JPS60510A - Control device of moving body - Google Patents

Abstract

PURPOSE:To exercise speed control extremely easily through magnetic coupling so as to obtain a stable stopping position, by controlling the moving speed of an original by using a hysteresis clutch in accordance with the moving position of the original. CONSTITUTION:A clock pulse corresponding to the moving distance of an original is generated by means of an encoder 15-2 fitted to a DC motor. Moreover, when a flag plate 15-7 installed to a mirror table traverses fixed sensors, signals are outputted. One of the sensors is one 15-5 for detecting the home position of an optical system and the other is a sensor 15-6 for detecting the first end of a picture. When the original is advanced, a speed corresponding to the magnification is controlled by a slave CPU and, at the time of backward movement, the backward movement is turned off by means of the sense signal of the sensor 15-6 and braking control is performed in the extent of a prescribed position by using a hysteresis clutch.

Description

DETAILED DESCRIPTION OF THE INVENTION TECHNICAL FIELD The present invention relates to a control device for a moving body, which includes means for controlling the moving speed of the moving body.

Prior Art In conventional copying machines, an optical system scans an original by placing a light source close to the original and scanning along the surface of the original.
When moving the optical system including the light source and stopping it at a predetermined position, the driving force is cut off before the stop position, and the optical system is decelerated by the frictional force of the wire, rail, etc. that directs it, or a cushion such as a damper is installed at the stop position. was set up to stop it.

However, as the copying speed of copying machines increases, it has become difficult to obtain a stable stopping position against load fluctuations using conventional methods. Furthermore, for this reason, the moving speed of the optical system was exactly the same before the stop operation.

Devices that drive movable bodies other than copying machines that use optical systems as movable bodies also have the same drawbacks as the above.

Purpose The present invention aims to eliminate the drawbacks of the above-mentioned conventional examples,
The object of the present invention is to propose a control device for a moving body that can obtain a stable stopping position even when the load fluctuates.

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

FIG. 1 is a schematic cross-sectional view of a copying machine to which the present invention can be applied, and the structure and operation of the embodiment will be briefly explained based on this figure.

The surface of the drum 1 is made of a seamless photoreceptor using a photoconductive layer, is rotatably supported on a shaft, and is moved in the direction of the arrow by a main motor activated by pressing the copy key (106) shown in FIG. Start rotating.

When the drum 1 reaches a predetermined rotation and the potential control process (pre-processing) described later is completed, the document placed on the document table crow 26 is illuminated by the illumination lamp 21 which is integrated with the first scanning mirror 22. The reflected light is scanned by a first scanning mirror 22 and a second scanning mirror 23. First scanning mirror 2
2 and the second scanning mirror 23 move at a speed ratio of 1:0.5, so that the document is scanned while the optical path length in front of the zoom lens 20 is always kept constant.

The above reflected light is transmitted to the zoom lens 20, the third mirror 25.
After passing through the fourth mirror 24, an image is formed at the exposure section A of the second drum. The drum l is neutralized by a pre-static eliminating means 9 consisting of a pre-static eliminating lamp, and then corona charged by a charger 2 (
For example, the image is positively (+) charged) and then irradiated by the exposure section A, and the image is exposed to slit light. This slit exposure creates an electrostatic latent image with a residual charge on the black portion of the document.

The electrostatic latent image formed on the drum 1 is developed by the developing roller of the developing device 4 and visualized as a toner image, and the toner image is transferred to the fed transfer paper by the transfer charger 5. be done.

Next, an overview of transfer paper feeding control will be described.

The transfer paper in the upper cassette 13 or the lower cassette 14 is fed into the main body of the copying machine by the paper feeding stepping motor 11 or 12, and is sent in the direction of the photosensitive drum 1 with accurate timing by the register roller 10. The leading edge of the latent image and the leading edge of the paper are aligned at the transfer section. Next, while the transfer paper passes between the transfer charger 5 and the drum 1, the toner image on the drum 1 is transferred onto the transfer paper.

After the transfer is completed, the transfer paper is separated from the drum 1 by a separation static eliminator 6 and transferred to fixing rollers 17 and 1 by a conveyor belt 16.
8, where it is fixed by pressure and heating, and then discharged out of the copying machine by a discharge roller.

Further, after the fixing is completed, the fixing roller is cleaned by the web 19.

After the transfer, the tram 1 is made up of a continuous rotating machine, a nodding roller, and an elastic plate, and the surface of the tram 1 is cleaned by a noning device 8, and the collected toner is discharged by an eve (not shown). It is collected in a toner container and goes on to the next cycle.

Reference numeral 200 is a basic unit having a 2,000-sheet deck which can be separated from the main body 100 of the copying machine and has a 2000-sheet deck and an intermediate toner for double-sided copying.

46 in the pedicle 200 is a 2000-sheet stacking lid, which lifts up according to the amount of paper so that it hits the paper feed roller 44 & 45 sheets.

During screen copying, the flannel 31 of the main body is turned 7 to guide the copied paper to the pedestal 200 side, pass through the pedestal conveyance path 40, and store it in the intermediate tray 47. 49 is a paper size II control board of the intermediate tray, which moves according to the paper size to be stored. 99 for intermediate tray 47
Can store up to 1 sheet.

Next, when copying the screen surface, the copy paper is transferred from the intermediate tray 47 to the path 4 by paper feed rollers 41, 43 and separation roller 42.
8 and is guided to the registration rollers 10 of the main body 100. 300 is an automatic document feeder (ADF), 50 is a paper feed tray on which a document is set, and 55 is a paper discharge tray. When a copy start is applied from the main body 100, the original is fed by the paper feed roller 51, guided to the transport belt 54 by the transport roller 53 and the separation roller 52 for preventing double feeding, and the original is placed on the glass surface 26 of the main body 100 at a predetermined position. is set to the position and the copy operation begins. When a series of copying operations for the original document is completed, the original document is ejected to a paper ejection tray 55 via a conveyance belt 54 and a paper ejection belt 56.

While the original is in the paper feed tray 50, the next original is fed simultaneously with the ejection operation. Additionally, this automatic document feeder is a document processing device (RDF) having a recirculation path and a document reversing device.
But it's okay. 400 is a sorter which collates the copies ejected from the main body. 62 is a non-sorting bin and there are only 20 sorting bins 66 (t6p), so 66 is used when sorting is not necessary, or when there are 21 or more copies from an original, or when an interrupt copy occurs in the main body 100.
Discharge into the bin. The flapper 64 is a flap for flowing paper to the next sorter when a plurality of sorters are used.

Next, each part will be explained in detail.

FIG. 2 is a block diagram of the control section of the copying machine shown in FIG.
) main CPU, Q102, which is an l-chip microcomputer with a built-in ROM memory that stores the program shown in the flowchart in the instruction word code routine, RAM memory that stores various processing data, and an I10 port that controls input and output. May 7 CPU (QI O1
) is a one-chip microcomputer equivalent to R
The slave CP stores the programs shown in the flowcharts in FIGS. 13(A) to (r) in the OM memory.
U, May 7 CPU (QIOt), Slave CPU
(Q102) Both have a built-in A/I)=1 pumper, which is also used for temperature control and adjustment polyurethane input. Q1
03 to Q106 have expansion I10 ports for expanding the input/output of the main CPU (QLOT), and are controlled by the data bus and control signals from the main CPU (QIOL). Q107 and Q108 are 1-chip microcomputers equivalent to the main CPU (QIOI), and the automatic document feeder (ADF) shown in Figure 1.
This is the sorter CPU that controls the ADF river C U that controls the ADF 300 and the collation device (sorter) 400, and the main CPU (QIOI) is connected to the serial communication path (TXD, R
XD, 5CK) are connected to each other to control the feeding of originals and to control the collating device (sorter) through serial communication.

