JP7226080B2 - Motor control device and reel game machine - Google Patents

Description

The present invention relates to a motor control device for controlling a motor and a reel game machine having such a motor control device.

The reel game machine has a plurality of rotating reels (hereinafter sometimes simply referred to as reels) on which a plurality of symbols are displayed along the circumferential direction. Further, in the reel game machine, when the player presses a stop button while each reel is rotating, the rotation of the corresponding reel is stopped. At that time, the rotating reel corresponding to the pressed stop button is preliminarily selected from any of the plurality of symbols displayed on the rotating reel so that the symbols displayed on each rotating reel are stopped in a row. It is stopped so as to stand still at the set stop position. Therefore, the motor control device that controls the motor that drives the rotating reel is required to accurately stop the rotating reel at a target stop position. However, in some cases, slippage between the rotating shaft of the motor and the rotating reel causes a deviation between the amount of rotation of the motor for rotating the rotating reel by a predetermined amount and the actual amount of rotating the rotating reel. Sometimes. Therefore, it has been proposed to provide an origin sensor for detecting the position of the origin of rotation of the rotary drum driven by the motor (see, for example, Japanese Unexamined Patent Application Publication No. 2002-100003). This origin sensor is composed of an optical sensor in which a light-emitting element and a light-receiving element are paired, and is fixed to a frame to which a reel is rotatably attached. A thin plate-like shielding plate projecting toward the origin sensor is integrally fixed to one of the cross-shaped arms that are attached to the rotating shaft of the stepping motor at the center and support the rotating drum. The shielding plate rotates together with the rotating drum due to the rotation of the stepping motor, and passes the origin sensor once per rotation of the rotating drum. The rising timing at which the rotation becomes impossible or the opposite falling timing is detected as the origin of rotation.

JP 2016-116946 A

In the origin sensor described above, the length of the shielding plate along the circumferential direction around the rotation axis of the rotating body such as the rotating reel is not always constant, and is determined according to the specifications of the rotating body. If the length of the shield plate is different, there is also a reference point for determining the deviation between the actual rotational position of a rotating body such as a rotating reel driven by a motor and the rotational position of the rotating body corresponding to the amount of rotation of the motor. can differ.

Therefore, even if the position of the reference point provided on the rotating body driven by the motor is different depending on the rotating body, the present invention provides the actual rotational position of the rotating body and the rotational position of the rotating body corresponding to the amount of rotation of the motor. It is an object of the present invention to provide a motor control device capable of correcting the deviation between the two.

As one aspect of the present invention, motor control for controlling a motor that drives a rotating body that is rotatable around a center of rotation and has a member that has a predetermined length along the circumference of the center of rotation. An apparatus is provided. This motor control device has a value of a first detection signal from an origin sensor that outputs a first detection signal having a different value depending on whether the member of the rotating body is at a predetermined detection position in the circumferential direction. from the first time point when the value of the first detection signal changes to the second time point when the value of the first detection signal changes again. in the circumferential direction of the member at the first time point or the second time point based on the number received and the manner in which the value of the first sensed signal changes at the first time point or the second time point A reference point detection unit that detects one of the two ends that has reached a predetermined detection position as a reference point; a deviation calculation unit that calculates, as a deviation amount, a difference between the number of the second detection signals and a reference number of the second detection signals corresponding to the rotation amount of the motor corresponding to the rotation amount of the rotating body in that period; a correction unit that corrects the position information representing the rotational position of the rotating body according to the amount of deviation each time the amount of deviation is calculated.

With such a configuration, the motor control device can determine the actual rotational position of the rotating body based on the reference point even if the position of the reference point provided on the rotating body driven by the motor differs depending on the rotating body. and the rotational position of the rotating body corresponding to the amount of rotation of the motor can be corrected.

In this motor control device, the reference point detector detects that the value of the first detection signal indicates that the member is at the predetermined detection position at the first point in time when the rotating body is rotating in the predetermined rotation direction. When the member changes from a first value when it is absent to a second value when the member is at a predetermined detection position, the reference point is detected at a first time and a first detection signal is generated at a first time. changes from the first value to the second value, and the number of second detection signals received between the first time point and the second time point is equal to or greater than a predetermined threshold, the second Preferably, the reference point is detected at time 2.

As a result, the motor control device can detect when both ends of the member provided on the rotating body in the circumferential direction are at predetermined detection positions as reference points. can be calculated, and position information representing the rotational position of the rotating body can be corrected using the amount of deviation.

Further, the motor control device further includes a drive signal generator that outputs a drive signal for controlling the rotation of the motor to a drive circuit that drives the motor, and the corrector outputs a drive signal from the current rotational position of the rotating body. A cumulative value of the second detection signal corresponding to the remaining rotation amount of the rotating body up to the target stop position is held as position information, and 1 is subtracted from the cumulative value each time the second detection signal is received; correcting the accumulated value according to the amount of deviation, and instructing the drive signal generator to apply the brake to the motor when the corrected accumulated value becomes equal to or less than a predetermined stop threshold; When instructed to brake the motor, it is preferable to output a drive signal to the drive circuit to stop the motor until it stops rotating.

As a result, the motor control device can accurately stop the rotating body driven by the motor at the target stop position.

Also, according to another embodiment, a reel game machine is provided. This reel game machine includes a game machine main body and a game machine main body rotatably arranged around a rotation center in the game machine main body, and a plurality of symbols are displayed along the circumference direction of the rotation center, and the circle is displayed. A rotating reel having a member having a predetermined length along the circumferential direction, and an origin sensor that outputs a first detection signal having a different value depending on whether the member is at a predetermined detection position in the circumferential direction. , a motor for driving a rotating reel, a motor drive circuit for driving the motor, a rotation angle sensor for outputting a second detection signal each time the motor rotates by a predetermined angle, and a motor control device for controlling the motor. . Then, the motor control device detects the second detection signal from the first point in time when the value of the first detection signal from the origin sensor changes to the second point in time when the value of the first detection signal changes again. The circumference of the member at the first time point or the second time point based on the number of signals received and the manner in which the value of the first sensed signal changes at the first time point or the second time point. a reference point detection unit that detects, as a reference point, one of the two ends in the direction that has reached a predetermined detection position; A shift calculation unit that calculates, as a shift amount, the difference between the number of received second detection signals and a reference number of second detection signals corresponding to the rotation amount of the motor corresponding to the rotation amount of the rotating reel during that period. and a correction unit that corrects the position information representing the rotational position of the reel according to the amount of deviation each time the amount of deviation is calculated.

By having such a configuration, even if the positions of the reference points provided on the rotating reels driven by the motor differ depending on the rotating reels, the spinning reel game machine can actually rotate the rotating reels based on the reference points. It is possible to correct the deviation between the rotational position of the rotating reel corresponding to the position and the amount of rotation of the motor.

1 is a schematic configuration diagram of a motor control device according to one embodiment of the present invention; FIG. 3 is a circuit diagram of a motor drive circuit; FIG. FIG. 4 is a diagram showing an example of a table showing the relationship between the drive signal applied to each switch of the motor drive circuit and the direction of rotation of the DC motor; FIG. 3 is a diagram showing an example of a rotating body driven by a motor and an origin sensor; 4 is a table showing an example of the relationship between the length of the shielding plate of the origin sensor, the edge mode of the reference point signal, and the reference point that can be used for calculating the amount of deviation. 4 is an operation flowchart of reference point determination processing; 9 is an operation flowchart of deviation amount calculation processing; 4 is an operation flowchart of stop control processing; It is a schematic perspective view of a reel game machine provided with a motor control device according to an embodiment or a modified example. It is a circuit block diagram of the reel game machine. 4 is a schematic perspective view of one rotating reel included in the reel unit; FIG.

