JPS6373900A - Motor drive arrangement - Google Patents

Abstract

PURPOSE:To perform interrupt processing routine by prescribed operation mode without discriminating the operation mode within the interrupt processing routine, by a method wherein the operation mode is changed, and at the same time the corresponding interrupt processing routine is made active. CONSTITUTION:A condition decoder section 45 with buffer is connected to an address decoder 31. The condition decoder section 45 determines which interrupt processing routine should be executed. Thereby any one of an idling mode program 49 of an independent interrupt processing routine corresponding to each operation mode, an image taking mode program 51 and a diagnose mode program 53, stored within a memory 47, is selected.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention relates to a motor drive system for driving and controlling a motor in multiple modes using software, and for example, for driving a COD line image sensor in an image processing device. The present invention relates to a motor drive system that can be used to drive a stepping motor.

(Prior Art) For example, an image processing device is known as a device equipped with a motor drive system that drives and controls a motor in multiple modes. One such image processing device is shown in FIGS. 4 and 5.

4 and 5, a COD camera 5 in which a COD line ease sensor 1 is moved in small steps by a stepping motor 3 is connected to a control device 7.

The driving system of the CCD line image sensor 1 by the stepping motor 3 is as shown in detail in FIG. It is moved in a predetermined distance/one direction by forward/reverse rotation.

The CCD line image sensor 1 is guided by a guide rod 13 parallel to the ball screw 11. The CCD line image sensor 1 is guided by a guide rod 13 parallel to the ball screw 11. , t1-sen 1f17 for detecting the origin are provided.

In such an image processing apparatus, the stepping motor 3 is driven in the following three drive modes.

Since the mode O near-idling motor stepping motor 3 is most likely to generate heat when it is stopped, it is necessary to move it so that it does not stop all the time. Therefore, in this mode, the origin/upper limit is determined by checking the detection status of the detection photosensors 15 and 17.
+/The stepping motor 3 is always driven in one direction.

Mode 1: Image capture mode In the image processing device described above, as shown in detail in FIGS. 6 and 7, the dot pitch of the CCD line image sensor 1 of the CCD camera 5 is normally 14μ, and the aspect ratio of the image is ), the stepping motor 3 rotates the ball screw 11 and moves the COD line image sensor 1 14 in the direction orthogonal to the dot line.
It is necessary to perform positioning for each μ.

Therefore, when capturing an image, it is necessary to notify the image capturing unit 21 of the motor controller 1 on the control device 7 side via the roller 19 each time the image capturing position is reached. In this mode, each time the COD line image sensor 1 reaches the image capturing position, the image capturing unit 21 is notified of this fact.

Mode 2: Diagonal nose mode CC without step-out for the set command shift vJ amount
It is necessary to check whether the image sensor can be positioned. In this mode, COD
The line image sensor 1 is self-diagnosed to see if the stepping motor can accurately position the commanded movement amount.

To drive the stepping motor 1, square waves having a constant period and a phase difference of 90° are used. In order to drive the stepping motor in multiple modes using software, periodic interrupts must be sent to the CPU.
This is done by the interrupt processing routine.

The hardware configuration of a stepping motor drive system for driving and controlling such a stepping motor in a plurality of modes is shown in FIG. 8, and a flowchart of its operation is shown in FIG. 9. The COD camera 5 side is provided with a photosensor 15 for detecting an upper limit position and a first to first sensor 17 for detecting an origin. Further, a motor driver 23 for driving the stepping motor 3 in forward/reverse rotation is provided.

The control device 7 side includes a CPU 25, an interrupt timer 17,
Two storage devices and an address decoder 31 are provided for storing a series of programs for processing the idling mode, image capture mode, and diagonal nose mode.

In the interrupt processing routine by the interrupt timer 27, as shown in FIG. 9, the CPU 25 determines which of the above three modes is currently selected, and performs processing according to each mode. It is. That is, the interrupt processing routine is started by a timer interrupt, and it is determined whether the operating mode is idling mode (step 101), image capture mode (step 103), or diagonal nose mode (step 105). Ru.

If the mode is idling, an interrupt processing routine for idling mode from the storage device is run (step 107), and if it is image capturing mode, an interrupt processing routine for image capturing mode is run (step 109). ).

If neither of these conditions exists, the diagonose mode is in effect, so the diagonose mode interrupt processing routine is directly executed (step 105).