FIG. 3 is a plan view of the operating section. In the figure, 102 to 11
5 are keys, 102 is a numeric key to set the number of copies, 103 is a clear key to cancel that number, 104 is a key to change another number of copies before the number of copies set by the numeric key 102 is completed. 106 is a copy key for instructing the start of copying; 105 is a stop key for stopping the copying operation during continuous copying of a set number; 110 is a selection key for the paper feed cassette; Each press of the button sequentially selects the effective paper feed cassette from the upper, middle, and lower tiers. Reference numeral 111 is a double-sided copy key for selecting double-sided copying, and when this key is pressed, the display section 10
1 display 121 displays “1”, and 1 of the double-sided copy
Show respect. When copying of the first side is completed, display 1
21 automatically displays "°°2" and instructs to copy the second side. This display pattern is shown in FIG. 4-1.

Reference numeral 115 is a magnification change key, which is used to specify four magnification modes: enlargement, reduction, equal magnification 1, and continuous magnification.Each time the key is pressed, the mode changes from equal magnification → reduction → enlargement one continuous → equal magnification and magnification mode. rotates. Display when this key is pressed 132,1
A display example of 33 is shown in Fig. 4-2. During continuous magnification, 1 display 132 and 133 do not display anything, and 134 is indicated as a percentage magnification 6 magnification is 1% from 61 to 141%
Instruct in units using keys 113 and 112. Also, 114 is 11
This is a magnification selection key for setting fixed magnification among the magnification modes selected in step 5. That is, when the reduction mode is set at l15, the standard reduction magnification is automatically set according to the cassette size selected at that time. For example, A
4 size vertical feed force Cera): When A4R is selected, each time key 114 is pressed, A3 → A4 near 1%, B4 → A
4:82%, A3→B4: 87%, B4→B5 near 1%, A3→B5: 61%, A4→B5: 87%, etc. 0% changes at the same time as 132,133 The magnification is always displayed at 134. A display example in this case is shown in Fig. 4-3. Up and down keys 112 and 113 for continuous magnification increase or decrease by 1% each time the button is pressed, and if the button is held down for 1 second, it will continue to go up or down as long as the button is held down. 141%
If it becomes more than 61%, it will automatically return to 61% and upload again.
If it falls below 1%, it will drop to 141%.

The standard 3-digit numerical display 134 is 13 in percentage display for magnification.
5°°%°' is displayed, but by using a display changeover switch inside the main body for adjustment during maintenance, it is possible to switch to various displays as described below. Also, when a magnification is specified using the up and down keys 112 and 113 for continuous magnification, and the magnification matches the magnification for regular magnification, the regular magnification is performed in relation to the paper size of the selected cassette or in relation to the original. Double display can also be displayed. In this way, 134 on the display section is a three-digit numerical display, but normally, as mentioned above, the magnification is displayed as a percentage and displays 135 °%.However, when the power is turned on, it shows the temperature of the fuser,
136 degrees Celsius is displayed. In this embodiment, when the temperature of the fuser reaches 170°C, it starts rotating at low speed, and when it reaches 180°C, it starts rotating at high speed, and enters the standby state where copying is possible. However, when the temperature is low, the power cannot be turned on. It takes several minutes for the temperature of the fuser to reach the predetermined temperature, making it seem like the operator is waiting for a long time.Therefore, 134 displays are used to display the temperature from power-on to standby. The temperature of the fixing device is determined by the fixing thermistor 210 in Figure 2.
The temperature is input to the A/D input terminal of the main CPU (Q101), converted to temperature, and the display on the 134 display units is updated every 700 m5ec. When the standby state is entered, the display 134 automatically returns to the magnification display. Further, the display 134 can display a different display by operating a changeover switch in the copying machine by a service person or the like during factory adjustments or maintenance work. This display is DMSO~9 in Figure 7-1.
Using the switch shown in Table 1, the display can be made as shown in Table 1.

Table 1 By using these displays, various adjustments can be made easily. Here, the display unit "V" uses a display of 137.

The setting value of the fuser temperature control setting volume 206 shown in FIG. 2 can be read as the temperature setting volume display directly from the input data from the polymer 20B in the table above. By reading the setting value of the volume 206 by the main CPU (Ql 01), the temperature setting of the fixing device is made variable, and at the same time, the temperature at low speed and high speed rotation when the power is turned on is also relatively changed.

124 to 128 are warning displays, all of which are displayed as pictograms.

124 is a key counter confirmation display, which is displayed when the key counter for counting the number of copies is not inserted into the socket of the main body. 125 is displayed when there is no cassette in the cassette table selected in the paper/cassette replenishment display or when there is no paper in the cassette. 126 is a developer replenishment display, which is displayed when the amount of developer in the developing device falls below a specified amount. 127 is a paper feed check display that is displayed when paper is jammed inside the machine. 128 is the discharge toner full display,
Displayed when the toner used once is full. 12
2 is a wait display, which lights up when the power switch is turned on and the temperature of the fixing heater is lower than a specified value, and turns off when the temperature exceeds the specified value and the WAY UP process is completed.

123 is an interrupt display that is displayed when the interrupt key 104 is pressed, and is turned off when the interrupt processing is completed. 129 displays the upper, middle, and lower cassettes carried by the cassette selection key 110, and 1191±the size of the selected cassette. When using standard magnification, the recommended size of the I/1 hour number ±119 flashes if the specified magnification and skein size do not match. 1
071±Auto exposure ftJJll (AE) selection keys, and keys 108 and 109 are manual density adjustment keys. When AE is selected, 117 is displayed, the manual density adjustment is ignored, and a clear image is always obtained (with no overlap with the original). Further, in the AE mode, the results measured during the AE scan are displayed in 17 steps on the number ± density adjustment display 118. Keys 108 and 1094 are valid when not in AE mode, and when key 108 is pressed.

The bar graph display 11g extends upward, and when the key 109 is pressed, the bar graph display 118 moves downward. The standard bar graph is displayed in the middle, and keys 108 and 109
If you hold down either button for 1 second, it will go up or down continuously. Figure 4-4 shows an example of the change when pressing 108 from standard. Reference numeral 116 indicates a three-digit numerical display for displaying the number of copies input using the numerical keys 102, and the number of copies that can be set using the numerical keys 102 is from 1 to 999. If you enter more than 3 digits, it will overflow and no matter how many digits you enter, the last 3
Only digits are valid. In other words, if you input 4 after ``123'', ``234'' becomes valid and the display also becomes ``234''. 131, when a paper jam (JAM) occurs, a display indicating the position where the paper jam occurs alerts the operator. 0 For example, if a paper jam occurs in the paper ejection section when the upper cassette is selected, the paper will be displayed in 10 bands (JO to J9) and the paper path will be displayed from the paper jam location as shown in Figure 4-5. , the paper feed check display 127 is displayed at the same time, and the number of sheets "PO3H" indicating a paper jam in the copying machine is displayed on the sheet count display 116, instructing the operator that 3 sheets of paper are jammed. When a paper jam occurs at the switch 7 < ts in the second side of the duplex mode, a display as shown in Fig. 4-6 is displayed.

The numerical display parts such as 116 and 134 in the display part lot are 7-segment display elements using liquid crystal.1. % and second
The details of the 7-segment display section of the liquid crystal display control section 201 shown in the figure are shown in FIG. 4-7, and the IJI control timing is shown in FIG. 4-7.
This is shown in Figure 8 and Figures 4-9.

Q201. Q202. Q203 is the main CPU (Q10
1) It is a liquid crystal driver that includes a drive unit that inputs serial display data sent from a computer, converts it from serial to parallel, latches the input data with a latch input, and displays a 7-segment display based on the latched data. The storage timing is shown in Fig. 4-8. 4-7 and 4-8 show an example in which "7" is displayed.

