JPS61177197A - Controlling system for stepping motor - Google Patents

Controlling system for stepping motor

Info

Publication number
JPS61177197A
JPS61177197A JP1833185A JP1833185A JPS61177197A JP S61177197 A JPS61177197 A JP S61177197A JP 1833185 A JP1833185 A JP 1833185A JP 1833185 A JP1833185 A JP 1833185A JP S61177197 A JPS61177197 A JP S61177197A
Authority
JP
Japan
Prior art keywords
stepping motor
speed range
driven
feed
stepping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP1833185A
Other languages
Japanese (ja)
Other versions
JPH0343869B2 (en
Inventor
Hiroyuki Kimura
裕之 木村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Juki Corp
Original Assignee
Tokyo Juki Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokyo Juki Industrial Co Ltd filed Critical Tokyo Juki Industrial Co Ltd
Priority to JP1833185A priority Critical patent/JPS61177197A/en
Publication of JPS61177197A publication Critical patent/JPS61177197A/en
Publication of JPH0343869B2 publication Critical patent/JPH0343869B2/ja
Granted legal-status Critical Current

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/40Special adaptations for controlling two or more stepping motors

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Handling Of Sheets (AREA)
  • Impression-Transfer Materials And Handling Thereof (AREA)
  • Character Spaces And Line Spaces In Printers (AREA)
  • Control Of Stepping Motors (AREA)

Abstract

PURPOSE:To shorten the total driving time of a stepping motor, by controlling loads in the low speed range of constant speed range when controlling load due to CPU is increased, and in the high speed range of constant speed range when the controlling load is reduced. CONSTITUTION:When a plurality of stepping motors are driven at the same time on the command device of a computer, the motors re driven in two step driving patterns. For example, when the controlling capacity for the stepping motors is set to be 1,000pps, then each motor for paper feed, ribbon feed, carriage feed, and wheel feed is respectively for 250pps, and is driven in the low speed range via through-up of the driving patterns. Then, the paper feed stepping motor is through-up-driven with inertia for rotating, and is rotated at high speed in the two-step high speed range. When the action is terminated, the motor is through-down-controlled to stop the action.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、ステッピングモータを用いたプリンタにお
けるステッピングモータの制御方式に関し、特に、複数
個のステッピングモータを制御する場合に一回の駆動に
おいてコンピュータのCPUによる制御負荷が非常に大
きい時は定速領域の低速域で回転させ、CPUの制御負
荷が軽減した場合に定速領域の高速域で制御するように
してステッピングモータの総合駆動時間を短縮すること
ができるプリンタにおけるステッピングモータの制御方
式に関する。
Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a stepping motor control method in a printer using a stepping motor, and in particular, when controlling a plurality of stepping motors, a computer When the CPU control load is very large, the stepping motor is rotated in the low speed range of the constant speed range, and when the CPU control load is reduced, it is controlled in the high speed range of the constant speed range, reducing the total driving time of the stepping motor. The present invention relates to a control method for a stepping motor in a printer that can be used in a printer.

〔従来の技術〕[Conventional technology]

