JPH02184297A - Resist motor controller of copying machine - Google Patents

Abstract

PURPOSE:To enable accurate alignment by transmitting one cycle of an excitation pattern a certain time before resist motor drive timing, eliminating an excitation phase shift between a rotor and a stator, and holding the transmitted excitation pattern. CONSTITUTION:It is inspected whether or not there is an excitation pattern output command before driving and, if the command is found, 'low' is transmitted from the port P26 of a microcomputer IC1 and switchover to a power down mode is performed. Microservice completion interrupt of a pulse rate timer TM1 is processed and the pulse rate timer TM1 is started. The leading excitation pattern is transmitted to PO0-4 through POH/POL. Macroservice completion interrupt of the TM1 is permitted. The status of a resist motor is set to zero and returned. That is, the macroservice of the TM1 transmits one cycle of the excitation pattern until the macroservice completion interrupt of the TM1 occurs.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a registration motor control device for a copying machine that uses a stepping motor as a driving means for a registration roller of a copying machine.

[Conventional technology]

Copying machines are required to be of higher quality, functionality, and reliability year after year. Accordingly, it is required that paper feeding accuracy, position, and alignment accuracy be extremely high. This is especially true in the case of color copying machines.

Conventionally, induction motors have been used to drive the registration rollers responsible for the positioning and paper-feeding functions of copying machines, but induction motors have limitations in positioning accuracy.
High-precision positioning is difficult, and in order to improve the precision, the encoder must be made more precise, which leads to higher costs.

Furthermore, if the driving speed is to be varied, problems such as a complicated circuit configuration and a delay in response will occur. Therefore, it may be possible to use a stepping motor instead of an induction motor (also a DC motor), but as a conventional control method, ■Simply output a series of excitation sequences at the drive timing, and turn off the excitation at the stop timing. Two methods are known: a method of outputting a pattern to stop a stepping motor; and a method of holding an excitation pattern at a stop timing until the next drive timing.

[Problem to be solved by the invention]

However, in the case of (■) above, since the stepping motor is turned OFF (open state) at the stop timing, the excitation phase will shift due to backlash etc., and the stepping motor will be in a state of adjustment until the excitation phase matches the next time it is driven. It remains stopped, and positional deviation occurs during this stopping period. Furthermore, in the case of (2) above, since the magnet is always excited even when it is stopped, there is a problem in that extra power consumption and heat generation occur.

SUMMARY OF THE INVENTION An object of the present invention is to provide a registration motor control device that eliminates the drawbacks of the above-mentioned prior art and enables highly accurate positioning in a copying machine.

[Means to solve the problem]

In order to achieve this object, the present invention provides a registration motor control device for a copying machine that uses a stepping motor as a driving means for a registration roller of a copying machine, and outputs a one-cycle excitation sequence before the driving timing of the stepping motor. Then, the last excitation pattern of the excitation sequence of one cycle is held, and a series of excitation sequences are output from the first excitation pattern at the drive timing to drive the stepping motor, and the off excitation pattern is output at the stop timing. It is characterized by comprising a control means for outputting.

[Effect]

The present invention outputs one cycle of the excitation pattern at a certain time before the normal registration motor drive timing (at this time, the paper has already reached the registration [1-unicorn]), thereby adjusting the excitation phase shift between the rotor and the stator. Eliminate. and,
The last outputted excitation R pattern is retained. Note that the above-mentioned period of time before means a sufficient margin of time required to output one excitation pattern cycle from the timing when the paper reaches the registration roller. That's true. The margin is for absorbing variations in the time from paper feeding to the registration rollers. Further, the output for one cycle of this excitation pattern + the excitation current for the holding state is made smaller than the excitation current during normal driving. That is, by switching to the power down mode, output is started from the beginning of the excitation pattern at the 0th order drive timing to suppress power consumption. Then, when the stop timing comes while a series of excitation sequences are being output, an OFF pattern is output and the drive of the registration motor is stopped.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

First, the functions of each motor M1 to M will be explained with reference to the schematic layout diagram of a color copying machine shown in FIG.