Figure 4-9 shows the liquid crystal display; y IPA Q201. Q202, Q2
03 is a timing chart showing the timing of data storage in the display unit 1. (1) in Figure 0 is the drive timing for latching and storing display data in the dry 8 when the signal is on.
34, and an example is shown in which display information is stored in the liquid crystal driver at regular intervals. (2) and (3) show an example in which display information is stored when display data is changed, and stored in the liquid crystal driver at regular intervals other than when the display data is changed; and (4)
The display information may be stored when the display information is changed, as in (5), and the display information may be stored at irregular timings other than when the display information is changed.
shows an example in which display information is stored in the liquid crystal driver irregularly. These timings are used for the display 116 of the display unit 101.

Although not used in this configuration, the latch section has a display processing function in advance, and the LCD driver, which is configured to perform display according to instructions from the one-chip CPU, is also Exactly the same effect can be obtained by outputting more commands and constantly refreshing the display.

Next, the operation of the serial communication path connecting each one-chip microcomputer will be explained. The main CPU (Ql 01) is the master of communication, and Q102.
Q107. Each one-chip CPU of Q108 becomes a slave station. In other words, the main CPU (QIQI) responds to the slave at regular intervals as shown in Figure 12 (B).
FIG. 13(C) shows this control by the slave CPU, which sends a request signal to each slave station, receives an ACK signal from the other party, and then sends and receives data to and from the corresponding slave station.

FIG. 8 shows an outline of the configuration of the serial communication path. MayycP
U (QIOI) and slave CPU (Q102) each have 8-bit registers for transmission and reception.
DF CPU (Q107) and sorter CPU (Q1
08) has one 8-bit register that is also used. The serial communication path is mainly used by the main CPU (Ql 01)
Serial output data from TXD-3 and main CPU
(QIOl) serial input data RXD-3 and data input/output timing clock 5CK-3 output from the main CPU (Ql 01).
The slave side can accept the data input/output timing clock only when there is a request from the mask, so
There are no cars where data can be input and output from multiple Regis games at the same time. Data is data input/output timing clock 5C
It is output in synchronization with the falling edge of K-3, and the data input is 5
This is done at the rising edge of CK-3. The timing relationship between this serial data, data input/output, and timing clock is shown in FIG.

The structure of data sent and received via the serial data communication path and the operation details are shown in Figures 1θ (a) to (c) and Figure 11 (
Shown in a) to (c). Figure 10(a) shows the slave CPU
Transfer data (SMO-3M7) consists of 8 bits (bo to b7) that are serially transferred from (Q102) to the main CPU (QI O1), and the upper 3 bits (b5 to b7) of the 8 bits indicate the type of data. The lower 5 bits (bo"bn) indicate the operation details. Furthermore, the SM
The operation details of the lower 4 bits (bo to b3) in the case of O and SMI are shown in Figure 10 (b) and (c).
) to (b) are diagrams showing the structure of 8-bit data (bo to b7) serially transferred from the master CPU (Q101) to the slave CPU (Q102).
The upper 4 bits (b4 to b7) indicate the type of data, and the 16 types of data shown in MSO-MSF are transferred, and the lower 4 bits (bo to b3) of the 8 bits indicate the contents of each operation. I can do things.

Figure 7-1 is a wiring diagram of the key matrix of the operation unit and the switch matrix for service personnel adjustment installed inside the main body. 103 to l15 correspond to the keys in FIG. The right side of FIG. 7-1 shows key matrices for the microswitches and changeover switches for service personnel in each sensor section, and 1iEX2F40 to EX2P63 are selection signals output from the main CPU (QIOI). Further, PDO~3 is a digit signal outputted from the main CPU (Q101), and is sequentially outputted from the PDO at intervals of 2m5Ec. This output timing is shown in Figure 7-2. This digit signal is also used for dynamic display of the LED array (blank exposure) for erasing the drum surface. This circuit diagram is shown in FIG. 7-3(a).

Blank exposure is used to light up all the LED arrays on the eraser on the drum surface during copying, during idle rotation, etc., and to sharply cut outside the image area and margins depending on the paper size and magnification. Also used for

For sharp cuts, LEDs 1 to 28 are dynamically lit according to the paper size.

The positional relationship between the eraser LED and the drum is shown in FIG. 7-3(b). The LED array is configured to be controlled by one digit signal in units of seven segments, and is controlled by the aforementioned digit signals PDO to PD3. Main CPU
(QIOI) are selected and displayed in combination with selection signals PFO to PF6 outputted from (QIOI). Figure 7-4 shows the number of sharp cuts lit according to the magnification when A4 paper size is fed horizontally.

That is, at 100% (same magnification), only LEDl is lit, and thereafter, each time the value decreases by 2%, one LED is lit. The figure shows an example that corresponds to up to 46%.

Next, the copying operation will be explained. The reference for operation is the drum clock (238) generated by a drum that rotates in synchronization with the main motor, and the slave CPU (
Q102) counts the drum clock and uses it for various sequence controls to be described later. In addition, the encoder pulse (239) by the optical system motor is similarly sent to the slave CPU (Q
IO2) is counted and used to control the position of the optical system.

When driving the main motor, whether at high speed or medium speed, first start driving at low speed and then switch to a predetermined speed. This is a protection for the thermistor attached to the fuser roller. In other words, this is for shock prevention.

Below are Figures 12 (A) to (I) and Figures 13 (A) to (r
), the control of the embodiment will be explained.

The main CPU (QIOI) executes step 1201 N1 when the power is turned on or reset as shown in FIG. 12(A).
203 is RAM, input/output port (Q103 to Q106)
, performs initial processing to start the internal timer, then inputs data from the input port etc. (step 1204), then performs key manual processing (step 1205), and then zooms as shown in Figure 812 (G). Lens movement processing is performed (step 1206). The details of this zoom lens movement process will be described later based on FIG. 5-4.

In step 1207, the intermediate tray moving process shown in FIG. 12(H) is performed. Details of this process will be described later based on FIG. 6-2. Next, display processing is performed on the display section (step 12).
08), performs the monitoring program processing shown in FIG. 12(D) (step 1209).Normally, this step 1209 is looped from step 1204, and necessary processing is performed sequentially.In addition, the monitoring program shown in FIG. 12(B) There is a timer interrupt process for each Z m5Ec by an internal timer shown in the figure, and time management is performed.

Furthermore, when serial data from another CPU is received, a serial reception interrupt occurs as shown in FIG. 12(C), and the received data is stored.

The monitoring program shown in FIG. 12 (CD) sequentially checks the status of each part of the copying machine as shown.

Figure 12 (E) shows the details of the sequence check in Figure 12 (D). In this sequence check, the status is initially "O", and as the process is completed, the status value is changed and the corresponding process is performed. It is carried out. Before the power to the copying machine is turned on, the status is 0'' and the power-on standby process is performed in step 232. When all the power is turned on, the status becomes 1 and the fuser heater is turned on in step 234. Turn it on, start temperature control processing, and then set the status to 2''.

Next, the fixing device waits at 170°C (step 236).
The details are shown in FIG. 12 (F), when the fixing device temperature is 170
If the temperature is below .degree. C. (step 245-N), the latest fixing device temperature is displayed on the display section at regular intervals as shown in FIG. 4-9 (1) (step 247). And the fuser temperature is 170℃
If the above is reached (Step 245-Y), change the display on the display unit from the fuser temperature to the copy magnification display and set the status to "3" (Step 246). When the status becomes "3", the copy key is turned off. Wait for the button to be pressed (Step 2)
38), when the button is pressed, if it is a one-sided copy, the status is set to "4" and the one-sided copy process is performed (step 240).
), in the case of double-sided copying, first set the status to ``°b'' and copy the first side (step 242), then set the status to ``6'' and copy the second side (step 244), then change the status to 3. '' and 1X execute the copy key waiting process again.

