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US 9,365,060 B2Granted
Apparatus for motor control of an apparatus with a motor
AssigneeCanon Kabushiki Kaisha
InventorYasuhiro Iwadate
Life of this patent
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Abstract
An apparatus includes a driven object, a motor configured to function as a driving source of the driven object, a scanning unit configured to cause the driven object to move, and include a first pulley to which the motor is connected, a second pulley disposed opposing to the first pulley, and a member stretched around the first pulley and the second pulley, an acquisition unit configured to acquire position information of the driven object, and a signal generation unit configured to generate a periodic signal for controlling driving of the motor based on the position information acquired by the acquisition unit, wherein the signal generation unit increases a period of the signal to be generated, as a length of the member to which a pulling force is applied becomes shorter.
Claims9
An apparatus comprising:
- a carriage;
- an encoder configured to output a signal according to a movement of the carriage;
- a movement mechanism configured to reciprocate the carriage, wherein the movement mechanism includes a motor, a motor pulley connected to the motor, a driven pulley, and a belt stretched between the motor pulley and the driven pulley, and having two belt sections configured to move between the motor pulley and the driven pulley in opposite directions to each other, along with rotation of the motor pulley, the carriage being supported on either of the two belt sections,
- wherein the carriage moves from a first side near the driven pulley toward a second side near the motor pulley as a first directional movement and the carriage moves from the second side toward the first side as a second directional movement, and wherein an elongation of the belt in the first directional movement is different from that in the second directional movement;
- a signal generation unit configured to generate a first control signal, according to a drive instruction and position information based on the signal output from the encoder, and to generate a second control signal having a period used for compensating cogging torque ripples of the motor;
- and
- a driving unit configured to drive the motor using the first control signal and the second control signal,
- wherein, the signal generation unit sets a first value of the period of the second control signal for a maximum constant speed in the first directional movement, and a second value of the period of the second control signal for a maximum constant speed in the second directional movement, respectively, and the first value and the second value are different according to the elongations of the belt.
5 more elements
An apparatus comprising:
- a carriage;
- an encoder configured to output a signal according to a movement of the carriage;
- a movement mechanism configured to reciprocate the carriage, wherein the movement mechanism includes a motor, a motor pulley connected to the motor, a driven pulley, and a belt stretched between the motor pulley and the driven pulley, and having two belt sections configured to move between the motor pulley and the driven pulley in opposite directions to each other, along with rotation of the motor pulley, the carriage being supported on either of the two belt sections,
- wherein the carriage moves from a first side near the driven pulley toward a second side near the motor pulley as a first directional movement and the carriage moves from the second side toward the first side a second directional movement, and wherein an elongation of the belt in the first directional movement is different from that in the second directional movement;
- a signal generation unit configured to generate a first control signal, according to a drive instruction and position information based on the signal output from the encoder, and to generate a second control signal having a period used for compensating cogging torque ripples of the motor;
- and
- a driving unit configured to drive the motor using the first control signal and the second control signal,
- wherein, in each of the first directional movement and the second directional movement the carriage is configured to switch from an acceleration movement to a maximum constant speed movement at a first position, and to switch from the maximum constant speed movement to a deceleration movement at a second position after passing through the first position and a maximum constant speed region, and
- wherein, in the first and the second directional movements, the signal generation unit sets, in the maximum constant speed region, a value of the period of the second control signal at a position near the first position to be different from a value of the period of the second control signal at a position near the second position according to the elongations of the belt.
6 more elements
Dependencies are inferred from the claim text.