Ml is for driving black developing section l, Mt is for driving Y (yellow) developing sleeve 2, M is for driving C (cyan) developing sleeve 3, M is for driving M (magenta) developing sleeve 4, M
, is the paper feed roller 5. Relay roller 6, III feed roller 7,
Fixing roller 8. M is a motor for driving the paper discharge roller 9, M is a motor for driving the cleaning fur brush IO, and M7 is a motor for driving the registration roller 11.

A complete control block diagram of the copying machine, including a control block diagram of these motors M to M7, is shown in FIG.

The control unit controls and operates the sheet lambda of the disposal process,
A main controller 21 that controls the section 20. A motor controller 22 that controls the aforementioned motor M I = M q. Scanner 12. Lens 13. mirror 14
, photoreceptor drum 15.゛Optical system/drum drive section 23 that controls the transfer drum 16. The main controller 2I is composed of a drum control section 24 that performs charging, exposure, developing bias, cleaning, and charge removal around the photosensitive drum 15, and transfer, charge removal, and cleaning around the transfer drum 16. It is also interfaced with the sensor 25 and actuator 2G.

Now, the motor controller 22 has main controller 2I, serial reception RXD, and serial transmission TXD.
, and interrupt INT. On the other hand, motors Mr~M7 are 0LJTI
-0UT? , I N, ~IN.

The motor M is connected to IN, ~IN,.

Encoders E, ~E detect the rotational speed of ~M6.

A pulse train from is input.

Therefore, motors M1 to M are controlled in a closed loop, and motor M is controlled in an oven loop.

The motors M1 to M4 rotate in both directions, and the motors M1 to M4 rotate in both directions.
UT+ is a forward drive line, and 0IJT- is a reverse drive line.

Next, the functions of the motor controller 22 will be explained according to FIG. The motor controller 22 includes a communication control section 30 that controls communication with the main controller 21. Developing motor (Ml) control section 31. Y sleeve motor (M2) control section 321M sleeve motor (M3) control section 33.0 Sleeve motor (M4) control section 34. It consists of eight blocks: a conveyance motor (M,) control section 35, a cleaning motor (M,) control section 36°, and a registration motor (M,) control section 37. Motors M and ~M6 are brushed DC motors (hereinafter referred to as DC motors), motor M is a 5-phase step motor (hereinafter referred to as step motor), and motor M + ""
M b is driven by PWM (pulse width modulation) and controlled by PI (proportional, integral) control to keep its rotational speed constant. Further, the motor M1 is driven by a 2-3 phase excitation method. The start, stop, forward rotation, and reverse commands for motors M1 to M are as shown in Figure 4, and all are received as serial reception data RM D, and motor M is started using an interrupt manual input INTER, rotation speed. Takes Uke from RXD.

It should be noted that each block in FIG. 3 is a functional block including both hardware and software, and the details of the hardware will be explained next (the explanation of the software will be explained later).

Figure 5 shows a motor controller 2 that incorporates the functions shown in Figure 3.
In Figure 6, which is the circuit diagram of No. 2, the IC.

is a microcomputer (for example, NEC 78312)
, lci, ICs is a programmable timer/counter (for example, NEC 71054), Ic.

is address decoder, ICs is multiplexer, ICh
is a D type flip-flop, lcw is an oscillator, IC,
is a constant current type 5-phase step motor driver, IC9~IC
+t is a bridge driver, Q.

Q2 is a power MO3FET.

In this circuit, (1) A total of seven motors for resist, cleaning, conveyance, development, and sleeve (Y, M, C') are simultaneously controlled by IC.

(2) The registration motor M7 is a 5-phase step motor, and the others are DC motors.
The transport motor only rotates in the forward direction, and the developing and sleeve motors rotate in the forward and reverse directions.

(3) The start/stop signal, speed target value, and status of each motor shall be provided via a serial interface. However, the registration motor starts using an interrupt (INTE).
shall be.

(4) Fine adjustment of speed control is possible independently (analog human power)
.

It becomes.

Then, motors M, .about.M are driven by the circuit of FIG.

The motor M is controlled at a constant speed, and the motor M is controlled at slow up/down speeds.
A method of controlling M7 is shown in FIG. Motor M2゜Ml,
M4 speed detection encoder Ex, E3.

