Control system

Abstract

To suppress an influence on processing due to a change in the attitude of a movable body at the time of slowdown.SOLUTION: Movable bodies (50,61) are driven by a motor (71) and move and execute prescribed action so as to process an object. Controllers (10, 30) control the motor so that the movable bodies constantly move at a first speed in an execution section where the movable bodies execute the prescribed action. When a non-execution section of a prescribed distance or more exists continuously from the execution section, the controllers control the motor so that the movable bodies start acceleration from the first speed in a condition that the movable bodies pass through the first execution section. Furthermore, the controllers control the motor so that the movable bodies restart constant movement at the first speed from a constant-speed restart spot. The constant-speed restart spot is positioned on the upstream of a second execution section.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control system.

Background Art

[0002] An inkjet printer that realizes high-speed printing processing by increasing the moving speed of a carriage equipped with an inkjet head in a non-image area sandwiched between image areas is already known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the moving speed of the carriage is increased in the non-image area, when the moving speed of the carriage is returned to the original speed in accordance with the entry into the image area, the posture of the carriage temporarily changes as the speed decreases.

[0005] Such a change in posture may adversely affect the quality of the image formed on the sheet in the image area. The influence of the posture change accompanying deceleration can occur not only in inkjet printers but also in various systems that process an object during the movement of a moving body.

[0006] Therefore, according to one aspect of the present disclosure, in a system that accelerates and decelerates a moving body based on an execution section and a non-execution section of an operation related to processing, it is desirable to be able to provide a technique capable of suppressing the influence on processing caused by a change in the posture of the moving body during deceleration accompanying the entry into the execution section.

Means for Solving the Problems

[0007] According to one aspect of the present disclosure, a control system is provided. The control system includes a motor, a moving body, and a controller. The moving body is driven by the motor to move on a path and is configured to process an object by performing a predetermined operation during the moving process. The controller is configured to control the movement of the moving body by controlling the motor.

[0008] According to one aspect of the present disclosure, the controller controls the motor such that the moving body accelerates in an acceleration section from a movement start point to a first point, decelerates in a deceleration section from a second point downstream of the moving direction of the moving body from the first point to a target stop point, and stops at the target stop point.

[0009] According to one aspect of the present disclosure, in an intermediate section between the first point and the second point, at least in an execution section where the moving body performs a predetermined operation, the controller controls the motor such that the moving body moves at a constant speed at a first speed.

[0010] When a non-execution section of a predetermined distance or more exists following the execution section, the controller controls the motor such that the moving body starts to accelerate from the first speed on the condition that the moving body has passed through a first execution section which is the execution section preceding the non-execution section.

[0011] When a second execution section adjacent to the non-execution section exists downstream of the non-execution section of a predetermined distance or more, from a constant-speed restart point located upstream of the second execution section, the controller controls the motor such that the moving body starts to decelerate to the first speed from the time when the moving body has passed through a point upstream of the non-execution section by a distance required to decelerate to the first speed from the constant-speed restart point in the non-execution section so as to restart moving at a constant speed at the first speed.

[0012] According to one aspect of the present disclosure, a margin distance which is the distance from the constant-speed restart point to the start point of the second execution section is longer than the distance from the end point of the first execution section to the point where the moving body starts to accelerate from the first speed.

[0013] By increasing the speed of the moving body in the non-execution section to be higher than the speed in the execution section, the processing efficiency regarding the processing of the object can be improved. However, if the posture of the moving body changes during deceleration and the constant-speed movement is resumed from the start point of the second execution section following the non-execution section, the moving body may execute a predetermined operation in an inappropriate posture at the initial stage of the second execution section.

[0014] On the other hand, by intentionally setting the deceleration end and constant-speed resumption points to points upstream of the second execution section, thereby setting a longer margin distance and resuming the constant-speed movement of the moving body from upstream of the start point of the second execution section, the posture of the moving body can be restored to an appropriate posture or brought closer to an appropriate posture by the time the moving body reaches the start point of the second execution section. Therefore, according to one aspect of the present disclosure, it is possible to suppress the influence on processing caused by the change in the posture of the moving body during deceleration.

[0015] According to another aspect of the present disclosure, instead of or in addition to setting the margin distance to be longer than the distance from the end point of the first execution section to the point where the moving body starts to accelerate from the first speed, the controller may be configured to change the margin distance according to the environment.

[0016] According to another aspect of the present disclosure, the controller may be configured to change a margin distance, which is the distance from the constant-speed resumption point to the start point of the second execution section, according to the environment regarding at least one of the movement of the moving body and the predetermined operation.

[0017] The manner of the change in the posture of the moving body accompanying deceleration and the subsequent recovery of the posture varies depending on the environment in which the moving body is placed, for example, the direction and magnitude of the force acting on the moving body. The influence on processing depends on in what posture the operation regarding processing is executed.

[0018] By changing the margin distance according to the above environment, an appropriate margin distance for suppressing the above influence can be set according to the environment, and the control of the motor can be executed. Therefore, according to another aspect of the present disclosure, it is possible to suppress the deterioration of the processing efficiency related to processing due to an excessive margin distance or the deterioration of the processing quality due to an insufficient margin distance.

[0019] According to still another aspect of the present disclosure, in a system in which a passage includes a main region and a sub-region adjacent to the main region, and the processing of an object is executed only in the main region, the controller may be configured as follows.

[0020] That is, in the intermediate section, in the execution section where at least the moving body executes a predetermined operation, the controller controls the motor so that the moving body moves at a constant speed at the first speed. When a non-execution section of a predetermined distance or more exists in the main region following the execution section, the controller is configured to control the motor so that the moving body starts to accelerate from the first speed to the second speed on the condition that the moving body has passed through the first execution section, which is the execution section preceding the non-execution section.

[0021] When a second execution section adjacent to the non-execution section exists downstream of the non-execution section of a predetermined distance or more, the controller controls the motor so that the moving body starts to decelerate to the first speed from the time when the moving body passes through a point upstream of the constant-speed restart point in the non-execution section by a distance necessary for decelerating to the first speed from the constant-speed restart point located upstream of the second execution section and resumes constant-speed movement at the first speed.

[0022] When a non-execution section of a predetermined distance or more in the main region continues to the end point of the main region, the controller controls the motor so that the moving body moves at a constant speed at a third speed lower than the second speed from the start point of the sub-region, from the time when the moving body passes through a point upstream of the start point of the sub-region by a distance necessary for decelerating to the third speed.

[0023] Even when the moving speed of the subsequent section following the non-execution section is set lower than that of the non-execution section, if the subsequent section is not an execution section, the moving body can be efficiently moved by performing deceleration control without a margin distance. On the other hand, when the subsequent section is an execution section, by performing deceleration control taking into account the margin distance, it is possible to suppress the posture change during deceleration from having an unfavorable influence on the operation in the execution section.

Brief Description of the Drawings

[0024]

Figure 1

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MODE FOR CARRYING OUT THE INVENTION

[0025] Exemplary embodiments of the present disclosure will be described below with reference to the drawings. An image forming system 1 of the present embodiment shown in FIG. 1 includes a main controller 10, a communication interface 20, a print controller 30, and a conveyance controller 40. The image forming system 1 is configured as an inkjet printer.

[0026] The main controller 10 includes a processor 11 and a memory 13. The memory 13 includes a non-volatile memory and a volatile memory, and stores a computer program in the non-volatile memory. Examples of the non-volatile memory include a flash memory and an EEPROM. The volatile memory is used as a work memory.

[0027] The processor 11 controls the image forming system 1 in an integrated manner by executing processing according to a computer program stored in the memory 13. The processing executed by the main controller 10 described below may be understood to be realized by the processor 11 executing processing according to a computer program.

[0028] When the main controller 10 receives print target data, which is image data to be printed, from an external device via the communication interface 20, it executes processing for forming a corresponding image on the sheet Q in cooperation with the print controller 30 and the conveyance controller 40. The print controller 30 and the conveyance controller 40 may be configured by dedicated circuits such as ASICs (Application Specific Integrated Circuits), for example.

[0029] The image forming system 1 further includes a recording head 50, an ink tank 51, a head drive circuit 55, a carriage moving mechanism 60, a CR motor 71, a motor drive circuit 73, an encoder 75, and a signal processing circuit 77. The carriage moving mechanism 60 includes a carriage 61 on which the recording head 50 is mounted.

[0030] The print controller 30 controls the movement of the carriage 61 by the carriage moving mechanism 60 by controlling the CR motor 71 according to a command from the main controller 10. The print controller 30 further controls the ink ejection operation by the recording head 50 during the movement of the carriage 61. By these controls, the print controller 30 forms the above image on the sheet Q. By the ink ejection operation, the sheet Q as a processing target is processed so that an image is formed on its surface.

[0031] The recording head 50 is a discharge head that discharges ink toward the sheet Q and is a so-called inkjet head. The recording head 50 is connected to the ink tank 51, which is not mounted on the carriage 61, via a tube 51A, receives ink supply from the ink tank 51 via the tube 51A, and discharges ink droplets.

