JP2001063168A - Motor control device, motor control method, recording device, and recording method - Google Patents

Abstract

(57) [Problem] To provide a motor control device, a motor control method, a recording device, and a recording method that perform stable control at a timing when control is changed from speed control to position control. When the carriage is in an accelerated state or a constant speed state, a speed control processing unit calculates a speed error between an actual speed and a predetermined command speed, and determines a speed control amount of the carriage according to the speed error. (T) is obtained, and when the carriage is in a decelerating state, the position control processing unit 2 calculates a position error between the actual position and a predetermined command position, and according to the position error, the speed control amount Vc (t ), And these speed control amounts V
The carriage motor is controlled according to c (t). At the timing when the carriage switches from the constant speed state to the deceleration state, the position control processing unit 2 sets the calculated position error to 0 and obtains the speed control amount Vc (t).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a recording apparatus such as a printer or a facsimile, a recording method thereof, a motor control apparatus and a motor control method, and more particularly, to a motor control apparatus for performing feedback control, a motor control method, and The present invention relates to a recording device and a recording method.

The present invention relates to an industrial recording apparatus combined with a general printing apparatus, a copying machine, a facsimile having a communication system, a word processor having a printing section, and various processing apparatuses. Applicable to the device.

[0003]

2. Description of the Related Art Conventionally, in a control method for a motor or the like, a speed or a position of a motor or a control target connected thereto is detected, and the motor or the like is controlled in accordance with the detection result.
So-called “feedback control” is widely known. A recording device is an example of a device that uses a motor for such control as a drive source.

A printer has been well known as one of the recording apparatuses. Further, in the printer, the carriage on which the recording head is mounted is reciprocally scanned in a direction perpendicular to the transport direction of a recording medium (hereinafter, also referred to as “recording paper” or “paper”) such as paper, OHP sheet, and the like. The serial type that performs recording according to the standard is widely adopted from the viewpoint of easiness of configuration.

[0005] Various recording methods are used for the recording heads of these recording apparatuses. For example, a wire dot method, a thermal method, a thermal transfer method, an ink jet method, an electrophotographic method, and the like are known. Among them, the ink jet method has a plurality of ejection ports provided in a recording head and ejects ink droplets from the ejection ports. And is widely used in terms of colorization, high resolution, and quietness. In recent years, a printer has been realized in which information input means such as a scanner is mounted on a carriage and the carriage is scanned over an original to read information from the original.

In such a serial type printer, the driving of the carriage is one of the important factors in both the recording operation and the original reading operation. A stepping motor or a DC motor that rotates by an amount corresponding to the number of pulses of the input signal is used as a drive source of the carriage. In particular, a DC motor is often used as a drive source for a carriage or the like in combination with an encoder that detects a speed or a position because it is more quiet than a stepping motor. The control of the DC motor generally uses a feedback control method in which an error from a command speed or a command position is obtained from a scanning speed or a position of the carriage detected by an encoder, and the motor is controlled according to the error. The command speed is a speed that should be achieved at the timing when the position of the carriage is detected, and the command position is a position that should be reached at the timing when the position of the carriage is detected.

Further, the control of the carriage differs depending on the position where the carriage is scanning and the operating condition of the mounted recording head. For example, during printing, unless the carriage constantly scans at a constant speed, printing cannot be performed at an appropriate position on the printing medium. Therefore, the carriage must maintain a constant speed while scanning the recording area. On the other hand, after passing through the recording area, the carriage has to reduce its moving speed in order to stop at a predetermined position. If the degree of the deceleration is not appropriate, it is impossible to stop at a predetermined position, which hinders the next scan. Therefore, in general, control is performed by paying attention to the speed so that scanning is performed at an appropriate speed in the acceleration state and the constant speed state of the carriage, and control is performed by paying attention to the position so that the carriage can be stopped at an appropriate position in the deceleration state. It is a target.

In the case where the drive control of the carriage is performed using a DC motor and an encoder, the following feedback control is conventionally performed.

FIG. 12 is a block diagram showing an example of the feedback control.

The actual speed and position of the carriage are obtained from the detection results of the encoder. Then, the command value calculation processing unit 1
Is determined from the calculated command speed and command position. At the time of starting the carriage or at the time of recording, the speed control processing unit 3 calculates a speed control amount based on the speed error, and the motor control processing unit 4 controls the driving of the motor according to the speed control amount. On the other hand, when the carriage has passed the recording area, the control is changed from the speed control to the position control, the position control processing unit 2 calculates the speed control amount based on the position error, and the motor control processing unit 4 executes the position control processing unit. 2 controls the driving of the motor according to the calculated speed control amount.

[0011]

However, the above recording apparatus has the following problems.

That is, in actuality, there is a time delay between the input of the command to the motor and the actual movement of the carriage. An error is likely to occur between the moving speed and the position of the carriage.

As described above, speed control is performed when the carriage is in an accelerating state (during start-up) or in a constant speed state (during recording), but position control is performed in a decelerated state. In the constant speed state, that is, when recording is being performed, since the control is performed based on the speed error, even if the command position and the actual position of the carriage slightly deviate, the deviation is ignored, and the deviation is ignored. The emphasis was on maintaining speed. Therefore, at the time when the carriage has finished moving in the recording area, the command position may be shifted from the actual position of the carriage. In the conventional feedback control, when the carriage finishes moving in the recording area, the control is switched from the control based on the speed error by the speed control processing unit 3 to the control based on the position error by the position control processing unit 2.
At the switching timing, this displacement is recognized as a position error, and a large value is calculated for the speed control amount in order to correct this error. That is, control for rapidly increasing the speed is executed. Therefore,
At the transition point from the speed control to the position control, there is a problem that the speed of the carriage temporarily changes greatly and a stable operation cannot be performed.

When such a sudden change in speed occurs, an abnormal sound may be generated.

FIG. 19 is a graph showing the relationship between the designated speed of the carriage and the actual speed, and the relationship between the designated position and the actual position. In the figure, at the change point at which the speed control is switched to the position control, that is, at the deceleration start timing of the carriage,
There is a phenomenon that the actual speed is greatly disturbed and temporarily increases. As described above, at the timing of switching from the speed control to the position control, the input energy to the carriage motor temporarily increases, and a phenomenon in which the driving speed of the carriage is increased occurs. there were.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems. In motor control for driving a carriage of a printing apparatus, motor control for performing stable control at a timing when control changes from speed control to position control. It is an object to provide a device, a motor control method, a recording device, and a recording method.

[0017]

A motor control device according to the present invention is a motor control device for controlling the operation of a motor or the operation of a control target connected to the motor, wherein the speed of the motor or the control target is detected. Speed detection means,
Position detecting means for detecting the position of the controlled object; and determining a speed error between a speed detected by the speed detecting means and a predetermined command speed to be achieved by the motor or the controlled object, and according to the speed error. Speed control means for controlling the driving of the motor, and a position error between a position detected by the position detection means and a predetermined command position to be achieved by the control object is determined, and the driving of the motor is performed according to the position error. And controlling the driving of the motor by changing the calculated position error at a predetermined timing.

The motor control method according to the present invention is a motor control method for controlling the operation of a motor or the operation of a control object connected to the motor, wherein the speed detection step detects the speed of the motor or the control object. A position detection step of detecting the position of the control target; and a speed error between a speed detected by the speed detection step and a predetermined command speed to be achieved by the motor or the control target, and according to the speed error, A speed control step of controlling the driving of the motor, a position error between a position detected by the position detecting step and a predetermined command position to be achieved by the control target is determined, and the driving of the motor is performed according to the position error. And a position control step of controlling, at a predetermined timing, the position control step changes the calculated position error And controlling the driving of the serial motor.

