Abstract: A motor detection method includes the following steps. An excitation current command is provided to a motor device, and the motor device is driven to rotate at the first angle. The first feedback angle of the motor device in the first resting position is detected and obtained. The motor device is driven to rotate at the second angle according to the excitation current command. The second feedback angle of the motor device in the second resting position is detected and obtained. The magnetic pole offset angle of the motor device is calculated according to the first feedback angle and the second feedback angle.

Abstract: A brushless electrical machine, in particular, a brushless d.c. motor, having a housing, at least one rotor, which is positioned on a shaft rotationally mounted in the housing, and a stator attached to the housing; the rotor being assigned a rotor position detection device, which operates contactlessly and includes a multipole magnetic ring positioned on the shaft in a rotatably fixed manner and at least one sensor, which is sensitive to magnetic fields and is attached to the housing radially with respect to the outer circumference of the magnetic ring. The number of pole pairs of the rotor and the number of pole pairs of the magnetic ring are coprime.

Abstract: An electronic timepiece that shortens the time from starting to completing indicator position detection. The electronic timepiece 1 an indicator 11; an actuator 12 that drives the indicator 11; a light emitter 21; a photodetector 22 that detects light emitted from the light emitter 21 selectively when when the indicator 11 is at a reference position; and a control circuit 35 that executes a first mode to drive the indicator 11 continuously in one direction until the indicator 11 is detected while the light emitter 21 is emitting, and a second mode to alternately drive the indicator 11 and drive the light emitter 21 to emit to detect the indicator 11 at the reference position after the photodetector 22 detects light in the first mode and the indicator 11 has past the reference position.

Abstract: The present disclosure describes a device for providing adaptive charging of an electric vehicle (EV). The device includes a memory and at least one processor configured for receiving a set of parameters of an aggregate power waveform carried on a power line from a set of sensors; receiving a set of relationships between a set of power signatures and a set of power sources; determining, using the set of parameters and the set of power signatures, a subset of the set of power signatures represented in the set of parameters; identifying, using the subset of the set of power signatures and the set of relationships between the set of power signatures and the set of power sources, a subset of the set of power sources contributing to the aggregate power waveform; and controlling, responsive to identifying identified subset of the set of power sources, a charging circuit.

Abstract: The present disclosure provides a driving video recorder for an automotive, which includes: a housing having a side wall, a top wall with an air outlet, and a bottom wall with an air inlet; a first electric fan arranged on the bottom wall above the air inlet and in a vertical middle plane of the housing for directing outside air into the housing; two sets of lenses for image capturing arranged at the side wall and positioned symmetrically on both sides of the vertical middle plane of the housing; and heat generating electrical components provided within the housing. The driving video recorder according to the present disclosure has a symmetrically distributed lens structure ensuring system stability, reliability, and enhanced functionality.

Abstract: A drive axle system that includes first and second wheel end assemblies, a support structure, and an electric motor. A support structure supports the first and second wheel end assemblies and the electric motor. The electric motor has a rotor that is rotatable about a rotor axis. The rotor axis is disposed below a wheel axis.

Abstract: A motor control device according to an embodiment comprises a first signal generator, a second signal generator, a main controller, and a driver. The first signal generator is configured to generate, based on a clock signal indicating a stepping drive cycle of a motor, a first control signal. The second signal generator is configured to generate, based on a command phase indicating a target phase of a rotor of the motor, a second control signal. The main controller is configured to control the first signal generator and the second signal generator to output at least one of the first control signal and the second control signal. The driver is configured to drive the motor based on at least one of the first control signal and the second control signal.

Abstract: A motor control system for controlling a motor having multiple coils, includes a motor control circuit for providing control signals for controlling a motor, such as PWM signals. A motor drive circuit is coupled to receive the control signals and is configured for providing current drive signals to the multiple coils of the motor. Circuitry measures a plurality of signal values that are reflective of the level of the current drive signals provided to the multiple coils of the motor. Selection circuitry coupled to receive the measured current signal values is configured to dynamically select certain current signal values from the measured plurality of signal values and is further configured to exclude at least one of the current signal values that is indicative of a possibly erroneous or unreliable value.

Abstract: Disclosed is about an apparatus, a system, and a method aligning a position of a rotor by applying a specific current to align the rotor a plurality of times to reduce vibration and noise when starting an operation of the motor to align the position of the rotor.

