Image forming apparatus having motor controller, paper conveyance method, and non-transitory computer readable medium

A paper conveyance method in an image forming apparatus including a registration roller at a first position that sends a sheet on which an image is to be formed onto a conveyance path, and a motor configured to drive the registration roller, the method comprising:

• sending the sheet toward a image transfer position from the first position on the conveyance path by controlling the motor using both speed control to keep a rotational speed of the motor at a target speed and position control to keep a rotational position of the motor at a target position when a leading end of the sheet is between the first position and the image transfer position;
• and
• controlling the motor using only the speed control when the leading end of the sheet reaches the image transfer position.

A non-transitory computer readable medium storing a program that causes a controller in an image forming apparatus to perform:

• sending a sheet from a first position toward an image transfer position on the conveyance path by controlling a motor that drives a registration roller at the first position using both speed control to keep a rotational speed of the motor at a target speed and position control to keep a rotational position of the motor at a target position when a leading end of the sheet is between the first position and the image transfer position on the conveyance path;
• and
• controlling the motor using only the speed control when the leading end of the sheet reaches the image transfer position.