Motors M1 and M, except E4 is time-shared input.
Since the control method for M a is the same, Ml
・Explain about.

First, input the output of encoder E1 to CLR, and
Up/down counter U at rising edge of LRI
Capture the value of DCI in register CR.

The pulse period of the encoder E1 is measured by taking in the pulse period of the encoder E1. Next, calculate the speed of motor M from this cycle, and use the detected speed and target speed to calculate the manipulated variable, that is, the PWM timer setting value, and use it as the PWM timer setting value.
A PWM pulse written to timer 1 is output from PWM timer 1 to motor M, and motor M rotates according to the PWM pulse width. This speed detection - P1 calculation - PWM
A PWM pulse is output from the output WM timer l to the motor M, and the motor M rotates according to the PWM pulse width. By repeating this process of speed detection, PI calculation, and PWM output, the motor speed is kept constant.

The transport motor M and the cleaning motor M are also similar in method to the motor M, except that the circuit configuration is different. That is, the speed of M is detected by an up/down counter UDC and a capture register CR. On the other hand, motor Ms (Mh) uses free running counter FRC and CP To (CP T + ) as shown in Figure 7, and the PWM timer for motor M and PWM timer l
(71054 peg in FIG. 5)), whereas motor M.

In (M,), the microcomputer 783 is also shown in FIG.
12 (IC,) Built-in PWM timer PWM.

(PWM, ) and a down counter DCNT.

The control method of the registration motor M is shown in Fig. 8 (al, fb
It is as shown in 1. It should be noted that FIG. 8 (al is a control block diagram of the motor M), and FIG. 8 (bl is an excitation pattern).

The data of the phase excitation pattern table written on the ROM is sent to the pulse rate interrupt generation interval timer T.
Each underflow interrupt TM.F1 of M, is output to the boats PO0-4 via the output buffers POH/POL. For slow-up and slow-down, the °ζ pulse rate is changed by counting the number of occurrences of 7MF2 and transferring the speed profile table data addressed by this count value to the module timer register MD.

Next, the software will be explained with reference to FIG. 9 ial to FIG. 9 1rl.

Figure 9 (al is the general flow of the main routine of the motor controller IC+. In Figure 9 fal, when the power is turned on, the system is initialized al, that is, the settings of each port and the internal RAM are set. Clear, PWM cycle of timer IC1, IC3 (all 43μ
s), set each interrupt mode, etc. At this point, the reception interrupt [Fig. 9 (0)] and the registration motor M
, the start>/stop interrupt [FIG. 9(q)] is kept enabled, and A/D conversion of the signal (temperature) input to the ANO is started.

Next, perform the relative temperature calculation a2. The detailed flow is shown in FIG. 9 ibl. Here, first, A/D 'J2
Please check whether it has ended negatively (bl), and if it has not ended, return without doing anything. If it has finished, check whether it is temperature A/D conversion mode in b2, and if it is temperature A/D conversion mode, store the conversion data b3). Switch to and start (b4).

Also, in step b2, if the humidity A/D conversion mode is selected, the conversion data is stored b5), the temperature A/D conversion mode is switched to and started (b6), and b3
Then, the relative humidity is calculated based on the temperature and humidity data obtained in step b5 (b7) (details are omitted as they are publicly known).

Next, the process moves to control a3 of the transport motor M. The detailed flow is shown in FIG. 9(C), and the transport motor M is operated at C1.

Check the status (STATUS-T) and set it to 0 (
If it is waiting), go to C2, if it is not 0, go to C4, C
At Step 2, the presence or absence of a start command (data received from the main controller 21) is checked, and if a start command has arrived, 5TATUS-T is set to "1" (C3).

C4 checks 5TATUS-T and performs processing corresponding to each status, that is, STA 1"U
If S-T is "0", the process is waiting, so the process returns without doing anything.

If 5TATUS-T is "1", rotation is started, so in ec5 which performs start processing c5, the target speed ('r'/l;1"-TR) of the transport motor MS is first set.

Then, the initial value is set to PWM, and the PWM0 output is activated. Finally, in order to measure the encoder pulse frequency M (for conveyance motor speed detection),
o interrupt [Figure 9 (k)] and set the transport motor watch dog timer (WDT-TR).
(350ms) L...Start. When C5 is finished,
Set 5TATUS-T to 2" (C6) and return.

