JPS62293993A - Motor driving method - Google Patents

Abstract

PURPOSE:To get a main routine to perform the other processing action when an interruption routine is actuating, by providing patterns necessary for driving a motor by the main routine and by performing drive processing by the interruption routine. CONSTITUTION:A stepping motor 11 is driven by a microcomputer 12, a timer 13 and a driver 14. Various kinds of parameters are set in advance to a main routine of the microcomputer in correspondence with the driving condition of motor. When the motor is driven, the main routine is, first of all, actuated to set the parameter. Then, by a timer an interruption routine is invoked. After that, the drive processing is performed by the interruption routine. During this period, the other processing action, e.g. the control of conduction to the printed head, can be performed by the main routine.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [Field of Industrial Application] The present invention is directed to a motor driving method for driving a motor using a microcomputer. 'I will.

[Conventional technology]

In general, as various types of equipment such as office automation equipment and consumer equipment become faster and more complex, the moving parts of these equipment are becoming more difficult to drive.
FIltl motors are also required to have faster and more complex driving motions.

In order to meet this requirement, conventionally, a microcomputer has been used to control the supply of electricity to the motor to cool down the motor.

FIG. 4 shows an example of moving a print head (both not shown) in a high-speed printer, and the stepping motor 1 is the object of the RJ motion control 2II. This stepping motor 1 can switch energization at high speed to
It is a type of motor that can realize faster and more complex operations. In order to increase the speed and complicate the operation of the stepping motor 1, the microcomputer 2 controls the state of energization of the stepping motor 1.

For example, depending on the operation requested by the microcomputer 2, various conditions such as the speed of the stepping motor 1, the length and method of slowing down/down, the number of steps, the excitation method, the direction of rotation, etc. are appropriately changed to control the stepping motor. 1
drive.

In reality, when driving the stepping motor 1, a program for driving the stepping motor 1 is prepared in the microcomputer 2, and this program is executed in conjunction with the timer 3, and is executed by the driver 4. A specific signal 2a for driving the stepping motor 1 is transmitted. The driver 4 performs controls such as switching the energizing phase in accordance with the received specific signal 2a, energizes the stepping motor 1, and rotates the stepping motor 1 in accordance with the content of the specific signal 2a.

The flow of the program processed by this microcomputer 2 is formed by a main routine shown in FIG. 5 and an interrupt routine called by the timer 3 shown in FIG.

The roles of the main routine and the interrupt routine are such that the main routine performs the main processing, and the interrupt routine actually transmits the fi constant signal 28 to the driver 4.

Next, a method of driving the stepping motor 1 performed by the microcomputer 2 will be explained according to the routines shown in FIGS. 5 and 6.

In the main routine, when the seventh step is started at step ST, the interrupt routine immediately interrupts, sets the energized phase switching output to the stepping motor 1 at step 15T1, and then sets the timer value to timer 3 at step 15T2. Bit.

When the interrupt in this interrupt routine ends, determinations such as setting the length of the first timer shift are made in steps S2 and below of the main routine. That is, in step ST2, it is determined whether the rotation direction requested of the stepping motor 1 is forward rotation or reverse rotation, and if it is forward rotation, the energization phase to the stepping motor 1 is set to forward rotation in step ST3. , in the case of reverse rotation, the current supply tank to the stepping motor 1 is caused to rotate in the reverse direction in step ST3. After step ST4, the timer value is set at a constant speed. Thereafter, in step ST5, it is determined whether or not to slow up the timer value, and if it is determined to be YES, the timer 1 shift is set to be slowed down in step ST6, and if it is determined to be no, the timer value is set to slow up. The process then proceeds to step ST7. Then, in this step ST7, it is determined whether or not to slow down the timer value, and if it is determined to be YES, the timer value is set to be slowed down in step ST8, and if it is determined to be NO, the process in step ST8 is avoided. The process then proceeds to step ST9. Then, in this step ST9, it is determined whether the number of steps of the energizing pulse sent to the stepping motor 1 has reached the timer value, and if YES, the motor is stopped in step 5T1o, and if NO, the step is stopped. 5T1o1.
：Avoiding the process in step 1, the energizing pulse reaches the set number of steps.

[Problem that the invention seeks to solve]

However, in the conventional motor driving method using a microcomputer as described above, judgments such as the determination of the timer value necessary for driving the stepping motor 1 are made by the main routine that is the main program of the microcombi coater 2. There is little room for other processes using the microcomputer 2, such as controlling the supply of electricity to the print head. In order to carry out a different process, it is necessary to make the main program even more complicated, and it is also difficult to deal with changing conditions such as the speed of the stepping motor 1.

The present invention has been made in view of these points, and when driving a motor using a microcomputer, the motor is driven under various driving conditions. Furthermore, it is possible to drive the motor reliably, and other processes different from the motor drive process can be performed in parallel at the same time as the motor drive process.Furthermore, it is possible to perform various processes at the same time by leaving space in the main program. It is an object of the present invention to provide a motor driving method that can be easily and efficiently carried out.

(Means for Solving Problems) The motor driving method of the present invention operates a microcomputer according to a main routine and an interrupt routine called by a timer, and sends a specific signal to the driver to drive the motor. , in the motor driving method of driving the motor by operating the driver according to the specific signal to set the energization state to the motor to 1IIIrIJ, the microcomputer sets a pattern necessary for driving the motor by a main routine. Then, the interrupt routine performs processing to drive a specific signal according to the pattern, and this interrupt routine drives the specific signal while allowing the main routine to perform other processing operations in the activated uN. It is characterized by transmitting information to people.

[For bamboo]

In the present invention, various parameters corresponding to motor drive conditions are preset in the main routine of the microcomputer.