[0032] The head drive circuit 55 is configured to drive the recording head 50 in accordance with a control signal from the print controller 30. The carriage movement mechanism 60 is driven by a CR motor 71 and configured to reciprocate the carriage 61 along the main scanning direction. Details of the carriage movement mechanism 60 will be described later with reference to FIG. 2.

[0033] The CR motor 71 is composed of a DC motor. The motor drive circuit 73 is configured to drive the CR motor 71 by applying a drive current or voltage corresponding to an operation amount input from the print controller 30 to the CR motor 71. The operation amount can be a value of the drive current or voltage to be applied to the CR motor 71.

[0034] The encoder 75 is a linear encoder that outputs an encoder signal corresponding to the displacement of the carriage 61 in the main scanning direction. The signal processing circuit 77 detects the position X and speed V of the carriage 61 in the main scanning direction based on the encoder signal input from the encoder 75. The position X and speed V of the carriage 61 detected by the signal processing circuit 77 are input to the print controller 30.

[0035] The print controller 30 controls the recording head 50 and the CR motor 71 based on the position X and speed V of the carriage 61 input from the signal processing circuit 77. Specifically, the print controller 30 calculates an operation amount for the CR motor 71 based on the speed V of the carriage 61 input from the signal processing circuit 77 so that the carriage 61 moves in the main scanning direction at a speed V according to a speed profile specified by the main controller 10, and controls the CR motor 71.

[0036] The printing controller 30 further inputs, to the head drive circuit 55, a control signal for realizing image formation according to a command from the main controller 10 by discharging ink droplets, based on the position X of the carriage 61 input from the signal processing circuit 77. As a result, ink droplets for forming an image to be printed on the sheet Q are discharged from the recording head 50 onto the sheet Q.

[0037] The conveyance controller 40 controls the conveyance of the sheet Q by controlling the PF motor 91 according to a command from the main controller 10. The image forming system 1 further includes, as components related to the conveyance of the sheet Q, a sheet conveyance mechanism 80, a PF motor 91, a motor drive circuit 93, an encoder 95, and a signal processing circuit 97.

[0038] The sheet conveyance mechanism 80 includes a conveyance roller 81. The sheet conveyance mechanism 80 conveys the sheet Q in the sub-scanning direction orthogonal to the main scanning direction by the rotation of the conveyance roller 81. The conveyance roller 81 is arranged in parallel with the main scanning direction upstream of the recording head 50 in the sub-scanning direction. The conveyance roller 81 receives power from the PF motor 91 and rotates to convey the sheet Q conveyed from upstream downstream in the sub-scanning direction.

[0039] The PF motor 91 is constituted by a DC motor. The motor drive circuit 93 applies a drive current according to an operation amount input from the conveyance controller 40 to the PF motor 91 to drive the PF motor 91. The encoder 95 is a rotary encoder and is arranged on the rotation shaft of the PF motor 91 or the conveyance roller 81 to output an encoder signal corresponding to the rotation of the PF motor 91 or the conveyance roller 81.

[0040] The signal processing circuit 97 detects the rotation amount and rotation speed of the conveyance roller 81 based on the encoder signal input from the encoder 95. The rotation amount and rotation speed detected by the signal processing circuit 97 are input to the conveyance controller 40.

[0041] The conveyance controller 40 determines the operation amount for the PF motor 91 based on the rotation amount and rotation speed input from the signal processing circuit 97, and controls the PF motor 91. Thereby, the conveyance controller 40 controls the conveyance of the sheet Q by the conveyance roller 81.

[0042] As shown in FIG. 2, the carriage movement mechanism 60 includes, in addition to the carriage 61, a belt mechanism 63 and guide rails 65 and 66. The belt mechanism 63 includes a drive pulley 631 and a driven pulley 633 arranged in the main scanning direction, and a belt 635 wound between the drive pulley 631 and the driven pulley 633.

[0043] The carriage 61 is fixed to the belt 635. In the belt mechanism 63, the drive pulley 631 receives power from the CR motor 71 and rotates, and the belt 635 and the driven pulley 633 rotate in a driven manner as the drive pulley 631 rotates.

[0044] The guide rails 65 and 66 extend along the main scanning direction and are arranged at positions separated from each other in the sub-scanning direction. The guide rails 65 and 66 constitute the conveyance path of the carriage 61, in other words, the movement path of the carriage 61.

[0045] The belt mechanism 63 is arranged on the guide rail 65. On the guide rails 65 and 66, for example, convex walls (not shown) extending along the main scanning direction are formed to regulate the movement direction of the carriage 61 in the main scanning direction.

[0046] While the movement direction of the carriage 61 is regulated by the guide rails 65 and 66, the carriage 61 moves and displaces along the guide rails 65 and 66 in the main scanning direction in conjunction with the rotation of the belt 635. The recording head 50 moves in the main scanning direction as the carriage 61 moves.

[0047] In addition, a hole HL is formed in the guide rail 66. Through the hole HL, the lever 67 is arranged so as to protrude from below the guide rail 66 upward (on the conveyance path of the carriage 61).

[0048] The lever 67 receives a biasing force toward the center in the main scanning direction in the guide rail 66 through a spring (not shown), and is positioned on the center side of the guide rail 66 in the hole HL when not pushed by the carriage 61.

[0049] The lever 67 is pushed by the carriage 61 and moves to the end side of the guide rail 66. The hole HL is shown schematically and has a claw (not shown). That is, the hole HL is configured such that the lever 67 that has started to move to the end side of the guide rail 66 cannot move to the center side of the guide rail 66 until it moves to the very end.

[0050] A capping mechanism 69, which is a lifting mechanism for a cap (not shown) attached to the nozzle surface of the recording head 50, is connected to the lever 67. The capping mechanism 69 positions the cap downward when the lever 67 is located on the center side of the guide rail 66.

[0051] As the lever 67 moves to the end side of the guide rail 66, the capping mechanism 69 raises the cap to bring it closer to the nozzle surface of the recording head 50, and operates to attach the cap to the nozzle surface at the home position of the carriage 61. The home position is located at the end of the conveyance path of the carriage 61.

[0052] That is, the capping mechanism 69 is disposed in a sub-region R1 (see FIG. 2), which is an end region in the main scanning direction in the conveyance path of the carriage 61. The central portion of the conveyance path of the carriage 61 is a main region R0 of the conveyance path where the recording head 50 reciprocates for image formation on the sheet Q, and the sub-region R1 is disposed adjacent to the main region R0.

[0053] The main region R0 corresponds to the region of the conveyance path of the carriage 61 through which the sheet Q of the maximum size passes, and the operation of discharging ink droplets by the recording head 50 for image formation on the sheet Q is performed only in the main region R0.

[0054] The encoder 75 includes an encoder scale 75A and an optical sensor 75B. The encoder scale 75A is arranged on the guide rail 65 along the main scanning direction. The optical sensor 75B is mounted on the carriage 61. The encoder 75 inputs an encoder signal corresponding to the change in the relative position between the encoder scale 75A and the optical sensor 75B to the signal processing circuit 77.

[0055] In addition, the image forming system 1 includes a power transmission mechanism 99 (see FIG. 1). The power transmission mechanism 99 is a gear system configured to selectively transmit the power from the PF motor 91 to a designated drive target among a plurality of drive targets.

[0056] The power transmission mechanism 99 is connected to the conveyance roller 81 and transmits the power from the PF motor 91 transmitted through the conveyance roller 81 to the designated drive target. The designation of the drive target is performed by the lever 67. That is, the power transmission mechanism 99 is configured to selectively transmit power to the drive target determined according to the position of the lever 67.

[0057] Examples of the drive targets include a plurality of paper feeding mechanisms and a maintenance device. Each of the plurality of paper feeding mechanisms may be a mechanism that conveys the sheet Q from different paper feeding trays toward the sheet conveyance mechanism 80. The maintenance device includes a suction pump connected to the above-described cap, receives the power from the PF motor 91 via the power transmission mechanism 99, and is configured to operate to suck ink droplets.

[0058] Subsequently, the details of the printing process executed each time the main controller 10 receives the print target data will be described with reference to FIG. 3. In the printing process, the main controller 10 controls the reciprocating movement of the carriage 61 in the main scanning direction through the print controller 30, and further controls the ejection operation of ink droplets by the recording head 50. The main controller 10 further controls the conveyance of the sheet Q by the rotation of the conveyance roller 81 through the conveyance controller 40. Through these controls, an image based on the print target data is formed on the sheet Q.

[0059] When the main controller 10 starts the printing process, it executes page printing processing (S110 - S170) for each page. The main controller 10 executes paper feeding processing in S110.

[0060] In the paper feeding process, the main controller 10 controls the PF motor 91 through the conveyance controller 40 so that the paper Q is separated by one sheet from the paper feed tray (not shown) and conveyed in the sub-scanning direction to the ink droplet ejection position by the recording head 50.