5If TATUS-T is “2”, check whether there is an abnormality (C7), which is more than 350ms r N T
If E o interrupt does not occur, it is considered as abnormal. Now, if the INTEo interrupt occurs normally, the CIO
If there is an abnormality, proceed to C8.

At C8, stop processing is performed. Here w o ”r
- Stop TR, disable INTEo interrupts, and disable PWMO output. Next, S T A T
Set "3" to tJS-T (C9) and return.

In clO, check the presence or absence of a stop command, and if a stop command has come, go to all, otherwise go to C13, in C11 perform the same stop processing as in C8, and set 5TATLIS-T to 0''. Return. At C13, it is checked whether it is in calculation mode (pulse period measurement has been completed), and if it is in calculation mode, PWM update processing is performed (C14). In other words, the target speed (TAGT-TR) and the measured lap!tll( TIME-TR) to I) Update the PWM data by the I operation, set it to PwMo, and output it.Then, reset the operation mode flagc15) and return.

5If TATUS-T is "31", it is abnormal mode, so return without doing anything.

Next, control a4 of the cleaning motor M is executed. As the detailed flow is shown in FIG. 9 (dl), the control method is the same as that of the transport motor M, so the explanation will be omitted.

Next, the control of the developing motor M? Execute fja5.

The detailed flow is shown in FIG. 9 (1111). First, use el to check the status (STATLJS-D) of the developing motor M, and if it is 0 (waiting), go to C2, and if it is not 0, go to C4. In ee2, the start command is activated. Check for nothing, and if a start command is received, depending on the rotation direction at that time (also sent from the main controller 2!),
For cw, set “1” to 5TATUS-ri, for ccw, set 5T
ATUS-1) is set to "2" (C3), C4 checks STA'rUS-D and performs processing corresponding to each status, that is, 5TATUS-D is set to "0".
“If so, it is waiting, so return without doing anything. 5T
If ATUS-D is “1°, it will start rotating in the cw force direction, so
At C5, where cw start processing e5 is performed, the target speed (TAC; T-DV) of the developing motor is first set. Then, the initial value of PWM is set in timer 1 of ICI, and 0/l is output to port PIO/pH to make CW active. Finally, to measure the encoder pulse period
LR, interrupt [Figure 9 (river)] is enabled, and the development motor watch dog timer (WDT-DV) is set to 350 m.
Set 5 and start. 5TAT after C5
Set 31 to US-D (C6) and return. 5
If TATUS-D is "21", rotation in the CCW direction is started, so perform CCW start processing e7.Here, set the target speed in the ccw direction (TAGT-DV), set the initial value of PWM to timer 1 of lc3, Boat PIO/p
Output 110 to H to make CCW active. The remaining interrupt and watch dog timer settings are the same as in the CW start process e5. 5TAT after C7
Set "3" to US-D (C8) and return.

If 5TATUS-D is "3", processes e9 to e17 are performed, but the method is to control the transport motor MS [Figure 9 (C)
] is the same as the case where 5TATUS-T is "2" (c7 to c15), so the explanation will be omitted. However, in case of abnormality, 5
Set TATUS-D to "4", STATUS-D to "4"
"Then it's abnormal, so I'll return without doing anything.

Next, control "1Ja6" of Y sleeve motor M2 is executed.The detailed flow is shown in FIG. Waiting), then to C2, '0
If not, proceed to C4. In 2, check the presence or absence of a start command, and if a start command has come, set "l" to 5TATUS-Y for CW, and to 5TATUS-Y for ccw, depending on the rotation direction command at that time. Set 2” (
C3).

At C4, 5TATUS-Y is checked and processing corresponding to each status is performed.

In other words, if 5TATUS-Y is O”, it is waiting, so
Return without doing anything. 5If TATUS-Y is "1', rotation in the CW force direction is started, so perform CW start processing r5. In C5, first set the target speed (TAC; T-YS) of the Y sleeve motor M2. Then, enable PWM calculation. Set the timer (CALT-YS) to 10m5, set the initial value of PWM to the timer O of IC2, and output 110 to the boats P12/P13 to activate the CW ratio output.Next, the M sleeve motor M, Or check whether C-sleeve motor M4 is operating, and if both are stopped, output Olo to boat P56/P57,
Select the encoder pulse signal of Y sleeve motor M2 as the input signal of CL Ro. Then, the macro service pointer (TIME-3L), macro service counter (2), and special function register (
CRao) and starts a counter (LIDCO) that measures the cycle of encoder pulses.