When the motor is to be driven, a main routine is first activated to set parameters according to the sweater driving conditions, and then an interrupt routine is called by a timer.

After that, the υj-inclusive routine performs drive processing to obtain a specific signal according to the nti parameters, that is, it is determined whether or not the set motor drive control is to be performed, and various values are set.

On the other hand, while this interrupt routine is in operation, the main routine is separated from the motor drive processing, so during this time the main routine can perform other processing operations, such as controlling the supply of electricity to the print head.

In this way, the motor drive control processing and other processing can proceed simultaneously, and the microcomputer can be operated efficiently.

Furthermore, changes in motor drive conditions, that is, changes in various parameters, can be easily dealt with by the main processor of the microcomputer, and changes in motor drive conditions can be carried out smoothly.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 3.

FIG. 1 shows a motor drive 8 mechanism for carrying out the method of the present invention,
The stepping motor 11 is a stepping motor to be driven, and is configured to drive the stepping motor 11 using a microcomputer 12, a timer 13, and a driver 14 at approximately the same tI as in the prior art.

In this embodiment, the microcomputer 12 operates according to the main routine shown in FIG. 2 and the interrupt routine shown in FIG. 3, and causes the driver 14 to transmit a specific signal 12a for driving the stepping motor 1.

To explain further, in the main routine, step ST
When the parameters corresponding to the motor driving conditions are selected and set from among the preset parameters in step ST1 and the motor is started in step ST2, the interrupt routine immediately interrupts.

After this, in this embodiment, the interrupt routine executes the t-even drive process Jff! according to the parameters. A judgment is made on the scales.

That is, in step [ST1, J3 determines whether the rotation direction requested of the stepping motor 11 is forward or reverse, and if it is forward rotation, (:1 step ■ST2
In step 15T2, the energization phase to the stepping motor 11 is set to forward rotation and reverse rotation, and in step 15T2, the energization phase to the stepping motor 11 is set to reverse rotation. Thereafter, in step 15T3, the timer value is set at a constant speed. After that, it is determined in step l5T4 whether or not to slow up the timer value, and if it is determined to be YES, the timer value is set to be slowed down in step l5T5, and if it is determined to be no, the processing in step l5T5 is avoided. Then, proceed to step 15T6. Then, in this step 15T6, it is determined whether or not to slow down the timer value, and if it is determined as YES, the timer value is set to be slowed down in step 15T7,
If the determination is No, the process in step 15T7 is avoided and the process proceeds to step 15T8. Then, in step 15T8, a timer value is set in the timer 13.

After that, the process returns to step ST4 of the main routine. In step ST4, it is determined whether the number of steps of the energizing pulse sent to the stepping motor 11 has reached the timer value. If YES, the motor is stopped in step ST5. If the answer is No, the process in step ST5 is avoided and the energization pulse reaches the set number of steps.

In this way, the drive control of the micro combi coater 11 can be easily performed.

Further, in this embodiment, when the main routine is held between steps ST2 and ST4, it is not involved in the motor drive processing, so during this time, other processing is performed as step ST3! For example, it controls the supply of electricity to the print head.

In this way, in the present invention, the interrupt routine performs the judgment process that is necessary for the motor drive process and takes time.
While this interrupt routine is operating, the main routine is left in a free state to lighten the load and allow other processing to be performed. When this main routine is in a free state, it is possible to easily perform energization of the print head, editing of data, etc. simultaneously and in parallel.

Furthermore, changing the driving conditions of the motor can be done extremely easily by selecting and setting parameters using the main routine and then performing processing using the interrupt routine.

Note that motors subject to drive control include motors other than stepping motors.

Further, the present invention is not limited to the above embodiments, and can be modified as necessary.

〔Effect of the invention〕

Since the motor driving method of the present invention operates in a grooved manner, when driving the motor using a microcomputer, the motor can be driven reliably by changing the driving conditions from time to time. In addition, other processes different from motor drive processing can be performed in parallel with the motor drive processing, and furthermore, the main program can be provided with leeway to allow various processes to be performed simultaneously and backwards easily and efficiently. It has the effect of a hat that can be carried out.

[Brief explanation of the drawing]

FIG. 1 is a schematic system diagram of a naro motor drive mechanism, which is the umbrella for the motor drive method of the present invention, and FIGS. 2 and 3 respectively show a main routine and an interrupt routine of a microcomputer showing one embodiment of the method of the present invention. Char 1 - diagram showing,
Figure 4 is a schematic system diagram showing a conventional motor drive mechanism;
Figures 2 and 6 are similar to Figures 2 and 3, respectively, showing the conventional method. 11...Stepping motor, 12...Microphone 11
-1 computer, 12a... specific signal, 13... timer, 14... driver. Applicant's agent Shunsuke Nakao Figure 1: ¥5,000 Figure 2: Twin route 4〉 = District 3 (1+): Ward 3〉 Figure 5: Twin route: 1〉

Claims (1)

[Claims] 1) A microcomputer is operated according to a main routine and an interrupt routine called by a timer, and a specific signal for driving the motor is transmitted to a driver, and the driver is caused to operate according to the specific signal. In the motor driving method, the microcomputer sets a pattern necessary for driving the motor using a main routine, and then sets a pattern necessary for driving the motor using the interrupt routine. The present invention is characterized by performing driving force processing to obtain a specific signal according to the pattern, and transmitting the specific signal to the driver while enabling the main routine to perform other processing operations when the interrupt routine is in an active state. motor drive method. 2) A motor driving method according to claim 1, characterized in that a stepping motor used in a high-speed printer is driven according to driving conditions.