従来、プリンタの紙送り・リボン送り・ホイール(ティ
ク)送り・キャリジ送り等の駆動機構の制御は、キーボ
ード上の改行キーや外部からのデータ信号をバッファを
介して指令装置よりステッピングモータを駆動するため
の駆動回路に与えて行っていた。第4図は、従来例のプ
リンタの装量とステッピングモータとの関係を示すブロ
ック図であり、1は外部指令装置またはキーボード、2
はデータをCPUのメモリーのなかに蓄えるバッファ、
3はCPUの指令装置、4・5o6・7はCPUの指令
装置3の発振器(パルス信号を作り出す回路)より指令
信号を受けてステッピングモータ巻線に流す電流を順次
切り換えるための紙送り・リボン送り・キャリッジ送り
・ホイール送りのための駆動回路である。8・9・10
・11はステッピングモータであり、一般に、紙送り・
リボン送り・ホイール送りおよびキャリジ送りには2相
励磁刃式および1−2相励磁刃式が使われる。
Conventionally, in order to control printer drive mechanisms such as paper feed, ribbon feed, wheel (tick) feed, and carriage feed, a stepping motor is driven by a command device using a line feed key on a keyboard or data signals from an external source via a buffer. I was going to give it to the drive circuit for the purpose. FIG. 4 is a block diagram showing the relationship between the loading capacity and the stepping motor of a conventional printer, in which 1 indicates an external command device or keyboard, 2
is a buffer that stores data in the CPU's memory,
3 is a CPU command device, 4, 5, 6, and 7 are paper feed/ribbon feed for sequentially switching the current flowing through the stepping motor windings in response to command signals from the oscillator (circuit that generates pulse signals) of the CPU command device 3. - Drive circuit for carriage feed and wheel feed. 8/9/10
・11 is a stepping motor, which is generally used for paper feeding.
Two-phase excitation blade type and 1-2 phase excitation blade type are used for ribbon feeding, wheel feeding, and carriage feeding.

第5図(a)は、ステッピングモータ8・9・10・1
1の駆動パターンを示す。一般に、ステッピングモータ
は、速度とトルク特性の自起動領域では瞬時にかつ正確
に、起動、4逆転、停止が行えるが、スルー領域におい
ては自起動領域で起動して徐々に速度を上げて加速した
り、減速するためには徐々に速度を下げたりして、入力
パルス速度をスルーアップ、スルーダウンさせなければ
ならない。
Figure 5 (a) shows stepping motors 8, 9, 10, 1.
1 drive pattern is shown. In general, stepping motors can start, reverse, and stop instantly and accurately in the self-start region of speed and torque characteristics, but in the through region, they start in the self-start region and gradually increase speed and accelerate. In order to increase or decelerate the input pulse speed, the input pulse speed must be slew up or down by gradually lowering the speed.

a−b間は、スルーアップ領域、b−c間は定速領域、
c−d間はスルーダウン領域である。
Between a and b is a through-up area, between b and c is a constant speed area,
The area between c and d is a through-down area.

また、第5図■)図は、コンピュータのプログラムによ
り自由なスルーアップ、定速度、スルーダウンに対応す
る入力パルスである。
Also, Fig. 5 (■) shows input pulses that correspond to through-up, constant speed, and through-down freely according to a computer program.

以上の構成の従来例においてコンピュータのCPUの指
令装置3より複数個のステッピングモータ8・9・10
・11を同時に駆動すると、ステッピングモータは、第
5図(a)および(b)に示すようにスルーアップ制御
され以後所定速度で定速回転される。いま例えば、コン
ピュータのステッピングモータに対する制御容量を1.
000PPSとすると、紙送り・リボン送り・キャリジ
送り・ホイール送りのステッピングモータ8・9・10
・11はそれぞれ250PPSとなり、このパルスを入
力してスルーアップから定速回転したる後スルダウン制
御を経て停止し動作完了となる。
In the conventional example with the above configuration, a plurality of stepping motors 8, 9, 10 are controlled by the command device 3 of the CPU of the computer.
When the stepping motors 11 and 11 are driven at the same time, the stepping motor is subjected to through-up control as shown in FIGS. 5(a) and 5(b), and is thereafter rotated at a constant speed. For example, if the computer's control capacity for a stepping motor is 1.
000PPS, stepping motors 8, 9, and 10 for paper feed, ribbon feed, carriage feed, and wheel feed
- 11 is 250 PPS each, and after inputting this pulse, it rotates at a constant speed from through-up, then stops through through-down control, and the operation is completed.