Next, the outline of control of the slave CPU (Q102) will be explained. As shown in FIG. 13(A), the slave CPU (Q102) performs initial processing by the main CPU (Ql 01).
Similarly, the RAM and input/output ports are initialized (steps 1301 and 1302), the internal timer is reset (step 1303), and the state of the control part is input by inputting a vote (step 1305). Next, if necessary, optical system return control (step 1306) and switchback control (step 1307) are performed, and after the power supply check (step 1308) is executed, sequence control (step 1309) is performed.
Loop 309.

Other interrupt processing includes the processing shown in FIGS. 13(B) to 13(F).

FIG. 13(B) shows an internal type interrupt that occurs once every 2 m5Ec and is used for time management. Figure 13 (
C) occurs when serial data is received from the main CPU (QIOl) mentioned above.
Loads the contents of the receive register containing the received data from the PU (QI O1) and transfers it to the slave CPU (Q10
2) Stores the response according to the state in the transmission register and transmits the data. FIG. 13(D) shows an interrupt that occurs when driving the optical system for scanning an original, and the explanation will be given later. Figure 13(E) shows an interrupt caused by the drum clock (238) generated by the drum rotating in synchronization with the main motor, and the drum counter, which is the reference for the copying operation, is
LL (Step 1341) Search the drum count table for the value of the drum counter (Step 13
42), count up the required table (step 1343), and if the count specified in the table has finished (step 344-Y), perform the corresponding process (step 1345), and if the count has not been completed, the drum is left as is. End clock interrupt processing. Figure 13 (F)
is an optical system clock interrupt process, which is generated by an encoder pulse (239) generated from a relay encoder driven in conjunction with the rotation of an optical motor. This process will be described later.

The above is the interrupt processing.

Sequence control in Figure 13 (A) (Step 1
Similar to the main CPU (QI O1), 309) performs various controls sequentially according to the status values from power-on, and as shown in FIG. 13(G), the 5TSO of step 1371
The processing is divided into eight sequences of STS 7 processing in step 1378.

Control will be explained below according to the status.

(1) Operation at power-on The following description will be made with reference to the timing chart of the initial operation at power-on shown in FIG. 14-1.

In the initial state, the status is set to 0,
Proceed to step 1371. In step 1371, the 13th
As shown in figure (H), the status is “0” until the power is turned on.
However, when the main switch is turned on and the power is turned on, the fuser heater is turned on and the status is set to "10°".
When the status becomes "lO", the upper 4 bits become 1 and the process proceeds to step 1372. As shown in FIG. 13(I), the lower 4 bits of the status change the process from step 1380 to step 1.
382, and executes the processing shown in FIGS. 13(J) and (K).

If the status is '10', go to step 1380 and wait for the fuser thermistor 210 to reach 170°C (step 1391).The main CPU also performs the 170°C waiting process as shown in Fig. 12 (CF).Then, the fuser thermistor 210 2
10 reaches 170°C, the main motor is rotated at low speed (step 1392), the developing bias is turned on (step 1393), and the drum surface eraser blank L described above is
The ED is fully lit, the drum surface is erased (step 1394), and the status is set to 11''. When the status becomes 11'', the process advances to step 1381 (see Fig. 13).
As shown in K), wait until the drum clock reaches 50 pulses, and when it reaches 50 pulses, set the status to "12". This is to make the temperature of the fixing device uniform. When the status becomes "12", the process advances to step 1382 and waits for the temperature of the fixing device to reach 180°C.

When the fuser thermistor 210 reaches 180°C, the main motor is temporarily turned off, the optical system is controlled to the home position, and the status is set to 20'°.When the status reaches 20'°, the process advances to step 1373 and the step is changed according to the value of the lower 4 bits. 1 from 1401.

It is divided into 406. Here, the lower 4 bits are 0, and the process advances to step 1401 shown in FIG. 13(M). In step 1401, the main motor is switched to high-speed rotation and enters a controlled rotation for measuring the drum surface potential, and the fuser heater is turned off to prevent the fuser temperature from rising to 180°C. (temperature controlled at 180°C). Then, the status is set to '21' and the processing in step 1401 is terminated.

When the status reaches 21°, the process proceeds to step 1402 shown in FIG. The sensor measures the drum surface potential 208 to the A/D input of the main CPU (QIOl), feeds the result back to the charging high voltage current value, and controls the dark part of the drum to have an appropriate potential. 14th -DI of Figure 1-
D4 indicates the measurement timing, and the measurement is performed a total of 4 times.

Then, the drum clock is cleared and the status is set to ``22''.

When the status reaches "22°", the process advances to step 1403 shown in FIG. The board is irradiated, the drum clock is cleared, the status is set to 23'°, and the process of step 1403 is ended.

The process advances to step 1404 shown in FIG. 13 (P) where the status becomes "23", the potential of the bright part of the drum is measured by the potential sensor, and the halogen lamp 21 is turned on via the halogen voltage control 204. Feedback to voltage.

LL-L3 in FIG. 14-1 indicates the measurement timing, and the measurement is performed three times in total. When the above measurements are completed, the drum clock is cleared, the status is set to "24", and the process of step 1404 is ended.

When the status becomes "24", the process proceeds to step 14o5 shown in FIG. 13(Q), where the registration clutch is turned off, the rotation of the drum is stopped, the halogen lamp is turned off, and the drum clock is set to "25" to complete the process.

When the status reaches "25", the process advances to step 1406, waits for the drum clock to reach 193, then stops the blank LED and main motor, and changes the status to "3".
0”.

This status ``1O'' to ``25°'' is a self-check sequence from power-on to a copy-enabled state, and the status 30 is waiting for the copy key to be pressed.

When the status becomes ``30'', the process advances to step 1374 shown in FIG. 13 (S) and waits for the copy key to be pressed. When the copy key is pressed, the status is changed to ``40'' and when more than 2 hours have passed since the previous copy or the copy is completed. If the magnification is different, set ZONE to A. If within 2 hours or more than 2 minutes have passed since the previous copy, set ZONE to 2ONEt-B; if less than 2 minutes, set ZONE to C.

(2) Copy preprocessing operation A timing chart is shown in FIG. 14-2.

When you press the copy key 106, the status changes to "40"
”, and the process proceeds to step 1375 shown in FIG.

The status is “40” and the lower 4 bits are “0”.
” Therefore, the process proceeds to step 1411 shown in FIG. 13 (U), rotates the main motor at low speed, turns on the high pressure output (233), turns on the resist clutch, rotates the drum, lights up all blank LEDs, and sets the drum clock. , prepare for the drum count, and set the status to “4.”
1” and terminates the process.

Here, in the double-sided copy mode, if the magnification is 90% or less, it is turned on at medium speed.

When the status becomes "41", the lower 4 bits become "1pa" and the process advances to step 1412 shown in FIG. 13(V). In step 1412, after the low-speed main motor rotates for 30 pulses, if the magnification is between 90% and 144%, the motor is rotated at high speed, and when it is less than 90%, it is rotated at medium speed, the developing bias is turned on, and the drum Clear the clock, end the process, and set the status to "42".

When the status becomes 42", the process advances to step 1413 shown in FIG. 13 (W). In step 1413, the main motor is rotated by 193 pulses, and then the blank LED is turned off. In step 1374, if ZONE is set to C. If ZONE is other than C, the status is set to "50°" when in AE mode, and when not in AE mode, the status is set to "44", the drum clock is cleared, and the process ends. This is to change the number of times drum potential adjustment is performed depending on the copy interval from the previous copy.

If the time since the last copy is 2 minutes or more and the ZONE is other than C, the status is °゛43''.
) The process proceeds to step 1414 shown in FIG. In step 1414, after rotating the main motor for 69 pulses, the drum surface potential is measured 4 times or 2 times if the time interval from the previous time is 2 hours or more.
If it is within the time, measure twice, set the status to ``44'', and end the process.

