# US 4,869,610 A · Carriage control system for printer > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 4,869,610 A - Document ID: US4869610A - Status: Granted - Kind: A - Application number: 07/311,375 - Filed: 1989-02-16 - Granted: 1989-09-26 - Earliest claimed: 1986-03-07 - Assignees: Seiko Epson Corporation - Inventors: Katsuhiko Nishizawa; Yuji Takano - Web page: https://patentgrep.com/patent/US4869610A ## CPC - G05B 19/416: characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) - B41J 19/202: {Drive control means for carriage movement} - H02P 23/20: Controlling the acceleration or deceleration - G05B 2219/41326: Step motor - G05B 2219/42122: First open loop, then closed loop - G05B 2219/45187: Printer - Y10S 400/903: Stepping-motor drive for carriage feed - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B41J: TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A carriage control system for a printer which effects printing by moving the carriage mounted on a print head to reduce the distance on either side of the printing area required for acceleration and deceleration. Various approaches to rapidly and accurately accelerating carriage to a selected constant speed and then decelerating the carriage from the constant speed to a stop are provided. Both open-loop and closed-loop control approaches are utilized. ## Claims ### Claim 1 A carriage acceleration and constant speed control system for a printer which effects printing by moving a print head mounted on a carriage, comprising: a step motor for driving said carriage; timing means for generating a phase change instruction signal at predetermined intervals; encoder means coupled to the step motor for outputting a motor timing signal representative of movement of the step motor, the encoder means being synchronized with the step motor to produce a motor timing signal so that said motor can obtain the maximum rotational torque; interrupt means for counting a first time period from a phase change of said step motor and to selectively count a second time period from an occurrence of the motor timing signal within said first time period; and control means coupled to the step motor, timing means, encoder means and interrupt means for changing the phase of the step motor in response to the end of the second time period when the motor timing signal is output during the first time period to delay phase change to slow acceleration, whereby overshoot may be avoided. ### Claim 2 (depends on 1) The carriage control system of claim 1 wherein the control means changes the phase of the step motor synchronous with receipt of the later of the motor timing signal and the phase change instruction signal when the motor timing signal is output after the first time period. ### Claim 3 A carriage acceleration and constant speed control system for a printer which effects printing by moving a print head mounted on a carriage, comprising: a step motor for driving said carriage; timing means for generating a phase change instruction signal at predetermined intervals; encoder means coupled to the step motor for outputting a motor timing signal representative of movement of the step motor, the encoder means being synchronized with the step motor to produce a motor timing signal that allows the step motor to obtain the maximum rotation torque; current means for applying an electric current to the step motor at one of a first level and a second level, relatively smaller that the first level; and control means for selecting each of the first and second current levels for variable time periods selected to provide a desired average driving current during each step of the step motor in response to the speed of the carriage movement to control acceleration of the step motor and selecting the first level for at least a minimum period to obtain a correction of the carriage speed. ### Claim 4 (depends on 3) The carriage control system of claim 3 wherein the electric current is the Rush/Hold current and the first level is the Rush level and the second level is the Hold level. ### Claim 5 (depends on 3) The carriage control system of claim 3 wherein application of the electric current at the second level produces a torque on the step motor which is substantially zero. ### Claim 6 (depends on 3) The carriage control system of claim 3 wherein the control means applies the electric current at the first level for a period sufficient for a minimum torque required to drive the carriage and then applies the electric current at the second level to the step motor when the control means detects that the motor timing signal is generated before the phase change instruction signal and after the step motor has changed phases. ### Claim 7 (depends on 3) The carriage control system of claim 3 wherein the control means applies the electric current at the first level to the step motor when the phase change instruction signal is generated before the motor timing signal and after the step motor has changed phases. ### Claim 8 (depends on 6) The carriage control system of claim 6 wherein the control means applies the electric current at the first level to the step motor when the phase change instruction signal is generated before the motor timing signal and after the step motor has changed phases. ### Claim 9 (depends on 3) The carriage control system of claim 3 wherein the control means changes the phase of the step motor synchronous with receipt of the later of the motor timing signal and the phase change instruction signal. ### Claim 