A motor control device according to one embodiment of the present invention will be described below with reference to the drawings. This motor control device is used, for example, to control a motor that drives a rotating body such as a rotating reel of a reel game machine. The rotating body has an optical sensor for defining a reference point, such as a rotation origin, used to detect the amount of deviation between the actual rotational position of the rotating body and the rotational position of the rotating body corresponding to the amount of rotation of the motor. is provided between the light-emitting element and the light-receiving element of . This optical sensor and shielding plate constitute an origin sensor. Therefore, the value of the signal output from the optical sensor changes depending on whether or not the shield plate is positioned between the light emitting element and the light receiving element. are available as reference points, respectively. In addition, the rotational position of the rotating body that can be used as a reference point changes depending on the length of the shield plate along the circumferential direction around the center of rotation of the rotating body. Therefore, this motor control device detects the amount of rotation of the motor corresponding to the period during which the shielding plate continues to block the light from the light emitting element from reaching the light receiving element while the rotating body is rotating. . In addition, the motor control device controls the amount of rotation and the mode of change (rising or falling) of the signal output from the optical sensor (an example of a first detection signal, hereinafter referred to as a reference point signal). ), a reference point, which is either of the two ends of the shield plate, is detected. Based on the detected reference point, the motor control device obtains the amount of deviation between the actual rotational position of the rotor and the rotational position of the rotor corresponding to the amount of rotation of the motor.

It should be noted that, in the following embodiments, the motor control device is incorporated in the reel game machine and used to drive the rotating reels of the reel game machine.

FIG. 1 is a schematic configuration diagram of a motor control device according to one embodiment of the present invention. As shown in FIG. 1, the motor control device 1 includes a communication interface circuit 10, a memory 11, a drive control circuit 12, a drive signal generation circuit 13, a brake timing determination circuit 14, and a reference point detection circuit 15. , and a deviation calculation circuit 16 .
Each of these parts of the motor control device 1 may be mounted on a circuit board (not shown) as separate circuits, or may be mounted on a circuit board as an integrated circuit in which these parts are integrated. may

A motor control device 1 controls a motor drive circuit 3 that drives a motor 2 according to a speed setting signal and a drive signal received from a higher control device. In this embodiment, the motor control device 1 generates a drive signal for switching ON/OFF of current supply to the motor 2 by a pulse width modulation (PWM) method. The motor control device 1 controls the rotation of the motor 2 by outputting the generated drive signal to the motor drive circuit 3 . At this time, the motor control device 1 sets the duty ratio of the drive signal to a duty ratio corresponding to the rotation speed specified by the speed setting signal, thereby rotating the motor 2 at the specified rotation speed. Then, the motor control device 1 uses a rotary encoder 4 for checking the amount of rotation of the motor 2 to detect that the rotating shaft (not shown) of the motor 2 has rotated by a predetermined sampling angle. It receives the signal and controls the timing to start applying the brake to the motor 2 according to the number of times the detection signal is received.

Further, the motor control device 1 detects the rotational origin of the rotating reel 5 based on the reference point signal from the origin sensor 6 for detecting the reference point of the rotational position of the rotating reel 5 which is an example of the rotating body driven by the motor 2 . A reference point such as Based on the reference point, the motor control device 1 determines the distance between the rotational position of the rotary reel 5 corresponding to the amount of rotation of the motor 2 obtained from the number of receptions of detection signals from the rotary encoder 4 and the actual rotational position of the rotary reel 5. Calculate the amount of deviation. Then, the motor control device 1 corrects the timing to start applying the brake for stopping the motor 2 according to the deviation amount.

In this embodiment, the motor 2 can be a DC motor.

FIG. 2 is a circuit diagram of the motor drive circuit 3. As shown in FIG. The motor drive circuit 3 has four switches TR1-TR4. It should be noted that each switch can be, for example, a transistor or a field effect transistor. Among them, two switches TR1 and TR3 are connected in series between power supply and ground. Similarly, two switches TR2 and TR4 are connected in series between power supply and ground. The positive terminal of motor 2 is connected between switches TR1 and TR3, while the negative terminal of motor 2 is connected between switches TR2 and TR4. The switch terminals of the switches TR1 to TR4 (for example, if the switches TR1 to TR4 are transistors, they correspond to the base terminals, and if the switches TR1 to TR4 are field effect transistors, they correspond to the gate terminals) are driven respectively. It is connected to the signal generation circuit 13 . A drive signal from the drive signal generation circuit 13 is input to switch terminals of the switches TR1 to TR4.

FIG. 3 is a diagram showing an example of a table showing the relationship between the drive signal applied to each switch and the rotation direction of the motor 2. As shown in FIG.
As shown in the table 300, when the motor 2 is rotated forward, the switch terminal of the switch TR1 and the switch terminal of the switch TR4 have a pulse width corresponding to the rotation speed of the motor 2, which is set according to the PWM method. A drive signal is applied that includes periodic pulses. On the other hand, no driving signal is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. As a result, the power supply voltage is applied to the positive terminal of the motor 2 only while the pulse is applied to the switches TR1 and TR4, so the motor 2 rotates forward at a speed corresponding to the pulse width. do.
When the motor 2 is to be rotated forward, the drive signal may be applied to one of the switches TR1 and TR4, and the other switch may be kept on at all times.

On the other hand, when the motor 2 is reversed, a drive signal having periodic pulses corresponding to the rotation speed of the motor 2, which is set according to the PWM method, is applied to the switch terminal of the switch TR2 and the switch terminal of the switch TR3. . On the other hand, no driving signal is applied to the switch terminal of the switch TR1 and the switch terminal of the switch TR4. As a result, the power supply voltage is applied to the negative terminal of the motor 2 only while the pulse is applied to the switches TR2 and TR3, so the motor 2 rotates in reverse at a speed corresponding to the pulse width. .
When the motor 2 is reversed, the drive signal may be applied to one of the switches TR2 and TR3, and the other switch may be kept on at all times.

In this embodiment, the drive signal generation circuit 13 outputs a drive signal for rotating the motor 2 in reverse to the motor drive circuit 3 when braking the motor 2 while the motor 2 is rotating in the forward direction. Conversely, when braking the motor 2 while the motor 2 is rotating in the reverse direction, the drive signal generation circuit 13 outputs a drive signal for rotating the motor 2 in the forward direction to the motor drive circuit 3 .

When the motor 2 is kept stationary, the switch terminals of the switches TR3 and TR4 are turned on, and the switch terminals of the switches TR1 and TR2 are turned off.

Furthermore, when the motor 2 is not driven, the switch terminal of each switch is turned off.

