Abstract: When torque of a DC motor is dropped down to zero at a stop position, force is generated by deformation of a member for transmitting the torque of the DC motor. The force moves the driven body which is in the stopped state, which results in a shift of the driven body from the stop position. Therefore, a process for stopping the driven body is performed according to the amount of shift by an encoder which periodically outputs a pulse signal according to movement of the driven body, a unit for acquiring velocity information and position information of the driven body based on the pulse signal, a controlling unit for controlling a moving unit based on the velocity information and the position information, and a unit for calculating the amount of shift, which is caused by the force generated by the deformation of the member for transmitting the torque, at the stop position of the driven body.

Abstract: A motor control apparatus which can improve detection accuracy of control information and stabilize a control system includes a detector for detecting first pulse information which corresponds to the drive speed of a driven object and second pulse information out of phase with the first pulse information; edge detectors for detecting rising edges and falling edges of the detected first pulse information and second pulse information; edge interval measuring units for measuring edge-to-edge periods using the detected rising edges and falling edges; a calibrator for calibrating the measured edge-to-edge periods with a reference period for driving the driven object at constant speed; a corrector for correcting the first pulse information and second pulse information based on the calibration; and a controller for generating control commands to drive the driven object based on the corrected first pulse information and second pulse information.

Abstract: In controlling a motor in a device which drives a mechanism using the motor as a power source, in executing driving, an ideal profile of the driving is generated in accordance with a target position and a preset initial parameter, driving of the motor is controlled in accordance with the profile, the value of the initial parameter is evaluated at the end of driving, and the value of the initial parameter is changed in accordance with the evaluation result. High-speed accurate position control can be achieved independently of the characteristic of an individual motor to be used.

Abstract: In controlling a motor in a device which drives a mechanism using the motor as a power source, pre-driving of giving a predetermined driving parameter to the motor and driving the mechanism is executed. During the pre-driving, movement of the mechanism is monitored, and a command value to the motor, which is necessary for starting the mechanism, is obtained. Driving of the motor is controlled using feedback using the command value as the initial value of the driving parameter. High-speed accurate position control can be achieved independently of the individual difference in an object to be controlled and the frictional force of the mechanical portion or the difference in use environment.

Abstract: A motor control apparatus which can improve detection accuracy of control information and stabilize a control system includes a detector (601) for detecting first pulse information which corresponds to drive speed of a driven object and second pulse information out of phase with the first pulse information; edge detectors (604 to 607) for detecting rising edges and falling edges of the detected first pulse information and second pulse information; edge interval measuring units (608 to 611) for measuring edge-to-edge periods using the detected rising edges and falling edges; a calibrator for calibrating the measured edge-to-edge periods with a reference period for driving the driven object (615) at constant speed; a corrector for correcting the first pulse information and second pulse information based on the calibration; and controller (613) for generating control commands to drive the driven object based on the corrected first pulse information and second pulse information.

Abstract: In cross control in sub-scanning (LF) and main scanning (CR), to avoid the risk of skew printing and increase the processing speed, a supposed settling time in the next sub-scanning cycle is obtained on the basis of the history information of the sub-scanning settling time of a printing apparatus, and a supposed idle time from the start of the next main scanning driving cycle to the start of printing is obtained on the basis of the history information of the main scanning acceleration required time. It is determined using the supposed settling time and supposed idle time whether cross control in which main scanning driving starts before the end of sub-scanning driving can be executed in next print scanning processing. If it is possible, the time difference from the start of sub-scanning driving to the start of main scanning driving is determined using the supposed settling time and the supposed idle time.

Abstract: An ink-jet printing apparatus, which performs printing by reciprocally scanning a carriage, incorporating a printhead, relative to a print medium, comprises a detection unit for outputting a detection signal in accordance with a predetermined distance of a carriage movement in a carriage scanning direction. In this ink-jet printing apparatus, a timing signal is generated in correspondence with a period of the detection signal; a time interval of the detection signal is timed; a ratio between the time interval of the detection signal and a delay time of the timing signal is stored in a memory as reciprocal registration adjustment information; a delay time of the timing signal is obtained based on the information read out from the memory and the time interval of the detection signal when performing printing in a backward scan; a delay signal obtained by delaying the timing signal is outputted in accordance with the delay time; and the printhead is driven in accordance with the delay signal.

Abstract: A printing apparatus is equipped with a filter mechanism for achieving optimum digital encoder signal filtering so as to realize precise position control, for example. The printing apparatus filters out high-frequency noise overlaying a detection signal generated when detecting the position of a carriage on which a printhead is mounted and reciprocally moved in a first direction in such a way as to reflect the state of movement of the carriage and controls the printhead based on the filtered detection signal from which the noise is filtered out. Further, the printing apparatus may be configured to filter out high-frequency noise overlaying a detection signal generated by detecting a position of a printing medium according to conditions that reflect the state of conveyance by a conveyance mechanism and perform conveyance control of the printing medium based on the noise-filtered detection signal.

Abstract: In a sheet member conveying apparatus having a roller for conveying a sheet member, a motor for driving the roller, a driving transmitter for transmitting a driving force of the motor to the roller, and a detector for detecting position and speed of the roller, control is executed by a step of detecting a periodic speed or torque change of the roller as a period profile, a step of judging a specific phase angle in the period profile as an origin, a step of correlating an offset phase angle having a specific offset from the origin with an optimal suspension phase angle on the period profile, which is a phase angle to suspend the roller, and a step of controlling the suspension phase angle on the period profile at which the roller is suspended to become optimal, thereby suppressing an influence by torque and speed changes of the motor.