[0061] At this time, the main controller 10 moves the carriage 61 located at the home position through the printing controller 30, and arranges the lever 67 at a position where the paper feeding mechanism corresponding to the paper Q to be fed can be driven.

[0062] The main controller 10 further arranges the carriage 61 at the initial position for printing by controlling the CR motor 71 via the printing controller 30 (S120). After that, the main controller 10 sets the speed profile to the printing controller 30 (S130) and executes main scanning direction printing (S140). The speed profile defines the target speed Vr from the movement start point to the target stop point of the carriage 61.

[0063] In S140, the main controller 10 commands the printing controller 30 to execute control of the CR motor 71 according to the speed profile set in S130. The main controller 10 further inputs the pass image data, which is the image data representing one pass of the image to be formed on the paper Q, to the printing controller 30, and commands the printing controller 30 to control the ink droplet ejection operation by the recording head 50 based on this pass image data.

[0064] The image for one pass to be formed on the sheet Q is the image to be formed on the sheet Q by the ink droplet ejection operation in the process of the carriage 61 moving in one direction in the main scanning direction from the movement start point to the target stop point, in other words, from the turning point to the next turning point.

[0065] In response to this command, the print controller 30 controls the CR motor 71 so that the carriage 61 moves at the speed V according to the set speed profile from the movement start point to the target stop point corresponding to the turning point.

[0066] Specifically, the print controller 30 performs feedback control on the speed V of the carriage 61 based on the speed profile. As a control method, for example, a PID control method can be adopted.

[0067] The print controller 30 calculates, for example, the deviation (Vr - V) between the target speed Vr according to the speed profile and the speed V of the carriage 61 measured based on the encoder signal. The print controller 30 calculates the operation amount for the CR motor 71 based on the deviation (Vr - V) and inputs it to the motor drive circuit 73. The motor drive circuit 73 applies a drive current or voltage corresponding to the operation amount to the CR motor 71. Thereby, the carriage 61 is controlled to move from the movement start point to the target stop point at the speed V corresponding to the target speed Vr.

[0068] The print controller 30 further controls the recording head 50 so that the ink droplet ejection operation for forming the image corresponding to the pass image data is executed by the recording head 50 in accordance with the movement of the carriage 61 in response to the above command.

[0069] By executing the main scanning direction printing in S140, an image for one pass based on the pass image data is formed on the sheet Q. When the main scanning direction printing in S140 is completed, the main controller 10 determines whether the printing process for one page of the sheet Q is completed (S150).

[0070] If it is determined that the printing process for one page is not completed (No in S150), the main controller 10 causes the conveyance controller 40 to control the PF motor 91 so as to convey the paper Q by a predetermined distance corresponding to the width in the sub-scanning direction of the image for one pass in the sub-scanning direction (S160).

[0071] After executing the process of S160, the main controller 10 sets the speed profile to be used for the next printing in the main scanning direction (S130). After setting the speed profile, the main controller 10 executes the printing in the main scanning direction (S140), moves the carriage 61 in the direction opposite to the previous time, discharges ink droplets from the recording head 50, and forms an image for one pass on the paper Q that has been fed out by a predetermined distance in the sub-scanning direction by the process of S160 immediately before.

[0072] The main controller 10 repeatedly executes the processes of S130 - S160 until it is determined that the printing process for one page is completed. In this way, an image for one page is printed on the paper Q while accompanying the reciprocating movement of the carriage 61, the discharge of ink droplets, and the conveyance of the paper Q. When the main controller 10 determines that the printing of one page of the paper Q is completed (Yes in S150), it executes the process of S170.

[0073] In S170, the main controller 10 executes the paper discharge process for the printed paper Q. In the paper discharge process, the printed paper Q is discharged to a paper discharge tray (not shown) by controlling the PF motor 91 through the conveyance controller 40.

[0074] The main controller 10 further determines whether the printing target data has the page image data of the next page (S180). If it is determined that it has the page image data of the next page (Yes in S180), it executes the page printing process (S110 - S170) for the next page.

[0075] In this way, the main controller 10 forms an image based on the print target data on the paper Q for each page, and when the page printing process for all pages is completed (No in S180), the printing process ends.

[0076] Subsequently, the details of the speed profile setting process executed by the main controller 10 in S130 will be described with reference to FIGS. 4 and 5. The main controller 10 can set the speed profile by executing the processes shown in FIGS. 4 and 5.

[0077] When starting the speed profile setting process, the main controller 10 determines whether the next main scanning direction printing (S140) includes the movement to the sub-region R1 after the ink droplet ejection (S210). If it is determined that it does not include the movement to the sub-region R1 (No in S210), the main controller 10 executes the process of S220.

[0078] In S220, the main controller 10 generates a standard speed profile as the speed profile to be used in the next main scanning direction printing. The speed profile defines the target speed Vr at each time point in the process of the carriage 61 moving from the movement start point to the target stop point. The movement start point corresponds to the position of the carriage 61 at the start of the main scanning direction printing and also corresponds to the position of the carriage 61 at the start of the movement control according to the speed profile. More specifically, the movement start point corresponds to the stop position of the carriage 61 in the previous main scanning direction printing.

[0079] The standard speed profile generated in S220 is, as illustrated in FIG. 6A, a speed profile that defines the target speed Vr at each time point from the start of control such that the carriage 61 accelerates from the movement start point and the speed V of the carriage 61 reaches the first speed Vr1 at the acceleration end point, which is a point downstream in the moving direction of the carriage 61, after a predetermined acceleration distance from the movement start point. The section from the movement start point to the acceleration end point corresponds to the acceleration section.

[0080] This standard speed profile further defines the target speed Vr at each time point such that, from the acceleration end point, the carriage 61 moves at a constant speed Vr1 until it reaches a deceleration start point, which is a point upstream of the target stop point by a predetermined deceleration distance. From this deceleration start point, the carriage 61 starts to decelerate until its speed V drops to zero at the target stop point and the carriage 61 stops. The intermediate section from the acceleration end point to the deceleration start point downstream in the moving direction of the carriage 61 corresponds to the constant speed section, and the section from the deceleration start point to the target stop point corresponds to the deceleration section.

[0081] The target stop point is set based on the end point of the ink droplet ejection operation in the next main scanning direction printing and the start point of the ink droplet ejection operation in the further next main scanning direction printing. This setting is made such that the acceleration end point is located upstream of the start point of the ink droplet ejection operation for image formation on the paper Q, and the deceleration start point is located downstream of the end point of the ejection operation. The first speed Vr1 corresponds to the speed to be achieved when the recording head 50 executes the ink droplet ejection operation for image formation on the paper Q.

[0082] That is, the standard speed profile shown in FIG. 6A has the following characteristics. · It includes an acceleration section that accelerates the carriage 61 from the movement start point to the first speed Vr1. The end point of the acceleration section corresponds to a point upstream in the moving direction of the carriage 61 from the point where the ink droplet ejection operation starts in the main scanning direction printing.

[0083] · It includes a constant speed section in which the carriage 61 moves at a constant speed Vr1 from the time when the acceleration to the first speed Vr1 of the carriage 61 ends until the carriage 61 passes through a deceleration start point that is upstream of the target stop point by a distance required for deceleration. The deceleration start point corresponds to a point downstream in the moving direction of the carriage 61 from the point where the ink droplet ejection operation ends in the main scanning direction printing.

[0084] · From the time when the carriage 61 passes the deceleration start point, it includes a deceleration section in which the carriage 61 is decelerated and stopped toward the target stop point. The target stop point corresponds to the turning point in the reciprocating motion of the carriage 61.

[0085] After the execution of the process of S220, when the main controller 10 controls the movement of the carriage 61 according to the standard speed profile in the next main scanning direction printing, it determines whether there is a non-ejection section that satisfies a specific condition in the constant speed section where the carriage 61 moves at a constant speed at the first speed Vr1 (S230).

[0086] The recording head 50 includes a plurality of nozzles in the sub-scanning direction. In the main scanning direction printing, image formation for a plurality of pixels corresponding to the number of nozzles in the sub-scanning direction is performed. The main controller 10 determines, in the main scanning direction printing based on the path image data, a non-execution section of the ejection operation in which ink ejection is not performed for all the plurality of pixels in the sub-scanning direction as a non-ejection section, and determines an execution section of the ejection operation in which ink ejection is performed for at least some of the pixels as an ejection section.

[0087] When the constant speed section is a section including, in order in the moving direction of the carriage 61, an ejection section, a non-ejection section of a predetermined distance D1 or more, and an ejection section, the main controller 10 determines that there is a non-ejection section that satisfies the specific condition (Yes in S230), and in other cases, determines that there is no non-ejection section that satisfies the specific condition (No in S230).

[0088] Hereinafter, a section upstream in the moving direction of the carriage 61 adjacent to the non-ejection section in a section preceding the non-ejection section of a predetermined distance D1 or more is expressed as a first ejection section with respect to the non-ejection section. Also, a section downstream in the moving direction of the carriage 61 adjacent to the non-ejection section in a section following the non-ejection section is expressed as a second ejection section with respect to the non-ejection section.