The rotary encoder 4 is an example of a rotation angle sensor, and can be an optical rotary encoder, for example. The rotary encoder 4 includes, for example, a disk attached to the rotating shaft of the motor 2 and having a plurality of slits provided at predetermined sampling angles along the circumferential direction around the rotating shaft. It has a light source and a light-receiving element which are arranged to face each other on both sides. Every time any slit is positioned between the light source and the light receiving element, the light from the light source reaches the light receiving element, and the rotary encoder 4 outputs a pulsed detection signal (second detection signal). do. As a result, the rotary encoder 4 outputs a detection signal to the motor control device 1 each time the motor 2 rotates by a predetermined sampling angle. For example, by providing 50 slits in the disk along the circumferential direction around the rotating shaft of the motor 2, the rotary encoder 4 can perform 50 detections during one rotation of the rotating shaft of the motor 2. Output a signal. As the rotary encoder 4, a rotary encoder other than an optical rotary encoder, for example, a magnetic rotary encoder using a Hall IC may be used.

FIG. 4 is a diagram showing an example of a rotating body driven by the motor 2 and an origin sensor. A rotating reel 5 , which is an example of a rotating body driven by the motor 2 , has a cylindrical member (hereinafter simply referred to as a cylindrical member) 51 , a support member 52 and a plurality of arms 53 . A plurality of patterns are provided on the surface of the cylindrical member 51 . The support member 52 is positioned substantially in the center of the cylindrical member 51 and is attached to the rotating shaft of the motor 2 directly or via a gear at the center of the support member 52, that is, the center of the rotary reel 5. As shown in FIG. A plurality of arms 53 are radially provided from the support member 52 toward the cylindrical member 51 to support the cylindrical member 51 and connect the support member 52 and the cylindrical member 51 . Therefore, the rotary reel 5 is rotatable around its center.

One of the plurality of arms 53 has a predetermined length along the circumferential direction with respect to the rotation center of the rotary reel 5, and is provided to face the plurality of arms 53. A projecting shield plate 55 is provided. The optical sensor 54 has a light-emitting element 56 such as a light-emitting diode and a light-receiving element 57 such as a photodiode. The light-emitting element 56 and the light-receiving element 57 are arranged to face each other. The optical sensor 54 and shield plate 55 constitute the origin sensor 6 . Further, the position where the light emitting element 56 and the light receiving element 57 are provided corresponds to a predetermined detection position. By rotating the rotary reel 5 , the shielding plate 55 can pass between the light emitting element 56 and the light receiving element 57 . Therefore, when the shielding plate 55 is positioned between the light emitting element 56 and the light receiving element 57, the light emitted from the light emitting element 56 does not reach the light receiving element 57, and the light receiving element 57 receives a relatively small amount of light. A signal (for example, a relatively high voltage) is output. On the other hand, when the shielding plate 55 is not positioned between the light emitting element 56 and the light receiving element 57, the light receiving element 57 can receive the light emitted from the light emitting element 56. output a signal (for example, a relatively low voltage) indicating that the Therefore, the rotational position of the reel 5 corresponding to the fall or rise of the signal output from the light receiving element 57, that is, the reference point signal output from the optical sensor 54, is detected as the reference point. be.

The length of the shield plate 55 along the circumferential direction with respect to the rotation center of the rotary reel 5 is less than the length corresponding to the rotation angle corresponding to one of the plurality of patterns provided on the surface of the cylindrical member 51, for example. In some cases, either the rise or the fall of the reference point signal, that is, one end of the shielding plate 55 in the circumferential direction becomes the rotation origin, which is an example of the reference point. In this case, the motor control device 1 can calculate the deviation amount each time the rotary reel 5 rotates once. On the other hand, when the length of the shielding plate 55 along the circumferential direction with respect to the rotation center of the rotary reel 5 is, for example, a length corresponding to the rotation angle of half the circumference of the cylindrical member 51, the circumferential direction of the shielding plate 55 is can be taken as a reference point. Therefore, the motor control device 1 can calculate the deviation amount each time the rotary reel 5 rotates halfway.

In this embodiment, when the shielding plate 55 blocks the light from the light emitting element 56 as shown by the waveform 401, the origin sensor 6 outputs a relatively high voltage as the reference point signal, On the other hand, when the light from the light emitting element 56 reaches the light receiving element 57, the origin sensor 6 outputs a relatively low voltage as the reference point signal. Therefore, the rising edge 401a of the waveform 401 corresponds to the time when the shielding plate 55 reaches between the light emitting element 56 and the light receiving element 57, and the falling edge 401b of the waveform 401 corresponds to the time when the shielding plate 55 is between the light emitting element 56 and the light receiving element 57. It corresponds to the point in time that passes through. A period P from the rise 401a to the fall 401b corresponds to the length of the shielding plate 55. FIG. When the light from the light emitting element 56 is blocked by the shielding plate 55, the origin sensor 6 outputs a relatively low voltage as a reference point signal. , a relatively high voltage may be output as the reference point signal. In this case, the rising edge and the falling edge in the following description should be interchanged.

Each part of the motor control device 1 will be described below.

Communication interface circuit 10 is an example of a communication unit. The communication interface circuit 10 connects, for example, the motor control device 1 with a higher control device. The upper control device is, for example, the control unit of the reel game machine main body in which the motor control device 1 is mounted. The communication interface circuit 10 receives a serially transmitted speed setting signal having a plurality of bits from a host controller each time the rotation speed of the reel 5 driven by the motor 2 is changed. For example, suppose the speed setting signal has 2 bits. In this case, a rotation speed of 40 [rpm] is set for the bit value '00' of the speed setting signal. Similarly, rotational speeds of 80 [rpm], 240 [rpm], and 333 [rpm] are set for bit values '01', '10', and '11' of the speed setting value, respectively. In addition, the communication interface circuit 10 may receive a rotational direction setting signal that designates the rotational direction of the reel 5 from a host control device together with the speed setting signal or separately from the speed setting signal.

Further, the communication interface circuit 10 continues the rotation of the rotating reel 5 every time the upper control device rotates the rotating reel 5 by the amount of rotation for one symbol while the rotating reel 5 is driven to rotate. It receives a drive control signal indicating that. Note that the drive control signal can be, for example, a rectangular single-pulse signal.

The communication interface circuit 10 passes the received speed setting signal to the drive control circuit 12 each time it receives the speed setting signal. Similarly, the communication interface circuit 10 passes the received rotation direction setting signal to the drive control circuit 12 each time it receives the rotation direction setting signal. Further, the communication interface circuit 10 notifies the drive control circuit 12 of the reception of the drive control signal every time it receives the drive control signal. When the rotation of the rotating reel 5 is stopped, the upper control device does not transmit the drive control signal to the motor control device 1. Therefore, the drive control signal is transmitted from the communication interface circuit 10 to the drive control circuit 12 as well. Receipt is not notified. It should be noted that stopping the rotation of the motor 2 may hereinafter be simply referred to as stopping the motor 2 . Similarly, stopping the rotation of the rotating reel 5 may hereinafter simply be referred to as stopping the rotating reel 5 .