When the time interval from the previous copy is less than 2 minutes and after the processing in step 1414 is completed, the status is "44'°", and the process proceeds to step 1415 shown in FIG. 13(Y).

In step 1415, the halogen lamp 21 is turned on, the drum clock is cleared, and the status is set to "45°" to end the process.The halogen lamp is turned on for the same purpose as in step 1403.

When the status becomes '45', the process advances to step 1416 shown in FIG. 13 (Z), and after rotating the main motor by 115 pulses of the drum clock, the bright area potential of the drum surface is changed once when ZONE is A, and twice otherwise. Measured twice,
If it is the AE mode, the status is set to 1j5o11 and the process proceeds to the AE mode; if it is not the E mode, the status is set to °°60°' and the process proceeds to the transfer sheet feeding process.

In the AE mode, the status is set to °50°' and the process proceeds to step 1376 shown in FIG. 13(a), where it is divided into steps 1421 and 1425 depending on the value of the lower 4 bits.

AE mode measures the density of the original and automatically adjusts the density.This mode allows you to always make clear copies without fogging. First of all, it is 13th with status “50”
The process in step 1421 shown in FIG. This is to do so.

When the status becomes "51", the process proceeds to step 1422 shown in FIG.
The status is set to 52'' and the process ends.

When the status reaches °'52'', the process advances to step 1423 shown in FIG. 13(d), and if the AE1s determination is to be started, an AE measurement request is sent to the main CPU (QIOI) and the optical system is moved backwards (not shown). , and then sets the status to "53" and ends the process.

The main CPU (QIOI) uses the slave CPU (QIOI)
The sensor that jointly performs the AE measurement in response to the request of 02) may be an optical sensor installed on the optical path, or a sensor that measures the surface potential on the photosensitive drum surface. Also, in Figure 14-2, the measurement is taken when the optical system is moving backwards, but this is because the halogen lamp 21 lighting up time is covered while the optical system is moving forward, so the time for copying the first sheet is shortened as much as possible. That's why. However, with this machine, AE measurement can be performed while the optical system is moving forward by switching it over by a service person.

The AE measurement results are fed back to the halogen lamp 21, and the lighting voltage of the halogen lamp is
IOI).

When the status reaches "53", the process advances to step 1424 shown in FIG. 13(e) and waits for the above-mentioned AH measurement to be completed.A
E-measurement When the measurement is completed, the breast is masked (main CPU
(QIOI)) and set the status to “54”.

When the status becomes "54", the process proceeds to step 1425 shown in FIG. 13(f), waits for the optical system to return to the home position, and then changes the status to "60" and ends the process.

After that, a scan for copying is performed. At this time, in order for the optical system to move forward, scanning is started after checking the paper feeding completion flag. This paper feeding completion flag will be described later.

(3) Single-sided copy mode processing When the copy preprocessing is completed, the status becomes "60°" and the process proceeds to step 1377 shown in FIG. Then, in step 1431, deck sheet feeding sequence processing is performed.The details of this processing will be described later.

Next, the main unit performs paper refeeding processing (step 1432), and steps 1434 to 1 according to the value of the lower 4 bits of the status.
It is divided into 440 processes.

Steps 1430 to 1432 are steps in which the next copying operation can be executed before the copying operation is completed and the paper is completely ejected, so that the paper conveyance control is always performed in parallel with the process represented by the lower 4 bits of the status. 1377 is constantly running.

Initially, the status is '60' and the process proceeds to Stella 7' 1434 shown in FIG. No actual processing is performed except for setting the angle to 61°.

For one-sided copying, the status is immediately set to 61'', and the process advances to step 1435 shown in FIG. 13(i).

Step 1435 waits for paper feeding in the paper feeding sequence process of Step 1431 to be completed, and after paper feeding is completed, the optical system is moved to the home position, the copy sequence is started, the developing bias is turned on, and the fixing device is cleaned. After calculating the scanning width of the optical system based on the copying magnification,
The blanking LED is turned off and the optical system scans the original to form an image on the drum. And change the status to “62”
” then ends the process.

When the status reaches "62'°, the process proceeds to step 1436 shown in FIG. end.

When the status becomes 63'', the process proceeds to step 1437 shown in FIG. 13(k) and waits for the scanning of the optical system to be completed.
When the scanning is completed, the blank LED is turned on to prevent unnecessary portions from forming an image, the drum clock is cleared, the status is set to 64'', and the process ends.

When the status becomes "64", the process proceeds to step 1438 shown in FIG. 13(1), where the main motor is rotated by 10 drum clock pulses, the halogen lamp is turned off, the status becomes "65", and the process ends.

The process advances to step 1439 shown in FIG. 13(m) where the status becomes "65°", and if the final copy flag set in step 1436 is set, the optical system is moved backwards at low speed and the status is changed to "70°". The process ends as follows. If it is not the final copy, it is necessary to perform the above control again, so when the optical system returns to 1/2 of the A4 size, the /\logen lamp is lit again and the status is set to "66" in preparation for the next copy operation. do.

When the status becomes "66", the process proceeds to step 1440 shown in FIG. 13(n), waits for the optical system to return to the home position, and when it returns to the home position, sets the status to "61'° and returns to step 1440 shown in FIG. 13(n). Step 1435 shown in (i)
Process more.

When copying reaches the final number of copies, the status becomes “70”
The process then proceeds to step 1378 shown in FIG. 13(0).

In step 1378, the process is divided into steps 1451 to 1453 depending on the value of the lower 4 bits of the status.

Initially, the lower 4 bits of the status are “θ” and the 13th
Step 14, proceeding to step 1451 shown in Figure (p)
At step 51, the developing bias is turned off after waiting for the main motor to rotate by 26 pulses of the drum clock, and then the drum clock is cleared and the status is set to "71" to end the process.

When the status becomes "71", the process proceeds to step 1452 shown in FIG. 13(q), waits for the main motor to rotate by 96 pulses of the drum clock, turns off the high pressure control, and after clearing the drum clock, changes the status to "72". to end the process.

When the status becomes "72", the process proceeds to step 1453 shown in FIG. 13(r), and the main motor starts drum clock 1.
Wait until the paper has rotated for 93 pulses, and then, if paper ejection is not completed, wait until it is completed, then turn off the main motor, turn off the bed-stalling motor at the same time, set the status to "30", and finish the copying operation. do.

Status 30' is step 1 shown in Figure 13 (S).
374 processing and is waiting for the next copy key to be pressed.

(4) Double-sided copy (AE) mode A timing chart is shown in Fig. 14-3.

Regarding front-side copying, it is almost the same as single-sided copying, but the copy paper is not ejected from the main body 100 but is placed in the lower intermediate tray 4.
7, the pedestal conveyance motor is turned on in step 1434 shown in FIG. 13(h), and the switch/head flap 31 in FIG. 14-4 is raised to raise the intermediate tray paper feed roller. After that, the status becomes "61°" and the process goes to step 1435, where the same processing as in the one-sided copy mode is performed.

The back side copy is sent out from the intermediate tray by the paper feeding stepping motor, conveyed, and sent to the main body registration roller by turning on the clutch. When the paper feeding completion flag is set, the optical system moves forward and copies. The copying process is the same as the one-sided copying process, with the only difference being the paper feeding process.

When the sorter 400 is connected, the copied paper is reversed at the switchback section and then discharged.

In Figure 14-4 during the enlargement of the switchback section, 31
By raising the 7 flaps, the copy paper flows downward, the switchback sensor 1 of 34 detects the leading edge of the paper, and after the switchback sensor 2 of 35 detects the leading edge of the paper, the sensor l of 34 detects the trailing edge of the paper. When detected, switch 8 solenoid 3
3-3 is turned on and the copy paper is reversed upwards.

