit of the panel 15.

(Second Embodiment)
In the present embodiment, as the carriage motor 3D, a motor incorporating a rotary encoder or a brushless motor provided with a Hall element that generates a magnetic field according to the rotational position is used. These rotary encoders and hall elements are provided in the carriage motor 3D as a signal output unit that outputs a pulse signal corresponding to the operating position of the carriage motor 3D. A pulse signal output when the carriage motor 3D operates is counted by a counter (not shown). Since the count value of the pulse signal is used to determine whether or not the carriage motor 3D is operating, the pulse signal may not be able to determine the rotation direction.

  FIG. 7 is a flowchart for explaining the abnormality determination process in the present embodiment. The abnormality determination process in the present embodiment is a process in which steps S9 to S16 in FIG. 4 in the abnormality determination process in the above-described embodiment are replaced with steps S31 to S42 in FIG.

  The CPU 12 acquires the encoder value C1 at the time when the origin sensor 6 is turned on (step S8) and stores it in the RAM 14 (step S31). Further, the CPU 12 acquires a count value (hereinafter also referred to as “motor pulse value”) P1 of the pulse signal of the carriage motor 3D at the present time, and stores it in the RAM. Thereafter, the CPU 12 moves the carriage 2 to the left (in the direction of the arrow X2) for the first driving time (T1) by the first driving force, similarly to step S10 in the first embodiment (step S33). The CPU 12 waits for the carriage 2 to stop moving (step S34). Specifically, the count value of the detection signal of the encoder sensor 5 is monitored, and it is determined that the carriage 2 has stopped when the count value stops changing. The CPU 12 acquires the current encoder value C2 and motor pulse value P2, and stores them in the RAM 14 (steps S35 and S36). Thereafter, the CPU 12 determines whether or not the difference between the encoder values C1 and C2 exceeds a predetermined first threshold Th1 as in step S15 in the first embodiment described above (step S37). If the difference between the encoder values C1 and C2 exceeds the first threshold Th1, it is determined that the carriage motor 3D control board, the carriage motor 3D, the belt 3C, and the encoder sensor 5 are all normal. Then, the process proceeds to step S17 in FIG.

  If the difference between the encoder values C1 and C2 does not exceed the first threshold value Th1, it is determined whether or not the difference between the motor pulse values P1 and P2 exceeds the third threshold value Th3 (step S38). Since this determination is to determine whether or not the carriage motor 3D operates normally, the first threshold Th3 may be a small value. In the case of this example, the third threshold Th3 is “20”, and if the difference between the motor pulse values P1 and P2 does not exceed “20”, the CPU 12 controls the carriage motor 3D or the carriage motor 3D. It is determined that there is an abnormality in the substrate (motor drive circuit). That is, when the operation amount of the carriage motor 3D between the operation position of the carriage motor 3D corresponding to the encoder value C1 and the operation position of the carriage motor 3D corresponding to the encoder value C2 does not exceed the third threshold Th3. Judgment like this. Such an abnormality determination result is notified to the operator using the display unit of the panel 15 (step S39).

  When the difference between the motor pulse values P1 and P2 exceeds “20”, the CPU 12 determines whether or not the origin sensor 6 is OFF (step S40). If the origin sensor 6 is not OFF, it is determined that the carriage 2 cannot be moved even if the carriage motor 3D operates because an abnormality has occurred in the belt 3C. Such an abnormality determination result of the belt 3C is notified to the operator using the display unit of the panel 15 (step S41). On the other hand, when the origin sensor 6 is OFF, it is determined that the encoder sensor 5 cannot normally detect the moving position even though the carriage 2 is moving. Such an abnormality determination result of the encoder sensor 5 is notified to the operator using the display unit of the panel 15 (step S42).

(Third embodiment)
In the present embodiment, a control circuit for a control board that controls the carriage motor 3D, or a current detection unit for detecting the drive current of the carriage motor 3D flowing through the carriage motor 3D is provided.

  FIG. 8 is a flowchart for explaining the abnormality determination process in the present embodiment. The abnormality determination process in the present embodiment is a process in which steps S9 to S16 in FIG. 4 in the abnormality determination process in the above-described embodiment are replaced with steps S51 to S61 in FIG.