Abstract: A recording apparatus includes a conveying mechanism control unit which performs a first processing and a second processing almost simultaneously, when it is detected that a recording medium has reached a stop position. The first processing is to make invalid the output of a servo computing device and make effective the output in accordance with an output-for-stop setting register. The second processing is to generate an auto stop interrupt to inform that the output in accordance with the output-for-stop setting register is made effective. With this configuration, the recording apparatus enables the increase in speed of a stop operation control processing of a DC motor for use in conveying a recording medium and the improvement of the stop position accuracy of the recording medium.

Abstract: The present invention provides an ink jet printing apparatus and method that can print a high-grade image without being affected by a variation in moving speed of a printing head. To accomplish this, an encoder is used which outputs a pulse each time a printing head and a printing medium are moved a specified amount relative to each other. Driving timings with which ink is ejected from the printing head are adjusted depending on the time interval between the pulses.

Abstract: Provided herein is an ink-jet printing apparatus which performs printing by reciprocally scanning a carriage, incorporating a printhead, relative to a print medium and comprises detection means for outputting a detection signal in accordance with a predetermined distance of a carriage movement in a carriage scanning direction. In this ink-jet printing apparatus, a timing signal is generated in correspondence with a period of the detection signal; a time interval of the detection signal is timed; a ratio between the time interval of the detection signal and a delay time of the timing signal is stored in a memory as reciprocal registration adjustment information; a delay time of the timing signal is obtained based on the information read out from the memory and the time interval of the detection signal when performing printing in a backward scan; a delay signal obtained by delaying the timing signal is outputted in accordance with the delay time; and the printhead is driven in accordance with the delay signal.

Abstract: A digital encoder control method of a digital control apparatus has a driving unit, a frequency signal generating unit for generating a pulse signal of a frequency according to a driving velocity of a driven member which is driven by the driving unit, an edge detecting unit for detecting a rising-up edge and a falling-down edge of the pulse signal, and a period data detecting unit for counting period data between edges detected by the edge detecting unit. Each time the edges are detected by the edge detecting unit, the period data between the same edges as the detected edges is outputted as control velocity data of the driving unit.

Abstract: In controlling a motor in a device which drives a mechanism using the motor as a power source, in executing driving, an ideal profile of the driving is generated in accordance with a target position and a preset initial parameter, driving of the motor is controlled in accordance with the profile, the value of the initial parameter is evaluated at the end of driving, and the value of the initial parameter is changed in accordance with the evaluation result. High-speed accurate position control can be achieved independently of the characteristic of an individual motor to be used.

Abstract: In controlling a motor in a device which drives a mechanism using the motor as a power source, pre-driving of giving a predetermined driving parameter to the motor and driving the mechanism is executed. During the pre-driving, movement of the mechanism is monitored, and a command value to the motor, which is necessary for starting the mechanism, is obtained. Driving of the motor is controlled using feedback using the command value as the initial value of the driving parameter. High-speed accurate position control can be achieved independently of the individual difference in an object to be controlled and the frictional force of the mechanical portion or the difference in use environment.

Abstract: In cross control in sub-scanning (LF) and main scanning (CR), to avoid the risk of skew printing and increase the processing speed, a supposed settling time in the next sub-scanning cycle is obtained on the basis of the history information of the sub-scanning settling time of a printing apparatus, and a supposed idle time from the start of the next main scanning driving cycle to the start of printing is obtained on the basis of the history information of the main scanning acceleration required time. It is determined using the supposed settling time and supposed idle time whether cross control in which main scanning driving starts before the end of sub-scanning driving can be executed in next print scanning processing. If it is possible, the time difference from the start of sub-scanning driving to the start of main scanning driving is determined using the supposed settling time and the supposed idle time.

Abstract: A DC motor control method and apparatus for reducing time required for deceleration without degrading positioning accuracy. In a device which drives a mechanism by using a DC motor as a power source, in deceleration of the DC motor, when the mechanism arrives at a predetermined position, a velocity command value to the motor, generated in accordance with a cubic function having a mild curve profile, is changed to a constant value, thus the velocity is discontinuously reduced.

Abstract: A recording apparatus of the present invention includes a conveying means for conveying a recording medium, a conveying motor for driving the conveying means, a servo computing means for controlling the output directed to the conveying motor based on servo computing results obtained using software, a position detecting means for detecting a position of the recording medium by counting the number of encoder signal edges, a stop position setting register for setting a stop position of the recording medium, a position comparing means for comparing the position detected by the position detecting means with that set by the stop position setting register, and a conveying motor output switching means for selectively switching the output from the servo computing means and the output from an output for stop setting register.

Abstract: In a sheet member conveying apparatus having a roller for conveying a sheet member, a motor for driving the roller, a driving transmitter for transmitting a driving force of the motor to the roller, and a detector for detecting position and speed of the roller, control is executed by a step of detecting a periodic speed or torque change of the roller as a period profile, a step of judging a specific phase angle in the period profile as an origin, a step of correlating an offset phase angle having a specific offset from the origin with an optimal suspension phase angle on the period profile being a phase angle to suspend the roller, and a step of controlling the suspension phase angle on the period profile at which the roller suspends to become optimal, thereby suppressing an influence by torque and speed changes of the motor.

Abstract: A digital encoder control method of a digital control apparatus having a driving unit, a frequency signal generating unit for generating a pulse signal of a frequency according to a driving velocity of a driven member which is driven by the driving unit, an edge detecting unit for detecting a rising-up edge and a falling-down edge of the pulse signal, and a period data detecting unit for counting period data between edges detected by the edge detecting unit, wherein each time the edges are detected by the edge detecting unit, the period data between the same edges as the detected edges is outputted as control velocity data of the driving unit.