10 (depends on 6) The carriage control system of claim 6 wherein the control means changes the phase of the step motor synchronous with receipt of the later of the motor timing signal and the phase change instruction signal. ### Claim 11 (depends on 7) The carriage control system of claim 7 wherein the control means changes the phase of the step motor synchronous with receipt of the later of the motor timing signal and the phase change instruction signal. ### Claim 12 A carriage constant speed and deceleration control system for a printer which effects printing by moving the carriage mounted on a print head, comprising: a step motor for driving said carriage; timing means for generating a phase change instruction signal predetermined based on a constant speed control pattern during constant speed control of the step motor, the encoder means being synchronized with the step motor to produce a motor timing signal that allows the step motor to obtain the maximum rotational torque; and control means for driving said step motor at constant speed during a constant speed period and decelerating said step motor to a stop during a deceleration period, said control means changing the phase of the step motor to obtain a positive torque a predetermined time after the motor timing signal when the phase change instruction signal is generated before the last motor timing signal of the constant speed period. ### Claim 13 (depends on 12) The carriage control system of claim 12 wherein the timing means generates a predetermined series of phase change instruction signals at predetermined intervals to stop the step motor without stepping out. ### Claim 14 A carriage constant speed and deceleration control system for a printer which effects printing by moving the carriage mounted on a print head, comprising: a step motor for driving said carriage; timing means for generating a phase change instruction signal at predetermined intervals based on a constant speed control pattern during constant speed control of the step motor; encoder means coupled to the step motor for outputting a motor timing signal representative of movement of the step motor, the encoder means being synchronized with the step motor to produce a motor timing signal that allows the step motor to obtain the maximum rotational torque; and control means for changing the phases of the step motor at the end of the longer period between motor timing signals during the constant speed period and the period between phase change instruction signals, when the period between phase change instruction signals during constant speed control is equal to or longer than the period prior to the last motor timing signal during the constant speed period. ### Claim 15 (depends on 14) The carriage control system of claim 14 wherein the control means changes the phases of the step motor a predetermined time after the motor timing signal when the period between phase change instruction signals is shorter than the motor timing signals. ### Claim 16 A carriage constant speed and deceleration control system for a printer which effects printing by moving the carriage mounted on a print head, comprising: a step motor for driving said carriage; timing means for generating a phase change instruction signal at predetermined intervals; encoder means coupled to the step motor for outputting a motor timing signal representative of movement of the step motor, encoder means being synchronized with the step motor to produce a motor timing signal that allows the step motor to obtain the maximum rotational torque; and control means for first changing the phase of the step motor in the reverse direction, the phase of the step motor being changed synchronous with the motor timing signal until the speed of the carriage becomes less than a predetermined speed value and then advancing the step motor forward during at least one phase change in the lower speed condition in accordance with the phase change instruction signal, whereby negative torque results which decelerates the step motor. ### Claim 17 (depends on 16) The carriage control system of claim 16 wherein the control means changes phases of the step motor synchronously with the generation of the phase change instruction signals when the period between motor timing signals is greater than a minimum speed value. ### Claim 18 (depends on 16) The carriage control system of claim 16 wherein the control means advances the step motor two steps forward when the period between motor timing signals is greater than a minimum speed value. ### Claim 19 A constant speed and deceleration control system for a moveable element driven by a step motor comprising: timing means for generating a phase change instruction signal at predetermined intervals; encoder means coupled to the step motor for outputting a motor timing signal representative of movement of the step motor, said encoder means being synchronized with the step motor to produce a motor timing signal that allows the step motor to obtain the maximum rotational torque; and control means for changing the phase of the step motor in the reverse direction, the phase of the step motor being changed synchronous with the motor timing signal until the speed of the movable element becomes less than a predetermined speed value and then advancing the step motor forward during at least one phase change in the lower speed condition in accordance with the phase change instruction signal, whereby negative torque results which decelerates the step motor.