The memory 11 has, for example, a nonvolatile semiconductor memory circuit. The memory 11 stores information necessary for controlling the rotation of the rotating reels 5 . In the present embodiment, the memory 11 stores a speed table representing the relationship between the speed setting signal and the rotation speed of the reel 5, and a symbol for each rotation speed during rotation so that one of the symbols stops at a predetermined stop position. The number of detection signals until the rotating reel 5 stops, that is, until the rotating motor 2 stops (hereinafter referred to as the required number of stops) is stored. Note that the required number of stops is an example of a stop threshold. Further, the memory 11 stores a duty ratio table representing the duty ratio for each rotational speed, and a speed brake value table representing the relationship between the rotational speed and the duty ratio corresponding to the braking force. Furthermore, the memory 11 stores the number of reception signals received during one revolution of the reel 5 driven by the motor 2 in an ideal case in which the rotation of the motor 2 and the rotation of the reel 5 are completely synchronized (hereinafter referred to as one cycle (referred to as the desired number) and the threshold used to detect the fiducials.

The drive control circuit 12 is an example of a drive control section, and sets the duty ratio of the drive signal for the motor 2 according to the rotational speed specified by the speed setting signal. Therefore, the drive control circuit 12 reads the speed table from the memory 11 each time it receives the speed setting signal, and refers to the speed table to obtain the rotational speed specified by the speed setting signal. Furthermore, the drive control circuit 12 sets the duty ratio of the pulse of the drive signal according to the set rotational speed. The drive control circuit 12 may refer to the duty ratio table to determine the duty ratio corresponding to the set rotational speed.

The drive control circuit 12 outputs a duty ratio corresponding to the rotation speed set by the speed setting signal to the drive signal generation circuit 13 every time the rotation speed of the reel 5 specified by the speed setting signal is changed. do. Further, the drive control circuit 12 outputs to the drive signal generation circuit 13 information representing the rotation direction specified by the rotation direction setting signal.

Further, each time the drive control circuit 12 is notified that the drive control signal has been received, the number of detection signals from the rotary encoder 4 corresponding to the amount of rotation per symbol (hereinafter referred to as the number of detection signals per symbol) ) is output to the brake timing determination circuit 14 . For example, if the gear ratio between the motor 2 and the reel 5 is 1:10, and the rotary encoder 4 outputs 50 detection signals during one rotation of the motor 2, 500 detection signals are output to Therefore, when 20 symbols are provided on the rotating reel 5, 25 detection signals are output per symbol. Therefore, in this example, the drive control circuit 12 outputs '25' to the brake timing determination circuit 14 as the symbol unit detection signal number every time it is notified that the drive control signal has been received. It should be noted that when the rotating reel 5 is stopped, the drive control circuit 12 does not output the symbol unit detection signal number because the reception of the drive control signal is not notified.

Further, the drive control circuit 12 receives from the shift calculation circuit 16 the rotational position of the rotating reel 5 corresponding to the amount of rotation of the motor 2 when the rotation of the rotating reel 5 is completely synchronized with the rotation of the motor 2, Each time the amount of deviation between the actual rotational positions of the reel 5 is received, the amount of deviation is output to the brake timing determination circuit 14 .
Furthermore, the drive control circuit 12 notifies the brake timing determination circuit 14 of the specified rotation speed of the reel 5 each time the rotation speed of the reel 5 specified by the speed setting signal is changed.

The drive signal generation circuit 13 is an example of a drive signal generation unit. and a switch circuit for switching to which switch of the motor drive circuit 3 the periodic pulse signal is output. Each time the drive control circuit 12 notifies the drive signal generation circuit 13 of the duty ratio, the drive signal generation circuit 13 generates a pulse signal, which is a drive signal for driving the motor 2, according to the PWM method. The rotation of the motor 2 is controlled by outputting the pulse signal to the motor drive circuit 3 . At that time, the drive signal generation circuit 13 may set the pulse width of the pulse signal according to the notified duty ratio. On the other hand, when the drive signal generation circuit 13 is notified by the brake timing determination circuit 14 that it is time to start braking, the drive signal generation circuit 13 outputs to the motor drive circuit 3 a drive signal for braking and stopping the motor 2 . . In this embodiment, as described above, when the motor 2 is braked, the drive signal generation circuit 13 sends a drive signal to the motor drive circuit 3 to rotate the motor 2 in a direction opposite to the direction in which the motor 2 is rotating. output.

When the motor 2 is to be braked, the drive signal generation circuit 13 refers to the brake value table read from the memory 11 and sets the brake force to be applied to the motor 2 .

In this embodiment, the drive signal generation circuit 13 controls the braking force so that the motor 2 stops when the motor 2 rotates by the required number of times to stop from the brake start timing. In this case, the duty ratio of the drive signal corresponding to the braking force is set according to the rotation speed of the motor 2 . That is, the drive signal generation circuit 13 may refer to the speed brake value table stored in the memory 11 to specify the duty ratio corresponding to the rotational speed of the motor 2 . In the speed brake value table, for example, the higher the rotational speed of the motor 2 is, the higher the duty ratio, that is, the higher the braking force is set.

The drive signal generation circuit 13 may calculate the current rotational speed of the motor 2 based on the detection signal received from the rotary encoder 4 in order to determine the braking force. For that purpose, the drive signal generation circuit 13 further has, for example, a timer and a counter. The drive signal generation circuit 13 counts the number of detection signals received during a certain period of time measured by the timer, and calculates the amount of rotation obtained by multiplying the number of detection signals by the sampling angle of the rotary encoder 4. The rotational speed is calculated by dividing by the constant period. Note that the drive signal generation circuit 13 may set the rotation speed of the motor 2 to 0 when the number of detection signals received within a certain period is one or less.

The drive signal generation circuit 13 outputs the drive signal with the specified duty ratio to the motor drive circuit 3 until the motor 2 stops.

When the rotation amount of the motor 2 reaches the target rotation amount and the rotation speed of the motor 2 becomes 0, the drive signal generation circuit 13 stops braking the motor 2 and maintains the motor 2 in a stationary state. may be output to the motor drive circuit 3.

The brake timing determination circuit 14 is an example of a brake timing determination unit, and determines the timing to start applying the brake to the motor 2 (that is, the brake start timing) according to the stop set value. Further, the drive control circuit 12 and the brake timing determination circuit 14 are an example of a correction section as a whole.

The brake timing determination circuit 14 determines the difference between a predetermined target amount of rotation corresponding to the target stop position of the reel 5 and the amount of rotation of the motor 2 corresponding to the current rotation position of the reel 5 (that is, the amount of remaining rotation). becomes equal to or less than the detection required number, it is determined that it is time to start braking. In this embodiment, the brake timing determination circuit 14 is based on the cumulative value of the number of symbol unit detection signals and the amount of deviation received from the drive control circuit 12 (hereinafter simply referred to as the cumulative value) and the number of received detection signals. to determine the braking start timing. When the motor 2 does not receive a drive control signal from the host controller even after rotating the reel 5 by one symbol, that is, when an instruction to stop the rotation of the motor 2 is given, the cumulative value of the motor 2, and the number of detection signals received after that corresponds to the amount of rotation of the motor 2. Therefore, the cumulative value updated each time the detection signal is received from the rotary encoder 4 corresponds to the remaining rotation amount up to the target rotation amount. For example, the brake timing determination circuit 14 sets the cumulative value to 0 before the reel 5 starts rotating. Thereafter, when the drive control circuit 12 notifies the brake timing determination circuit 14 of the rotation speed of the reel 5, the brake timing determination circuit 14 reads from the memory 11 the required number of stops corresponding to the rotation speed. Also, every time the brake timing determination circuit 14 receives the number of detection signals for each design from the drive control circuit 12, it adds the received number of detection signals for each design to the accumulated value.