〔発明が解決しようとする問題点3 以上説明した従来例では、ステッピングモータ8・9・
10・11の駆動パターンが一回の駆動において定速領
域一段階の為に例えばリボン送り、キャリジ送り、ホイ
ール送りのステッピングモータ9・10・11が動作完
了後も、尚、紙送りのステッピングモータ8は、250
PPSで継続して定速回転してスルーダウン制御を経て
動作完了となるので、ステッピングモータの駆動時間が
長くなってしまう。
[Problem 3 to be solved by the invention In the conventional example described above, the stepping motors 8, 9,
Since the drive patterns 10 and 11 are one step in the constant speed region in one drive, for example, even after the stepping motors 9, 10, and 11 for ribbon feeding, carriage feeding, and wheel feeding have completed their operations, the stepping motor for paper feeding still remains. 8 is 250
Since the stepping motor continues to rotate at a constant speed under PPS and completes its operation through through-down control, the driving time of the stepping motor becomes long.

〔問題点を解決するための手段〕[Means for solving problems]

この発明は、複数個のステッピングモータの制御に関し
、−回の駆動においてコンピュータのCPUによる制御
負荷が非常に大きい時は、定速領域の低速域で複数個の
ステッピングモータを回転させ、コンピュータのCPU
の制御負荷が軽減した場合に定速領域の高速域で制御し
てステッピングモータの総合駆動時間を短縮することが
できるようにして従来例の問題点を解決することを目的
とする。
The present invention relates to the control of a plurality of stepping motors, and when the control load on the CPU of a computer is very large in - times of driving, the plurality of stepping motors are rotated in a low speed region of a constant speed region, and the CPU of the computer
An object of the present invention is to solve the problems of the conventional example by making it possible to shorten the total driving time of a stepping motor by performing control in a high speed region of a constant speed region when the control load of the stepping motor is reduced.

同一構成は同一符号で示し、以下この発明について説明
する。第1図(a)は、この発明のステッピングモータ
8・9・10・11の二段階駆動パターンを示し、e−
f間はスルーアップ領域、f−8間は低速領域、g−b
間はスルーアップ領域、贅−1間は高速領域、1−]間
はスルーダウン領域であり、第1図の)は入力パルスで
ある。
Identical components are designated by the same reference numerals, and the present invention will be described below. FIG. 1(a) shows a two-stage drive pattern of the stepping motors 8, 9, 10, and 11 of the present invention.
Between f is through-up area, between f-8 is low speed area, g-b
1 is a through-up region, 1-1 is a high-speed region, 1-] is a through-down region, and 1) in FIG. 1 is an input pulse.

〔作  用〕[For production]

この発明の詳細な説明すると、コンピュータの指令装置
3より複数個のステッピングモータ8・9・10・11
を同時駆動すると、ステッピングモータは第1図(a)
および(b)に示すような2段階駆動パターンで駆動さ
れる。いま、例えば、コンピュータのステッピングモー
タに対する制御容量を1、000 P P Sとすると
紙送り・、リボン送り・キャリジ送り・ホイール送りの
ステツピングモータ8・9・10・11はそれぞれ25
0PPSとなり、第1図の(a)の駆動パターンのスル
ーアップを経てf−gの低速領域で駆動される。ここで
、紙送りステッピングモータ80例で説明すると、リボ
ン送り・キャリッジ送り・ホイール送りのステッピング
モータ9・10・11はそれらの動作完了と共にスルー
ダウン制御され停止して動作を完了する。しかして、紙
送りステッピングモータ8は、回転しようとする慣性を
もちながらスルーアップ駆動されるので脱調したりする
ことはなく二段階の高速領域(1,0OOPPS)で高
速回転され、その動作完了と共にスルーダウン制御され
停止して動作を完了する。
To explain this invention in detail, a plurality of stepping motors 8, 9, 10, 11 are controlled by a command device 3 of a computer.
When simultaneously driven, the stepping motor will move as shown in Figure 1(a).
And it is driven in a two-step drive pattern as shown in (b). For example, if the control capacity of a computer's stepping motor is 1,000 PPS, stepping motors 8, 9, 10, and 11 for paper feed, ribbon feed, carriage feed, and wheel feed each have a capacity of 25
0PPS, and is driven in the low speed region of f-g through the through-up of the drive pattern shown in FIG. 1(a). Here, to explain the paper feed stepping motor 80 as an example, the ribbon feed, carriage feed, and wheel feed stepping motors 9, 10, and 11 are subjected to through-down control and stopped when their operations are completed to complete their operations. Therefore, the paper feed stepping motor 8 is driven through up while having inertia to rotate, so it does not step out and is rotated at high speed in a two-step high speed range (1,0 OOPPS), and its operation is completed. Through-down control is performed to stop and complete the operation.