[0089] When the main controller 10 determines that there is a non-ejection section that satisfies a specific condition (Yes in S230), in order to realize the high-speed movement of the carriage 61 in the non-ejection section following the first ejection section, in S240, the standard speed profile is changed to the speed profile with high-speed movement shown in FIG. 6B. Hereinafter, the speed profile with high-speed movement is particularly referred to as a multi-stage speed profile.

[0090] The multi-stage speed profile shown in FIG. 6B has the following characteristics. · Similar to the standard speed profile, it includes an acceleration section for accelerating the carriage 61 from the movement start point to the first speed Vr1. The end point of the acceleration section is a point upstream of the start point of the first ejection section in the movement direction of the carriage 61.

[0091] · From the time when the acceleration of the carriage 61 to the first speed Vr1 ends until the carriage 61 passes the end point of the first ejection section, it includes a first constant-speed section for moving the carriage 61 at a constant speed of the first speed Vr1.

[0092] · From the time when the carriage 61 passes the end point of the first ejection section, it includes a second acceleration section for accelerating the carriage 61 from the first speed Vr1 to a predetermined second speed Vr2 higher than the first speed Vr1. The start point of the second acceleration section coincides with the end point of the first ejection section, or is a point slightly downstream of the end point of the first ejection section in the movement direction of the carriage 61.

[0093] · From the time when the carriage 61 passes the end point of the second acceleration section until it passes the first deceleration start point, it includes a high-speed movement section for moving the carriage 61 at a constant speed of a second speed Vr2 higher than the first speed Vr1. The first deceleration start point corresponds to a point upstream of the distance required for deceleration from the second speed Vr2 to the first speed Vr1 from the constant-speed restart point. The constant-speed restart point is the point where the constant-speed movement of the carriage 61 at the first speed Vr1 resumes.

[0094] · From the time when the carriage 61 passes the first deceleration start point, it includes a first deceleration section in which the carriage 61 is decelerated to the first speed Vr1. The end point of the first deceleration section corresponds to the constant speed restart point. The constant speed restart point is determined upstream of the second discharge section with reference to the start point of the second discharge section.

[0095] · From the constant speed restart point until the carriage 61 passes the end point of the second discharge section and passes the second deceleration start point, which is upstream of the distance required for deceleration of the carriage 61 from the target stop point, it includes a second constant speed section in which the carriage 61 is moved at a constant speed at the first speed Vr1. The second deceleration start point corresponds to the end point of the second constant speed section and corresponds to the deceleration start point of the standard speed profile.

[0096] · From the time when the carriage 61 passes the second deceleration start point, it includes a second deceleration section in which the carriage 61 is decelerated and stopped toward the target stop point. The second deceleration section corresponds to the deceleration section of the standard speed profile.

[0097] In the graphs of FIGS. 6A and 6B, the distance D is the section length of the non-discharge section, and indicates the distance (in other words, the length) in the main scanning direction of the non-discharge section. The graph of FIG. 6A shows that the distance D of the non-discharge section is less than a predetermined distance D1. The graph of FIG. 6B shows that the distance D of the non-discharge section is greater than or equal to the predetermined distance D1. The graph of FIG. 6B further shows that the distance from the constant speed restart point to the start point of the second discharge section is α. Hereinafter, the distance α from the constant speed restart point to the start point of the second discharge section is also referred to as a margin distance α.

[0098] The predetermined distance D1, which is an index for changing to the multi-stage speed profile, is determined to be longer than the distance required for acceleration and deceleration between the first speed Vr1 and the second speed Vr2. Specifically, the distance D1 is determined such that the distance from the start point of the non-discharge section to the constant speed restart point is sufficiently longer than the distance required for acceleration and deceleration between the first speed Vr1 and the second speed Vr2.

[0099] According to the present embodiment, the carriage 61 accelerates and decelerates in the main scanning direction due to the action of the force from the belt 635. The point of action of this force is not at the center of gravity of the moving body including the carriage 61 and the recording head 50. Therefore, when the carriage 61 decelerates, the part of the carriage 61 far from the connection point tends to move forward due to inertia with respect to the part of the carriage 61 close to the connection point of the carriage 61 with the belt 635, which is the point of action of the force, and the posture of the carriage 61 has an inclination in the sub-scanning direction.

[0100] This inclination is eliminated while the deceleration motion of the carriage 61 ends and then the constant-speed motion of the carriage 61 continues. However, the inclination remains at the initial stage of the constant-speed motion. The inappropriate posture of the carriage 61 simultaneously affects the posture of the nozzles of the recording head 50, leading to an error in the landing point of the ink droplets ejected from the recording head 50.

[0101] The above-mentioned margin distance α is determined based on the distance required to eliminate the inclination of the carriage 61 remaining at the initial stage of the constant-speed motion, and the constant-speed restart point is set upstream in the moving direction of the carriage 61 by the margin distance α from the start point of the second ejection section. That is, the constant-speed restart point is intentionally set upstream from the start point of the second ejection section. The margin distance α is longer than the distance from the end point of the first ejection section to the point where the carriage 61 starts to accelerate from the first speed Vr1 to the second speed Vr2.

[0102] When changing the speed profile in S240, the main controller 10 sets the multi-stage speed profile, which is the changed speed profile, to the print controller 30 (S250). Thereby, in the main scanning direction printing (S140), speed control of the carriage 61 according to the speed profile with high-speed movement shown in FIG. 6B is realized.

[0103] On the other hand, when the main controller 10 determines that there is no non-ejection section satisfying the specific conditions (No in S230), it sets the standard speed profile in the printing controller 30 (S260). As a result, in the main scanning direction printing (S140), speed control of the carriage 61 according to the speed profile without high-speed movement shown in FIG. 6A is realized.

[0104] As another example, when the constant speed section has an ejection section and a subsequent non-ejection section and does not have an ejection section following the non-ejection section downstream in the moving direction of the carriage 61, the main controller 10 sets the target speed Vr in the non-ejection section to the second speed Vr2. In the deceleration section following the non-ejection section, a speed profile may be generated to decelerate the carriage 61 from the second speed Vr2 to zero speed and stop at the target stop point, and the generated speed profile may be set in the printing controller 30 (S260). In this case, the deceleration start point can be determined at a point upstream from the target stop point by a distance required to decelerate from the second speed Vr2 to zero speed.

[0105] In addition, when the main controller 10 determines in S210 that the next main scanning direction printing includes movement to the sub-region R1 (Yes in S210), it executes the process of S310 (see FIG. 5).

[0106] In S310, the main controller 10 generates a standard speed profile as the speed profile to be used in the next main scanning direction printing (S140) in the same manner as the process in S220. The target stop point is a stop point corresponding to the movement purpose in the sub-region R1, for example, the home position of the carriage 61.

[0107] Thereafter, the main controller 10 determines whether a non-ejection section within the main region R0 that is connected to the start point of the sub-region R1, in other words, a non-ejection section of a predetermined distance D1 or more in the non-ejection section within the main region R0, exists in the constant speed section of the standard speed profile (S320).

[0108] When it is determined that there is a corresponding non-ejection section (Yes in S320), the main controller 10 changes the standard speed profile to a multi-stage speed profile in order to achieve high-speed movement of the carriage 61 in the non-ejection section in the main area R0 (S330).

[0109] In S330, as illustrated in FIG. 7, the main controller 10 generates a multi-stage speed profile in which a constant-speed movement at the first speed Vr1 starts from the start point of the sub-area R1, and the margin distance α where the constant-speed restart point corresponds to the start point of the sub-area R1 is zero.

[0110] That is, the multi-stage speed profile generated in S330 has the following characteristics. · Similar to the standard speed profile, it includes an acceleration section for accelerating the carriage 61 from the movement start point to the first speed Vr1.

[0111] · From the time when the acceleration of the carriage 61 to the first speed Vr1 ends until the carriage 61 passes the start point of the non-ejection section, it includes a first constant-speed section for moving the carriage 61 at a constant speed at the first speed Vr1. The start point of the non-ejection section corresponds to the end point of the ejection section and the end point of the first constant-speed section.

[0112] · From the time when the carriage 61 passes the start point of the non-ejection section, it includes a second acceleration section for accelerating the carriage 61 from the first speed Vr1 to a predetermined second speed Vr2 higher than the first speed Vr1. The start point of the non-ejection section corresponds to the start point of the second acceleration section.

[0113] · From the time when the carriage 61 passes the end point of the second acceleration section until it passes the first deceleration start point, it includes a high-speed movement section for moving the carriage 61 at a constant speed at a second speed Vr2 higher than the first speed Vr1. The first deceleration start point corresponds to a point upstream by a distance required for deceleration from the second speed Vr2 to the first speed Vr1 from the start point of the sub-area R1.

