Control device for stepping motor

A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving,

• the control device comprising a plurality of operation modes including an adjustment mode and a use mode,
• the control device being configured or programmed to, in the adjustment mode, generate control data for a closed loop for controlling a winding current of the stepping motor based on a detection value of the rotor position detector, and perform a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data,
• the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode,
• wherein the control data is generated, in the closed loop control in the adjustment mode, so that a winding current phase θi of the stepping motor is equal to a phase θi=θfb±K+F(ωfb) obtained by adding
• a predetermined value ±1c wherein K is a constant, and has a positive sign for one of the acceleration operation and the deceleration operation and has a negative sign for the other of the acceleration operation and the deceleration operation, and
• a function F(ωfb) of a rotor speed ωfb to the detection value θfb of the rotor position detector.

A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving,

• the control device comprising a plurality of operation modes including an adjustment mode and a use mode,
• the control device being configured or programmed to, in the adjustment mode, generate control data for a closed loop for controlling a winding current of the stepping motor based on a detection value of the rotor position detector, and perform a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data,
• the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode,
• wherein, in the adjustment mode, a duration of an acceleration period during which the acceleration operation is performed and a duration of a deceleration period during which the deceleration operation is performed are adjusted so that a rotor is moved toward a target position and the rotor speed is reduced to zero at the target position by the acceleration operation and the deceleration operation, and
• wherein, in the use mode, the acceleration operation and the deceleration operation are performed based on control data resulting from the adjustment.

A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving,

• the control device comprising a plurality of operation modes including an adjustment mode and a use mode,
• the control device being configured or programmed to, in the adjustment mode, generate control data for a closed loop for controlling a winding current of the stepping motor based on a detection value of the rotor position detector, and perform a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data,
• the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode,
• wherein the control data is generated, in the closed loop control in the adjustment mode, so that a winding current phase θi of the stepping motor is equal to a phase θi=θfb±K obtained by adding
• a predetermined value ±K, wherein K is a constant, and has a positive sign for one of the acceleration operation and the deceleration operation and has a negative sign for the other of the acceleration operation and the deceleration operation,
• to
• the detection value θfb of the rotor position detector.