Control unit and method for controlling motor for use in printer, and storage medium storing control program

A control unit for controlling a motor for use in a printer, comprising:

• a speed control part to control an object to be controlled that is driven by the motor by acceleration control, constant speed control, deceleration control, and stoppage control by controlling a current to be applied to the motor;
• and
• an inertia calculating part to calculate inertia of the object based on angular acceleration of the motor under the deceleration control of the object, and current values to be applied to the motor under the acceleration control and the constant speed control of the object, during the deceleration control after a printing processing is completed, the calculated inertia being used by the speed control part for controlling the current to be applied to the motor,
• wherein the inertia calculating part executes an inertia calculation based on data necessary for the calculation, which have been stored at timing, just before stoppage that does not affect encoder periods.

A computer-readable storage medium storing control program code for controlling a motor for use in a printer, comprising;

• first program code means for calculating inertia of a carriage based on angular acceleration of a carriage motor under deceleration control of the carriage and current values to be applied to the carriage motor under acceleration control and constant speed control of the carriage, the inertia calculation being executing based on data necessary for the calculation, which have been stored at timing, just before stoppage that does not affect encoder periods;
• second program code means for calculating a stoppage current to be used for stopping the carriage at a target position based on the calculated inertia, an angular velocity of the motor under deceleration control of the carriage, the current value to be applied to the motor under the constant speed control of the carriage, and a stoppage constant TBRK;
• and
• third program code means for stopping the carriage by applying the calculated stoppage current to the motor.