A recording apparatus according to the present invention is a recording apparatus in which a carriage on which a recording head is mounted is scanned a plurality of times by opposing a recording medium by driving a driving unit of the carriage, and recording is performed in accordance with the scanning. Speed detecting means for detecting the speed of the carriage, position detecting means for detecting the position of the carriage, and a speed error between the speed detected by the speed detecting means and a predetermined command speed to be achieved by the carriage. Speed control means for controlling the driving of the driving means in accordance with the speed error; and obtaining a position error between a position detected by the position detection means and a predetermined command position to be achieved by the carriage. Position control means for controlling the driving of the driving means in accordance with an error, and at a predetermined timing, the position control means And controlling the driving of said driving means to change the error.

According to the recording method of the present invention, there is provided a recording apparatus in which a carriage on which a recording head is mounted is driven a plurality of times by opposing a recording medium by driving a carriage driving means, and recording is performed in accordance with the scanning. In the recording method used, a speed detecting step of detecting a speed of the carriage, a position detecting step of detecting a position of the carriage, a speed detected by the speed detecting step, and a predetermined command speed to be achieved by the carriage. A speed control step of controlling the driving of the driving means according to the speed error, and a position error between a position detected by the position detection step and a predetermined command position to be achieved by the carriage. And a position control step of controlling the driving of the driving means in accordance with the position error. Te, said position control step, change the calculated said position error and controls the driving of the driving step.

According to the above arrangement, when the carriage is in the accelerating state or the constant speed state, the speed error between the speed detected by the speed detecting means and the predetermined command speed to be achieved by the carriage is determined. Controlling the driving of the driving means according to the speed error, when the carriage is in a decelerating state, determine the position error between the position detected by the position detection means and a predetermined command position to be achieved by the carriage,
In addition to controlling the driving of the driving means in accordance with the position error, at the changing point where the acceleration, constant speed state, and deceleration state are switched, the position error is controlled to be 0, thereby controlling the fluctuation of the carriage operation. Prevention and stable control.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a motor control device, a motor control method, a recording device, and a recording method according to the present invention will be described.
This will be described below with reference to the drawings.

In this specification, "print"
(Sometimes referred to as "records") refers not only to the formation of significant information such as characters and figures,
In addition, regardless of whether or not they are visualized so that humans can perceive them visually, images, patterns,
This also refers to the case where a pattern or the like is formed or the medium is processed.

Here, the term "printing medium" means not only paper used in a general printing apparatus but also a wide range of inks such as cloth, plastic films, metal plates, glass, ceramics, wood, and leather. I say something.

Further, “ink” (sometimes referred to as “liquid”) is to be interpreted broadly as in the definition of “print” described above. It refers to a liquid that can be used for forming a pattern or the like, processing a print medium, or treating ink (for example, coagulation or insolubilization of a colorant in ink applied to a print medium).

Hereinafter, embodiments of the recording apparatus of the present invention will be described with reference to the drawings.

In the embodiments described below, a printer will be described as an example of a recording apparatus using an ink jet recording method.

[Apparatus Main Body] FIGS. 1 and 2 show a schematic configuration of a printer using an ink jet recording system. In FIG. 1, an apparatus main body M1000 forming the outer shell of the printer in this embodiment includes a lower case M1001, an upper case M
1002, access cover M1003 and discharge tray M
1004, and a chassis M3019 (see FIG. 2) housed in the exterior member.

The chassis M3019 is composed of a plurality of plate-like metal members having a predetermined rigidity, forms a skeleton of a recording apparatus, and holds each recording operation mechanism described later. Further, the lower case M1001 forms a substantially lower half of the apparatus main body M1000, and the upper case M1002 forms a substantially upper half of the apparatus upper main body M1000. It has a hollow body structure having an accommodating space, and an opening is formed in each of an upper surface portion and a front surface portion thereof.

Further, one end of the discharge tray M1004 is rotatably held by the lower case M1001, so that the opening formed on the front surface of the lower case M1001 can be opened and closed by the rotation. For this reason, when performing the recording operation, the discharge tray M100
By rotating the opening 4 to the front side to open the opening, the recording sheets can be discharged from here, and the discharged recording sheets P can be sequentially stacked.
Also, the paper discharge tray M1004 has two auxiliary trays M.
1004a and M1004b are accommodated, and the tray support area can be expanded or reduced in three stages by pulling out each tray as needed.

One end of the access cover M1003 is rotatably held by the upper case M1002 so that an opening formed on the upper surface can be opened and closed. When the access cover M1003 is opened, the inside of the main body is opened. The stored recording head cartridge H1000 or ink tank H1900 can be replaced. Although not particularly shown here, the access cover M10
When the cover 03 is opened and closed, a projection formed on the back surface rotates the cover opening / closing lever, and the open / closed state of the access cover can be detected by detecting the rotation position of the lever with a microswitch or the like. It has become.

On the rear upper surface of the upper case M1002, a power key E0018 and a resume key E0019 are provided.
Is provided so as to be pressed, and an LED E0020 is provided. When the power key E0018 is pressed, L
The ED E0020 lights up to notify the operator that recording is possible. LED E0
020 changes the blinking method and color, and sets the buzzer E0.
Various display functions, such as notifying an operator of a printer trouble or the like by leveling 021 (FIG. 7), are provided.
When the trouble or the like is solved, the recording is restarted by pressing the resume key E0019.

[Recording Operation Mechanism] Next, the recording operation mechanism of the present embodiment housed and held in the apparatus main body M1000 of the printer will be described.

The recording operation mechanism in this embodiment includes an automatic feeding unit M3022 for automatically feeding the recording sheet P into the apparatus main body, and a recording sheet P sent one by one from the automatic feeding unit. A transport unit M3029 that guides a recording sheet P from a recording position to a discharge unit M3030 while guiding the recording sheet P to a desired recording position; a recording unit that performs desired recording on the recording sheet P transported to the transport unit M3029; And a recovery unit (M5000) that performs recovery processing for the same.

(Recording Unit) Here, the recording unit will be described.

A carriage M4001 movably supported by the carriage shaft M4021 and a recording head cartridge H1000 removably mounted on the carriage M4001.

Recording Head Cartridge First, the recording head cartridge will be described with reference to FIGS.

As shown in FIG. 3, the recording head cartridge H1000 according to this embodiment includes an ink tank H1900 for storing ink and an ink tank H190.
A recording head H1001 for ejecting ink supplied from nozzles 0 in accordance with the recording information, wherein the recording head H1001 employs a so-called cartridge system which is removably mounted on a carriage M4001 described later. It has become.

The recording head cartridge H10 shown here
In FIG. 4, in order to enable photographic high-quality color recording, for example, ink tanks for each color of black, light cyan, light magenta, cyan, magenta and yellow are prepared as ink tanks. As shown, each is detachable from the recording head H1001.

The recording head H1001, as shown in an exploded perspective view of FIG.
0, first plate H1200, electric wiring board H130
0, second plate H1400, tank holder H15
00, channel forming member H1600, filter H170
0, a seal rubber H1800.