When the sensor 2 of 35 detects the trailing edge of the paper, the solenoid of 33-3 is turned off, and the 0 paper is directly guided to the discharge port and outputted outside the machine with its front and back reversed. The guide plate 32 is always pushed in the direction of the arrow, and the paper from above smoothly pushes the guide plate and advances to the left path when the flow 1 is reversed.

Next, halogen lamp 21. Control of the optical system including the first scanning mirror 22 and the like will be described.

The optical system is powered by a DC motor 15 as shown in the plan view of Figure 15-1.
-1 and is directly driven via wire 15-3.

An encoder 15-2 attached to the DC motor generates clock pulses according to the moving distance. Further, when a flag plate 15-7 attached to one mirror crosses a fixed sensor to be described later, a signal is output. One of these sensors is an optical system home position detection sensor 15-5 that detects the home position of the optical system, and the other is an image leading edge detection sensor 15-6 that indicates the leading edge of the document. Furthermore, 15-4
is a pulley.

When moving forward, the slave CPU (Q
102) is controlled by PLL control, which will be described later.

The distance traveled is determined by the optical system clock pulse count from the image leading edge detection sensor 15-3, the magnification and the size of the transfer paper. The relationship between this magnification, optical system clock pulse, and transfer paper size is shown in Figure 15-2, and the calculation formula is Y
Qo...tsuk=((L/M)+5)÷0.88.

L is the feeding length of the transfer paper (am), and M is the magnification (1
00% = 1.50% = 0.5.120% = 1.2) The constant "5" (layer ■) indicates the slit width of the optical system, and means that extra scanning is performed. . "0.88"
indicates that this embodiment is configured to move 0.88 times per clock, and the maximum document size is A3, and the maximum value of the scan clock is A3 size 100.
% clock.

When going backwards, it moves backwards at a constant speed that is 2.5 times the same speed as when moving forward. When moving backward, the clock pulse is subtracted and the position of the optical system is confirmed in the same way as when moving forward. In order to keep the stopping position constant when traveling backwards, the brakes are applied from before the optical system home position to decelerate and control is performed to stop within a certain range.

In this embodiment, reverse movement is turned off by the sense signal from the image leading edge detection sensor 15-6, and brake control is performed between this point and the optical home position detection sensor 15-5. During this time, there are 55 m and 32 optical system clock pulses. This is divided into 7 times, and the brake control is performed once every 4 pulses, for a total of 7 times. FIG. 15-3 shows this timing, and FIG. 15-4 shows a control flowchart.

This control method is a method of decelerating the optical system by inputting an optical system advance signal according to the speed. In Figure 15-3,
The speed can be determined by measuring the time tn for moving four pulses. Based on this speed, the brake time (forward-on time) of Xn (mSEC) is determined from the current time. However, since the inertia force has also decreased when the number of samplings is n, it is necessary to correct the braking time. Therefore, braking time Xn (msEc) = 2 (K-(t/2)-n
). Here, K is a constant depending on the characteristics of the motor. In this embodiment, this constant can be set variably using a volume or dip switch, so even when the motor is shipped from the factory or when a service person replaces the motor with a motor with significantly different characteristics, by changing the constant, a stable stopping position can always be obtained. . Table 2 is a table showing the values of Xn when the constant =10. When the calculation result is a negative value only for the first and second sampling times, the speed is slow and the home position cannot be reached by inertia alone, so the reverse signal is turned on again. From the third time onwards, the brakes will not be turned on if the calculation result is less than O.

This brake control program shown in the flowchart of FIG. 15-4 is included in the "optical system clock interrupt processing" shown in FIG. 13 (CF). This process is executed once every 21 times the optical system motor engages the engine pulse.

The brake flag here is shown in FIG. 13(D).
This is a flag that is set when the reverse signal is turned off when the image leading edge signal interrupts during reversing in "Image leading edge interrupt" (step 1330), and the brake control program is executed only when this brake flag is set. will be done.

Executing the brake control program means that the encoder pulse has come once, so in step B-2, the value of "pulse °" is +1.And when the pulse has come a total of 3 times, step B-3 - YES returns Stella. 7”B-4
Step B-4 clears the "pulse" and prepares for the next sampling. In step B-5, see Figure 13 (
In the "timer interrupt processing" shown in B), Z m5Ec
The value of t is incremented by 1 every time, and the value of t is read out. In step B-6, the value of the above-mentioned polyolium or dip switch is brought to the constant. Then, in step B-7, the number of samplings n is increased by 1, and based on these data, calculation is performed in step B-8 based on the above calculation formula.Subsequently, in step B-9, t for speed detection is cleared. , Step B-10 checks whether the calculation result is less than or equal to θ, and if it is greater than O, the forward brake is turned on in Step B-11, and the timer value is set so that the brake is turned off after Xn (SEC) in Step B-12. Set. Step B
If the calculation result is 0 in -13, do nothing, step B-
If the calculation result is negative in step 14 and the number of sampling is within the second time, move backward in step B-15.
Turn on for a while. In step B-17, when the END check is completed seven times, the brake flag is reset and the brake control program is completed.

An example of this control result is shown in Fig. 15-5.

D shows a car in which the forward signal is output as 7 pulses under normal control. E shows the control result when the speed is faster than normal at the front of the car, and up to n = 4, each brake time overlaps. As a result, the forward signal is input continuously.F is the case where the speed at the tip of the image is slower than usual, and nI
=1 and 2 indicate that reverse is on.

By controlling in this manner, the copying machine can sufficiently cope with changes in speed and inertia due to changes in the load on the optical system due to changes over time.

Furthermore, in the above control example, a method of reversing the DC motor was used as the deceleration means, but even when an electromagnetic brake is used, the position is detected in the same manner as in the control example above, and the electromagnetic brake on time is controlled accordingly. Exactly the same effect can be obtained by using this method.

Further, the same effect can be obtained even if a hysteresis clutch brake is used as the deceleration means. In this case, instead of controlling the brake application time, the clutch drive current is controlled to prevent brake vibration.
-It is also possible to adjust the degree of key application. In particular, in the case of a hysteresis clutch brake, there is no wear surface due to magnetic coupling, so there is no need to worry about deterioration over time, and the torque is determined by the current, regardless of the number of rotations, which is advantageous.

Next, details of PLL control will be explained.

FIG. 16-1 is a block diagram of the PLL control section. In the figure, 701 is a crystal oscillator for generating a reference frequency for PLL control, 702 is a crystal oscillator for generating a reference frequency fs,
QL, a frequency divider that divides the frequency of a crystal oscillator to create a reference clock
02 is a slave CPU for controlling, 704 is a driver for driving a motor, 705 is a motor controlled to a constant speed, and 706 is an optical rotary encoder for sensing the speed of the motor. 707 is a frequency divider that converts the encoder output to a desired frequency fs.

FIG. 16-2 is a block diagram of the slave CPU (Ql 02).

The slave CPU (Q102) has two timers 720 and 721 and a timer event counter 722. The fs counter 708 uses a timer 721, and
The PC counter 709 uses a timer event counter, and the PC counter uses a timer 721.

Phase comparison 710 and pulse width conversion calculation 71 in Figure 16-1
2,714 and addition 715 are processed by a program and are not provided as functions of the slave CPU (Q102).

This configuration is the same for the main CPU (Q101).

FIG. 16-3 is a flowchart of the PLL control described above.

Next, the operation of the above configuration will be explained in order based on FIGS. 16-3 (a) to (d).

In Figure 16-3 (a), 731 inputs a set value from the outside through the slave CPU (Q102) boat, and 732 sets a count value according to the set value in fs counter 708 and starts counting. . In addition, 733 calculates the count value (usually 1/2 of fs) according to the set value to fv
counter 709. In the fs interrupt program shown in Fig. 16-3, when a count end interrupt is input from the fs counter 708 (741), if the fs count value does not enter f9 manually at least once as determined in step 742, the PC is set (743). Here PC is 7
This is the result of comparing f( and fs) in 10 phase comparisons.