[0114] · From the time when the carriage 61 passes the first deceleration start point, it includes a first deceleration section in which the carriage 61 is decelerated to the first speed Vr1. The end point of the first deceleration section corresponds to the start point of the sub-region R1.

[0115] · From the start point of the sub-region R1 until the carriage 61 passes the second deceleration start point which is upstream of the distance required for deceleration from the target stop point, it includes a second constant speed section in which the carriage 61 moves at a constant speed at the first speed Vr1. The second deceleration start point corresponds to the deceleration start point of the standard speed profile.

[0116] · From the time when the carriage 61 passes the second deceleration start point, it includes a second deceleration section in which the carriage 61 is decelerated and stopped toward the target stop point.

[0117] That is, when the non-ejection section continues until the end point of the main region R0, the speed profile generated at S330 is such that the carriage 61 moves at the second speed Vr2 in the non-ejection section, and the carriage 61 moves at a constant speed at the first speed Vr1 from the start point of the sub-region R1, and the deceleration of the carriage 61 is started from a point upstream of the distance required for deceleration from the start point of the sub-region R1.

[0118] In the sub-region R1, when moving at high speed, a large impact may occur on the recording head 50 due to contact with the lever 67, and the meniscus of the ink may collapse or a large noise may occur.

[0119] Therefore, it is necessary to stop the high-speed movement of the carriage 61 before the carriage 61 enters the sub-region R1. However, in the sub-region R1, since image formation on the paper Q is not performed, it is not necessary for the inclination of the carriage 61 generated during deceleration to recover from the start point of the sub-region R1. For this reason, at S330, the speed profile is generated so that the constant speed movement at the first speed Vr1 starts from the start point of the sub-region R1.

[0120] When the speed profile is changed in S330, in S340, the main controller 10 sets the changed multi-stage speed profile in the print controller 30. Thereby, in the main scanning direction printing (S140), speed control of the carriage 61 according to the speed profile shown in FIG. 7 is realized.

[0121] On the other hand, when the main controller 10 makes a negative determination in S320 (No in S320), the main controller 10 sets the standard speed profile in the print controller 30 (S350). Thereby, in the main scanning direction printing (S140), speed control of the carriage 61 according to the standard speed profile is realized.

[0122] As another example, when the constant speed section includes, in order in the moving direction of the carriage 61, a first ejection section, a non-ejection section of a predetermined distance D1 or more, and a second ejection section, the main controller 10 may generate a multi-stage speed profile in the same manner as the process in S240 (S350). In this case, the main controller 10 can generate a multi-stage speed profile so that the carriage 61 continuously moves from the second ejection section connected to the start point of the sub-region R1 to the deceleration start point at the first speed Vr1.

[0123] In addition, when generating the speed profile in S220 and S310, the main controller 10 executes the standard speed profile generation process shown in FIG. 8 and sets the first speed Vr1 according to the print mode specified from the print target data transmission source when receiving the print target data.

[0124] The image forming system 1 of the present embodiment has a high-speed mode and a high-quality mode as print modes. The high-speed mode is a control mode that realizes high-speed printing by moving the carriage 61 faster than the high-quality mode in the ink droplet ejection section. The high-quality mode is a control mode that forms a high-quality image on the paper Q by moving the carriage 61 slower than the high-speed mode in the ejection section.

[0125] When starting the standard speed profile generation process shown in FIG. 8, the main controller 10 determines whether the specified printing mode is either the high-speed mode or the high-quality mode (S410).

[0126] When the main controller 10 determines that the specified printing mode is the high-speed mode, it sets the first speed Vr1 to the speed Vr1_H predetermined for the high-speed mode (S420).

[0127] When the main controller 10 determines that the specified printing mode is the high-quality mode, it sets the first speed Vr1 to the speed Vr1_L predetermined for the high-quality mode (S430). The first speed Vr1_L in the high-quality mode is lower than the first speed Vr1_H in the high-speed mode.

[0128] After that, the main controller 10 generates a standard speed profile including the constant speed section of the first speed Vr1 set in S420 and S430 (S440). That is, in the high-speed mode, the main controller 10 generates a standard speed profile in which the first speed Vr1 is the speed Vr1_H, and in the high-quality mode, the main controller 10 generates a standard speed profile in which the first speed Vr1 is the speed Vr1_L.

[0129] Also, when generating the multi-stage speed profile in S240, the main controller 10 can execute the multi-stage speed profile generation process shown in FIG. 9. When starting the multi-stage speed profile generation process, the main controller 10 sets the second speed Vr2 according to the distance D of the non-ejection section of the high-speed movement target (S510).

[0130] When the distance D is less than the predetermined reference distance D2, the main controller 10 sets the second speed Vr2 to the speed Vr2_L, and when the distance D is greater than or equal to the reference distance D2, the main controller 10 sets the second speed Vr2 to a speed Vr2_H higher than the speed Vr2_L.

[0131] The reference distance D2 is set to a value larger than the above-described predetermined distance D1. Similar to the predetermined distance D1, the reference distance D2 is set to a distance sufficiently longer than the distance required for acceleration and deceleration between the first speed Vr1 and the second speed Vr2.

[0132] Thereafter, the main controller 10 determines whether the speed difference |Vr2 - Vr1| between the first speed Vr1 and the second speed Vr2 is greater than a threshold value (S520). If it is determined that the speed difference |Vr2 - Vr1| is equal to or less than the threshold value (No in S520), the main controller 10 sets a position-dependent margin distance β1 according to the start position of the second ejection section and the speed difference for setting the margin distance α in the multi-stage speed profile (S530). Further, a direction-dependent margin distance β2 according to the moving direction of the carriage 61 and the speed difference is set (S540).

[0133] According to the present embodiment, the value of the position-dependent margin distance β1 to be set when the speed difference |Vr2 - Vr1| is equal to or less than the threshold value is determined for each position X in the main scanning direction in the main region R0 and is recorded in the memory 13.

[0134] In S530, the main controller 10 sets the position-dependent margin distance β1 to a value determined with respect to the start position of the second ejection section in the next main scanning direction printing. The reason for setting the margin distance according to the start position of the second ejection section is that the reaction force as the load acting on the carriage 61 varies depending on the position of the carriage 61 in the main scanning direction.

[0135] The change in the reaction force acting on the carriage 61 can occur, for example, due to a change in the curvature of the tube 51A connecting the ink tank 51 and the recording head 50 mounted on the carriage 61.

[0136] As shown in FIG. 10, when the tube 51A extends from the end on the opposite side of the home position in the conveyance path of the carriage 61 in the direction opposite to the main scanning direction to the positive direction of the main scanning direction, that is, the direction toward the home position, and is connected to the recording head 50 after a U-turn, the curvature of the tube 51A becomes stronger as the carriage 61 approaches the home position.

[0137] As the curvature increases, the reaction force acting on the recording head 50 and the carriage 61 increases. When the reaction force increases, the time until the collapsed posture of the carriage 61 is restored becomes longer. At the position where the time until the collapsed posture is restored becomes longer, it is necessary to set the margin distance α longer.

[0138] According to such a tendency, the value of the position-dependent margin distance β1 to be set is determined for each position X in the main scanning direction. The appropriate value of the distance β1 is obtained by experiments. The obtained appropriate value of the distance β1 for each position X is recorded in the memory 13 (particularly, a non-volatile memory) as the value to be set.

[0139] According to the present embodiment, further, the value of the direction-dependent margin distance β2 to be set when the speed difference |Vr2 - Vr1| is equal to or less than the threshold value is determined for each moving direction of the carriage 61 in the main region R0. In the present embodiment, the reason for setting the margin distance according to the moving direction is that the action of the force on the carriage 61 differs according to the moving direction of the carriage 61.

[0140] In the present embodiment, the carriage 61 moves in the main scanning direction by the action of the force through the belt mechanism 63. In the belt mechanism 63, only the driving pulley 631 of the two pulleys 631 and 633 is driven by the CR motor 71.

[0141] That is, the carriage 61 is pulled by the belt 635 that rotates by receiving the action of the force from the driving pulley 631 and moves in the main scanning direction. The tensile force is stronger when the carriage 61 receives the force from the driving pulley 631 without passing through the driven pulley 633 than when the carriage 61 receives the force from the driving pulley 631 through the driven pulley 633.

[0142] According to the example shown in FIG. 2, the tensile force is stronger when the carriage moves in the direction toward the driving pulley 631 than when the carriage moves in the direction toward the driven pulley 633. The difference in tensile force affects the magnitude of the inclination that occurs in the posture of the carriage 61 during deceleration, and usually, the greater the tensile force, the greater the inclination. When the inclination is large, the time required for the collapsed posture of the carriage 61 to recover becomes long, so it is necessary to set the margin distance α long.

[0143] According to such a tendency, the value of the direction-dependent margin distance β2 to be set is determined for each moving direction of the carriage 61. According to the present embodiment, the direction-dependent margin distance β2 is determined so as to be larger when the moving direction is the positive direction toward the home position than when the moving direction is the negative direction.