On the printing element substrate H1100, a plurality of printing elements for ejecting ink to one side of the Si substrate, and electric wiring such as Al for supplying power to each printing element are formed by a film forming technique. A plurality of ink flow paths and a plurality of ejection ports H1100T corresponding to the recording elements are formed by photolithography, and an ink supply port for supplying ink to the plurality of ink flow paths is formed to open on the back surface. Have been. Further, the recording element substrate H110
0 is adhesively fixed to the first plate H1200,
Here, an ink supply port H1201 for supplying ink to the recording element substrate H1100 is formed.
Further, a second plate H1400 having an opening is bonded and fixed to the first plate H1200, and the second plate H1400 is connected to the electric wiring board H130.
0 and the printing element substrate H1100 are held so that the electrical wiring substrate H1300 is electrically connected. The electric wiring substrate H1300 applies an electric signal for discharging ink to the recording element substrate H1100.
It has an electric wiring corresponding to the printing element substrate H1100, and an external signal input terminal H1301 located at the end of the electric wiring for receiving an electric signal from the main body. The external signal input terminal H1301 is described later. Tank holder H
It is positioned and fixed on the back side of the 1500.

On the other hand, a flow path forming member H1600 is ultrasonically welded to a tank holder H1500 for detachably holding the ink tank H1900.
An ink flow path H1501 extending from 900 to the first plate H1200 is formed. Also, the ink tank H19
A filter H1700 is provided at the ink tank side end of the ink flow path H1501 that engages with 00, so that dust can be prevented from entering from the outside. In addition, a seal rubber H1800 is attached to an engagement portion with the ink tank H1900, so that evaporation of ink from the engagement portion can be prevented.

Further, as described above, the tank holder H1
500, flow path forming member H1600, filter H170
And a tank element comprising a recording element substrate H1100, a first plate H1200, an electric wiring substrate H1300, and a second plate H1400, which are joined together by bonding or the like. This constitutes the recording head H1001.

(Carriage) Next, the carriage M4001 will be described with reference to FIG.

As shown in the drawing, the carriage M4001 is engaged with the carriage M4001 and
A carriage cover M4002 for guiding the carriage 1 to the mounting position of the carriage M4001, and a recording head H1001.
Head H10 engaged with the tank holder H1500
And a head set lever M4007 for pressing the 01 to a predetermined mounting position. That is, the head set lever M4007 is
01 is provided so as to be rotatable with respect to the head set lever shaft, and a head set plate (not shown) is provided at an engagement portion with the recording head H1001 via a spring. And is mounted on the carriage M4001 while pressing.

The recording head H of the carriage M4001
A contact flexible printed cable (hereinafter, referred to as a contact FPC) is provided at another engagement portion with the contact portion 1001. The contact portion on the contact FPC E0011 and the contact portion (external signal input terminal) H1301 provided on the recording head H1001 are provided. And make electrical contact,
It can send and receive various kinds of information for recording, supply power to the recording head H1001, and the like.

Here, an elastic member such as rubber (not shown) is provided between the contact portion E0011a of the contact FPC E0011 and the carriage M4001, and the contact portion is formed by the elastic force of the elastic member and the pressing force of the headset lever spring. E0011a and carriage M40
01 can be surely contacted. Further, the contact FPC E0011 has a carriage M
Carriage substrate E0013 mounted on the back of 4001
(See FIG. 7).

[Scanner] The printer in this embodiment can be used as a reading device by replacing it with a scanner showing a recording head.

This scanner moves together with the carriage on the printer side and reads the original image fed in place of the recording medium in the sub-scanning direction. The reading operation and the original feeding operation are alternately performed. , The image information of one document is read.

FIG. 6 is a diagram showing a schematic configuration of the scanner M6000.

As shown, the scanner holder M6001
Has a box shape, and contains therein an optical system and a processing circuit necessary for reading. When the scanner M6000 is mounted on the carriage M4001, a scanner reading lens M
Reference numeral 6006 is provided, from which a document image is read. The scanner illumination lens M6005 has a light source (not shown) inside, and the light emitted from the light source irradiates the original.

A scanner cover M6003 fixed to the bottom of the scanner holder M6001 is fitted so as to shield the inside of the scanner holder M6001 from light, and the carriage M4001 is provided by a louver-shaped grip provided on a side surface.
The operability of attaching / detaching to / from is improved. Scanner holder M
The external shape of the print head 6001 is substantially the same as that of the print head H1001, and can be attached to and detached from the carriage M4001 by the same operation as the print head cartridge H1000.

The scanner holder M6001 accommodates a substrate having the processing circuit, and a scanner contact PCB connected to the substrate is provided so as to be exposed to the outside. The scanner M6000 is mounted on the carriage M4001. When attached, the scanner contact P
The CB M6004 comes into contact with the contact FPC E0011 on the carriage M4001 side to electrically connect the substrate to a control system on the main body side via the carriage M4001.

Next, an electric circuit configuration according to the embodiment of the present invention will be described. FIG. 7 is a diagram schematically showing an overall configuration of an electric circuit in this embodiment.

The electric circuit in this embodiment mainly includes a carriage substrate (CRPCB) E0013 and a main PC.
B (Printed Circuit Board) E0014, power supply unit E0015 and the like. Here, the power supply unit is connected to the main PCB E0014 and supplies various driving powers. Also,
The carriage substrate E0013 includes a carriage M4001.
(FIG. 2) is a printed circuit board unit, which functions as an interface for transmitting and receiving signals to and from a recording head through a contact FPC E0011, and also includes an encoder sensor E as the carriage M4001 moves.
A change in the positional relationship between the encoder scale E0005 and the encoder sensor E0004 is detected based on the pulse signal output from the 0004, and the output signal is output to the main PCB E0014 via a flexible flat cable (CRFFC) E0012.

Further, a main PCB is a printed circuit board unit for controlling the driving of each part of the ink jet recording apparatus in this embodiment, and includes a paper end detection sensor (PE sensor) E0007, an ASF sensor E0009, a cover sensor E0022, a parallel interface (parallel interface). I
/ F) E0016, serial interface (serial I / F) E0017, resume key E0019, L
ED E0020, power key E0018, buzzer E00
I / O ports for 21 etc. on the board
In addition to being connected to the R motor E0001, the LF motor E0002, and the PG motor E0003 to control their driving,
Ink end sensor E0006, GAP sensor E000
8, PG sensor E0010, CRFFC E0012,
It has a connection interface with the power supply unit E0015.

FIG. 8 is a block diagram showing the internal configuration of the main PCB. In the figure, E1001 is a CPU, and this CPU E1001 has an oscillator OSC inside.
E1002 is connected to the oscillation circuit E1005 and generates a system clock by the output signal E1019. Also, RO through the control bus E1014
ME1004 and ASIC (Application Specific
Integrated Circuit) ROM connected to E1006
ASIC control, an input signal E1017 from the power key, an input signal E1016 from the resume key, and a cover detection signal E104 in accordance with the program stored in the
2. The state of the head detection signal (HSENS) E1013 is detected, and the buzzer signal (BUZ) E1018
Drives the buzzer E0021 to detect the state of the ink end detection signal (INKS) E1011 and the thermistor temperature detection signal (TH) E1012 connected to the built-in A / D converter E1003, and various other logical operations and conditions. It makes decisions and controls the drive of the inkjet recording apparatus.

Here, the head detection signal E1013 is transmitted from the print head cartridge H1000 to the flexible flat cable E0012, the carriage board E0013, and the contact flexible print cable E0011.
The ink end detection signal is an analog signal output from the ink end sensor E0006, and a thermistor temperature detection signal E10.
Reference numeral 12 denotes an analog signal from a thermistor (not shown) provided on the carriage substrate E0013.