  The CPU 12 acquires the encoder value C1 at the time when the origin sensor 6 is turned on (step S8) and stores it in the RAM 14 (step S51). Thereafter, the CPU 12 moves the carriage 2 to the left (in the direction of the arrow X2) for the first driving time (T1) by the first driving force, similarly to step S10 in the first embodiment (step S52). During the driving period of the carriage motor 3D, the CPU 12 measures the driving current value (I) supplied to the carriage motor 3D by the above-described current detection unit, and stores it in the RAM 14 (step S53). In the original case, the CPU 12 stores the maximum value of the current value (I) during the movement period of the carriage 2 in the RAM 14. Thereafter, the CPU 12 waits for the carriage 2 to stop moving (step S54). Specifically, the count value of the detection signal of the encoder sensor 5 is monitored, and it is determined that the carriage 2 has stopped when the count value stops changing. The CPU 12 acquires the current encoder value C2 and stores it in the RAM 14 (step S55). Thereafter, the CPU 12 determines whether or not the difference between the encoder values C1 and C2 exceeds a predetermined first threshold Th1 as in step S15 in the first embodiment described above (step S56). If the difference between the encoder values C1 and C2 exceeds the first threshold Th1, it is determined that the carriage motor 3D control board, the carriage motor 3D, the belt 3C, and the encoder sensor 5 are all normal. Then, the process proceeds to step S17 in FIG.

  If the difference between the encoder values C1 and C2 does not exceed the first threshold Th1, it is determined whether or not the current value (I) is in a normal range (step S57). In the case of this example, it is determined whether or not the maximum value of the current value (I) is within a normal range. When the current value (I) is not normal, the CPU 12 determines that the control board for the carriage motor 3D is abnormal, and notifies the operator of the determination result using the display unit of the panel 15 (step S58). When the current value (I) is normal, the CPU 12 determines whether or not the origin sensor 6 is OFF (step S59). If the origin sensor 6 is not OFF, it is determined that the carriage 2 cannot move because an abnormality has occurred in the belt 3C. Such an abnormality determination result of the belt 3C is notified to the operator using the display unit of the panel 15 (step S60). On the other hand, when the origin sensor 6 is OFF, it is determined that the encoder sensor 5 cannot normally detect the moving position even though the carriage 2 is moving. The determination result of the abnormality of the encoder sensor 5 is notified to the operator using the display unit of the panel 15 (step S61).

(Fourth embodiment)
In the present embodiment, it is determined whether or not the static friction coefficient when the carriage 2 moves from the stationary state is within the management range on the end side where the influence of ink mist or the like is considered to be particularly large within the movement range of the carriage 2. .

  9 and 10 are flowcharts for explaining the abnormality determination processing in the present embodiment. FIG. 9 is a flowchart of a determination process for determining whether or not the static friction coefficient on the right end side (one end side) in the movement direction of the carriage within the movement range of the carriage 2 is within the management range. FIG. 10 is a flowchart of determination processing for determining whether or not the static friction coefficient on the left end side (the other end side) in the carriage movement direction within the movement range of the carriage 2 is within the management range. 9 and 10 in the present embodiment is performed after step S23 (encoder scale / overload) in FIG. 4 in the first embodiment described above.

  First, the flowchart of FIG. 9 will be described. The CPU 12 assigns 0 as the count value n to the storage area of the count value n secured on the RAM 14 (step S71). Next, the CPU 12 drives the carriage motor 3D to move the carriage 2 until the origin sensor 6 is turned on (step S72). The CPU 12 acquires the current encoder value C5 and stores it in the RAM 14 (step S73). Next, the CPU 12 drives the carriage motor 3D to move the carriage 2 to a position where the encoder value becomes {C5 + (C0 × n)} (step S74). The encoder value C0 is 10 in this example. The encoder value C0 is a step size obtained by subdividing the determination range for determining the static friction coefficient of the carriage 2. In this example, each of the determination ranges on the left end side and the right end side in the carriage movement direction is divided into ten. The count value n is an integer of 0 or more. When the count value n is 0, the encoder value calculated in step S74 is equal to C5. Therefore, when the count value n is 0, it is not necessary to move the carriage 2 from the position corresponding to the encoder value C5. That is, in order to determine the static friction coefficient of the carriage 2, a plurality of (10 in this example) determination start positions are determined in advance, and the carriage is moved when the carriage starts to move from each determination start position. Determines whether or not the user can move the desired distance. In this manner, the magnitude of the static friction force is determined at each of a plurality of positions near the end of the carriage movement range.

  Thereafter, the CPU 12 obtains the current encoder value C6 and stores it in the RAM 14 (step S75).

  The CPU 12 sets a value P in the third driving force storage area secured on the RAM 14 (step S76). In this example, the value P is a driving duty of 15%, and corresponds to a driving force capable of moving the carriage 2 when the static friction coefficient of the carriage 2 is within a normal range (within the management range).

  Next, the CPU 12 moves the carriage 2 to the left (arrow X2 direction) by the third driving force P (step S77). The CPU 12 waits for the waiting time T to elapse (step S78). In this example, the waiting time T is 100 ms. The CPU 12 acquires the current encoder value C7 and stores it in the RAM 14 (step S79). Thereafter, it is determined whether or not the difference between the encoder values C6 and C7 exceeds a predetermined fourth threshold Th4 (step S80). The fourth threshold value Th4 is a value for determining whether or not the carriage 2 has been able to move from the stationary state with the third driving force. In the present example, the fourth threshold Th4 is 10. If the difference between the encoder values C6 and C7 does not exceed the fourth threshold Th4, the CPU 12 adds the driving force P0 to the third driving force P (step S81). The driving force P0 is a step size that is subdivided between the initial value and the maximum value of the third driving force P, and is 3% in this example.