Abstract: An energy recovery circuitry for an electric motor with a single phase winding, consisting of two coil sections with central connection, whereby the two coil ends of the coil sections are each connected to ground via a switching element. The task of the invention is therefore, for an electric motor of this type, to ensure, a significantly higher efficiency, a better and defined switching of the coil switching elements, a thermal relief for the switching elements, improved and smoother running, reduced warming of the printed circuit board, improved EMC characteristics, a more robust design of the overall switching, a focused conduction of the losses and an extra protection against any surge impulses from a mains network.

Abstract: A power system for an aircraft engine provides rotational drive to propeller driven and turbofan jet engine powered aircraft by use of a propeller or fan drive motor. Electrical power is provided to the drive motor by a high efficiency electrical power generator with reduced electromagnetic drag or reverse torque. The electric generator utilizes a solid state rotor that does not rotate which allows for power generation without reverse torque or the usual energy required to rotate the rotor inside the stator of the generator. Only the magnetic poles of the disclosed rotor rotate to generate the power. The fan blades of the turbofan jet engine are driven by the electric drive motor in which the rotor is a part of the fan as well as the drive from the high pressure turbine.

Abstract: According to one embodiment, there is provided a control device including a determination unit, a correction unit and a drive controller. The determination unit determines whether a phase of a rotor of a stepping motor is ahead of or behind a target phase. The correction unit selects a correction value for a control value of a drive current of the stepping motor from among a plurality of correction values based on a determination result. The drive controller corrects the control value of the drive current with the selected correction value to drive the stepping motor.

Abstract: The disclosure provides an N-phase N+1 bridge arm inverter, including: N+1 bridge arms, wherein each of the bridge arms includes an upper bridge arm power switching device and a lower bridge arm power switching device, upper node of the upper bridge arm power switching device in each of the bridge arms is connected to a DC bus voltage, lower node of the lower bridge arm power switching device is connected to a power ground, and lower node of the upper bridge arm power switching device is connected to upper node of the lower bridge arm power switching device as an output node of the bridge arm. N is a total phase number of a motor, N is an odd number, and N is greater than 3.

Abstract: A bipolar stepper motor driving device drives a stepper motor including stator coils having plural phases. The bipolar stepper motor driving device includes H-bridge circuits, a current detector, a control circuit, and a re-turning-on instruction unit. The H-bridge circuits are provided correspondingly to the phases of the respective stator coils. The current detector detects current flowing in the stator coils. The control circuit executes drive control of the H-bridge circuits. The re-turning-on instruction unit commands the control circuit to switch into a short-circuited state a stator coil which has shifted from an energized state to an off-state among the stator coils, on a condition that an absolute value of a reverse current detected by the current detector has changed from a value larger than a threshold current value to a value smaller than the threshold current value.

Abstract: The present embodiment is a high rotor pole switched reluctance machine (HRSRM) which provides a plurality of combinations of the number of rotor poles Rn and number of stator poles Sn utilizing a numerical relationship defined by a mathematical formula, Rn=2Sn?Fp, when Sn=m×Fp, wherein Fp is the maximum number of independent flux paths in the stator when stator and rotor poles are fully aligned, and m is the number of phases. The mathematical formulation provides an improved noise performance and design flexibility to the machine. The mathematical formulation further provides a specific number of stator and rotor poles for a chosen m and Fp. The HRSRM can be designed with varying number of phases. The HRSRM provides a smoother torque profile due to a high number of strokes per revolution.

Abstract: Excitation position is changed in accordance with an external clock. The state of a full bridge circuit including four transistors connected to a coil of a stepping motor, is controlled in accordance with the excitation position. At the time of transition from the excitation position at which coil current that flows in the coil is nonzero to the excitation position at which the coil current is zero, a switch is made to (i) the inverse state where the on or off state of each of the four transistors before the transition is inverted, and then a switch is made to (ii) the off state where all the four transistors are off.

Abstract: A method of operating a pump can include advancing a stepper motor one or more additional steps in a first direction after detecting a first change in a limit sensor state corresponding to a piston reaching an end of its travel in a first direction. After advancing the stepper motor the additional step or steps in the first direction, the stepper motor can be reversed and advanced in a second direction until a second change in the limit sensor state is detected. The stepper motor can then be advanced in the second direction a predetermined number of steps associated with a full travel of the piston.

Abstract: Provided is a control system of an industrial machine that can automatically detect the presence or absence of a wiring error at a start-up of a machine, and that prevents a dangerous operation such as high rotation/high torque of a motor from occurring due to a wiring error. A control system of an industrial machine includes: a control unit that controls driving of a drive unit of the industrial machine; a command unit that issues a command to the control unit; and a wiring error detection device that detects a wiring error in a system of the control unit and the drive unit on a basis of a feedback value of actual driving of the drive unit upon a start-up of the industrial machine.