E1008 is a CR motor driver which uses a motor power supply (VM) E1040 as a drive source and
CR motor control signal E1036 from IC E1006
Generates a CR motor drive signal E1037 according to
The R motor E0001 is driven. E1009 is LF / P
A G motor driver that uses a motor power supply E1040 as a drive source, generates an LF motor drive signal E1035 according to a pulse motor control signal (PM control signal) E1033 from the ASIC E1006, and thereby drives the LF motor and the PG motor A drive signal E1034 is generated to drive the PG motor.

E1010 is a power supply control circuit,
In accordance with a power control signal E1024 from CE1006, power supply to each sensor having a light emitting element is controlled.
Parallel I / F E0016 is ASIC E1006
I / F signal E1030 is transmitted to an externally connected parallel I / F cable E1031, and the signal of the parallel I / F cable E1031 is transmitted to an ASIC.
It transmits to E1006. Serial I / F E0017
Is the serial I / F signal E from the ASIC E1006.
1028 is transmitted to the serial I / F cable E1029 connected to the outside, and the signal from the cable E1029 is transmitted to the ASIC E1006.

On the other hand, from the power supply unit E0015, a head power supply (VH) E1039 and a motor power supply (V
M) E1040 and a logic power supply (VDD) E1041 are supplied. Also, the head power ON signal (VHON) E1022 from the ASIC E1006 and the motor power O
N signal (VMOM) E1023 is the power supply unit E001
5 to control ON / OFF of the head power supply E1039 and the motor power supply E1040, respectively. Logic power (VDD) supplied from power supply unit E0015
E1041 is supplied to various parts inside and outside the main PCB E0014 after voltage conversion as necessary.

The head power supply E1039 is connected to the main PC
After being smoothed on BE0014, it is sent out to the flexible flat cable E0011 and used for driving the print head cartridge H1000. E1007 is a reset circuit which detects a decrease in the logic power supply voltage E1040 and outputs a reset signal to the CPU E1001 and the ASIC E1006.
Is supplied with a reset signal (RESET) E1015 to perform initialization.

The ASIC E1006 is a one-chip semiconductor integrated circuit.
It is controlled by the U E1001 and outputs the above-mentioned CR motor control signal E1036, PM control signal E1033, power control signal E1024, head power ON signal E1022, motor power ON signal E1023, etc., and outputs the parallel I / F E0016 and serial I / F. F E0017
, A PE detection signal (PES) E1025 from the PE sensor E0007, an ASF sensor E
ASF detection signal (ASFS) E102 from 0009
6. The GAP detection signal (G
APS) E1027, PG from PG sensor E0007
The state of the detection signal (PGS) E1032 is detected, and data representing the state is sent to the CPU via the control bus E1014.
E1001 and based on the input data,
The EE1001 controls the driving of the LED driving signal E1038 to blink the LEDE0020.

Further, the encoder signal (ENC) E10
20 is detected to generate a timing signal, and the printhead cartridge H100 is generated by the head control signal E1021.
The interface with 0 controls the recording operation. Here, the encoder signal (ENC) E1020 is an output signal of the CR encoder sensor E0004 input through the flexible flat cable E0012. The head control signal E1021 is transmitted to the flexible flat cable E0012 and the carriage board E001.
3 and a contact FPC E0011 to the print head H1000.

FIG. 9 is a block diagram showing the internal configuration of the ASIC E1006.

In the figure, the connection between the blocks shows only the flow of data related to the control of the head and the mechanical components such as recording data and motor control data, and the registers built in each block. Control signals and clocks related to reading and writing of the data, control signals related to DMA control, and the like are omitted to avoid complication in the drawings.

In the figure, reference numeral E2002 denotes a PLL. As shown in FIG. 9, a clock signal (CLK) E2031 output from the CPU E1001 and a PLL control signal (P
LLON) E2033 generates a clock (not shown) to be supplied to most of the ASIC E1006.

E2001 is a CPU interface (CPU I / F), and a reset signal E1015,
Soft reset signal (PDWN) E2032 and clock signal (CLK) E2 output from CPU E1001
031 and a control signal from the control bus E1014,
Control of register read / write for each block as described below, supply of a clock to some blocks, acceptance of an interrupt signal, etc. (all not shown) are performed, and an interrupt signal (IN) is sent to the CPU E1001.
T) Output E2034 to notify the occurrence of an interrupt in ASIC E1006.

E2005 is a DRAM, and as a data buffer for recording, a reception buffer E2010,
Work buffer E2011, print buffer E201
4. It has various areas such as a data buffer E2016 for development and a motor control buffer E for motor control.
2023. Further, as buffers used in the scanner operation mode, there are areas such as a scanner fetch buffer E2024, a scanner data buffer E2026, and a transmission buffer E2028 instead of the above-described recording data buffers.

The DRAM E2005 has a CP
It is also used as a work area necessary for the operation of the EU 1001. That is, E2004 is a DRAM control unit, which is provided from the CPU E1001 by the control bus to the DRAM
Access to E2005 and DMA control unit E described later
Switching from access to the DRAM E2005 from 2003 is performed to perform a read / write operation to the DRAM E2005.

The DMA control unit E2003 receives a request (not shown) from each block, and receives an address signal, a control signal (not shown), and write data (E2038, E2041, E2044, E2044) in the case of a write operation.
2053, E2055, and E2057) are output to the RAM control unit to perform DRAM access. In the case of reading, read data (E2040, E2043, E2045, E2040) from the DRAM control unit E2004 is read.
51, E2054, E2056, E2058, E205
9) is passed to the requesting block.

E2006 is 1284 I / F, and CPU E10 via CPU I / F E2001
01, a bidirectional communication interface with an external host device (not shown) is performed through the parallel I / F E0016, and the parallel I / F E0 is used during recording.
Reception data (PIF reception data E203)
6) is transferred to the reception control unit E2008 by the DMA processing, and the DRAM E2005 is read when the scanner is read.
The data (12) stored in the transmission buffer E2028
84 transmission data (RDPIF) E2059) to the parallel I / F by DMA processing.

E2007 is a USB I / F, and CPU
Under the control of the CPU E1001 via the I / F E2001, a bidirectional communication interface with an external host device (not shown) is performed through the serial I / F E0017, and at the time of printing, data received from the serial I / F E0017 (USB reception data E2037) ) Is transferred to the reception control unit E2008 by the DMA processing, and the transmission buffer E in the DRAM E2005 is read at the time of scanner reading.
2028 (USB transmission data (RD
USB) E2058) by DMA processing
Send to FE0017. The reception control unit E2008 includes:
1284 I / FE 2006 or USB I / FE
The received data (WDIF) E2038 from the selected I / F in 2007 is transferred to the reception buffer controller E2.
039 is written to the reception buffer write address managed. E2009 is a compression / expansion DMA, which is used for CPUI /
Under the control of the CPU E1001 via the FE2001, the reception data (raster data) stored in the reception buffer E2010 is read from the reception buffer read address managed by the reception buffer control unit E2039.
The data (RDWK) E2040 is compressed and decompressed according to the designated mode, and the recording code string (WDWK) E2
The data is written in the work buffer area as 041.

E2013 is a recording buffer transfer DMA,
CPU E1007 via CPU I / F E2001
The control reads the recording code (RDWP) E2043 on the work buffer E2011, rearranges each recording code into an address on the print buffer E2014 suitable for the data transfer order to the print head cartridge H1000, and transfers the data (WDWP E2044). I do. E2012 is a work clear DMA,
Under the control of the CPU E1001 via the PUI / FE 2001, the designated work fill data (WDWF) E2042 is repeatedly written in the area on the work buffer to which the transfer by the recording buffer transfer DMA E2015 has been completed.