Finally, set the Y sleeve motor operating flag. Next, enable the CLR interrupt (Fig. 9 (2))], and
Watch dog timer for sleeve motor (WDT-
Set 255 (350ms) in YS) and start. Finally, set the Y sleeve motor operating flag. If either M or C sleeve motor Mz or Ma is operating, just set the Y sleeve motor operating flag, and do not perform any other processing. "Please set f6),
Return. Here, we first set the target speed in the CCW direction (
TAGT-YS), set the PWM operation enable timer (CALT-YS) to 10 ms, and
Set the initial value of +CZ to timer 0, and
Output 0/1 to 2/P I 3 to activate the ccw output. The following process is the same as ``5, so it will be omitted.

When f7 processing is completed, 5TATUS-YS is “3”
Set r8) and return. 5TATUS-Y
If S is "3", full processing is performed from f9, but first an abnormality check is performed (r9). In case of abnormality, that is, if the encoder pulse does not come for 350ms or more, f
Proceed to IO and perform stop processing. First, set timer 0 of IC to 1, output 1/1 to boats P12/P13, and turn off the Y sleeve motor.
If the sleeve motor is in wait mode, UD Co is stopped and CLRo interrupt is prohibited. Finally watch
Stop dog timer. "■ When the processing of 0 is completed, set "4" to 5TATUS-YS and return. [If the encoder pulse has come normally at 9, [
Proceed to step 12 to check whether there is a stop command. If a stop command has come, proceed to 13 and perform the same stop processing as in 10. When step 13 is completed, set 5TATUS-YS to "0" and return. (If no stop command has come in '12) , proceeds to f15 and checks whether or not it is in PWM calculation mode.Here, PWM calculation mode is entered approximately every IQms [that is, CALT-YS
becomes 0 and the measurement of the encoder pulse period has been completed, but since the regular encoder pulse measurement time (approximately 3m5) is faster than the time when CALT-YS becomes 0, CALT-YS This can be considered as a case where the pulse becomes 0, but at the time of rising, the encoder pulse period becomes longer. ].

Now, if it is in PWM calculation mode, PWM update Cf
16) (the update method is the same as for the transport motor), reset the calculation mode flag (fl1), and return.

Next, control a7 of the M sleeve morph M is executed, and control a8 of the C sleeve motor M is executed.

The detailed flow of the control of the M sleeve motor Mff and the C sleeve motor M4 is explained in FIG. 9 fgl and the control of the C sleeve motor M4 shown in FIG. omitted.

Next, the detailed flow for controlling the ear cutting remoter M is shown in FIG. 9(i). First, the main controller 21
Check the ON command from (11).

If an ON command has been received, proceed to step 12 and check whether it is already in operation. If it is running, do nothing and return.

If it is not running, perform start processing i3, here C
Check whether it is W mode or CCW mode, and if it is cw mode, output 0/l to boats P54/P55 to rotate in the cw force direction.

If it is a CCW mode, 110 is output to the boat P54/I)55 to rotate it in the ccw direction.

When i3 is finished, set the operating mode flag.
4), Return.

Next, control alO (pre-drive excitation pattern output) of the registration motor M is executed.

The flow is shown in Fig. 9 (ρ). First, check whether there is an excitation pattern output command before driving (this is the timing when the command address 0 or l in Fig. 11 is received from the data received from the main controller). ), if no command is received, returns without doing anything. If a command has been received, output processing for one cycle of the excitation pattern is performed (p2).

In p2, first the microcomputer lc+ boat P
26 outputs "low" to switch to power down mode. Next, process the macro service completion interrupt of the pulse rate timer TM for outputting one cycle (10 patterns) of the excitation pattern (set the second address of the excitation pattern table to the macro service pointer,
Set 9 to macro service counter, set POH to special function register, 45Op to TM.
(timer data set equivalent to ps), starts, and then outputs Po via PO/POL. The first excitation pattern is output at ~4. Finally, the T M + macro service completion interrupt [Fig. 9 ()] is enabled. When p2 is completed, the registration motor status (S T
Set "O" in S-R), p3), and return.