Abstract: A movement includes a driver having ON and OFF states, and outputting a drive signal to a coil of a motor, a lower limit detector detecting that a current flowing through the coil is less than a lower limit, a drive controller bringing the driver into the ON state based on a result of the lower limit detector, and bringing the driver into the OFF state based on an elapsed time from the ON state, a polarity switcher switching a polarity of the drive signal when an elapsed time from the OFF state of the driver satisfies a switching condition, and a drive stopper stopping driving of the driver when the OFF time satisfies a stopping condition.

Abstract: A brushless motor system for use with a mechanical reel gaming machine is provided. The brushless motor system includes a reel hub and a reel frame rotationally attached to a center shaft of the reel hub. The brushless motor system also includes a permanent magnet (PM) rotor attached to the reel frame and including a plurality of permanent magnets attached to the PM rotor. The brushless motor system further includes a stator including stator coils attached to the reel hub, the plurality of stator coils are mounted parallel to a surface of the PM rotor at a separation distance. The stator causes the PM rotor to rotate during activation of the stator without direct contact between the stator and the rotor, thereby causing the display of one or more symbols of the plurality of symbols during the wagering game based on the rotation.

Abstract: Apparatus and methods are provided for operating an electric motor, comprising selectively energising the coils of a stator having a plurality of stator teeth, each stator tooth having a said coil mounted thereon. The stator coils of a subset of the stator teeth are energised during a given time period to attract a corresponding rotor tooth into alignment with each of the stator teeth in the subset over the given time period. The stator coil of at least one stator tooth in the subset is energised during a portion of the given time period before the at least one stator tooth overlaps the corresponding rotor tooth.

Abstract: An object is to appropriately cope with that power supplied to a power receiving apparatus from an external device is not appropriate. An electronic device that drives by a bus power system and includes a detection unit configured to detect a drop in supply of power by the bus power system and a control unit configured to control the electronic device so that power consumption is reduced in a case where a drop in the supply of power is detected by the detection unit.

Abstract: The present invention provides a printer for applying a stamp onto an official document, wherein the printer comprises an access level with an inlet for inserting the document into and removing the document from the printer, a processing level including a print head, and an inter-level document transport system for moving a document receiving platen between the access level and the processing level. The access level and the processing level are at least partly arranged on top of each other. The present invention also provides an imaging system for a printer and a method for processing an official document with a printer.

Abstract: Disclosed are embodiments of a mechanical wheel display assembly including a mechanical rotatable bezel surrounding a mechanical wheel. The mechanical wheel display input assembly is suitable for use in a gaming terminal, a gaming cabinet or a gaming machine. Direction and speed of a manual rotation of the bezel is detected and interpreted. The result may be used to control various aspects of operation of the gaming terminal, gaming cabinet or gaming machine, including providing input for game play. The mechanical wheel may be rotated in real-time to reflect the rotation of the bezel. A motor may be coupled to the rotatable bezel to provide resistance, assistance or operator feedback.

Abstract: A motor driving apparatus is a pulse generation circuit applying a drive pulse for rotating a rotor to a two stepping motor including the rotor magnetized in two poles and a stator in which a two-phase coil is wound around a yoke. The drive pulse is constituted of a drive pulse P1 and a drive pulse P2. The pulse generation circuit applies the drive pulse P1 having a stable stationary position at which a rotor rotation angle from a reference position is 90 degrees or less and applies the drive pulse P2 having a stable stationary position at which the rotor rotation angle from the reference position is 90 degrees or more continuously to the application of the drive pulse P1.

Abstract: According to one embodiment, a holding mechanism includes a first holding part, a second holding part, a first guide, a second guide, a third guide, a fourth guide, and a driving mechanism. The second holding part faces the first holding part in a first direction. The first guide is connected to the first holding part and capable of moving the first holding part in the first direction. The second guide is connected to the second holding part and capable of moving the second holding part in the first direction. The third guide is capable of moving the first guide in the first direction. The fourth guide is capable of moving the second guide in the first direction, and aligned with the third guide in the first direction. The drive mechanism changes a distance between the first holding part and the second holding part.