When f is input, if f9 is manually powered once according to the judgment at 745, the PC is set (746) and the PC counter 713 starts counting (747). If the judgment of 745 is NO, that is, if it is fe human power twice or more, Jf
Reset the PC (748). Figure 16-3(d)
In the fq interrupt program, when the fe interrupt input at 751 is entered, the FV small output is reset at 752 and the FV counter 709 starts counting. Next, if it is determined in 753 that fs manual power is not required even once, reset the PC (758). If 754 receives one large fs input, reset the PC 756), and end the PC counter (756). 757), if the judgment in 754 is NO, that is, if it occurs twice or more, the PC is set (759).

When a count end interrupt of the FV counter 709 is entered in the FV interrupt program of Fig. 16-3 at 760 (761), FV is set (762), the PC count value obtained here and the FV count setting value In order to convert each into a PWM signal, pulse width conversion operations 714 and 712 are performed, and one PWM signal is obtained by an addition operation 715. Input this PWM signal to the driver 704,
Drives the motor directly and controls the motor to a speed that matches the set value.

With the configuration of the above embodiment, the DC motor can be easily controlled to a constant speed according to the set value regardless of the characteristics of the PLL low-pass filter, and the number of external peripheral circuits can be extremely reduced by introducing a microcomputer.

Next, paper feed control will be explained.

FIG. 17-2 shows an example of a circuit for driving a stepping motor used for paper feeding control using a two-phase excitation force type. Coil A of stepping motor 17-1O1, λ,
B, B has a slave CPU (Q102) by a buffer driver 17-102 and an inverter driver 17-103.
) is applied. 17-10
4 is a relay, which can turn on/off the DC power to the motor in response to a signal 05-3 from the slave CPU (Q102). This is to make the paper feed roller free (able to move freely) after a predetermined pulse. No. 17-
FIG. 1 shows signals output from the slave CPU (Q102).

05-1.05-2 is a pulse signal of A and H, respectively, and the first 20 pulses are 200pps (1 pass) L/S 5
ysSEC) and the subsequent lOo pulse at 5°O
Output p p s - (lpak x 2 m5Ec) te.

Figure 17-3 shows the slave CPU (
It is a flowchart of the program stored in Q102). This program is processed in the timer process shown in FIG. 13(B), which interrupts at regular intervals.

First, check whether the "switch" to know which of the A and B signals is to be inverted is OFF or 1 (step 17-01).
, then invert each signal (step 17-0
2.17-03), Flip the L4 switch °° (0
→l or 140) (step 17-04) so that the branch of step 17-Of is reversed at the next timing. Subsequently, the oscillated pulse is +IL (step 17
-05), check if 120 pulses have been completed, step 17-06), and if completed, step 17-10
Then, turn off relay 17-104 in Figure 17-2,
Stop power supply. Then, in step 17-11, a paper feeding completion flag is set to indicate that paper feeding has been completed, and the process ends.

Step 17-07 is to check whether it is within the first 20 pulses, and if it is within 20 pulses, step 1
The 5-5EC timer is set at step 7-08, and if the pulse is 20 or more, the Z m5Ec timer is set at step 17-09. When this timer completes, the paper feed control program is executed again.

Figure 17-3 is a flowchart when the copy paper is in the standard cassette. If copy paper is supplied from another paper cassette, it is only necessary to change the number of driving pulses mentioned above, and each paper cassette has a specific fixed value. It is set.

FIG. 5-1 shows the driving portion of the zoom lens.

The lens support stand 506 to which the zoom lens 20 is attached is
Fee? '503, boo! J504. It is attached to the shaft of the stepping motor 501 via tJJ and 5°2. By rotating the stepping motor 501 forward and backward, the lens 20 can be moved and focused (the configuration is omitted in this drawing).

FIG. 5-2 shows an example of a circuit for driving the stepping motor 501 using a two-phase excitation force type. Coil A of the stepping motor 501.

τ, B, and B have buffer drivers 507. An inverter driver 508 applies a voltage matching the output state of the input/output boat QIO3. That is, as the pulses shown in FIG. 5-3(a) are applied, the lens 20 moves forward,
Further, if pulses are applied in the order shown in FIG. 5-3(b), the robot moves backward.

In the apparatus shown in Fig. 5-1, in order to prevent irregularities and startup failures, as shown in Fig. 5-3 (e), the pulse width is made shorter when the stepping motor 501 is started, and gradually made longer when the stepping motor 501 is stopped. is used.

Further, in the apparatus shown in FIG. 5-1, the lens 20 is always stopped at a target position from a fixed direction in order to improve the accuracy of the stopping position.

FIG. 5-4 shows details of a flowchart for moving the lens to the target position in the zoom lens movement sequence of FIG. 12(G). When a lens movement request occurs, it is determined in step 5-4-1 whether initial setting has been performed at the home position. If the initial settings have been made, proceed to step 5-4-4. If the initial settings have not been made, proceed to step 5-4-2, the pulse motor 501 is moved backwards, and the lens indicator 506 is set to the photo position. It moves until it reaches a home sensor 505 using an interrupter. Next, go to step 5.4-3 and set jfl, which has been initialized and the lens is at the home position. In step 5-4-4, the relationship between the current position of the lens and the movement target position is determined. If the lens moves backward, proceed to step 5-4-9; if the lens moves forward, proceed to step 5-4-6, and connect the I10 port Q103.
Outputs the output port so that the lens moves forward by one step. Next, the process proceeds to step 5-4-6, where it is determined whether the lens has moved to the target position. If it has not yet reached the target position, return to step 5-4-5 and advance further to the target position. When you reach your destination,
Proceeding to step 5-4-7, lens movement completion is set and the lens movement process is completed.

In the backward movement process, the boats A and B of the I10 boat Q103 are outputted so that the lens moves backward, the lens is moved backward by one step, and the process proceeds to step 5-4-10. to the sensor side). If it has not advanced to the target position +α, it returns to 5-4-9 again and continues to move backward. When the lens has advanced to the target position +α, proceed to step 5-4-5, execute the lens forward processing from step 5-4-5, and when the lens advances to the target position, set lens movement completion and perform backward processing. finish.

In this way, since the lens 20 is always moved from a fixed direction (forward direction) to the target position, very good stopping position accuracy is obtained.

This lens movement control method can also be applied to the intermediate tray that is used for double-sided copying, and when moving the paper holding plate that stores the copy paper according to the paper size (as described above), the same control can be used to achieve very good stopping. Positional accuracy can be obtained.

The operation will be explained below.

FIG. 6-1 is a schematic diagram showing the structure of the paper size control plate of the intermediate tray. Control plates 49 and 605 are plates that move according to the size of the copy paper. The control board is
It is moved by a stepping motor 602 via a wire 603 and a pulley 601.

FIG. 6-2 is a flowchart showing details of the movement control flow of the X-axis and Y-axis of the paper size control plate of the intermediate tray shown in FIGS. 12(H) and 12(I).

If an intermediate tray movement request occurs, step 6
-2-1, the control board on the X-axis side is the home sensor 604
A pulse is applied to the stepping motor 602a until it crosses a.

When the X-axis control board reaches the home position, the process proceeds to step 6-2-2, and the Y-axis control board is similarly moved to the home position by applying pulses to the stepping motor 602b until it crosses the home sensor 604b.Next, step 6 -2-
3, the amount of movement from the home position is determined based on the size of the copy paper, and the process proceeds to step 6-2-4. In step 6-2-4, it is determined whether the Y-axis control board has moved to the target position. , when the target position has not been reached.

Proceed to 6-2-5, advance the stepping motor drive pulse on the Y-axis side by one, and return to 6-2-4 to move to the target position. When the Y-axis control board reaches the target position, proceed to step 6-
Proceed to step 2-6 and similarly step 6-2-7.6-2-8
Move the X-axis control board to the target position using Step 6.
Proceed to -2-9 to set intermediate tray paper size control plate movement completion and end the process.