That is, until the TMI macro service completion interrupt [FIG. 9(r)] occurs, the excitation pattern for one cycle is output by the macro service 'rM.

Finally, call the monitor routine all.

This outputs data corresponding to the address of the internal RAM of the motor controller IC set on an externally connected monitor (not shown) to the monitor, and displays the address and data on the monitor.

This is for software debugging and has nothing to do with motor control, so a detailed explanation will be omitted.

Now, each separate inclusion will be explained next. Figure 9 01 is 1
．． This is an interval timer interrupt that occurs every 36 ms. This interrupt is enabled at the end of initialization a1. The functions of this interrupt are a watch dog timer for detecting abnormalities in each motor and a timer for PWM update cycles of the Y, M, and C sleeve motors. First, an abnormality check of the transport motor M is performed. Specifically, when the transport motor is in operation, the transport motor watch dog timer (WDT-TR) is decremented, and if the result is 0, an abnormal signal (AB-TR) is decremented.
TR). W D T -TR becomes 0 when the encoder pulse does not arrive for 350 rn s or more. In other words, 350m5/1.36m to WDT-TR when motor rotation starts and encoder pulse is generated.
Set 5'-255, WDT-T every 1.35m5
When R is decremented and WDT-TR becomes 0, it becomes 35.
Since no encoder pulse is generated for 0 ms or more, it is determined that the motor is abnormal.

Next, check the cleaning motor M for abnormality j2. An abnormality check j3 of the developing motor M1 is performed, but since it is the same method as for the conveyance motor, the explanation will be omitted.

Next, abnormality check j4 and P of Y sleeve motor Mt.
The WM update cycle counter is checked (j5), specifically when the Y sleeve motor M2 is in operation and the watch dog timer permission has been issued! In the case of IM (encoder pulse period measurement mode for Y sleeve motor), the punching time (WDT-YS) for the Y sleeve motor is decremented in the same way as the transport motor, and the result is 0. If there is, set the abnormal signal (AB-YS) and forcibly reset the start command signal of the M sleeve and C sleeve motors. Check the PWM update cycle counter (CALT-YS) at 0th order, and if it is not 0. CA
Decrement LT-YS.

If it is O, check whether the encoder pulse period has been measured, and if it has been measured, set the calculation mode flag, and
Set ALT-YS to 7 (10m5) 0th order M
Sleeve motor M3 abnormality check (j6), PW
The M update period counter is checked (j7), the C sleeve motor M4 is checked for an abnormality (j8), and the PWM update period counter is checked (j9).The processing is the same as that for the Y sleeve motor, so the explanation will be omitted.

Next, encoder interrupt processing for the transport motor Ms will be explained. The flow is shown in FIG. 9(k). First, the watch dog timer (WDT-TR) is set to 255 (k1), and then it is checked whether it is the first interrupt after waiting (k2). .

If it is the first interrupt, proceed to 5. If it is the second or subsequent interrupt, set the calculation mode flag (k3) and update the encoder period (TIME-TR) (k4). Finally, proceed to 5 for the current measurement. encoder period (CP To )
is stored in the previous encoder period (CPTo TR). Furthermore, the update value of the encoder period (TIME-T
As shown in 4, R) is the value obtained by adding the periods measured this time and the period measured last time and dividing it by half.

Next is the encoder interrupt processing for the cleaning motor M [FIG. 9(1)], but since the processing method is the same as that for the conveyance motor, the explanation will be omitted.

Next, encoder interrupt processing for the Y, M, and C sleeve motors will be explained.