E2015 is a print data expansion DMA, which is a CPU E10 via the CPU I / F E2001.
01, the recording code written rearranged on the print buffer and the data for development written on the data buffer for development E2016 are triggered by the data development timing signal E2050 from the head control unit E2018 as a trigger. Read and expanded recording data (RDHDG) E2
045 is generated, and is generated as column buffer write data (WDHDG) E2047.
Write to 17. Here, the column buffer E2017 is
An SRAM for temporarily storing transfer data (expanded print data) to the print head cartridge H1000;
The print data development DMA and the head control unit share and manage the data by a handshake signal (not shown) between the two blocks.

E2018 denotes a head control unit, which is a CPU I /
Under the control of the CPU E1001 via the FE2001, the recording head cartridge H is controlled via a head control signal.
1000 or the interface with the scanner, and based on the head drive timing signal E2049 from the encoder signal processing unit E2019, the print data development D
Output data development timing signal E2050 to MA.

At the time of printing, in accordance with the head drive timing signal E2049, the development print data (RDHD) E2048 is read from the column buffer, and the data is output to the print head cartridge H1000 through the head control signal E1021. In the scanner reading mode, the capture data (WDHD) E2053 input through the head control signal E1021 is transferred to the scanner capture buffer E2 on the DRAM E2005.
No. 024. Reference numeral E2025 denotes a scanner data processing DMA, which reads the capture buffer read data (RDAV) E2054 stored in the scanner capture buffer E2024 under the control of the CPU E1001 via the CPU I / F E2001, and performs processing such as averaging. The finished data (WDAV) E2055 to the scanner data buffer E2 on the DRAM E2005.
026. E2027 is scanner data compression DM
A, CPU E1 via CPU I / F E2001
001 controls the scanner data buffer E202.
6, the processed data (RDYC) E2056 is read out and compressed, and the compressed data (WDYC) E20
57 is transferred to the transmission buffer E2028.

Reference numeral E2019 denotes an encoder signal processing unit which receives an encoder signal (ENC) and receives a signal from the CPU E1.
In addition to outputting the head drive timing signal E2049 in accordance with the mode determined by the control of 001, information relating to the position and speed of the carriage M4001 obtained from the encoder signal E1020 is stored in a register.
1001. The CPU E1001 determines various parameters in controlling the CR motor E0001 based on this information. E2020 denotes a CR motor control unit, which is a CPU via a CPU I / F E2001.
By the control of E1001, the CR motor control signal E103
6 is output.

E2022 is a sensor signal processing unit which receives each detection signal output from the PG sensor E0010, PE sensor E0007, ASF sensor E0009, GAP sensor E0008, etc., and according to the mode determined by the control of the CPU E1001. CPU information of CPU
E1001 and LF / PG motor controller D
The sensor detection signal E2052 is output to the MA E2021.

LF / PG motor control DMAE2021
Is the CPU E10 via the CPU I / F E2001
01, reads a pulse motor drive table (RDPM) E2051 from a motor control buffer E2023 on the DRAM E2005 and outputs a pulse motor control signal E. In addition, depending on an operation mode, the pulse motor is used as a control trigger by the sensor detection signal. Control signal E
1033 is output. Reference numeral E2030 denotes an LED control unit which controls the CPU E via the CPU I / F E2001.
Under the control of 1001, an LED drive signal E1038 is output. Further, E2029 is a port controller, and C20
A head power ON signal E1022, a motor power ON signal E1023, and a power control signal E1024 are output under the control of the CPU E1001 via the PUI / FE 2001.

Next, the operation of the ink jet recording apparatus according to the embodiment of the present invention configured as described above will be described with reference to FIG.
This will be described with reference to the flowchart of FIG.

When this device is connected to the AC power supply,
In step S1, a first initialization process of the device is performed. In this initialization process, an electric circuit system check such as a check of the ROM and RAM of the present apparatus is performed to confirm whether the present apparatus can be normally operated electrically.

Next, in step S2, the apparatus main body M100
0 power key E001 provided on the upper case M1002.
8 is turned on, and the power key E00
If the button 18 has been pressed, the process moves to the next step S3, where a second initialization process is performed.

In the second initialization processing, various drive mechanisms and a head system of the apparatus are checked. That is,
When initializing various motors and reading head information, confirm that the device can operate normally.

Next, in step S4, an event is waited. That is, the apparatus monitors command events from the external I / F, panel key events due to user operations, internal control events, and the like, and executes a process corresponding to the event when these events occur.

For example, if a print command event is received from the external I / F in step S4, the process proceeds to step S5, and if a power key event is generated by a user operation in the same step, the process proceeds to step S10. The process proceeds to step S11 when another event occurs in the same step. Here, in step S5, a print command from the external I / F is analyzed, and the designated paper type,
The paper size, print quality, paper feeding method, and the like are determined, data representing the determination result is stored in the RAM E2005 in the apparatus, and the process proceeds to step S6. Next, in step S6, sheet feeding is started by the sheet feeding method designated in step S5, the sheet is fed to a recording start position, and the process proceeds to step S7. In step S7, a recording operation is performed. In this recording operation, the recording data sent from the external I / F is temporarily stored in the recording buffer, and then stored in the CR motor E0001.
To start the movement of the carriage M4001 in the scanning direction, and supply the print data stored in the print buffer E2014 to the printhead H1001 to print one line, and print one line of print data. When the recording operation is completed, the LF motor E0002 is driven, and the LF roller M3001 is rotated to feed the sheet in the sub-scanning direction.
Thereafter, the above operation is repeatedly performed, and when the recording of one page of recording data from the external I / F is completed, the process proceeds to step S8.

In step S8, the LF motor E0002
Is driven to drive the paper discharge roller M2003, and the paper feeding is repeated until it is determined that the paper is completely fed out of the apparatus. When the paper is completely discharged, the paper is completely discharged onto the paper discharge tray M1004a. Becomes

Next, in step S9, it is determined whether or not the recording operation of all the pages to be recorded has been completed. If the pages to be recorded remain, the process returns to step S5. The operations from S5 to S9 are repeated,
When the recording operation of all pages to be recorded is completed, the recording operation ends, and thereafter, the process shifts to step S4 to wait for the next event.

On the other hand, in step S10, a printer termination process is performed to stop the operation of the present apparatus. That is, in order to turn off the power of various motors and heads, the state is shifted to a state where the power can be turned off, and then the power is turned off and step S4
Go to and wait for the next event.

In step S11, other event processing other than the above is performed. For example, a process corresponding to a recovery command from various panel keys or an external I / F of the apparatus or a recovery event generated internally is performed. After the process is completed, the process proceeds to step S4 and waits for the next event.

(Embodiment 1) Control of the carriage motor in the printing apparatus having such a configuration will be described.

As described above, the carriage M4001 is
CR motor control signal E10 from ASIC E1006
Motor drive signal E1037 generated in accordance with G.36
The drive source is a carriage motor E0001 driven by the drive.

FIG. 11 is a graph showing changes in the command speed and command position of the carriage M4001.

The carriage M4001 is in an accelerated state in which the carriage M4001 is accelerated from a stopped state to a predetermined constant speed, and recording is performed by ejecting ink droplets from a recording head H1001 mounted on the carriage M4001 and guided to a platen M2001 of the recording apparatus. There are three main states: a constant speed state in which printing is performed on a sheet, and a deceleration state in which the carriage M4001 decelerates to stop at a predetermined position. Here, processing for performing drive scanning of the carriage M4001 is performed by the CPU E.
1001. This is performed periodically at every predetermined timing such as 1 ms. In addition, the position where the acceleration state is set is referred to as an acceleration position, and the time during which the acceleration state is set is referred to as an acceleration time. In addition, the deceleration position is the deceleration position,
The time during which the vehicle is in the deceleration state is defined as the deceleration time.

