Motor control apparatus, motor control method, and program

A motor control method for controlling a stepping motor, the method comprising:

• calculating a time with respect to a distance of n-th step (n is a positive integer) to calculate a step time, which is a pulse signal application time with respect to the stepping motor, based on a theoretical formula expressing a parameter in an acceleration period or a deceleration period of the stepping motor,
• wherein the calculating includes making a first calculation in which an iterative root-finding procedure is applied to a distance which is a function of a time included in the theoretical formula to determine the time with respect to the distance of the n-th step expressed using a reciprocal of a derivative of the function,
• making a second calculation in which the iterative root-finding procedure is applied to the reciprocal of the derivative to determine the reciprocal of the derivative at a time when the time with respect to the distance of the n-th step is determined by the first calculation, and
• wherein number of loops according to the iterative root-finding procedure in the second calculation unit is smaller than number of loops according to the iterative root-finding procedure in the first calculation unit.

A non-transitory storage medium storing a program causing a computer to perform a motor control method for controlling a stepping motor, the method comprising:

• calculating a time with respect to a distance of n-th step (n is a positive integer) to calculate a step time, which is a pulse signal application time with respect to the stepping motor, based on a theoretical formula expressing a parameter in an acceleration period or a deceleration period of the stepping motor,
• wherein the calculating includes making a first calculation in which iterative root-finding procedure is applied to a distance which is a function of a time included in the theoretical formula to determine the time with respect to the distance of the n-th step expressed using a reciprocal of a derivative of the function,
• making a second calculation in which the iterative root-finding procedure is applied to the reciprocal of the derivative to determine the reciprocal of the derivative at a time when the time with respect to the distance of the n-th step is detected by the first calculation, and
• wherein number of loops according to the iterative root-finding procedure in the second calculation unit is smaller than number of loops according to the iterative root-finding procedure in the first calculation unit.