Similarly, each time the brake timing determination circuit 14 receives a deviation amount from the drive control circuit 12, it adds the received deviation amount to the accumulated value. As a result, the cumulative value, which is an example of the position information representing the current rotational position of the reel 5, is corrected.

On the other hand, the brake timing determination circuit 14 subtracts 1 from the accumulated value each time it receives a detection signal from the rotary encoder 4 . Then, the brake timing determination circuit 14 determines the brake start timing when the accumulated value becomes equal to or less than the required number of stops read from the memory 11 .

The reference point detection circuit 15 is an example of a reference point detection unit, and based on the reference point signal from the origin sensor 6, detects the reference point, that is, which end of the shielding plate 55 of the origin sensor 6 is detected. discriminate.

FIG. 5 is a table showing an example of the relationship between the length of the shielding plate 55, the edge pattern of the reference point signal, and the reference point. In the table 500, the length of the shield plate 55 in the circumferential direction is shown in the leftmost column. The second column from the left shows how the reference point signal from the origin sensor 6 changes (that is, falling or rising, hereinafter collectively referred to as edge mode). The rightmost column shows the type of reference point corresponding to the edge mode when the motor 2 is rotating in the forward direction for the combination of the circumferential length of the shielding plate 55 and the edge mode. be

If the length of the shield plate 55 along the circumferential direction is equal to or less than one pattern, the shield plate 55 emits light at the position where the reference point signal falls, that is, when the motor 2 is rotating forward. The end position of the shielding plate 55 when passing between the element 56 and the light receiving element 57 is close to the origin of rotation, so it is not referred to as a reference point. On the other hand, the position where the reference point signal rises, that is, the position where the shield plate 55 is one end when the shield plate 55 comes between the light emitting element 56 and the light receiving element 57 when the motor 2 is rotating forward ( That is, the end on the side opposite to the terminal end) is referred to as the origin of rotation, which is one of the reference points.

Further, when the length along the circumferential direction of the shielding plate 55 is the length corresponding to the half circumference of the rotary reel 5, the position where the reference point signal falls, that is, when the motor 2 is rotating forward. , the end position of the shielding plate 55 when the shielding plate 55 passes between the light emitting element 56 and the light receiving element 57 is another one of the reference points, which is a position rotated by half a circle (180°) from the rotation origin. referred to as On the other hand, the position where the reference point signal rises, that is, the position of one end of the shielding plate 55 when the shielding plate 55 comes between the light emitting element 56 and the light receiving element 57 when the motor 2 is rotating forward is , is referred to as the origin of rotation, which is one of the reference points.

Note that when the motor 2 is rotating in reverse, the form of the edge corresponding to the origin of rotation is reversed. That is, regardless of the length of the shielding plate 55, the position at which the reference point signal falls becomes the rotation origin, which is one of the reference points. In addition, the length along the circumferential direction of the shielding plate 55 is a length corresponding to half the circumference of the rotary reel 5, and the position where the reference point signal rises is another reference point. It is referred to as a position rotated half a turn from the rotation origin. On the other hand, the position where the length of the shielding plate 55 in the circumferential direction is equal to or less than one pattern and the reference point signal rises is not referred to as the reference point.

FIG. 6 is an operation flowchart of reference point determination processing by the reference point detection circuit 15 . While the motor 2 is rotating, the reference point detection circuit 15 executes reference point determination processing according to the following operation flowchart.

When the value of the reference point signal from the origin sensor 6 changes, that is, when the reference point signal rises or falls, the reference point detection circuit 15 generates a count value Y representing the number of detection signals received from the rotary encoder 4. 0 is set (step S101). Further, upon receiving the detection signal from the rotary encoder 4, the reference point detection circuit 15 determines whether or not the rotation direction of the motor 2 is the forward rotation direction (step S102). Note that the reference point detection circuit 15 can determine the direction of rotation of the motor 2, for example, based on an instruction of the direction of rotation from a host controller. Alternatively, if the rotary encoder 4 is of a type that can identify not only the rotation angle but also the rotation direction, the reference point detection circuit 15 determines the rotation direction of the motor 2 based on the detection signal received from the rotary encoder 4. may

If the rotation direction of the motor 2 is the forward rotation direction (step S102-Yes), the reference point detection circuit 15 increments the count value Y by 1 (step S103). The reference point detection circuit 15 then determines whether or not the value of the reference point signal from the origin sensor 6 has changed (step S104). If the value of the reference point signal has not changed (step S104-No), the reference point detection circuit 15 repeats the processes after step S102.

On the other hand, if the value of the reference point signal has changed (step S104-Yes), the reference point detection circuit 15 determines whether the change in the value of the reference point signal is rising (step S105). If the change in the value of the reference point signal is rising (step S105-Yes), regardless of the length of the shielding plate 55, the current rotational position of the rotary reel 5 is such that one end of the shielding plate 55 and the light emitting element 56 Since the position is between the elements 57, the reference point detection circuit 15 notifies the deviation calculation circuit 16 that the rotation origin has been detected (step S106). In this case, the timing at which the reference point signal rises corresponds to the first point in time. After that, the reference point detection circuit 15 repeats the processes after step S101.

On the other hand, when the change in the value of the reference point signal is falling (step S105-No), the reference point detection circuit 15 determines whether or not the count value Y is less than the predetermined threshold Th (step S107). Note that the threshold Th is, for example, greater than the number of detection signals emitted by the rotary encoder 4 when the motor 2 rotates by an angle corresponding to the length of the shorter shielding plate 55 in the circumferential direction. It is set to a value smaller than the number of detection signals issued by the rotary encoder 4 when the motor 2 rotates by an angle corresponding to the circumferential length of the shielding plate 55 on the other side. Further, in this case, the timing at which the reference point signal last rises corresponds to the first point in time, and the timing at which the reference point signal falls corresponds to the second point in time.

If the count value Y is less than the threshold value Th (step S107-Yes), the shielding plate 55 is of the short type (length is less than 1 pattern), and the current rotational position is that the shielding plate 55 is the light emitting element. 56 and the light receiving element 57, which corresponds to the terminal end. Therefore, the reference point detection circuit 15 does not detect the current rotational position as a reference point, and repeats the processing from step S101.

On the other hand, if the count value Y is equal to or greater than the threshold value Th (step S107-No), the shielding plate 55 is of the longer type (half the length), and the current rotational position is such that the shielding plate 55 emits light. This is the position corresponding to the terminal end passing between the element 56 and the light receiving element 57 . Therefore, the reference point detection circuit 15 notifies the shift calculation circuit 16 that the position where the reel 5 has rotated half a turn from the rotation origin has been detected as the reference point (step S108). After that, the reference point detection circuit 15 repeats the processes after step S101.

In step S102, if the rotation direction of the motor 2 is the reverse direction (step S102-No), the reference point detection circuit 15 decrements the count value Y by 1 (step S109). That is, when the rotation direction of the motor 2 is the reverse direction, the count value Y becomes a negative value. The reference point detection circuit 15 then determines whether or not the value of the reference point signal from the origin sensor 6 has changed (step S110). If the value of the reference point signal has not changed (step S110-No), the reference point detection circuit 15 repeats the processes after step S102.