上述に説明した二段階駆動パターンと従来例の一段階駆
動パターンとを比較すると第2図に示すタイムチャート
のようになる。即ち、この発明では、二段階駆動パター
ンを設定したことにより従来例に比して総合的ステッピ
ングモータの所要時間は、図に示すように]−dだげ時
間的に短縮されたことになる。
A comparison of the two-step drive pattern described above and the conventional one-step drive pattern results in a time chart shown in FIG. 2. That is, in the present invention, by setting the two-stage drive pattern, the time required for the overall stepping motor is reduced by -d as shown in the figure, compared to the conventional example.

以上の動作を具体的にフローチャートで表わすと第3図
のようになる。このフローチャートでコンピュータの指
令装置3内へ電気的信号が入力されると、コンピュータ
のCPUはスルーアップがセットされているか判断し、
セットされていれば指令装置3よりステッピングモータ
をスルーアップ制御し、動作完了とともにリセットし、
次にコンティニューを判断し、低速モードおよび他のモ
ータENDを判断して最終的にステッピングモータを低
速駆動および尚、継続して制御されるステッピングモー
タは低速駆動から高速駆動とし、それぞれ動作完了と共
にスルーダウン制御が行なわれ動作完了する。
The above operation is concretely expressed in a flowchart as shown in FIG. When an electrical signal is input into the command device 3 of the computer in this flowchart, the CPU of the computer determines whether through-up is set,
If it is set, the stepping motor is controlled through-up by the command device 3, and reset when the operation is completed.
Next, continue is determined, low speed mode and other motor END are determined, and finally the stepping motor is driven at low speed, and the stepping motor that is continuously controlled is changed from low speed drive to high speed drive, and when the operation is completed, the Down control is performed and the operation is completed.

以上は、紙送りを例にとって説明したが、その他の例も
同様枠である。
The above explanation has been given using paper feeding as an example, but the same framework applies to other examples.

〔発明の効果〕〔Effect of the invention〕

以上詳述の通り、この発明は、複数個のステッピングモ
ータの制御に関し、−回の駆動においてステッピングモ
ータの駆動パターンをスルーアップ領域、低速領域、ス
ルーアップ領域、高速領域、スルーダウン領域を形成し
て、コンピュータCPUによる制御負荷が非常に大きい
時は、定速領域の低速域で回転させ、コンピュータのC
PUの制御負荷が軽減した場合に、尚継続して制御され
るステッピングモータを定速領域の高速域で制御し得る
ようにした。従って、コンピュータのCPUの負荷容量
を有効に活用してステッピングモータの総合駆動時間を
短縮することができる機能上の効果がある。尚、この実
施例では、駆動モータとしてステッピングモータを用い
たが、DCf−ボモータでも同様の効果があることは勿
論である。
As detailed above, the present invention relates to the control of a plurality of stepping motors, and the driving pattern of the stepping motor is formed into a through-up region, a low-speed region, a through-up region, a high-speed region, and a through-down region in - times of driving. When the control load by the computer CPU is very large, rotate it in a low speed region of the constant speed region and control the computer CPU.
Even when the control load on the PU is reduced, the stepping motor, which is continuously controlled, can be controlled in a high speed range of a constant speed range. Therefore, there is a functional effect that the total driving time of the stepping motor can be shortened by effectively utilizing the load capacity of the CPU of the computer. In this embodiment, a stepping motor is used as the drive motor, but it goes without saying that a DCf-bo motor can also have the same effect.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図(a)および(b)は、本発叫のステッピングモ
ータの駆動パターンおよび入カバルスを示す説明図、第
2図は、本発明のステッピングモータの駆動に関するタ
イムチャート、第3図は、本発明の動作フローチャート
、第4図は、従来例のプリンタの装置とステッピングモ
ータとの関係を示すブロック図、第5図(a)および(
b)は、従来例のステッピングモータの駆動パターンお
よび入カバルスを示す説明図である。
FIGS. 1(a) and (b) are explanatory diagrams showing the stepping motor drive pattern and input cabling for the present invention, FIG. 2 is a time chart regarding the driving of the stepping motor of the present invention, and FIG. The operation flowchart of the present invention, FIG. 4, is a block diagram showing the relationship between a conventional printer device and a stepping motor, and FIGS.
b) is an explanatory diagram showing a drive pattern and an input pulse of a conventional stepping motor.