Figure 6-3 shows the flow of the intermediate tray X-axis control board up in the intermediate tray paper feeding sequence process shown in Figure 13(g).The process shown here recycles copy paper stored in the intermediate tray. It moves to the paper feeding position. When a request to raise the X-axis control board occurs, step 6-3-1
In.

Convert the amount of movement of the X-axis control board to the number of pulses, and proceed to step 6-
Proceed to step 3-2, check whether the X-axis control board has reached the target position, and if it has not, proceed to step 6-3-3, advance the stepping motor drive pulse on the X-axis side by one,
Thereafter, the process returns to step 6-3-2 and advances to the target position.

When the target position is reached, the process proceeds to step 6-3-4, sets the intermediate tray control board up completion flag, and ends the process.

Although not explained in Figures 6-2 and 6-3, the fifth
- Effect of applying the driving pulse through up and through down as shown in Figure 3 (C).As explained above, according to the present invention, by controlling the moving speed according to the moving position of the moving object. Drive moving objects,
Even if there are load fluctuations due to aging of the wires, rails, etc. to be held, a stable stopping position can be obtained.

In addition, by using a hysteresis clutch as the acceleration/deceleration means, a moving body control device has been realized that does not have wear surfaces and therefore does not deteriorate over time, and can extremely easily control speed due to magnetic coupling.

[Brief explanation of drawings]

Fig. 1 is a schematic cross-sectional view of a copying machine according to an embodiment of the present invention, Fig. 2 is a block diagram of the control system, Fig. 3 is a front view of the display section, and Figs. 4-1 to 4-6 are displays. Figures 4-7 are diagrams showing numerical display drive circuit diagrams of the display unit. Figures 4-8 and 4-9 are display timing charts, Figure 5-1 is a schematic diagram of the optical lens drive unit, Figure 5-2 is a motor drive circuit diagram for driving the optical lens drive unit, and Figure 5-1 is a schematic diagram of the optical lens drive unit. Figures 3 (1k) to (C) are optical lens drive timing charts, and Figure 5-4 is an optical lens drive control flowchart. Fig. 6-1 is a schematic diagram showing the structure of the intermediate tray paper size control board, Fig. 6-2 is a control flowchart of the intermediate tray paper size control board, and Fig. 6-3 is a diagram showing the intermediate tray X-axis control board up. FIG. 7-1 is a key matrix circuit diagram, FIG. 7-2 is a digit signal timing chart, and FIG. 7-3 (a) is a drum eraser LED array drive circuit diagram. Figure 7-3 (b) is a diagram showing the positional relationship between the drum eraser LED array and the drum. Figure 7-4 is a diagram showing the number of sharp cuts lit up against the magnification when the drum eraser LED array A4 is moved horizontally. , Figure 8 is the serial communication path diagram between CPUs, Figure 9 is C
PU serial communication path data input/output timing chart. Figures 1θ (a) to (C) show the main CPU from the slave CPU.
Diagram showing status for PU, Figure 11(a) ~
(c) is a diagram showing the status from the main CPU to the slave CPU, and Figures 12 (A) to (H) are the main CPU
UI! Required control flowchart, Figures 13(A) to (r) are slave CPU outline control flowcharts, Figure 14-1 is a control timing chart at power-on, and Figure 14-2 is a control timing chart for normal copying. , Fig. 14-3 is a control timing chart for temporary double-sided copying, Fig. 14-4 is an enlarged view of the switchback section, and Fig. 15-
Figure 1 is a schematic diagram of the configuration of the optical system control unit including the light source. Figure 15-2 is a diagram showing the relationship between magnification, optical system clock pulse, and transfer paper size. Figures 15-3 and 15-5 are optical system control unit configuration diagrams. System control timing chart, Figure 15-4 is an optical system control flowchart, Figure 16-
Figure 1 is a block diagram of the PLL control unit, Figure 16-2 is a block diagram of the slave CPU, Figures 16-3 (&) to (d) are control flowcharts of the PLL control unit, and Figure 17-1 is a block diagram of the slave CPU. Paper control timing chart. Figure 17-2 is a configuration diagram of the paper feed control unit drive unit, Figure 17-3
The figure is a paper feed control flowchart. In the figure, ■...Photosensitive drum, 4...Developer, 5
... Transfer charger, 6... Separation static eliminator, 8... Cleaning device, 10... Register roller, 11, 12
゜44...Paper feeding stepping motor, 17...Fixing roller, 19...Web, 20.21...Illumination lamp, 22...First scanning mirror, 23...Second scanning mirror , 26... Original table, 31... Switchback flapper, 34... Switchback sensor l, 35...
... Switchback sensor 2.41.43 ... Paper feed roller, 42 ... Separation roller, 46 ... Depth lifter, 47 ... Intermediate tray, 49 ... Intermediate tray paper size control plate, 50 ... ... Document feed tray, 51... Document feed roller, 62... Non-sort bin, 64... Flapper, 66... Sort bin, 100... Main unit,
101...Display section, 102...Numeric key, 106.
...Copy key, 114...Magnification selection key, 115.
...Magnification changeover key, 200...Pedestal, 201
~261... Detailed block configuration of the control unit, 300...
・Automatic document feeder, 400... collation device, 501・
...Stepping motor for lens, 15-1...Stepping motor for optical system, QIOI...Master CPU
, QIO2...Slave CPU, Q103-106.
・・Input/output port for main CPU, Q107...AD
F CPU, Q108...CPU for sorter. Patent applicant Canon Co., Ltd. 1 Figure 4-1 Figure 4-2 etc. Cloth - Cotton 71, - Ruyu Figure 4-3 Figure 4-4 Figure 4-5 Figure 4-6 Figure 10 ( b) Fig. 10 (C) -135- U scene 7 Fig. 12 (F) Fig. 13 cO No. 151 mD) Fig. 13 (Q) Fig. 13 (C) Fig. 15 (d) Fig. 13 (j ) Fig. 13(k) Fig. 13(i Fig. 13( 13 ff1(q) Fig. 13('') Fig. 15-5 □hγ V Hand-kei Nei City Official Book (Method) October 1988 14th, Mr. Commissioner of the Japan Patent Office ■, Small case indication Japanese Patent Application No. 106622/1982 2 Name of the invention Control device for a mobile body 3 Person making the amendment Relationship to the case Patent applicant (l OO) Canon Co., Ltd. 4. Agent Address: 5, 1-11-10 Toranomon, Minato-ku, Tokyo 105, Date of amendment order: Brief explanation of drawings in the specification 7, Contents of the amendment (1) Line 9, page 86 of the specification fir J In line 10, “
Figures 12 (A) to (H) show the main CPU 41! "Required control flowchart" should be corrected to "Figures 12 (A) to (I) are main CPU overview control flowchart 1." (2) "Figures 13(A)-(r) are slave CPU outline control flowcharts" in "Page 86 of the specification, lines 11 to 12, lines 1" to [Figures 13(A) to (Z) ), (a)-
(r) is a slave CPU overview system 1J11 flowchart.''

Claims (4)

[Claims] (1) a moving body driving means for driving the moving body in two directions;
Stop position detection means for detecting a stop position of the movable body;
a speed detection means for detecting the driving speed of the movable body by the movable body drive means; and an acceleration/deceleration means for accelerating or decelerating the movable body drive speed with respect to the movable body drive means based on the detected speed by the speed detection means. , and control means for controlling the acceleration/deceleration means. (2) The control device for a moving body according to claim 1, characterized in that a hysteresis clutch brake is used as the acceleration/deceleration means. (3) The control device for a moving body according to claim 2, wherein the control means controls the current value supplied to the acceleration/deceleration means. (4) The control device for a moving body according to claim 3, wherein the control means has control value correction input means.