(Problem to be solved by the invention) However, in such a conventional motor drive system,
As mentioned above, in the υ1-inclusive processing routine, having the software recognize "which mode is currently selected" has the problem of slowing down the processing speed. In addition, the three operating modes of the stepping motor are
By consolidating the interrupt processing routine into one single program, the interrupt processing routine itself becomes a complex program, which may be opened and closed, making later software maintenance difficult.

(Object of the Invention) The present invention has been made in view of the above-mentioned conventional problems, and it is an object of the present invention to provide a motor drive system that has a fast processing time and can simplify programming.

[Structure of the Invention] (Means for Solving the Problems) A motor drive system of the present invention is a motor drive system that drives and controls a motor in a plurality of operating modes.
The present invention is characterized in that an interrupt processing routine is individually associated with each of the plurality of operating modes, and the corresponding interrupt processing routine is activated when the operating mode is switched.

(Function) In the motor drive system of the present invention, the motor is
When attempting to drive in one operation mode, the corresponding interrupt processing routine is activated at the same time as the operation mode is switched, making it possible to execute the interrupt processing routine according to the predetermined operation mode without determining the operation mode within the interrupt processing routine. Make it.

(Embodiment) FIG. 1 is a hardware block diagram of this invention,
FIG. 2 is a flowchart 17 showing the operation. The motor drive system of this embodiment is for a stepping monitor used in the image processing apparatus described in the conventional example, and the specific configuration of the image processing apparatus is shown in FIGS. 4 and 5.
It has the same configuration as the conventional example shown in the figure. therefore,
The parts indicated with the same reference numerals have the same configuration as the conventional example.
It is something that performs an action. Based on FIG. 1, the CCD camera 5 includes a photosensor 15 for detecting the upper limit position of the CCD line image sensor 1 and a photosensor 17 for detecting the origin. Further, a motor driver 23 is provided for driving the stepping motor 3 for driving the CCD line image sensor 1 up and down in forward/reverse rotation.

A motor controller 1 to a roller 19 are provided on the control device 7 side, and a CPU 33 is incorporated in one motor controller. The CPU 33 is connected to software for applying switching pulses at a constant cycle to the Δ/B phase of the stepping motor 3, that is, an interrupt timer 27 for periodically executing an interrupt processing routine. .

For the data bus 35, the photosensors 15 and 17 on the COD camera 5 side and the buffer 37 for the stepping motor 3
, 39 and 41, respectively. The address decoder 31 connected to the address bus 43 controls on/off of each buffer 37, 39, 41.

The buffered condition decoder section 45 is connected to the address decoder 31. This condition decoder section 45 is for determining which interrupt processing routine should be executed, and is rewritten by software every time the operation mode is set, and is updated to determine which interrupt processing routine is to be executed. Any one of the idling mode program 49, the image capture mode program 51, and the diagonose mode program 53, which are independent interrupt processing routines corresponding to the modes, is selected.

In the motor drive system with the above configuration, when the idling mode is selected, the photosensors 15 and 17
As soon as the CCD line image sensor 1 is detected, the stepping motor 3 is stopped or rotated in the opposite direction, and the stepping motor 3 is controlled to perform an idling operation.

Furthermore, when the image capture mode is selected, the CCD line image sensor 1 is connected to the stepping motor 3.
The rotation is controlled to drive the CCD line image sensor 1 every 14μ, as in the conventional example, until it receives a signal detecting that the CCD line image sensor 1 has reached the image capture position.

In addition, in the diagonal nose mode, the stepping motor 3 is rotated by a specified amount of movement, and the positioning accuracy of the stepping motor 3 is diagnosed by comparing it with the actual value of the COD line image sensor using a position detection device (not shown). .

Next, the operation flow of the motor drive system having the above configuration will be explained based on FIG. 2.

When the operation mode is switched, the CPU 33 determines in step 201 that the operation mode is the idling mode.
>, it is determined whether the mode is image capture mode (step 203).

When it is determined in step 201 that the mode is idling mode, the CPU 33 gives a command to the condition decoder section 45 to switch to the idling mode program 49. (Step 205>.

Further, when the CPU 33 determines that it is the image capture mode, it instructs the condition decoder section 45 to switch to the image capture mode program 51 (step 207).