Claims (1)

【特許請求の範囲】 複数個のステッピングモータ8・9・10・11を含む
駆動機構と、 複数個のステッピングモータ8・9・10・11を駆動
する駆動回路4・5・6・7と、 駆動回路4・5・6・7に動作量を与える指令信号を供
給する指令装置3とを備え、指令信号により駆動する複
数個のステッピングモータ8・9・10・11が一回の
駆動において1段階の定速領域で一定量ずつ回転するプ
リンタにおいて、前記指令装置3の指令信号が供給され
るごとに低速領域で回転する駆動時間を異にする複数個
のステッピングモータを備え、駆動時間の早いステッピ
ングモータの停止によるコンピュータCPUの負荷の軽
減に同期して他のステッピングモータを低速領域より高
速領域に回転させた後スルーダウン制御するように形成
したことを特徴とするステッピングモータの制御方式。
[Claims] A drive mechanism including a plurality of stepping motors 8, 9, 10, 11, a drive circuit 4, 5, 6, 7 that drives the plurality of stepping motors 8, 9, 10, 11, A command device 3 supplies a command signal that gives an operating amount to the drive circuits 4, 5, 6, 7, and a plurality of stepping motors 8, 9, 10, 11 driven by the command signal are driven once in one drive. A printer that rotates by a fixed amount in a constant speed range of steps is provided with a plurality of stepping motors that rotate in a low speed range each time a command signal from the command device 3 is supplied, and that have different driving times. A control method for a stepping motor, characterized in that in synchronization with the reduction of load on a computer CPU due to stopping of a stepping motor, other stepping motors are rotated from a low speed region to a high speed region and then subjected to through-down control.
JP1833185A 1985-01-31 1985-01-31 Controlling system for stepping motor Granted JPS61177197A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1833185A JPS61177197A (en) 1985-01-31 1985-01-31 Controlling system for stepping motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1833185A JPS61177197A (en) 1985-01-31 1985-01-31 Controlling system for stepping motor

Publications (2)

Publication Number Publication Date
JPS61177197A true JPS61177197A (en) 1986-08-08
JPH0343869B2 JPH0343869B2 (en) 1991-07-04

Family

ID=11968650

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1833185A Granted JPS61177197A (en) 1985-01-31 1985-01-31 Controlling system for stepping motor

Country Status (1)

Country Link
JP (1) JPS61177197A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100420810B1 (en) * 1997-01-08 2004-04-17 삼성전자주식회사 Stepping motor control method and device of inkjet printer
CN100400304C (en) * 2001-02-08 2008-07-09 星精密株式会社 Control method of printer and printer thereof

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5914396A (en) * 1982-07-15 1984-01-25 Toshiba Corp Drive device for pulse motor
JPS59149794A (en) * 1983-02-02 1984-08-27 Toshiba Corp Control system for image forming apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5914396A (en) * 1982-07-15 1984-01-25 Toshiba Corp Drive device for pulse motor
JPS59149794A (en) * 1983-02-02 1984-08-27 Toshiba Corp Control system for image forming apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100420810B1 (en) * 1997-01-08 2004-04-17 삼성전자주식회사 Stepping motor control method and device of inkjet printer
CN100400304C (en) * 2001-02-08 2008-07-09 星精密株式会社 Control method of printer and printer thereof

Also Published As

Publication number Publication date
JPH0343869B2 (en) 1991-07-04

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