On the other hand, if the value of the reference point signal has changed (step S110-Yes), the reference point detection circuit 15 determines whether the change in the value of the reference point signal is rising (step S111). If the change in the value of the reference point signal is falling (step S111-No), regardless of the length of the shielding plate 55, the current rotational position of the shielding plate 55 is between the light emitting element 56 and the light receiving element 57. This is the position corresponding to the passing end. Therefore, the reference point detection circuit 15 notifies the deviation calculation circuit 16 that the rotation origin has been detected as the reference point (step S112). In this case, the timing at which the reference point signal falls corresponds to the first point in time. After that, the reference point detection circuit 15 repeats the processes after step S101.

On the other hand, if the change in the value of the reference point signal is rising (step S111-Yes), the reference point detection circuit 15 determines that the count value Y is less than the value (Th-C) obtained by subtracting the required number of cycles C from the threshold Th. It is determined whether or not it is larger (step S113). If the count value Y is equal to or less than the value (Th-C) (step S113-No), the shielding plate 55 is of the short type, and the current rotational position is such that one end of the shielding plate 55 and the light emitting element 56 This is the position between the light receiving elements 57 . Therefore, the reference point detection circuit 15 does not detect the current rotational position as a reference point, and repeats the processing from step S101.

On the other hand, if the count value Y is greater than the value (Th-C) (step S113-Yes), the shielding plate 55 is of the longer type, and the current rotational position is such that one end of the shielding plate 55 is the light emitting element 56 and the light receiving element 57. Therefore, the reference point detection circuit 15 notifies the shift calculation circuit 16 that the position where the reel 5 has rotated half a turn from the rotation origin has been detected as the reference point (step S114). In this case, the timing at which the reference point signal last fell corresponds to the first point in time, and the timing at which the reference point signal rises corresponds to the second point in time. After that, the reference point detection circuit 15 repeats the processes after step S101.

In this manner, the reference point detection circuit 15 detects that the rotational position of the reel 5 is the reference point when the current rotational position of the reel 5 is the origin of rotation or is rotated halfway from the origin of rotation, and that the reference point is the reference point. The deviation calculation circuit 16 is notified of the information indicating the type (the rotation origin or the position rotated by half a turn from the rotation origin).

The shift calculation circuit 16 is an example of a shift amount calculation unit. A deviation amount between the rotational position of the rotating reel 5 corresponding to the amount and the actual rotating position of the rotating reel 5 is calculated.

FIG. 7 is an operation flowchart of the deviation amount calculation process by the deviation calculation circuit 16. As shown in FIG. While the motor 2 is rotating, the deviation calculation circuit 16 executes deviation amount calculation processing according to the following operation flowchart.

When the value of the reference point signal from the origin sensor 6 changes, that is, when the reference point signal rises or falls, the deviation calculation circuit 16 resets the count value X representing the number of detection signals received from the rotary encoder 4 to 0. (step S201). Further, when the deviation calculation circuit 16 receives the detection signal from the rotary encoder 4, it determines whether or not the rotation direction of the motor 2 is the forward rotation direction (step S202). Like the reference point detection circuit 15, the deviation calculation circuit 16 can determine the rotation direction of the motor 2, for example, based on a rotation direction instruction from a host controller. Alternatively, if the rotary encoder 4 is an encoder that can identify not only the rotation angle but also the rotation direction, the deviation calculation circuit 16 determines the rotation direction of the motor 2 based on the detection signal received from the rotary encoder 4. good too.

If the rotation direction of the motor 2 is the forward rotation direction (step S202-Yes), the deviation calculation circuit 16 determines whether or not the count value X is equal to the required number of turns C (step S203). If the count value X is less than the number C required for one round (step S203-No), the deviation calculation circuit 16 increments the count value X by 1 (step S204). On the other hand, if the count value X is equal to the number C required for one round (step S203-Yes), the deviation calculation circuit 16 resets the count value X to 0 (step S205).

Further, in step S202, if the rotation direction of the motor 2 is the reverse direction (step S202-No), the deviation calculation circuit 16 determines that the count value X is the value (-C) obtained by multiplying the required number of one rotation C by -1. It is determined whether or not they are equal (step S206). If the count value X is greater than the value (-C) (step S206-No), the deviation calculation circuit 16 decrements the count value X by 1 (step S207). That is, when the rotation direction of the motor 2 is the reverse direction, the count value X becomes a negative value. On the other hand, if the count value X is equal to the value (-C) (step S206-Yes), the deviation calculation circuit 16 resets the count value X to 0 (step S208).

After step S204, S205, S207 or S208, the deviation calculation circuit 16 determines whether or not the value of the reference point signal from the origin sensor 6 has changed (step S209). If the value of the reference point signal has not changed (step S209-No), the deviation calculation circuit 16 repeats the processes after step S202.

On the other hand, if the value of the reference point signal from the origin sensor 6 has changed (step S209-Yes), the deviation calculation circuit 16 responds to the change in the value of the reference point signal determined by the reference point detection circuit 15. A deviation amount is calculated according to the type of the corresponding reference point (step S210).

When the current rotational position of the rotary reel 5 is the rotation origin, the deviation calculation circuit 16 calculates the deviation amount as follows. Specifically, if the motor 2 is rotating forward and the counter value X is less than half of the required number of turns C If it is larger, the deviation calculation circuit 16 calculates the counter value X itself as the deviation amount. On the other hand, if the motor 2 is rotating forward and the counter value X is more than half of the number C required for one rotation, that is, if the number of detection signals during one rotation of the reel 5 is less than the number C required for one rotation. For example, the deviation calculation circuit 16 calculates a value (X-C) obtained by subtracting the required number of circles C from the counter value X as the deviation amount. Further, if the motor 2 is rotating in reverse and the absolute value of the counter value X is less than half of the number C required for one rotation, that is, the number of detection signals during one rotation of the reel 5 is greater than the number C required for one rotation. If it is larger, the deviation calculation circuit 16 calculates the absolute value of the counter value X itself as the deviation amount. On the other hand, if the motor 2 is rotating in reverse and the absolute value of the counter value X is greater than half the number C required for one rotation, that is, the number of detection signals during one rotation of the reel 5 is greater than the number C required for one rotation. If less, the deviation calculation circuit 16 adds the required number of cycles C to the counter value X and inverts the positive/negative to calculate a value {-(X+C)} obtained as the deviation amount. Further, when the current rotational position of the reel 5 is half a turn from the rotation origin and the motor 2 is rotating forward, the deviation calculation circuit 16 calculates the counter value X from the required number of turns C, which is 1/ A value obtained by subtracting 2 (X-C/2) is calculated as the amount of deviation. On the other hand, if the current rotational position of the reel 5 is half a turn from the origin of rotation and the motor 2 is rotating in reverse, the deviation calculation circuit 16 sets the counter value X to 1/2 of the required number of turns C. is added and a value {-(X+C/2)} obtained by reversing the sign is calculated as the amount of deviation. Note that the required number C for one rotation and 1/2 of the required number C for one rotation are the motor rotation amounts corresponding to the amount of rotation of the rotating body during the period from the detection of the reference point to the next detection of the reference point. It is an example of the reference number of the second detection signal corresponding to the amount of rotation. Then, the deviation calculation circuit 16 notifies the drive control circuit 12 of the deviation amount. If the current rotational position of the reel 5 is neither the origin of rotation nor the position rotated halfway from the origin of rotation, the deviation calculation circuit 16 does not calculate the deviation amount, and the deviation to the drive control circuit 12 is determined. Do not give quantity. Therefore, when the length of the shielding plate 55 is less than one pattern, even if the current rotational position of the reel 5 is a position corresponding to the end of the shielding plate 55 different from the rotation origin, there is no deviation. The calculation circuit 16 does not calculate the amount of deviation.