[0144] In S540, when the moving direction of the carriage 61 in the next main scanning direction printing is the positive direction of the main scanning direction, the main controller 10 sets the direction-dependent margin distance β2 to a value determined for the positive direction, and when the moving direction of the carriage 61 is the negative direction (that is, the direction away from the home position), the main controller 10 sets the direction-dependent margin distance β2 to a value determined for the negative direction.

[0145] Thereafter, the main controller 10 sets the margin distance α to the added value β1 + β2 of the position-dependent margin distance β1 and the direction-dependent margin distance β2 (S550), and generates a multi-stage speed profile having the configured structure shown in FIG. 6B with the set margin distance α (S590).

[0146] That is, the main controller 10 generates, as a multi-stage speed profile, a speed profile in which the target speeds Vr in the first constant speed section and the second constant speed section are the same as the first speed Vr1 in the standard speed profile, and the target speed Vr in the high-speed movement section is the second speed Vr2 set in S510, and which has a constant speed restart point at a point upstream by a margin distance α from the start point of the second ejection section, as the speed profile after the change with respect to the standard speed profile. Then, the main controller 10 ends the multi-stage speed profile generation process.

[0147] On the other hand, when it is determined that the speed difference |Vr2 - Vr1| is greater than the threshold value (Yes in S520), the main controller 10 sets a position-dependent margin distance γ1 according to the start point position of the second ejection section and the speed difference (S560), and further sets a direction-dependent margin distance γ2 according to the moving direction of the carriage 61 (S570).

[0148] According to the present embodiment, the value of the position-dependent margin distance γ1 to be set when the speed difference |Vr2 - Vr1| is greater than the threshold value is determined for each position X in the main scanning direction in the main region R0. The value of the position-dependent margin distance γ1 to be set is determined to be a value larger than the above-described position-dependent margin distance β1 for the same position X.

[0149] This is because the larger the speed difference |Vr2 - Vr1|, the greater the collapse of the posture of the carriage 61 that occurs during deceleration, and the longer the distance required for posture recovery. In S560, the main controller 10 sets the position-dependent margin distance γ1 to a value determined with respect to the start point position of the second ejection section in the next main scanning direction printing.

[0150] Similarly, according to the present embodiment, the value of the direction-dependent margin distance γ2 to be set when the speed difference |Vr2 - Vr1| is greater than the threshold value is determined for each moving direction of the carriage 61 in the main region R0.

[0151] In S570, when the moving direction of the carriage 61 in the next main scanning direction printing is the positive direction, the main controller 10 sets the margin distance γ2 to a value defined for the positive direction, and when the moving direction of the carriage 61 is the negative direction, the direction-dependent margin distance γ2 is set to a value defined for the negative direction. Similar to the position-dependent margin distance γ1, the direction-dependent margin distance γ2 can also be set to a value larger than the above-described direction-dependent margin distance β2 for the same moving direction.

[0152] After setting the position-dependent margin distance γ1 and the direction-dependent margin distance γ2, the main controller 10 sets the margin distance α to the added value γ1 + γ2 of the position-dependent margin distance γ1 and the direction-dependent margin distance γ2 (S580), and generates a multi-stage speed profile having the configured margin distance α shown in FIG. 6B (S590). Thereafter, the main controller 10 ends the multi-stage speed profile generation process.

[0153] FIGS. 11A and 11B are graphs for explaining that the margin distance α changes according to the start position of the second ejection section. The graphs show the change in the target speed Vr with respect to the position X in the main scanning direction. In the example of FIG. 11B, since the start point of the second ejection section is located on the side where the curvature of the tube 51A is stronger than in the example shown in FIG. 11A, the margin distance α is longer than the margin distance α in the example shown in FIG. 11A.

[0154] FIGS. 12A and 12B are graphs for explaining that the margin distance α changes according to the moving direction of the carriage 61. In the example of FIG. 12A, the carriage 61 moves in the positive direction, whereas in the example of FIG. 12B, the carriage 61 moves in the negative direction. In FIGS. 12A and 12B, the start point of the second ejection section is at the same position in the main scanning direction, but the margin distance α is smaller when the carriage 61 moves in the negative direction than when the carriage 61 moves in the positive direction.

[0155] Figures 13A and 13B are graphs for explaining that the margin distance α changes according to the speed difference. In the example of Figure 13A, since the distance D of the non-ejection section is equal to or greater than a predetermined distance D1 but less than a reference distance D2, the second speed Vr2 is set to the speed Vr2_L. In the example of Figure 13B, since the distance D of the non-ejection section is equal to or greater than the reference distance D2, the second speed Vr2 is set to a speed Vr2_H higher than the speed Vr2_L.

[0156] According to the examples of Figures 13A and 13B, although the first speed Vr1 is the same speed, the speed difference |Vr2 - Vr1| is different due to the difference in the second speed Vr2. According to the example of Figure 13B, since the speed difference is larger than that of the example of Figure 13A, the margin distance α is longer than that of the example of Figure 13A.

[0157] Figure 14 is a graph for explaining that the margin distance α changes according to the speed difference. In the example in the upper part of Figure 14, since the high-speed mode is selected as the printing mode, the first speed Vr1 is set to the speed Vr1_H. In the example in the lower part of Figure 14, since the high-quality mode is selected as the printing mode, the first speed Vr1 is set to a speed Vr1_L lower than the speed Vr1_H.

[0158] According to the examples in the upper part and the lower part of Figure 14, although the second speed Vr2 is the same speed, the speed difference |Vr2 - Vr1| is different due to the difference in the first speed Vr1. According to the example in the lower part of Figure 14, since the speed difference is larger than that of the example in the upper part of Figure 14, the margin distance α is longer than that of the example in the upper part of Figure 14. Thus, the larger the speed difference |Vr2 - Vr1| is, the longer the margin distance α is set.

[0159] As described above, the image forming system 1 of the present embodiment has been described. According to the present embodiment, the speed V of the carriage 61 that has been accelerated to the second speed Vr2 in the non-ejection section is controlled such that a margin distance α is provided and the carriage 61 performs a constant speed motion at the first speed Vr1 from a point upstream of the margin distance α from the start point of the second ejection section.

[0160] Therefore, it is possible to suppress an undesirable influence on the ejection operation of the recording head 50 due to the posture of the carriage 61 and the recording head 50 collapsing from an appropriate posture due to inertia during deceleration.

[0161] That is, according to the present embodiment, by moving the carriage 61 at high speed in the non-ejection section, it is possible to suppress a decrease in the print image quality due to the high-speed movement while improving the print processing speed. Therefore, according to the present embodiment, it is possible to provide the image forming system 1 with good processing speed and image quality.

[0162] In particular, according to the present embodiment, the reaction force acting on the carriage 61 differs depending on the position X in the main scanning direction in the conveyance path of the carriage 61, and the time until the posture of the carriage 61 is restored to an appropriate posture changes according to the reaction force. Therefore, the main controller 10 changes the margin distance α according to the starting point position of the second ejection section where the posture of the carriage 61 should be restored.

[0163] The main controller 10 further changes the margin distance α also according to the moving direction of the carriage 61. The main controller 10, in cooperation with the print controller 30, switches the moving direction of the carriage 61 stopped at the point corresponding to the target stop point in the reverse direction, and sets a new target stop point downstream in the moving direction, thereby controlling the CR motor 71 so that the carriage 61 reciprocates (S140). Then, the margin distance α is changed according to the moving direction of the carriage 61 (S540, S550, S570, S580).

[0164] The main controller 10 further changes the margin distance α according to the speed difference |Vr2 - Vr1| between the second speed Vr2 and the first speed Vr1. For example, in the high image quality mode, the first speed Vr1 is set lower than in the high speed mode, so the speed difference |Vr2 - Vr1| becomes larger.

[0165] The greater the speed difference |Vr2 - Vr1| becomes, the more significantly the posture of the carriage 61 collapses, and it takes time to recover the posture. For this reason, the main controller 10 sets the margin distance α longer in the high-image-quality mode than in the high-speed mode.

[0166] Similarly, when the distance D of the non-ejection section is long, since the second speed Vr2 is set high, the speed difference |Vr2 - Vr1| becomes large. For this reason, when the distance D of the non-ejection section is long, the main controller 10 sets the margin distance α longer than when the distance D of the non-ejection section is short.

[0167] Thus, according to the present embodiment, the margin distance α is changed according to the movement environment of the carriage 61 and the ejection environment of the ink droplets. Therefore, according to the image forming system 1 of the present embodiment, it is possible to appropriately suppress an error from occurring in the landing point of the ink droplets due to the influence of the posture change of the carriage 61 accompanying deceleration and the image quality formed on the paper Q from deteriorating.

[0168] It goes without saying that the present disclosure is not limited to the above-described embodiment and can take various aspects. For example, the margin distance α may be determined according to the movement environment of the moving body including the carriage 61 and the recording head 50 and / or the ejection environment of the ink droplets. For example, the margin distance α may be determined according to the movement environment of the moving body around the start point of the ink ejection section related to deceleration and posture recovery. Examples of the movement environment include the acting environment of forces including inertial forces and reaction forces acting on the moving body.