Abstract: A motor control circuit includes an input voltage measuring unit, a temperature measuring unit, a speed setting unit, and a speed control unit. The input voltage measuring unit measures an input voltage input to a motor control device. The temperature measuring unit measures the temperature. The speed setting unit sets a target value of driving speed of a stepping motor based on a measurement result of the input voltage measuring unit, a measurement result of the temperature measuring unit and based on a set value of driving speed preset for each of the plural partial areas which are sectioned in a matrix form with a threshold value related to the input voltage and a threshold value related to the temperature. The speed control unit controls the driving speed according to the target value of the driving speed set in the speed setting unit.

Abstract: A motor control circuit includes an input voltage measuring unit, a temperature measuring unit, a current setting unit, and a current control unit. The input voltage measuring unit measures an input voltage input to the motor control device. The temperature measuring unit measures the temperature. The current setting unit sets a target value of drive current to flow through a coil of a stepping motor based on a measurement result of the input voltage measuring unit and a measurement result of the temperature measuring unit and based on a set value of drive current preset for each of plural partial areas, which are sectioned in a matrix form with a threshold value related to the input voltage and a threshold value related to the temperature. The current control unit controls the drive current according to the target value of the drive current set in the current setting unit.

Abstract: A brushless motor system for use with a mechanical reel gaming machine is provided. The brushless motor system includes a reel hub and a reel frame rotationally attached to a center shaft of the reel hub. The brushless motor system also includes a permanent magnet (PM) rotor attached to the reel frame and including a plurality of permanent magnets attached to the PM rotor. The brushless motor system further includes a stator including stator coils attached to the reel hub, the plurality of stator coils are mounted parallel to a surface of the PM rotor at a separation distance. The stator causes the PM rotor to rotate during activation of the stator without direct contact between the stator and the rotor, thereby causing the display of one or more symbols of the plurality of symbols during the wagering game based on the rotation.

Abstract: A brushless motor system for use with a mechanical reel gaming machine is provided. The brushless motor system includes a reel hub and a reel frame rotationally attached to a center shaft of the reel hub. The brushless motor system also includes a permanent magnet (PM) rotor attached to the reel frame and including a plurality of permanent magnets attached to the PM rotor. The brushless motor system further includes a stator including stator coils attached to the reel hub, the plurality of stator coils are mounted parallel to a surface of the PM rotor at a separation distance. The stator causes the PM rotor to rotate during activation of the stator without direct contact between the stator and the rotor, thereby causing the display of one or more symbols of the plurality of symbols during the wagering game based on the rotation.

Abstract: A stator for an electromagnetic machine includes a first lamination stack defining a first cavity therein and having a central longitudinal axis. The first lamination stack includes a first plurality of mounting ears disposed opposite the first cavity and each spaced apart from one another about the central longitudinal axis. The stator further includes a second lamination stack abutting the first lamination stack and defining a second cavity therein aligned with the first cavity along the central longitudinal axis. The second lamination stack includes a second plurality of mounting ears disposed opposite the second cavity and each spaced apart from the first plurality of mounting ears and from one another about the central longitudinal axis. An electromagnetic machine including the stator and a device including the electromagnetic machine are also described.

Abstract: An optical sensor for estimating positions of rotors in a motor comprises an optical source (21) and a plurality of photo detectors (22), the motor further has stators and is used for e-machines, the optical source (21) is mounted on the surface of the rotor where the air gap is big enough to not block magnetic flux between the rotors and the stators, the photo detectors (22) are arranged evenly around the stator tooth slots and configured to detect light emitted by the optical source (21) and output parameters which are used to estimate the positions of rotors. The proposed low cost optical sensor measures the angular position of rotating e-machine when sensorless control algorithm is applied but limited by response time at high speed region. The optical sensor only adds small cost and provides rotor position information with enough accuracy for FOC control at high rotational speed. A method for estimating positions of rotors in a motor and a motor comprising the optical sensor are also provided.

Abstract: An actuating apparatus for a polyphase motor includes five phase terminals for connecting of in each case one phase of the polyphase motor, a high terminal for applying a supply voltage (UB), a low terminal for applying a reference potential of the supply voltage (UB), a control device, wherein the control device is adapted, in four of the five phase terminals, to impress a pulse-width-modulated voltage pattern by connecting the phase terminals to the high terminal or the low terminal so that in the first phase terminal, an evaluation signal which is dependent on the angle of rotation of the polyphase motor is produced, and wherein the control device is adapted to determine the angle of rotation and/or a commutation condition of the polyphase motor from the evaluation signal.

