Motor Control System

A motor control system comprising:

• a position controller to receive a demanded position (PD) input for controlling a motor;
• a torque controller coupled with the position controller, the torque controller to receive a torque bias (TB) input for controlling the motor;
• and
• a feedback circuit coupled with the torque controller and the position controller;
• wherein the feedback circuit is configured and arranged to combine an output from the position controller, the output being generated based on the demanded position (PD) input, with the torque bias (TB) input to generate a torque demand (TD) input to the torque controller.

A printing apparatus comprising:

• a printhead;
• a first spool support on which a supply spool is mountable;
• a second spool support on which a take up spool is mountable;
• a first motor coupled with the first spool support;
• a second motor coupled with the second spool support;
• and
• a motor control system coupled with the first motor and with the second motor, the motor control system configured to drive the first and second motors to move a tape between the supply spool and the take up spool, and with respect to the printhead for printing;
• wherein the motor control system comprises, for at least one of the first and second motors, (i) a position controller coupled with the at least one motor, the position controller to receive a demanded position (PD) input for controlling the at least one motor, (ii) a torque controller coupled between the at least one motor and the position controller, the torque controller to receive a torque bias (TB) input for controlling the at least one motor, and (iii) a feedback circuit coupled with the at least one motor, the torque controller, and the position controller, wherein the feedback circuit is configured and arranged to combine an output from the position controller, the output being generated based on the demanded position (PD) input, with the torque bias (TB) input to generate a torque demand (TD) input to the torque controller.

A method comprising:

• receiving, at a position controller, a demanded position (PD) input for controlling a motor;
• generating an output from the position controller based on the demanded position (PD) input;
• receiving a torque bias (TB) input for controlling the motor;
• combining the output from the position controller with the torque bias (TB) input to generate a torque demand (TD) input to a torque controller;
• and
• generating, at the torque controller, a torque control output for the motor based on the torque demand (TD) input.