Fig. 9 (Flowchart is shown in ml. First, check whether the encoder signal of Y sleeve motor Mt is being selected (encoder cycle measurement mode). If the encoder signal of Y sleeve motor M2 is being selected, m- If not, proceed to m15. In em2, the detected encoder pulse period is stored in the encoder pulse period register (TIME=YS) of the Y sleeve motor. Then, the encoder pulse cycle measurement completed flag of the Y sleeve motor is set (m3). Next, check whether the M sleeve motor is operating or not (m4), and if it is operating, select the encoder pulse signal of the M sleeve motor as the input signal of CLRo (m5), and select the M sleeve motor watchdog signal. Timer (WDT-
Please set 255 (35Oms) to M6)
, M sleeve motor encoder period measurement flag (
Set the M sleeve motor's watch dog timer permission flag (ml), reset the Y sleeve motor's encoder period measurement flag (m8), proceed to m42, and if the M sleeve motor is not operating in m4. , Check whether the C sleeve motor is operating (m
9), if it is operating here, CL Ro of C sleeve motor
Select the encoder pulse signal of the C-sleeve motor as the input signal (mlo), and set the clock dog timer (WDT-C5) of the C-sleeve motor to 25.
5 (350m5) m1l), set the C sleeve motor encoder period measurement flag m12
), reset the encoder period measurement flag of the Y sleeve motor. ml 3), proceed to m42. If the C sleeve motor is not operating in m9, is there a watch dog tie for the Y sleeve motor? (WDT-YS) 255
Set (350m5) ml 4) and proceed to m42. If the encoder signal of the Y sleeve motor is not being selected in ml, check whether the encoder signal of the M sleeve motor is being selected.
If so, proceed to m16, otherwise proceed to m29.

Since m16 to m28 and m29 to m41 are the same processes as m2 to m14, their explanation will be omitted.

Now, m42 sets the macro service counter to 2. Then, the macro service completion interrupt of this interrupt is re-enabled (m43).

Next, the encoder pulse interrupt of the developing motor M1 will be explained. The flow is shown in FIG. 9(n).

First, the development motor watch dog timer (WDT)
-DV) to 255 (350ms) (nl
), and then checks whether it is the first interrupt after waiting (n2), and if it is the first interrupt, returns without doing anything. If it is the second or later interrupt, the encoder pulse period (1゛!ME-DV) is updated (n3) and the calculation mode flag is set (n4).

Next, reception interrupts will be explained. FIG. 9 (Ol) shows the low. 11 and 12 are the formats of received data, and FIG. 13 is the format of transmitted data.

First, a check is made to see if there is a reception error (01), and if there is a reception error, the process advances to 09. If there is no reception error,
Next, it is checked whether the target speed correction data reception mode is set (o2) - If the target speed correction data reception mode is selected, the process proceeds to 07. If not, then check the address (upper 4 bits of the received data) (o3). If the address is 15, set the target speed correction data reception mode flag to 0.
6), proceed to olO. If the address is other than 15, then check whether the address is smaller than 9 (04
). If the address is 9 or more, the process goes to 09, but if it is 8 or less, the received command data (lower 4 bits of the received data) is stored and the process goes to 05°010. If o2 is in correction data reception mode, check whether the address is smaller than 13 (07), if it is 13 or more, proceed to 09, 1
If it is less than 2, the correction data (lower 4 bits of the received data) is stored (o8), and the process goes to olO. 09 is a case where a reception error or an address that is not in the format is received, so the retransmission bit is set in order to send a retransmission request to the main controller 21. At 010, the process waits until the previous transmission is completed. Then, when the previous transmission is completed, the transmission data (Fig. 12) is transmitted (oil
). However, if the retransmission request bit is set, data at address O is forcibly transmitted, but normally addresses 0 and 1 are transmitted alternately.

Next, the start and stop command interrupts for the registration motor M will be explained. External interrupt terminal INTE
Start processing is performed when the rising edge of z is detected, and stop processing is performed when the falling edge is detected. FIG. 9 (Flowchart shown in ql. First, check the edge mode. ql) If it is the rising edge mode, proceed to q2. In q2, the registration motor M is started. Specifically, first, "Hl" is output from the port P26 of the microcomputer IC+ to switch from the power down mode to the normal power mode. Next, regarding the speed profile, the speed profile is different between color mode and monochrome mode (Figure 10).
If the speed profile is i!
translate. Then, macro service processing (setting the second address of the excitation pattern table to the macro service pointer, setting 5 to the macro service counter,
Set the special function register and set the initial values of the pulse rate timer to M D + , T M +
After setting to , the first pattern of the excitation pattern is output to ports PO0 to PO4 via POH/POL, TM is started (counts down every 21.3μs), and T Enable M + macro service completion interrupt [Fig. 9(r)]. When the start process is completed, the status of the registration motor M1 is set to '1' (Q3) and the edge mode of INTE is switched to the falling edge mode (q4).In addition, when initializing, set the rising edge mode to al. If it is the falling edge mode at ql, set the status (STATUS-R) of the registration motor M? to "5" (q5), and switch the INTE2 edge mode to the rising edge mode (q6).