Abstract: The invention is a method for generating a control signal (Sc) by pulse modulation according to a reference signal (Sref), the method comprising forming successive modulation sequences, each sequence comprising a transition between a low state and a high state or vice versa, the method comprising the following iterative steps, each iteration being associated with an instant, referred to as the current instant: a) calculating a time derivative (S?ref(t)) of the reference signal at the current instant (t); b) according to the derivative of the reference signal (S?ref(t)), selecting, when the derivative is positive, a sequence (M(t)) comprising a high state preceded by a low state, the high state extending up to the end of the modulation sequence; when the derivative is negative, a sequence (M(t)), comprising a high state followed by a low state, the low state extending up to the end of the modulation sequence; the low state and the high state extending over a low state duration (Tlow(t)) and a high state

Abstract: A brushless motor system for use with a mechanical reel gaming machine is provided. The brushless motor system includes a reel hub and a reel frame rotationally attached to a center shaft of the reel hub. The brushless motor system also includes a permanent magnet (PM) rotor attached to the reel frame and including a plurality of permanent magnets attached to the PM rotor. The brushless motor system further includes a stator including stator coils attached to the reel hub, the plurality of stator coils are mounted parallel to a surface of the PM rotor at a separation distance. The stator causes the PM rotor to rotate during activation of the stator without direct contact between the stator and the rotor, thereby causing the display of one or more symbols of the plurality of symbols during the wagering game based on the rotation.

Abstract: An apparatus for rotating a shaft by using an electromagnet is provided. Permanent magnets are placed around a shaft to rotate with the shaft, and an electromagnet is placed outside the circumference of the permanent magnets, and a device for activating electromagnet is placed. Two secondary cell batteries are used to activate the electromagnet and the electromagnet makes the permanent magnets rotate. The secondary cell batteries are charged using back-emf which occurs in the electromagnet. Coils are placed around the circumference of the permanent magnets and the rotating permanent magnets generate electricity to the coils.

Abstract: A semiconductor device may include an input control circuit, a counting circuit, an output control circuit, and a counting operation control circuit. The input control circuit may output a counting input signal based on an input signal and a counting over signal. The counting circuit may generate a preliminary counting code based on the counting input signal. The output control circuit may generate a counting code based on the preliminary counting code. The counting operation control circuit may generate the counting over signal based on a part of the counting code.

Abstract: A light-curing oven (1; 100) comprising: a light-curing chamber (2) configured to contain one or more objects (A) to be light-cured; a source (3) of light-curing rays arranged inside the light-curing chamber (2); a vacuum pump (4) with a suction duct (5) communicating with the light-curing chamber (2) and a motorized structure (6; 106) for moving the objects (A) during the light-curing process. The motorized structure (6; 106) may comprise an electric motor (7; 107) with a drive shaft (8) mechanically associated with a support plate (9) for supporting the objects (A) to be light-cured. The electric motor (7; 107) and the drive shaft (8) being configured in such a way that they define for the objects (A) a horizontal rotation axis (X). The motorized structure (6; 106) may also comprise piezoelectric transducers (10; 110) for making the objects (A) vibrate during their rotation.

Abstract: A method for controlling the drive current in a stepper motor includes measuring stepper motor current, computing a load angle of the stepper motor, calculating a torque ratio of the stepper motor, generating a reference current as a function of the torque ratio and a maximum current setting for the stepper motor, and setting the drive current of the stepper motor as a function of the reference current.

Abstract: A control device for a stepping motor gradually increases an absolute value of the excitation current in phase A from when the start until the end of the hold period such that the amount of change in the excitation current per unit time is smaller than or equal to a first predetermined value. From the start of the hold period until a predetermined time elapses, an absolute value of the excitation current in phase B gradually increases such that the amount of change in the excitation current per unit time is smaller than or equal to the first predetermined value. By the end of the hold period after the predetermined time has elapsed, the excitation current in phase B reaches zero. When the hold period ends, one-phase excitation operation starts and the excitation current flows in phase A first with the same polarity as at the end of the hold period.

Abstract: A control device for a linear motor includes a speed controller that calculates a current command value by an integration operation using a first integral value of a difference between a moving speed of a movable element provided in the linear motor and a speed command value calculated on the basis of a position command value, a current controller that applies a voltage to the linear motor on the basis of the current command value, and a correction value storage unit that stores the first integral value of the speed controller when the movable element remains at a position indicated by the position command value. When resuming control of the linear motor, the speed controller sets the first integral value stored in the correction value storage unit as an initial value for the integration operation before the brake controller turns off the brake device.