[0169] The margin distance α does not necessarily have to be calculated as the added value β1 + β2, γ1 + γ2 of the position-dependent margin distances β1, γ1 and the speed-dependent margin distances β2, γ2. For example, for each combination of the moving direction, the position X, and the speed difference |Vr2 - Vr1|, the value of the margin distance α to be set may be determined, and the value for each combination may be stored in the memory 13.

[0170] In this case, the main controller 10 does not execute the processes of S530, S540, S560, and S570. In S550 and S580, by referring to the memory 13, as the margin distance α, a value corresponding to the combination of the moving direction, the starting point position of the second ejection section, and the speed difference can be set. The appropriate value of the margin distance α for each combination of the moving direction, the starting point position of the second ejection section, and the speed difference is obtained through experiments.

[0171] In addition, individual differences and changes over time may occur in the reaction force acting on the carriage 61. Therefore, the main controller 10 may be configured to reciprocate the carriage 61 at the startup of the image forming system 1, estimate the reaction force acting on the carriage 61 at each point from the control result in the reciprocating motion of the carriage 61, and set the margin distance α according to the estimated reaction force. For example, the main controller 10 can execute the table creation process shown in FIG. 15 at the startup of the image forming system 1.

[0172] According to the table creation process, the main controller 10 controls the CR motor 71 so that the carriage 61 reciprocates from one end to the other end of the main area R0 without the ejection operation of the recording head 50 through the print controller 30, and the carriage 61 performs a constant speed motion at the first speed Vr1 in the main area R0 (S610). According to the present embodiment, although the first speed Vr1 is different for each print mode, in S610, the carriage 61 can be reciprocated at the first speed Vr1 corresponding to one determined print mode.

[0173] In S610, further, the operation amount for the CR motor 71 calculated by the print controller 30 during control is associated with the information on the position X and the moving direction of the carriage 61 when the operation amount is input to the CR motor 71, and recorded as the control result. The recorded operation amount corresponds to the observed value regarding the CR motor 71 during control.

[0174] When the reciprocating motion of the carriage 61 ends, the main controller 10 estimates the reaction force acting on the carriage 61 at each point on the forward and return paths of the carriage 61 based on the control result (S620). For example, the operation amount can be the drive current for the CR motor 71. The drive current is proportional to the torque of the CR motor 71. As the difference from the reference value of the observed drive current, the main controller 10 can estimate the reaction force acting on the carriage 61. Estimating the reaction force corresponds to estimating the load acting on the carriage 61.

[0175] As another example, in S610, the main controller 10 records, as the control result, the deviation (Vr - V) of the observed value regarding the movement of the carriage 61, specifically, the detected speed V of the carriage 61 from the target speed Vr = Vr1, and in S620, may estimate the above reaction force based on the deviation (Vr - V). According to an example of calculating an operation amount proportional to the deviation (Vr - V), the reaction force estimation based on the deviation is substantially the same as the reaction force estimation based on the operation amount.

[0176] Thereafter, the main controller 10 inputs the estimated reaction force for each combination of the position and the moving direction in the main scanning direction, together with the position and the moving direction, into a function prepared in advance, which has the reaction force, the position, and the moving direction as input variables and has the margin distance α as an output variable, and calculates the margin distance α for each combination of the position and the moving direction (S630).

[0177] Based on the calculated value for each combination, the main controller 10 creates a table describing the value of the margin distance α to be set for each combination of the position and the moving direction, and records it in the memory 13 (S630).

[0178] The function may be prepared for each level of the speed difference, and the table may be created for each level of the speed difference. For example, when the speed difference |Vr2 - Vr1| is greater than the threshold value (Yes in S520), a table describing the value of the margin distance α to be set in S580, and when the speed difference |Vr2 - Vr1| is less than or equal to the threshold value (No in S520), a table describing the value of the margin distance α to be set in S550, may be created.

[0179] The main controller 10 does not execute the processes of S530, S540, S560, and S570. In S550 and S580, the main controller 10 can refer to the above table recorded in the memory 13 and set the margin distance α according to the combination of the moving direction of the carriage 61, the starting point position of the second ejection section, and the speed difference. Thereby, the main controller 10 can set the margin distance α to a distance corresponding to the reaction force estimated in S620 from the control result at the time of system startup without the ink droplet ejection operation (S550, S580).

[0180] In addition, the main controller 10 may set the margin distance α based on the moving direction of the carriage 61 and the speed difference regardless of the starting point position of the second ejection section. For example, instead of the multi-stage speed profile generation process shown in FIG. 9, the main controller 10 may execute the multi-stage speed profile generation process shown in FIG. 16.

[0181] According to the multi-stage speed profile generation process shown in FIG. 16, the main controller 10 executes the processes of S510 and S520 described above. In S520, when it is determined that the speed difference |Vr2 - Vr1| is less than or equal to the threshold value (No in S520), the process of S551 is executed, and when it is determined that the speed difference |Vr2 - Vr1| is greater than the threshold value (Yes in S520), the process of S581 is executed.

[0182] In S551, the main controller 10 sets, as the margin distance α, a distance β corresponding to the moving direction of the carriage 61 in the next main scanning direction printing. The distance β is determined in advance for each moving direction of the carriage 61 as the value of the margin distance α to be set when the speed difference |Vr2 - Vr1| is equal to or less than the threshold value.

[0183] In S581, the main controller 10 sets, as the margin distance α, a distance γ corresponding to the moving direction of the carriage 61 in the next main scanning direction printing. The distance γ is determined in advance for each moving direction of the carriage 61 as the value of the margin distance α to be set when the speed difference |Vr2 - Vr1| is greater than the threshold value. The distance γ is longer than the distance β in the same moving direction.

[0184] In S590, the main controller 10 generates a multi-stage speed profile having the configuration shown in Fig. 6B with the margin distance α set in S551 or S581.

[0185] The generation of the multi-stage speed profile as shown in Fig. 16 is particularly effective when the degree of the collapse of the posture of the carriage 61 does not change significantly according to the position in the main scanning direction but changes significantly according to the moving direction. For example, it is effective when the image forming system 1 adopts an on-carriage system in which the recording head 50 and the ink tank are integrated, rather than an off-carriage system that supplies ink to the recording head 50 via the tube 51A.

[0186] In addition, in the sub-region R1, the CR motor 71 may be controlled so that the carriage 61 moves at a constant speed at a third speed Vr3 lower than the first speed Vr1, and a speed profile therefor may be set. For example, as shown by the dashed line in Fig. 7, a speed profile in the sub-region R1 may be set.

[0187] The technology of the present disclosure can be applied not only to the image forming system 1 but also to various processing systems. The functions of one component in the above embodiments may be distributed and provided among a plurality of components. The functions of a plurality of components may be integrated into one component. A part of the configuration of the above embodiments may be omitted. At least a part of the configuration of the above embodiments may be added to or replaced with the configuration of other above embodiments. All aspects included in the technical idea specified from the language described in the claims are embodiments of the present disclosure.

Explanation of Signs

[0188] 1... Image forming system, 10... Main controller, 11... Processor, 13... Memory, 20... Communication interface, 30... Printing controller, 40... Conveyance controller, 50... Recording head, 51... Ink tank, 51A... Tube, 55... Head drive circuit, 60... Carriage movement mechanism, 61... Carriage, 63... Belt mechanism, 65, 66... Guide rails, 67... Lever, 69... Capping mechanism, 71... CR motor, 73... Motor drive circuit, 75... Encoder, 75A... Encoder scale, 75B... Optical sensor, 77... Signal processing circuit, 80... Paper conveyance mechanism, 81... Conveyance roller, 91... PF motor, 93... Motor drive circuit, 95... Encoder, 97... Signal processing circuit, 99... Power transmission mechanism, 631... Driving pulley, 633... Driven pulley, 635... Belt, HL... Hole, Q... Paper, R0... Main area, R1... Sub area.

Claims

1. a motor, a moving body driven by the motor to move on a path and configured to process an object by performing a predetermined operation during the movement, a controller configured to control the movement of the moving body by controlling the motor, comprising, the controller, controls the motor such that the moving body accelerates in an acceleration section from a movement start point to a first point, decelerates in a deceleration section from a second point downstream of the moving body in the moving direction from the first point to a target stop point, and stops at the target stop point, in an intermediate section between the first point and the second point, controls the motor such that the moving body moves at a constant speed at a first speed at least in an execution section where the moving body performs the predetermined operation, when a non-execution section of a predetermined distance or more exists following the execution section, controls the motor such that the moving body starts to accelerate from the first speed on the condition that the moving body has passed through a first execution section which is the execution section preceding the non-execution section, and controls the motor such that the moving body moves at a constant speed at a second speed higher than the first speed in the non-execution section, when a second execution section adjacent to the non-execution section exists downstream of the non-execution section of the predetermined distance or more, controls the motor such that the moving body starts to decelerate to the first speed from the time when the moving body passes a point upstream of the constant speed restart point in the non-execution section by a distance necessary for deceleration to the first speed from the constant speed restart point located upstream of the second execution section, and the moving body resumes moving at a constant speed at the first speed, changes the margin distance which is the distance from the constant speed restart point to the start point of the second execution section according to the speed difference such that the margin distance is set longer as the speed difference between the second speed and the first speed is larger, the margin distance is longer than the distance from the end point of the first execution section to the point where the moving body starts to accelerate from the first speed. A control system.