The position at which the carriage M4001 must finally reach in one scan is defined as the arrival position XT.
The scanning speed in the changed state when printing on a printing medium is referred to as the reaching speed VT.

FIG. 12 is a diagram schematically showing the control of the carriage motor E0001.

A speed and position command value calculation processing unit 1 for calculating a speed and position command value of the carriage M4001, and a position control processing unit 2 for controlling the position of the carriage M4001
And a speed control processing unit 3 for controlling speed, and a value suitable for an input value of a CR motor driver E1008 for driving the carriage motor E0001, which is calculated from each of the position control processing unit 2 and the speed control processing unit 3. And a motor control process 4 for converting to

In this embodiment, the carriage M400
The position and speed information of 1 is detected based on the encoder sensor E0004 and the encoder scale E0005,
The detected information is stored in the DRAM E2005 as needed. Also, the stored information is transferred to the CPU.
E1001 is a mechanism for acquiring at each processing timing of the feedback processing shown in FIG.

The command value calculation processing section 1 calculates a command speed and a command position with respect to a predetermined timing as shown in the graph of FIG.

FIG. 13 is a flowchart showing the flow of the calculation process.

First, whether the carriage M4001 is in the acceleration, constant speed, or deceleration state is determined.
It is determined from the measurement result of the encoder sensor E0004 attached to the camera (step 10).

When the vehicle is in an accelerating state, the arrival speed VT and
The acceleration is obtained from the distance to the end of the acceleration state (acceleration distance) or the acceleration time. The obtained acceleration and a predetermined initial speed VS are input, and the command speed V is calculated from these values.
Is calculated (step 11). The carriage M4
In order to scan 001 smoothly, the command speed V is calculated so that the speed in the accelerated state changes in a cubic function with respect to the time axis.

If the vehicle is in the constant speed state, the reaching speed VT is set to the command speed V (step 12).

When the vehicle is in the deceleration state, the arrival speed VT and
The acceleration is obtained from the distance (deceleration distance) from the arrival position XT or the deceleration time. The commanded speed V is calculated by subtracting the obtained acceleration from the reached speed VT (step 13).

The command position X is calculated by adding the value obtained by multiplying the command speed V thus obtained by the processing timing period T at each processing timing of the CPU E1001 (step 14). Note that (t) indicates a value at the processing timing, and (t-1) indicates a value at the previous processing timing. In this way, the command value calculation processing section 1 calculates the command speed V and the command position X at each predetermined timing, and outputs these values.

The position control processing unit 2 calculates an error between the command position X calculated by the command value calculation unit 1 and the actual position x of the carriage M4001 driven by a series of feedback control, that is, a position error XE. , The control amount Vc is obtained from the position error XE. At this time, the actual position x of the carriage M4001 is determined by the carriage motor E000 calculated at the previous timing of executing the position control process.
The result is based on the output to No. 1 and is indicated by adding a subscript (t-1). Further, the position control process of this embodiment is a process executed when the carriage M4001 shifts to the deceleration state, and is not executed in the acceleration state or the constant speed state. At this time, the processing result by the position control processing unit 2 is directly input to the motor control processing unit 4 without passing through the speed control processing unit 3. Here, the determination that the vehicle has shifted to the deceleration state is determined by the
001, a position at which deceleration is started from a preset deceleration distance is obtained, and the encoder scale E indicates that the carriage has moved to the deceleration start position.
0005 and the time when it is detected by the encoder sensor E0004.

FIG. 14 is a flowchart showing the flow of the processing of the position control processing section 2.

From the command position X (t), the carriage M400
1 is subtracted from the actual position x (t-1), and the position error XE
(T) is calculated (step 21). Next, carriage M
It is determined from the detection results of the encoder scale E0005 and the encoder sensor E0004 whether or not 4001 is at the position where deceleration starts or is in the middle of deceleration (step 22). XE (t) is reset (step 23). If it is not the deceleration start position, the process proceeds to step S24. In other words, between the start of driving of the carriage M4001 and the transition to the deceleration state, there is an error between the command position X and the actual carriage position x with respect to the time axis, and the actual carriage position x follows the command position X with a delay. As a result, at the timing when the carriage M4001 shifts to deceleration, a position error XE occurs. Therefore, at the deceleration start position, as shown in step 23, the position error XE is reset once, and the command position X (t) is assumed to be equal to the actual position x (t) of the carriage M4001 at this timing. Next, by dividing the error XE (t) by the cycle T and multiplying the quotient by the position control constant P, the speed control amount Vc (t) is obtained.
Is calculated (step 24). The speed control amount Vc (t) calculated by the position control processing unit 2 in this manner is
The processing by the speed control processing unit 3 is directly input to the motor control processing unit 4 without being performed. Then, a carriage motor driver E that drives the carriage motor E0001
It is converted into a signal suitable for input to 1008.

The speed control processing unit 3 includes a carriage M400
A process for controlling the speed during one scan is performed. This process is used when the carriage M4001 is in an accelerated state or a constant speed state, and is not used in a decelerated state. This process is a well-known PID control process, and is performed based on an error between the command speed and the actual speed.

FIG. 15 is a flowchart showing the flow of the processing of the speed control processing section 3.

The speed control processing section 3 is executed in the acceleration state and the constant speed state. As described above, the speed control amount Vc (t) obtained by the position control processing unit 2 is directly applied to the motor control processing unit 4.
Is input to Therefore, the speed control processing unit 3 regards the command speed V (t) as a speed control amount and executes the following processing.

First, a speed error VE (t) is calculated by subtracting the actual speed v (t-1) of the carriage M4001 from the command speed V (t) (step 31). The actual speed v (t-1) of the carriage M4001 is the result of driving the carriage motor E0001 in the previous process. The differential control amount vd (t) and the filter control amount vf are determined based on the speed error VE (t) thus obtained.
(T), the integral control amount vi (t) is calculated.

First, the velocity error VE obtained in step 31
The difference between (t) and VE (t-1) calculated in the previous process is obtained, and the difference multiplied by a preset differential control constant Kd is used as the differential control amount vd (t) (step 3).
2). That is, the differential control amount vd (t) is equal to the speed error VE.
This is an amount corresponding to the time change of (t).

On the other hand, the speed error VE obtained in step 31
The difference between (t) and vf (t-1) calculated in the previous process is multiplied by the filter control constant Kf, and the result is used to calculate the speed error V
The value obtained by adding E (t) is set as a filter control amount vf (t) (step 33). This filter control amount vf (t)
Is used to calculate the integral control amount vi (t) in step 34. Thus, once the filter control amount vf (t) is obtained, the frequency component reflected on the speed error VE (t) can be changed according to the value of the preset filter control constant Kf. For example, assuming that the processing in the speed control processing unit 3 is executed at a timing of 1 ms, if this filter processing is not performed, a change up to 1 kHz is reflected in the speed error VE (t) calculated in step 31. Is done. However, if the filter processing is performed, the reflected frequency can be set to 1 kHz or less.