Finally, the processing of TM's macro service completion interrupt will be explained. Figure 9 (flow is shown in rl).

This interrupt occurs after the excitation pattern is output by the value set in the macro service counter.

Well, first of all, check out the 5TATUS-R.
If 5TATLIS-R is "01," it outputs one cycle's worth of excitation patterns as described above in the pre-drive excitation mode, and then goes to rl.Therefore, rl holds the excitation pattern (last pattern) currently being output. Therefore, timer T
Only M l stops and returns. 5TATUS
If -R is "l", it is the slow-up mode, so go to step 3. In r3, it is checked whether the slow-up is finished, and if it is not finished yet, the slow-up process r4, that is, the next macro service process is performed. If the slow-up ends at r3, calculate the number of pulses at the peak (adjust using the correction value in Figure 11) and perform macro service processing (r
5) Set "2' to 5TATUS-R (r
6), If 5TATUS-R is "2" in rl, check whether peak mode has ended or not. r7) If still in peak mode, continue macro service processing (r8).
If the peak mode has ended, macro service processing in slowdown mode is performed (r9), and 5TATUS-R is set to "3" (rlO). 5TATUS- in rl
If R is "3", check whether the slowdown mode has ended or not. If it is still in the slowdown mode, continue to perform slowdown macro service processing (r
12) If the slowdown has ended, perform macro service processing in constant speed mode (r 13), 5TATUS
- Set 4” in R (rl4), 5TATU in rl
If S-R is 4", continue macro service processing in constant speed mode (rl5), 5TATLIS-R in rl
is 5”, stop macro service processing and PO
An OFF pattern is output from o to 4 (r 16).

〔Effect of the invention〕

As explained above, according to the present invention, a stepping motor is used to drive the registration roller of a copying machine (particularly a color copying machine), and by performing the above-mentioned control, highly accurate positioning is possible. Get quality images. Furthermore, since the excitation output is held only immediately before driving, power consumption can be reduced.

[Brief explanation of the drawing]

Fig. 1 is a control block diagram of a copying machine according to an embodiment of the present invention, Fig. 2 is a schematic configuration diagram of the copying machine, Fig. 3 is a motor control function block diagram, and Fig. 4 is an explanation of the contents of communication data. figure,
Fig. 5 is a detailed block diagram of motor control, Figs. 6, 7, and 8 are block diagrams and explanatory diagrams of excitation patterns for explaining the control method of each motor, and Fig. 9 is a main routine and each Flowchart of the subroutine, FIG. 10 is an explanatory diagram of the relationship between pulses and pulse rates in monochrome mode and color mode, and FIGS. 11, 12, and 13 are explanatory diagrams of the format of receive data and transmit data in the reception interrupt flow. It is. M, . . . registration motor, 21 . . . main controller, 22 . . . motor controller. Figure 1 Figure 9 (f) Figure 9 (q) Figure (i) 1.36m5 interval timer interrupt Figure 9
Doj no 42nd diagram (n) Figure 9 (j no (3) Figure 9 (j no and 4) Figure (k) Figure (1) Figure 11 Figure 12

Claims (1)

[Claims] In a registration motor control device for a copying machine that uses a stepping motor as a driving means for a registration roller of a copying machine, one step is performed before the driving timing of the stepping motor.
Outputs the excitation sequence of the cycle, holds the last excitation pattern of the excitation sequence of one cycle, outputs a series of excitation sequences starting from the first excitation pattern at the drive timing, drives the stepping motor, and then stops. A registration motor control device for a copying machine, comprising a control means for outputting an excitation pattern that is turned off at a timing.