When neither the idling mode nor the image capture mode is selected, it is determined that the remaining diagonal nose mode is in effect, and the condition decoder section 45 is commanded to switch to the titanose mode program 53 (step 209).

Therefore, by using the interrupt timer 27, the timer; 91 included 72
When there is a timer interrupt from 7, the CPU 33 directly calls the condition decoder section 45, and the condition decoder section 45 calls and executes the program 49, 51 or 53 specified in advance.

To further explain this operation and address entry in the storage device /17, if there is a timer interrupt, the CPU 33 immediately calls address 38, which is a small address in the ROM area of the storage device 47. A jump instruction is stored at this address 38,
The condition decoder unit 45 is called unconditionally.

The condition decoder section 45 has only a jump command, and the jump address can be freely selected, and it is possible to select any of the programs 49, 51, and 53 corresponding to each operation mode at the selected position of the operation mode. or one address Xi, X2. Or ×3 is specified. Therefore,
When the condition decoder 45 jumps from address 38 in the ROM part, the condition decoder 45 gives a command to jump to the jump address Xi, X2, or . Therefore, the CPLI 3 reads only the program 49, 51 or 53 specified by the condition decoder section 45, and executes the interrupt processing routine of the specified operation mode.

(Step 305) In this way, each operation mode is individually associated with an interrupt processing routine, and one interrupt processing routine is specified at the same time as the operation mode is selected. When executing the program of the specified operation mode, For example, the processing time of the interrupt processing routine is as follows.

Step 301 Jump to double decoder section...4
Clotsk.

Step 303: Jump to each program...4 clocks.

Therefore, in this case, eight clocks are required to specify one interrupt processing routine.

However, in the conventional example shown in FIG. 9, the following clocks are required until the interrupt processing routine for one operation mode is designated.

Call specified operation mode... 8 clock steps 101 Near idling mode judgment... 10 clock steps 103 Image capture mode judgment... 10 clock steps 107: Jump to idling mode interrupt processing routine. ...8 clock step 109: Jump to image capture mode interrupt processing routine...
・8 clock step 105...Jump to the interrupt processing routine for the diagonose mode...4 clocks Therefore, for example, it is determined that the mode is the diagonose mode, and the interrupt processing routine for the diagonose mode is specified. Up to 32 clocks (=8+10+4
clock). Therefore, in the case of the embodiment of the system of the present invention, execution of the interrupt processing routine of the specified operation mode can be started in 1/4 of the time.

[Effects of the Invention] Since the present invention has the above configuration, it is possible to directly specify the interrupt processing routine corresponding to the specified operation mode at the same time as specifying the operation mode, and the interrupt processing routine can be changed from the conventional interrupt processing routine. This has the advantage that the processing time of the interrupt processing routine can be shortened because there is no need for a redundant flow of determining the operating mode in the process and running the interrupt processing routine for the determined operating mode. Furthermore, since there is no need to include determination of the operating mode in the interrupt processing routine, there is an advantage that the program for the interrupt processing routine can be simplified.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a flowchart explaining the operation of the above embodiment, FIG. 3 is a conceptual diagram showing the structure of the memory W section of the CPU used in the above embodiment, and FIG. FIG. 4 is a schematic explanatory diagram of an image processing device to which the above invention is applied, FIG. 5 is a schematic diagram of the COD line image sensor driving section in the above image processing device, and FIG. 6 is a block diagram of the image processing device used in the conventional example. 7 is a composition for explaining the operation of the COD line image sensor in the image processing apparatus, FIG. 8 is a block diagram of the conventional example, and FIG. 9 is a flowchart for explaining the operation of the conventional example. 1...COD line image sensor 3...Stepping motor 5...COD camera 7...Control device 15...Photo sensor for upper limit position detection 17...Photo sensor for origin detection 19...Motor Controller 23...Motor driver 27...Interrupt timer 29...Storage device 31...Address decoder 33...CPU 35...Data bus 37, 39, 41...Buffer 43...・Address bus 45...Condition decoder department agent Yasuo Miyoshi, patent attorney Figure 3 Figure 2 (a) Figure 2 (b) Figure 6 Figure 7 Figure 9

Claims (1)

[Claims] In a motor drive system that drives and controls a motor in a plurality of operating modes, an interrupt processing routine is individually associated with each of the plurality of operating modes, and the corresponding interrupt processing routine is activated when the operating mode is switched. motor drive system.