After step S210, the deviation calculation circuit 16 repeats the processes after step S201.

FIG. 8 is an operation flowchart of stop control processing for stopping the motor 2 by the motor control device 1 . This stop control process is executed when the motor control device 1 stops receiving the drive control signal from the host control device, that is, when an instruction to stop the rotation of the motor 2 is given.

The drive signal generation circuit 13 outputs a drive signal having a duty ratio corresponding to the rotation speed designated by the speed setting signal notified from the drive control circuit 12 to the motor drive circuit 3 that drives the motor 2 ( step S301).

When the brake timing determination circuit 14 receives the amount of deviation from the drive control circuit 12, it adds the received amount of deviation to the cumulative value of the number of detection signals for each symbol and the amount of deviation, which represents the remaining rotation amount up to the target rotation amount ( step S302). Further, when the brake timing determination circuit 14 receives the number of detection signals for each symbol from the drive control circuit 12, it adds the received number of detection signals for each symbol to the cumulative value (step S303). Further, when the brake timing determination circuit 14 receives the detection signal from the rotary encoder 4, it decrements the cumulative value by 1 (step S304).

The brake timing determination circuit 14 determines whether or not the cumulative value is equal to or less than the required number of stops (step S305). If the cumulative value is greater than the required number of stops (step S305-No), the motor control device 1 repeats the processes after step S301.

On the other hand, if the cumulative value is equal to or less than the required number of stops (step S305-Yes), the brake timing determination circuit 14 notifies the drive signal generation circuit 13 that it is time to start braking. Further, the drive signal generation circuit 13 refers to the speed brake value table stored in the memory 11 to identify the duty ratio corresponding to the rotational speed of the motor 2 until the motor 2 stops. Then, the drive signal generation circuit 13 outputs a drive signal having a braking force corresponding to the duty ratio to the motor drive circuit 3 (step S306). When the motor 2 stops, that is, when the cumulative value becomes 0, the drive signal generation circuit 13 stops outputting the drive signal to the motor drive circuit 3, and the motor control device 1 ends the stop control process.

As described above, this motor control device provides two types of rotating bodies with different rotational positions that can be referred to as reference points, that is, two types of rotating bodies with different lengths of shielding plates. , the reference point can be detected without requiring information for identifying the length of the shielding plate from the outside. Therefore, even if the position of the reference point provided on the rotating body differs depending on the rotating body, this motor control device can, based on the reference point, determine the rotational position of the rotating body and the position of the rotating body corresponding to the amount of rotation of the motor. Misalignment between actual rotational positions can be corrected.

According to the modification, there are three or more types of shielding plates provided on the rotating body along the circumferential direction of the rotating body, which the origin sensor has, and have different lengths along the circumferential direction. good too. In this case, the memory 11 stores a length reference value representing the number of detection signals from the rotary encoder 4 corresponding to the amount of rotation of the motor 2 corresponding to the length of each type of shielding plate. It is sufficient if it is stored. When the motor 2 is rotating forward, the reference point detection circuit 15 detects the number of detection signals received between the rise and fall of the reference point signal and the number of detection signals stored in the memory 11. By comparing with the length reference value for each type of shielding plate, the type of shielding plate may be identified as the type corresponding to the length reference value closest to the number of detected signals. The reference point detection circuit 15 detects that the current rotational position of the reel 5 is positioned at a reference point rotated from the rotation origin by an amount of rotation corresponding to one end of the shielding plate of the specified type. The deviation calculation circuit 16 may be notified of this. When the motor 2 is rotating forward, the reference point detection circuit 15 detects the position where the reference point signal rises as the rotation origin, which is one of the reference points, regardless of the type of the shield plate. good. Similarly, when the motor 2 is rotating in reverse, the reference point detection circuit 15 detects the number of detection signals received between the fall of the reference point signal and the rise of the reference point signal, and A value obtained by subtracting the length reference value of the type from the number may be compared, and the type of shielding plate may be identified as the type corresponding to the number of detection signals that is closest to the number of detection signals. The reference point detection circuit 15 detects that the current rotational position of the reel 5 is positioned at a reference point rotated from the rotation origin by an amount of rotation corresponding to one end of the shielding plate of the specified type. The deviation calculation circuit 16 may be notified of this. When the motor 2 is rotating in reverse, the reference point detection circuit 15 may detect the position where the reference point signal falls as the rotation origin, which is one of the reference points, regardless of the type of shield plate. .

In step S210 in the flowchart shown in FIG. 7, the deviation calculation circuit 16 subtracts the number of detection signals corresponding to the amount of rotation from the rotation origin according to the current position of the reel 5 from the counter value X. Then, the deviation amount can be calculated.

According to this modification, even if there are three or more types of shielding plates that can be attached to the rotating body, the motor control device can detect the amount of deviation without requiring information for identifying the type of the origin sensor from the outside. A reference point can be specified that will be used in the calculation.

Also, the motor control device according to the above embodiment or modified example may be used to drive a movable member other than the rotating reels of the reel game machine. For example, a motor control device may be used to drive a movable member for performance of a pinball game machine.

FIG. 9 is a schematic perspective view of a reel game machine 100 having a motor control device according to the above embodiment or modification. 10 is a circuit block diagram of the reel game machine 100. As shown in FIG. Furthermore, FIG. 11 is a schematic perspective view of one rotating reel that the reel unit 120 has. As shown in FIG. 9, the reel game machine 100 has a main body housing 110, which is a game machine main body, a reel unit 120, a start lever 130, and stop buttons 140a to 140c.

In addition, the reel game machine 100 has a control circuit 150 for controlling each part of the reel game machine 100 and three motors 151-1 to 151-3, three motor drive circuits 152-1 to 152-3 for driving each motor, and three motor controllers 153-1 to 153-3. Note that the motor control devices 153-1 to 153-3 can be motor control devices according to the above embodiments or modifications. Also, the motor drive circuits 152-1 to 152-3 can be the motor drive circuits according to the above embodiments or modifications. Furthermore, the reel game machine 100 temporarily stores medals in response to control signals from a power supply circuit (not shown) that supplies power to each part of the reel game machine 100 and a control circuit 150, and discharges the medals. It has a medal storage and discharge mechanism (not shown) for.

An opening 111 is formed in the upper central portion of the front surface of the body housing 110, and a part of the reel unit 120 is visible through the opening 111. As shown in FIG. A medal slot 113 for inserting medals is formed on the upper surface of the frame 112 below the opening 111 .