  If the determination result in step S80 is NO, the third driving force P is increased by P0 (step S81), and the process returns to the previous step S77 and is determined again. When performing the determination again, it is determined whether or not the third driving force P exceeds the fifth threshold Th5 (driving duty 50%) (step S82). That is, when the third driving force P is larger than the driving duty 50%, it indicates that the static friction force is larger than the value managed (that is, the sliding load is abnormal). If the determination result in this step S82 is YES, it is determined that the right side sliding load is abnormal, that is, it is determined that the static friction coefficient on the right end side in the moving direction of the carriage 2 exceeds the management range (step S83). Thus, until the determination result of step S80 becomes YES, the drive duty is increased by 3% every 18%, 21%,... Let In this way, the static friction force is determined from the relationship with the third driving force P.

  If the decision result in the step S80 is YES, that is, if the difference between the encoder values C6 and C7 exceeds the fourth threshold Th4, the CPU 12 stops the driving of the carriage motor 3D (step S84). Next, after adding 1 to the count value n stored in the RAM 14 (step S85), the CPU 12 determines whether or not the count value n exceeds the sixth threshold Th6 (step S86). The sixth threshold Th6 is the maximum number of times of determining the static friction coefficient on the right end side and the left end side in the carriage movement direction, and is a value obtained by dividing the determination range by the encoder value C0. In this example, the determination range is 200, and since the encoder value C0 is 10, the sixth threshold Th6 is 20. If the determination result in step S86 is NO, that is, if the count value n does not exceed the sixth threshold Th6, the CPU 12 returns to step S72 and repeats the above processing. On the other hand, if the determination result of step S86 is YES, that is, if the count value n exceeds the sixth threshold Th6, it is determined that the static friction coefficient within the determination range is normal, and the process proceeds to the flowchart of FIG. .

  Next, the flowchart of FIG. 10 will be described. The processing procedure of FIG. 10 is the same as that of FIG. The encoder value C0, the third driving force P, the waiting time T, the driving force P0, the fourth threshold value Th4, the fifth threshold value Th5, and the sixth threshold value Th6 are the same as those in the process of FIG. The CPU 12 assigns 0 as the count value n to the storage area of the count value n secured on the RAM 14 (step S88). Next, the CPU 12 drives the carriage motor 3D to move the carriage 2 leftward (arrow X2 direction) (step S89). The CPU 12 acquires the encoder value C8 at the current time and stores it in the RAM 14 (step S90).

  The method for determining that the carriage 2 has reached the left end is not particularly limited. For example, it can be determined that the carriage 2 has reached the left end when the difference between the encoder values C5 and C8 exceeds the second threshold, or after a value close to the second threshold even if it does not exceed the second threshold. Next, the CPU 12 drives the carriage motor 3D to move the carriage 2 to a position where the encoder value becomes {C8− (C0 × n)} (step S91). When the count value n is 0, the calculation result in step S91 is the encoder value C8, and therefore it is not necessary to move the carriage 2 from the position corresponding to the encoder value C8. Thereafter, the CPU 12 obtains the current encoder value C9 and stores it in the RAM 14 (step S92).

  The CPU 12 sets an initial value P in the third driving force storage area secured on the RAM 14 (step S93). Next, the CPU 12 moves the carriage 2 to the right (arrow X1 direction) with the third driving force P (step S94). The CPU 12 waits for the waiting time T to elapse (step S95). The CPU 12 acquires the current encoder value C10 and stores it in the RAM 14 (step S96). Thereafter, it is determined whether or not the difference between the encoder values C9 and C10 exceeds a predetermined fourth threshold Th4 (step S97). If the difference between the encoder values C9 and C10 does not exceed the fourth threshold Th4, the CPU 12 adds the driving force P0 to the third driving force P (step S98).

  Next, the CPU 12 determines whether or not the third driving force P exceeds a predetermined fifth threshold Th5 (step S99). When the third driving force P exceeds the fifth threshold Th5, it is determined that the left sliding load is abnormal (step S100). On the other hand, when it is determined in step S99 that the third driving force P does not exceed the fifth threshold Th5, the CPU 12 returns to the previous step S94 and repeats the above processing.