Abstract: A generator or motor system for converting mechanical power into electrical power or vice versa, comprises: a switched reluctance machine having a rotor and a stator with a number of phase windings, the phase windings being partitioned in groups, each group comprising at least two phase windings connected in series to form a ring structure; a power electronics circuit comprising: for each ring structure, an independently controllable means for generating a circulating current in said ring structure; a number of legs, each of the legs comprising at least two diodes or switches connected in series between a first and a second voltage rail, each leg having an intermediate node located between the two diodes or switches, and connected to a corresponding intermediate node between two phase windings of a ring structure.

Abstract: A motor drive controller capable of taking measures against vibration or noise of a motor is provided. The motor drive controller configured to drive a stepping motor in microstepping mode controls the number of PWM (Pulse Width Modulation) cycles contained in one microstep cycle. More specifically, the number of PWM cycles contained in one microstep cycle is controlled so that a vibration contained in a current waveform determined by the number of PWM cycles contained in one microstep cycle does not approximate the natural frequency of the stepping motor.

Abstract: A Method for detecting stalling of an electric stepper motor (18), with the following steps is shown: a) samples of the voltage at a coil of the stepper motor (18) are taken continuously or in regular intervals, b) a deviation value is determined corresponding to the deviation between the measured voltages of the two samples, and c) the deviation value is used to determine whether the electric motor (18) is stalling. Further, a stepper motor and a heating, ventilation and/or air conditioning system is shown.

Abstract: Modulating a gate drive current supplied to an output drive switch coupled to an electric motor by performing at least the following: obtain a gate drive current modulation profile, supply, based on the gate drive current modulation profile, a first gate drive current level as the gate drive current when the output drive switch is operating within a first region, drop the first gate drive current level to a second gate drive current level when the output drive switch transitions from the first region to operating within a Miller region, increase the second gate drive current level to a third gate drive current level within the Miller region, and set the gate drive current to a fourth gate drive current level when the output drive switch transitions from the Miller region to operating within a third region.

Abstract: A printer includes a motor power supply line connecting a carriage motor with a power source, a sensor power supply line connecting a rotary encoder with the power source, a circuit breaker provided on the motor power supply line and interrupting electrical power if a cover sensor detects that a front cover is open and permit connection if the cover sensor detects that the front cover is closed, and a controller controlling the carriage motor and a recording head based on a position of a carriage detected by the rotary encoder.

Abstract: An electronic timepiece includes: a latch unit that latches and outputs specification data designating a specification in accordance with a latch signal; a signal output unit that outputs one of a plurality of driving signals including driving pulses at different periods based on the specification data output from the latch unit; a driving unit that drives a motor based on the driving signal output from the signal output unit; and a control unit that generates the latch signal so that the latch signal has at least an active level at a timing before generation of each driving pulse in the driving signal with a shortest period of the driving pulse among the plurality of driving signals.

Abstract: This invention relates to an injection device for delivering a medicament to the human or animal body, in particular, but not exclusively, to a device having a replaceable medicament cartridge, including an auto-injector, wherein the injector device comprises: a housing; a piston rod for driving a bung of a medicament container; a drive mechanism including a motor for providing an output drive to the piston rod for delivering the medicament; and control means for controlling operation of the device.

Abstract: Provided is a sensing system (1) in which a desired trajectory determining section (32) determines a first desired trajectory th(t) (where t<t1) whose first derivative is continuous, a second desired trajectory th(t) (where t2?t<t3) whose first derivative is continuous, a third desired trajectory th(t) (where t1?t<t2) configured with a common tangent line to the first and second desired trajectories, and a fourth desired trajectory th(t) (where t35?t<t4) configured with a common tangent line to the second desired trajectory in the current-time cycle and a first desired trajectory in a next-time cycle. A drive mechanism controlling section (33) controls an operation of the drive mechanism so as to track the desired trajectories.

Abstract: A pulse generation unit is configured to output pulse signals for driving the stepping motor. A control unit is configured to perform acceleration control or deceleration control of the stepping motor via the pulse generation unit. The control unit is configured to calculate a number of the pulse signals to be output from the pulse generation unit to the stepping motor when accelerating or decelerating the stepping motor at constant acceleration in the acceleration control or the deceleration control based on an initial speed of the stepping motor when the acceleration control or the deceleration control starts, a target rotation speed, and time from start control of the stepping motor to time when the stepping motor reaches the target rotation speed, and change a rotation speed of the stepping motor in the acceleration control or the deceleration control along a sinusoidal waveform.