The reel unit 120 has three rotating reels 121-1 to 121-3. Each of the rotating reels 121-1 to 121-3 rotates about a rotating shaft (not shown) substantially parallel and substantially horizontal to the front surface of the main housing 110 according to a drive control signal from the control circuit 150. , can be rotated separately. Furthermore, the respective rotating shafts of the rotating reels 121-1 to 121-3 are engaged with the rotating shafts of the motors 151-1 to 151-3 via gears (not shown). The rotation of the motors 151-1 to 151-3 also rotates the rotary reels 121-1 to 121-3. Furthermore, a rotary encoder (not shown) is attached to each rotating shaft of the motors 151-1 to 151-3. Then, a detection signal is output to the motor control devices 153-1 to 153-3. Furthermore, each of the rotating reels 121-1 to 121-3 is provided with an origin sensor (not shown) as in the above embodiment.
In addition, the surfaces of the rotating reels 121-1 to 121-3 are each divided into a plurality of regions having approximately the same width along the direction of rotation, that is, the circumferential direction, and various patterns are drawn on each region. A part of these areas is visible to the player through the opening 111 .

The start lever 130 is provided on the left side of the frame 112 of the main housing 110 as viewed from the front. In addition, stop buttons 140a to 140c are provided at approximately the center of the front surface of the frame 112. As shown in FIG. The stop buttons 140a-140c correspond to the rotating reels 121-1-121-3, respectively.

A medal ejection port 114 for ejecting medals is formed in the lower part of the front surface of the main body housing 110 . Below the medal discharge port 114, a medal tray 115 is attached to prevent the discharged medals from falling.

When the start lever 130 is operated after medals are inserted into the medal slot 113, a signal indicating that the start lever 130 has been operated is transmitted to the control circuit 150. FIG. Then, the control circuit 150 starts rotating the rotary reels 121-1 to 121-3. That is, the control circuit 150 outputs a speed setting signal to the motor control devices 153-1 to 153-3, and each time the reels 121-1 to 121-3 rotate by one symbol, a drive control signal is output. to output It should be noted that the control circuit 150 may change the rotation speed of the rotating reels 121-1 to 121-3 according to the game state. In this case, every time the control circuit 150 changes the rotational speed of the reels 121-1 to 121-3, it outputs a speed setting signal designating the changed rotational speed to the motor control devices 153-1 to 153-3. do it. The control circuit 150 may set different rotation speeds for each of the reels 121-1 to 121-3. Further, the control circuit 150 may vary the timing of changing the rotation speed for each of the reels 121-1 to 121-3.

After that, when any one of the stop buttons 140a to 140c provided substantially in the center of the front surface of the frame 112 of the main housing 110 is pressed, the control circuit 150 outputs a signal indicating that the pressed button has been pressed. It receives and stops the rotation of the reel corresponding to the pressed button. Alternatively, the control circuit 150 controls the rotation of the reels 121-1 to 121-3 for which the corresponding stop button has not been pressed within a predetermined period of time after the start of rotation. stop later. When stopping the rotating reel, the control circuit 150 should stop outputting the drive control signal. At that time, each of the motor control devices 153-1 to 153-3 may execute stop control processing according to the above embodiment or modified example.
When all the rotating reels are stopped and the same symbols are lined up on all the rotating reels, the control circuit 150 discharges a predetermined number of medals according to the symbol through the medal discharge port 114.例文帳に追加.

Thus, a person skilled in the art can make various modifications within the scope of the present invention according to the embodiment.

REFERENCE SIGNS LIST 1 motor control device 2 motor 3 motor drive circuit 4 rotary encoder 5 rotary reel 51 cylindrical member 52 support member 53 arm 54 optical sensor 55 shielding plate 56 light emitting element 57 light receiving element 6 origin sensor 10 communication interface circuit 11 memory 12 drive control circuit 13 drive signal generation circuit 14 brake timing determination circuit 15 reference point detection circuit 16 deviation calculation circuit 100 reel game machine 110 main body housing 120 reel unit 121-1 to 121-3 rotating reel 130 start lever 140a to 140c stop button 150 control Circuit 151-1 to 151-3 Motor 152-1 to 152-3 Motor drive circuit 153-1 to 153-3 Motor control device

Claims (4)

A motor control device for controlling a motor that drives a rotating body that is rotatable around a center of rotation and has a member having a predetermined length along the circumferential direction of the center of rotation,
From a first point in time when the value of the first detection signal from an origin sensor that outputs a first detection signal having a different value depending on whether or not the member is at a predetermined detection position in the circumferential direction, the number of receptions of the second detection signal output from the rotation angle sensor each time the motor rotates by a predetermined angle until a second point in time when the value of the first detection signal changes again; At the first point in time or at the second point in time, based on the manner of change in the value of the first detection signal at the first point in time or at the second point in time, two points in the circumferential direction of the member are detected. a reference point detection unit that detects, as a reference point, one of the end portions that has reached the predetermined detection position;
The number of the second detection signals received during the period from the detection of the reference point to the next detection of the reference point, and the rotation of the motor corresponding to the amount of rotation of the rotating body during the period. a shift calculation unit that calculates a shift amount as a difference from a reference number of the second detection signals corresponding to the amount of rotation;
a correction unit that corrects the position information representing the rotational position of the rotating body according to the deviation amount each time the deviation amount is calculated;
A motor controller having a The reference point detection unit detects that the member is not at the predetermined detection position at the first point in time when the rotating body is rotating in a predetermined rotation direction. from the first value to the second value when the member is at the predetermined detection position, the reference point is detected at the first time point, and the first the value of the detection signal changes from the first value to the second value, and the number of the second detection signals received between the first time point and the second time point is a predetermined number 2. The motor control device according to claim 1, wherein said reference point is detected at said second time point if it is greater than or equal to a threshold value. further comprising a drive signal generator that outputs a drive signal for controlling rotation of the motor to a drive circuit that drives the motor;
The correction unit holds, as the position information, a cumulative value of the second detection signal corresponding to a remaining rotation amount from the current rotational position of the rotating body to a target stop position of the rotating body, and from the cumulative value, , subtracting 1 each time the second detection signal is received, correcting the cumulative value according to the deviation amount, and when the corrected cumulative value becomes equal to or less than a predetermined stop threshold, instructing the drive signal generator to brake the motor;
3. The apparatus according to claim 1, wherein when instructed to brake the motor, the drive signal generator outputs to the drive circuit the drive signal for stopping the motor until the motor stops rotating. A motor controller as described. A reel game machine, comprising: a game machine main body;
rotatably arranged around the center of rotation within the main body of the gaming machine, a plurality of symbols are displayed along the circumference of the center of rotation, and a predetermined length along the circumference is displayed; a rotating reel having a member having
an origin sensor that outputs a first detection signal having a different value depending on whether the member is at a predetermined detection position in the circumferential direction;
a motor that drives the rotating reel;
a motor drive circuit that drives the motor;
a rotation angle sensor that outputs a second detection signal each time the motor rotates by a predetermined angle;
a motor control device that controls the motor;
has
The motor control device
During a period from a first point in time when the value of the first detection signal from the origin sensor changes to a second point in time when the value of the first detection signal changes again, the second detection signal is based on the number received and the manner of change in the value of the first sensed signal at the first time point or the second time point, a reference point detection unit that detects, as a reference point, one of the two ends in the circumferential direction that has reached the predetermined detection position;
The number of the second detection signals received during the period from the detection of the reference point to the next detection of the reference point, and the rotation of the motor corresponding to the amount of rotation of the reel during the period. a shift calculation unit that calculates a shift amount as a difference from a reference number of the second detection signals corresponding to the amount of rotation;
a correction unit that corrects the position information representing the rotational position of the rotating reel according to the deviation amount each time the deviation amount is calculated;
Pachislot game machine.

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