The filter control amount vf thus obtained
After adding (t) and vf (t-1) calculated in the previous process, the integral control constant vi is multiplied by a preset integral control constant Ki (step 34). That is, the integral control amount vi (t) is equal to the filter control amount vf.
The value obtained by adding (t) for each processing timing is multiplied by the integral control constant Ki. The differential control amount vd (t), the filter control amount vf (t), and the integral control amount vi (t) obtained in this manner are added, and the result is multiplied by a preset proportional control constant to obtain speed control. The value is output as Vc (t) (step 35). It should be noted that the speed control amount Vc (t) obtained here is the same as the carriage motor E00
01 for driving the carriage motor 01
Since the value is not a value suitable for 08, it is converted into a motor control amount M suitable for the motor driver E1008 by the motor control processing 4. The carriage M4001 is driven and scanned according to the result.

Thus, the position control amount xc (t) in the position control processing unit 2 and the speed control amount Vc in the speed control processing unit 3
(T) are obtained, and each of them is converted into a motor control amount M by the motor control processing unit 4, and the carriage M400
1 is controlled to scan appropriately.

Next, the flow of processing of the entire printing operation will be described focusing on these carriage controls.

FIG. 16 is a flow chart showing the outline of the recording operation.
0 and FIG. 18).

When a recording start command is input from a host computer or the like via an external I / F, the carriage M40
It is determined whether or not the initial processing of 01 is necessary (step 401), and if necessary, the initial processing is performed (step 402). If it is determined that the initial processing is necessary, an error such as a case where the specification of the recording conditions such as the type of the recording medium and the recording quality is different from the previous specification by the host computer or the like or that the recording medium cannot be fed at the time of recording. This is the case when recording occurs after a condition has occurred and this error condition has been cleared. In other cases, it is assumed that the initialization processing has been executed in step 2 in FIG. 10, and the initial processing in step 402 is not executed. The initial processing in step 402 is performed as follows. First, the CPUE1001 sets the current position of the carriage M4001 to the position of the treatment, and further sets the carriage M4001.
Set the arrival position of. For example, here, the carriage M
It is assumed that the current position of 4001 is set to a value exceeding the maximum movable distance of the carriage M4001, and the arrival position is set to 0. After the arrival position is set, when the series of feedback control described with reference to FIG. 12 is executed, the carriage M4001 is moved to the recovery unit M5000.
The carriage M4001 is driven to the side, contacts the inner side surface of the chassis M3019 on the recovery system unit M5000 side before reaching the previously set arrival position, and the scanning of the carriage M4001 is blocked. When the scanning of the carriage M4001 is stopped, the position of the carriage M4001 detected by the encoder sensor E0004 does not change.
1001 determines that the carriage M4001 is in a stopped state. When recognizing that the carriage M4001 is in a stopped state at each processing timing, the CPU E1001 determines that the carriage M4001 is in contact with the side of the chassis, and sets this position as the home position of the carriage M4001. This setting transition is performed on the carriage M
A position of the carriage M4001 is detected by a detection signal detected by the encoder sensor E0004 and the encoder scale E0005 in accordance with the scanning of the 4001.

As described above, when the initial processing is required, the initial processing is executed, and then the carriage M4
It is determined whether or not the recording head H1001 mounted on the 001 is in a capping state covered with a cap (not shown) of the recovery system unit M5000 (step 403). If in the capping state, PG
The motor E0003 is driven, and the cap is moved to the recording head H1.
A cap open process for releasing from 001 is performed (step 404).

Next, it is determined whether or not preliminary ejection is necessary (step 405). If pre-dispensing is required,
The carriage M4001 is moved to a preliminary ejection port M2001b provided in the platen M2001 or a preliminary ejection port (not shown) provided in the recovery system unit, and ink is ejected in a state where the ejection ports face these preliminary ejection ports ( Step 406). The drive scanning process of the carriage at this time is also performed according to the feedback control shown in FIG. Note that the selection of the preliminary ejection port is properly used depending on the ejection amount or the like. When the amount of ink to be ejected is large, the preliminary ejection port M2001b on the platen M2001 is selected.

Next, it is determined whether or not there is a sheet in the transport unit M3029 in the recording apparatus (step 40).
7). If it is determined that there is paper, it is determined that manual paper feeding is to be performed (step 408).
On the other hand, if it is determined that there is no paper, the automatic feeding unit M3
In step 409, it is determined that the sheet is fed, and the sheet feeding operation is performed. First, the PG motor E0003 is driven to rotate a paper feed roller (not shown) to rotate the automatic feeding unit M
Paper is fed from 3022, and when the leading edge of the paper is fed by a predetermined amount and reaches the contact point between the pinch roller M3014 and the LF roller M3001, the LF motor is driven to rotate the LF roller M3001. Then, it is determined whether or not the sheet is set at the recording start position (step 41).
0) If it has not reached the recording start position, the process returns to step 409 to repeat the sheet feeding operation. If the paper has reached the recording start position, the CPU E1001 sets the arrival position of the carriage M4001 (step 4).
11). Then, the driving of the carriage M4001 is started based on the feedback control as shown in FIG. 12 (step 412). When the carriage M4001 reaches the recording start position, a recording signal is transmitted to the recording head H1001, and ink droplets are ejected from the ejection ports in accordance with the recording signal, and recording is performed. When the carriage M4001 reaches the arrival position (Step 413), the LF roller M3001 is rotated by a predetermined amount, and the paper is fed. When the paper feeding operation is completed (step 414), the processing from step 411 is repeated until the recording of the recording data is completed. When the recording operation is completed (Step 415), the recording-completed sheet is discharged to the discharge tray M1004 (Step 416), and the recording operation is completed.

As described above, since the actual speed and position of the carriage M4001 are detected using the encoder sensor and the encoder scale, and the control is performed based on the detection result, the control changes from speed control to position control. You can know exactly when to do. Therefore, the scanning state is not unstable even at the changing point.

FIG. 17 is a graph showing the speed and position of the carriage when the feedback control of this embodiment is applied. In this manner, the fluctuation of the carriage speed at the deceleration start timing can be eliminated.

As described above, since the speed of the carriage does not suddenly increase, there is no deterioration in the recording quality even when recording is performed in a decelerated state. Further, smooth driving can be realized without generating abnormal noise or the like. In addition, by executing the speed control processing in the acceleration and constant speed states and executing only the position control processing in the deceleration state, the carriage can be stably scanned, and the burden on the CPU executing the control processing is reduced. can do.

Note that the method of calculating the command speed and command position in the feedback control process and the method of the speed control process are not limited to the method of the present embodiment, and various other methods may be applied. Also, regarding the reset of the position error at the start of the position control process, an appropriate value may be set by not only resetting the position error to 0, but also combining it with a position control constant or another control constant. In addition, the command speed shown in the present embodiment is an example, and accelerates in a curved line.
The setting is not limited to the setting of linearly decelerating.

In the description so far, a case has been described in which printing is performed by mounting the print head cartridge H1000 on the carriage. However, the scanner M6000 shown in FIG.
Needless to say, it is used in the same manner when the camera is mounted.

(Others) In the present invention, the carriage and the carriage motor are used as control objects. However, the present invention is not limited to this. The present invention is applicable to any control object that performs speed control processing and position control processing. . For example, the present invention may be applied to control of a motor incorporated in a transport device or a processing device.

One form of the recording head in which the present invention is effectively used is a form in which bubbles are formed in a liquid by using heat energy generated by an electrothermal converter to cause film boiling.