  If the difference between the encoder values C9 and C10 exceeds the fourth threshold Th4 in step S97, the CPU 12 stops driving the carriage motor 3D (step S101). Next, after adding 1 to the count value n stored in the RAM 14 (step S102), the CPU 12 determines whether or not the count value n exceeds the sixth threshold Th6 (step S103). When the count value n does not exceed the sixth threshold Th6, the CPU 12 returns to step S89 and repeats the above processing. When the count value n exceeds the sixth threshold Th6, it is determined that the static friction coefficient within the determination range is normal, and the process is terminated.

(Other embodiments)
The present invention is not limited to a serial scan type recording apparatus including a carriage as a moving body, and can be widely applied to apparatuses including various moving bodies. For example, the present invention can also be applied to a reading device that scans a carriage on which a reading unit is mounted as a moving body and reads a document. To determine various devices that move a moving body that can be mounted with functional parts such as various products, specimens, light emitters, etc. along a movement path regulated linearly or curvedly, and abnormality of the devices. The present invention can be applied to any abnormality discriminating apparatus.

2 Carriage (moving body)
3 Drive mechanism (drive unit)
3C belt 3D carriage motor 4 encoder scale 5 encoder sensor 6 origin sensor 7 light shielding plate 12 CPU

Claims (8)

A moving object,
Moving means for moving the moving body using a motor as a driving source;
Driving means for driving the motor during a first driving time with a first driving force in order to move the moving body within a predetermined moving range from a reference position;
Measuring means for measuring the amount of movement of the moving body;
A determination unit that determines that an abnormality has occurred in the measurement unit when the movement amount measured by the measurement unit does not exceed a first threshold during the first drive time;
A drive device comprising:
The driving means is configured to move the movable body from the reference position to a movement limit position of the predetermined movement range with a second driving force smaller than the first driving force for a second driving time. To drive the motor,
The determination unit is configured such that when the movement amount measured by the measurement unit during the second driving time does not exceed a second threshold, an abnormality has occurred in the measurement unit or an excessive load is applied to the moving body. A drive device characterized in that it is determined that the operation has occurred. A moving object,
Moving means for moving the moving body using a motor as a driving source;
Driving means for driving the motor for a predetermined driving time with a predetermined driving force in order to move the moving body from a reference position within a predetermined moving range;
Measuring means for measuring the amount of movement of the moving body;
A determination unit that determines that an abnormality has occurred in the measurement unit when a movement amount measured by the measurement unit does not exceed a predetermined threshold during the predetermined drive time;
A drive device comprising:
The drive device includes detection means for detecting whether or not the moving body is located at the reference position within the predetermined movement range,
The determination unit determines that an abnormality has occurred in the moving unit when the detecting unit detects that the moving body is located at the reference position after the motor is driven by the driving unit. A drive device characterized by the above. The measuring means measures the moving speed of the moving body;
The driving means controls the motor based on the moving speed measured by the measuring means so that the moving body stopped at the reference position reaches a predetermined moving speed within a predetermined time;
3. The determination unit according to claim 2, wherein when the moving body does not reach the predetermined moving speed, it is determined that an abnormality has occurred in the measuring unit or an excessive load has been applied to the moving body. The drive device described. The motor includes signal output means for outputting a signal corresponding to the operating position of the motor,
The determination means includes an operation position of the motor corresponding to the signal output from the signal output means before driving the motor by the drive means, and from the signal output means after driving the motor by the drive means. An abnormality has occurred in the motor or a motor drive circuit that drives the motor when the operation amount of the motor between the operation position of the motor corresponding to the output signal does not exceed a third threshold value The drive device according to claim 1, wherein the drive device is determined. A moving object,
Moving means for moving the moving body using a motor as a driving source;
Driving means for driving the motor for a predetermined driving time with a predetermined driving force in order to move the moving body from a reference position within a predetermined moving range;
Measuring means for measuring the amount of movement of the moving body;
A determination unit that determines that an abnormality has occurred in the measurement unit when a movement amount measured by the measurement unit does not exceed a first threshold during the predetermined driving time;
A drive device comprising:
The drive means determines a plurality of start positions on the end side of the predetermined movement range, and performs driving for moving from one of the predetermined movement ranges to the other at each of the plurality of start positions. ,
The determination unit determines that an excessive load is applied to the moving body when the moving amount of the moving body does not exceed a second threshold at each of the plurality of start positions. Drive device. The drive device further includes current detection means for detecting a drive current supplied to the motor,
The determination means determines that an abnormality has occurred in a motor drive circuit for driving the motor when the drive current detected by the current detection means exceeds a normal range when the motor is driven by the drive means. The drive device according to claim 1, wherein the drive device is provided.   The driving device according to claim 1, wherein the predetermined moving range of the moving body is regulated by the moving body hitting a stopper. A drive device according to any one of claims 1 to 7, comprising:
The recording apparatus according to claim 1, wherein the moving body is a carriage on which a recording head for recording an image on a recording medium is mounted, and the measuring means is an encoder for measuring a moving amount of the carriage.

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