2. a motor, a moving body driven by the motor to move on a path and configured to process an object by performing a predetermined operation during the movement, a controller configured to control the movement of the moving body by controlling the motor, comprising, the controller, The motor is controlled such that the moving body accelerates in an acceleration section from a moving start point to a first point, decelerates in a deceleration section from a second point downstream of the moving direction of the moving body from the first point to a target stop point, and stops at the target stop point. In an intermediate section between the first point and the second point, at least in an execution section where the moving body executes the predetermined operation, the motor is controlled such that the moving body moves at a constant speed at a first speed. When a non-execution section of a predetermined distance or more exists following the execution section, the motor is controlled such that the moving body starts to accelerate from the first speed on the condition that the moving body has passed through a first execution section which is the execution section preceding the non-execution section. In the non-execution section, the motor is controlled such that the moving body moves at a constant speed at a second speed higher than the first speed. When a second execution section adjacent to the non-execution section exists downstream of the non-execution section of a predetermined distance or more, from a constant speed restart point located upstream of the second execution section, the motor is controlled such that the moving body starts to decelerate to the first speed from the time when the moving body has passed a point upstream by a distance necessary for deceleration to the first speed from the constant speed restart point in the non-execution section so as to restart moving at a constant speed at the first speed. A control system that changes the margin distance according to the environment related to at least one of the movement of the moving body and the predetermined operation so as to set the margin distance, which is the distance from the constant speed restart point to the start point of the second execution section, to be longer as the speed difference between the second speed and the first speed is larger.

3. A motor, A moving body driven by the motor to move on a path and configured to process an object by executing a predetermined operation during the movement, A controller configured to control the movement of the moving body by controlling the motor, Comprising, The controller is, The controller controls the motor such that the moving body accelerates in an acceleration section from a moving start point to a first point, decelerates in a deceleration section from a second point downstream of the moving direction of the moving body from the first point to a target stop point, and stops at the target stop point. After the moving body stops at the point corresponding to the target stop point, the moving direction of the moving body is switched in the reverse direction, and a new target stop point is set downstream of the moving direction, thereby controlling the motor so that the moving body reciprocates. In an intermediate section between the first point and the second point, at least in an execution section where the moving body executes the predetermined operation, the controller controls the motor such that the moving body moves at a constant speed at a first speed. When a non-execution section of a predetermined distance or more exists following the execution section, the controller controls the motor such that the moving body starts to accelerate from the first speed on the condition that the moving body has passed through a first execution section which is the execution section preceding the non-execution section. When a second execution section adjacent to the non-execution section exists downstream of the non-execution section of a predetermined distance or more, from a constant speed restart point located upstream of the second execution section, the controller controls the motor such that the moving body starts to decelerate to the first speed from the time when the moving body passes a point upstream of the distance required for decelerating to the first speed from the constant speed restart point in the non-execution section, so that the moving body resumes constant speed movement at the first speed. A margin distance which is the distance from the constant speed restart point to the start point of the second execution section is changed according to the moving direction of the moving body. The control system in which the margin distance is longer than the distance from the end point of the first execution section to the point where the moving body starts to accelerate from the first speed.

4. A motor, A moving body driven by the motor to move on a path and configured to process an object by executing a predetermined operation during the moving process, A controller configured to control the movement of the moving body by controlling the motor, Comprising, The controller is, The motor is controlled such that the moving body accelerates in an acceleration section from a movement start point to a first point, decelerates in a deceleration section from a second point downstream of the moving body in the moving direction from the first point to a target stop point, and stops at the target stop point. By switching the moving direction of the moving body that has stopped at a point corresponding to the target stop point in the reverse direction and setting a new target stop point downstream in the moving direction, the motor is controlled to reciprocate the moving body. In an intermediate section between the first point and the second point, at least in an execution section where the moving body executes the predetermined operation, the motor is controlled such that the moving body moves at a constant speed at a first speed. When a non-execution section of a predetermined distance or more exists following the execution section, the motor is controlled such that the moving body starts accelerating from the first speed on the condition that the moving body has passed through a first execution section that is the execution section preceding the non-execution section. When a second execution section adjacent to the non-execution section exists downstream of the non-execution section of a predetermined distance or more, from a constant speed restart point located upstream of the second execution section, the motor is controlled such that the moving body starts decelerating to the first speed from the time when the moving body has passed through a point upstream by a distance required for deceleration to the first speed from the constant speed restart point in the non-execution section, so that the moving body resumes constant speed movement at the first speed. A control system that changes the margin distance, which is the distance from the constant speed restart point to the start point of the second execution section, according to the environment related to at least one of the movement of the moving body and the predetermined operation, so as to change the margin distance according to the moving direction of the moving body.

5. The control system according to claim 3 or claim 4, wherein the controller changes the margin distance according to the start point position of the second execution section.

6. The controller executes control of the motor without the execution of the predetermined operation in the movement process as a first process, and after the execution of the first process, executes control of the motor with the execution of the predetermined operation in the movement process as a second process. In the first process, based on an observed value related to the movement of the motor or the moving body observed during the control of the motor, the load acting on the moving body at each of a plurality of points in the passage is estimated. The control system according to claim 5, wherein in the second process, the margin distance is set to a distance corresponding to the load estimated by the first process at a point corresponding to the start position of the second execution section.

7. The controller includes a plurality of control modes including a high-speed mode and a low-speed mode. In the high-speed mode, the moving body is configured to move at a higher speed than in the low-speed mode in the execution section by setting the first speed to a speed higher than that in the low-speed mode. The control system according to claim 1 or claim 2, wherein the speed difference in the high-speed mode is smaller than that in the low-speed mode.

8. When the section length, which is the length of the non-execution section, is equal to or longer than a reference distance longer than the predetermined distance, the controller sets, as the second speed, a speed with a larger speed difference from the first speed than when the section length is less than the reference distance, and sets, as the margin distance, a distance longer than when the section length is less than the reference distance. The control system according to claim 1, claim 2, or claim 7.

9. The passage includes a main region and a sub-region adjacent to the main region. The processing of the object is executed only in the main region. The controller controls the motor so that the moving body moves at a constant speed at a second speed higher than the first speed in a non-execution section of the predetermined distance or more. When a non-execution section of the predetermined distance or more in the main region continues to the end point of the main region, from the time when the moving body passes a point upstream of the distance required for deceleration to the third speed from the start point of the sub-region so that the moving body moves at a constant speed at a third speed lower than the second speed from the start point of the sub-region, the motor is controlled so that the moving body starts decelerating to the third speed. The control system according to any one of claims 3 to 6.

10. A motor, a moving body configured to be driven by the motor to move on a passage and process an object by performing a predetermined operation during the movement, a controller configured to control the movement of the moving body by controlling the motor, comprising The passage includes a main region and a sub-region adjacent to the main region. The processing of the object is executed only in the main region. The controller The motor is controlled such that the moving body accelerates in an acceleration section from a movement start point to a first point, decelerates in a deceleration section from a second point downstream of the moving direction of the moving body from the first point to a target stop point, and stops at the target stop point. In an intermediate section between the first point and the second point, at least in an execution section where the moving body executes the predetermined operation, the motor is controlled such that the moving body moves at a constant speed at a first speed. When a non-execution section of a predetermined distance or more exists in the main region following the execution section, the motor is controlled such that the moving body starts accelerating from the first speed to a second speed on the condition that the moving body has passed through a first execution section which is the execution section preceding the non-execution section. When a second execution section adjacent to the non-execution section exists downstream of the non-execution section of a predetermined distance or more, from a constant speed restart point located upstream of the second execution section, the motor is controlled such that the moving body starts decelerating to the first speed from the time when the moving body has passed through a point upstream of the constant speed restart point in the non-execution section by a distance necessary for decelerating to the first speed so that the moving body resumes constant speed movement at the first speed. When a non-execution section of a predetermined distance or more in the main region continues to the end point of the main region, from the start point of the sub-region, the motor is controlled such that the moving body starts decelerating to a third speed from the time when the moving body has passed through a point upstream of the start point of the sub-region by a distance necessary for decelerating to the third speed so that the moving body moves at a constant speed at a third speed lower than the second speed. A control system.

11. The control system according to any one of claims 1 to 10, wherein the moving body is equipped with a discharge head configured to discharge ink droplets, and forms an image on the object by executing an operation of discharging ink droplets from the discharge head as the predetermined operation.

Images