[0130]

According to the present invention, when the carriage is in an accelerating state or a constant speed state, a speed error between the speed detected by the speed detecting means and a predetermined command speed to be achieved by the carriage is obtained. Controlling the driving of the driving means in accordance with the speed error, and when the carriage is in a decelerating state, finds a position error between a position detected by the position detecting means and a predetermined command position to be achieved by the carriage. By controlling the driving of the driving means in accordance with the position error, and at the changing point where the acceleration, constant speed state, and deceleration state are switched, the position error is controlled to be 0, and the carriage of the printing apparatus is controlled. In motor control for driving, stable control can be performed at the timing when the control changes from speed control to position control.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating an external configuration of an inkjet printer according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the state shown in FIG. 1 with an exterior member removed.

FIG. 3 is a perspective view showing a state in which the recording head cartridge used in the embodiment of the present invention is assembled.

FIG. 4 is an exploded perspective view showing the recording head cartridge shown in FIG.

FIG. 5 is an exploded perspective view of the recording head shown in FIG. 4 as viewed obliquely from below.

FIG. 6 is a perspective view showing a scanner cartridge according to the embodiment of the present invention.

FIG. 7 is a block diagram schematically showing an overall configuration of an electric circuit according to the embodiment of the present invention.

FIG. 8 is a block diagram showing an internal configuration of a main PCB shown in FIG.

FIG. 9 is a block diagram showing the internal configuration of the ASIC shown in FIG.

FIG. 10 is a flowchart showing the operation of the embodiment of the present invention.

FIG. 11 is a graph showing a command position and a command speed of the carriage with respect to time.

FIG. 12 is a block diagram illustrating a feedback control processing unit according to the present invention.

FIG. 13 is a flowchart illustrating calculation processing of a command speed and a command position.

FIG. 14 is a flowchart illustrating a position control process.

FIG. 15 is a flowchart illustrating a speed control process.

FIG. 16 is a flowchart showing the flow of a recording operation.

FIG. 17 is a graph showing actual speed, position, command speed, and command position when the present invention is applied.

FIG. 18 is a perspective view showing a pinch roller and the like.

FIG. 19 is a graph showing actual speed, position, command speed, and command position in a conventional recording apparatus.

[Explanation of symbols]

 M1000 Device main body M2003 Discharge roller M3001 LF roller M3019 Chassis M3022 Automatic feeding unit M3029 Conveying unit M3030 Discharge unit M4001 Carriage M4002 Carriage cover M4007 Headset lever M4021 Carriage shaft M5000 Recovery system unit M6000 Scanner E0004 Encoder Scanner E0004 Encoder encoder E0006 Ink end sensor E0011 Contact FPC (flexible flexible cable) E0012 CRFFC (flexible flat cable) E0013 Carriage board E0014 Main board E1001 CPU E1002 OSC (Oscillator with built-in CPU) E1003 A / D (A / D converter with built-in CPU) E1004 ROM E1005 Oscillation circuit E1006 ASIC E1007 Reset circuit E1008 CR motor driver E1009 LF / PG motor driver E1010 Power supply control circuit E2004 DRAM control unit E2005 DRAM E2019 Encoder signal processing unit 1 Command value calculation processing unit 2 Position control processing unit 3 Speed Control processing unit 4 Motor control processing unit

Continued on the front page F term (reference) 2C062 KA03 2C480 CA01 CA31 CA33 CB02 EA02 EA05 EA06 EA08 EA12 EA14 EC06 EC14 5H550 AA10 AA15 BB05 BB08 DD01 FF04 GG01 GG03 JJ03 JJ17 JJ22 JJ23 JJ26 LL07

Claims (12)

[Claims] 1. A motor control device for controlling the operation of a motor or the operation of a control target connected to the motor, a speed detection unit detecting a speed of the motor or the control target, and detecting a position of the control target. Determining a speed error between a speed detected by the speed detecting device and a predetermined command speed to be achieved by the motor or the controlled object, and controlling the driving of the motor according to the speed error Speed control means, a position control means for obtaining a position error between a position detected by the position detection means and a predetermined command position to be achieved by the control target, and controlling the driving of the motor according to the position error; At a predetermined timing, the position control means controls the driving of the motor by changing the calculated position error. Apparatus. 2. When the speed of the motor or the control target is in an acceleration state or in a constant speed state, the speed control unit is executed, and the speed of the motor or the control target is in a deceleration state. 2. The motor control according to claim 1, wherein the position control unit is executed, and the predetermined timing is a timing at which the execution of the speed control unit and the execution of the position control unit are switched. apparatus. 3. The motor control device according to claim 1, wherein the position control unit sets the value of the position error to 0 at the predetermined timing. 4. A motor control method for controlling the operation of a motor or the operation of a control object connected to the motor, a speed detection step of detecting a speed of the motor or the control object, and detecting a position of the control object. Determining a speed error between the speed detected by the speed detecting step and a predetermined command speed to be achieved by the motor or the control target, and controlling the driving of the motor according to the speed error. Speed control step, to determine the position error between the position detected by the position detection step and a predetermined command position to be achieved by the control target,
And a position control step of controlling the driving of the motor in accordance with the position error. At a predetermined timing, the position control step includes:
A motor control method, wherein the drive of the motor is controlled by changing the calculated position error. 5. When the speed of the motor or the controlled object is in an accelerating state or in a constant speed state, the speed control step is executed, and the speed of the motor or the controlled object is in a decelerating state. 5. The motor control according to claim 4, wherein the position control step is executed, and the predetermined timing is a timing at which the execution of the speed control step and the execution of the position control step are switched. Method. 6. The motor control method according to claim 4, wherein the position control step sets the value of the position error to 0 only at the predetermined timing. 7. A printing apparatus in which a carriage on which a print head is mounted is scanned a plurality of times by facing a print medium by driving a drive unit of the carriage, and printing is performed in accordance with the scanning. Speed detection means for detecting the position of the carriage, a position detection means for detecting the position of the carriage, a speed error between the speed detected by the speed detection means and a predetermined command speed to be achieved by the carriage, the speed error Speed control means for controlling the driving of the driving means in accordance with the position error, and a position error between a position detected by the position detection means and a predetermined command position to be achieved by the carriage is determined. Position control means for controlling the driving of the driving means, wherein at a predetermined timing, the position control means changes the calculated position error Recording apparatus characterized by controlling the driving of the serial drive means. 8. When the speed of the carriage is in an accelerating state or in a constant speed state, the speed control means is executed. When the speed of the carriage is in a decelerating state, the position control means is controlled. The recording apparatus according to claim 7, wherein the predetermined timing is a timing at which the execution of the speed control unit and the execution of the position control unit are switched. 9. The recording apparatus according to claim 7, wherein the position control unit sets the value of the position error to 0 at the predetermined timing. 10. A carriage on which a recording head is mounted,
In a printing method using a printing apparatus that performs scanning a plurality of times facing a printing medium by driving a driving unit of a carriage and performs printing in accordance with the scanning, a speed detection step of detecting a speed of the carriage; A position detecting step of detecting the position of the carriage; obtaining a speed error between a speed detected by the speed detecting step and a predetermined command speed to be achieved by the carriage; and driving the driving unit in accordance with the speed error. A speed control step of controlling the position of the carriage, calculating a position error between a position detected by the position detection step and a predetermined command position to be achieved by the carriage, and controlling the driving of the driving means according to the position error. At a predetermined timing, the position control step includes:
A recording method, wherein the driving in the driving step is controlled by changing the calculated position error. 11. When the speed of the carriage is in an accelerating state or in a constant speed state, the speed control step is executed. When the speed of the carriage is in a decelerating state, the position control step is executed. 11. The recording method according to claim 10, wherein the predetermined timing is a timing at which the execution of the speed control step and the execution of the position control step are switched. 12. The recording method according to claim 10, wherein the position control step sets the value of the position error to 0 only at the predetermined timing.