JPH0871275A - Motor control device for xy moving mechanism - Google Patents

Abstract

PURPOSE: To smoothly feed an object from a shift position to the next shift position according to the stitch data. CONSTITUTION: An X-axis motor 30 moves an object by a shift quantity (ΔX) in the X-direction, and a Y-axis motor 40 moves the object by a shift quantity (ΔY) in the Y-axis direction based on the shift quantities (ΔX, ΔY) of the stitch data 10 inputted to a stitch data input means 22. A drive signal output means 24 outputs drive signals to the X-axis motor 30 and Y-axis motor 40 respectively to concurrently drive them so that the speed ratio between the X-axis direction and the Y-axis direction in an optional time is made equal to the ratio between the shift quantity (ΔX) in the X-axis direction and the shift quantity (ΔY) in the Y-axis direction during the shift of the object. The object is not moved in the X-axis direction only or in the Y-axis direction only, and it is straightly and smoothly moved from a shift position to the next shift position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor controller for an XY moving mechanism, and more particularly to a technique for controlling the feeding of an object according to stitch data.

[0002]

2. Description of the Related Art In a general embroidery sewing machine, an embroidered object (which is one of the objects) held by an embroidery frame is located on an XY plane below a head having a needle bar that moves up and down. It is configured to move horizontally. In order to control the movement of the embroidery frame, stitch data in which the relative movement amount on the XY plane is digitized individually is used. The data for collecting stitch data and embroidering the entire pattern is “pattern data”.

An embroidery sewing machine which controls the movement of the embroidery frame according to the stitch data will be described with reference to FIGS. 15 and 16. First, a case where the embroidery frame is moved using the pulse motor will be described with reference to FIG. In FIG. 15 (A), one position Pd-1 is sent to the next position Pd, and then the next position Pd is moved to the next position Pd +.
When sending the embroidery frame to 1, a pulse as shown in FIG. 15 (B) is output. That is, as many pulses as the basic period ΔT are sent to each of the X-axis pulse motor that moves the embroidery frame in the X-axis direction and the Y-axis pulse motor that moves the embroidery frame in the Y-axis direction.

In the example shown in the figure, four pulses are fed to the X-axis pulse motor between a certain position Pd-1 and the next position Pd.
6 pulses are sent to the Y-axis pulse motor. Similarly, between the next position Pd and the next position Pd + 1, 6 pulses are sent to the X-axis pulse motor and 4 pulses are sent to the Y-axis pulse motor. Also, the pulses for the X-axis and Y-axis pulse motors are sent during the illustrated period ΔT1 and not during the period ΔT2. Here, the period ΔT1 is a period in which the needle bar is above the embroidered object and the needle bar and the embroidered object can move relative to each other. Further, the period ΔT2 is a period in which the needle bar pierces the embroidered object and the relative movement of the needle bar and the embroidered object is inappropriate.

Here, when sending from position Pd-1 to position Pd, it is sent from time t20 to time t22 by XY coaxial (as a result, it moves in the direction of 45 degrees), and from time t22 to time t24 Y. Send only in the axial direction. After that, time t
The embroidery frame is stopped from 24 to time t26. Similarly, when sending from position Pd to position Pd + 1, time t26
From time t28 to XY coaxial transmission (as a result, 45
Move in degrees), X from time t28 to time t30
Send only in the axial direction. Then, from time t24 to time t26
Until the embroidery frame is stopped. The above pulse motor control is the simplest control method, and the actual embroidery frame is shown in FIG.
It is sent relative to the head along the locus shown by the broken line in (A). However, since the sewing needle sticks into the embroidered object when the embroidery frame is stopped, the actual seam is shown by the solid line.

Next, the case where the embroidery frame is moved by using the servo motor will be described with reference to FIG. The same elements and times as those in FIG. 15 are assigned the same numbers,
Description is omitted. Further, as in the case shown in FIG. 15A, the embroidery frame is sent from one position Pd-1 to the next position Pd,
After that, the data is sent from the next position Pd to the next position Pd + 1. In this case, the drive voltage is output to each of the X-axis servo motor and the Y-axis servo motor according to the speed patterns fxa and fya with acceleration / deceleration as shown in FIG.
The rotation speed of the servo motor increases as the drive voltage increases, and as a result, the moving speed of the embroidery frame also increases proportionally.

Specifically, when sending from the position Pd-1 to the position Pd, acceleration starts coaxially with XY at time t20, the X-axis servomotor first finishes decelerating at time t21, and then Y
The axis servo motor ends deceleration at time t23. Similarly, when sending from position Pd to position Pd + 1, time t26
Then, the Y-axis servo motor finishes decelerating at time t27, and then the X-axis servo motor finishes decelerating at time t29. The above-mentioned control of the servo motor is the simplest control method, and the actual embroidery frame is shown in FIG.
It is sent relative to the head along the locus shown by the broken line in (A). However, as in the case of the pulse motor, since the sewing needle sticks into the embroidered object when the embroidery frame is stopped, the actual stitches are shown by solid lines.

By the way, in an apparatus having a laser cutting device in the head, laser light is continuously irradiated to cut an object (for example, cloth or leather). This device is also the same as the embroidery sewing machine in that the object is configured to move in the horizontal direction on the XY plane. On the other hand, the object is continuously fed in order to make the cut edge continuous and smooth. Further, in order to send continuously, dedicated data indicating the relative positional relationship between the embroidered object and the laser light is required. Such a cutting device using laser light is disclosed in, for example, Japanese Patent Publication No. 63-3632. It should be noted that this technique continuously operates on an object, such as a water cutting device that applies high-pressure water to the object to cut it, or a coloring device that includes an inkjet device that sprays ink onto the object. Continuous operation device (continuous operation means)
The same can be applied to the case.

[0009]

However, in the technique disclosed in the above Japanese Patent Publication No. 63-3632, it is necessary to create dedicated data in addition to the stitch data, which is troublesome. is there. Further, even if a laser cutting device is provided on the head of the embroidery sewing machine and an object to be embroidered is cut according to the stitch data, the cutting is not performed in an intended locus except for a certain direction. That is, except when moving along the X-axis or Y-axis, or when moving in the 45-degree direction, the line becomes jagged and becomes jagged.
For example, in the case of a pulse motor, the locus shown by the broken line in FIG.
The object to be embroidered is cut along the locus shown by the broken line in (A).

The present invention has been made in view of the above circumstances, and a first object is to linearly feed an object from one position to the next position. The second problem is to send the object continuously. The third problem is to make the relative speed between the head and the object constant.

[0011]

[First Means for Solving the Problems] Claim 1 of the present application
1 schematically shows an X-axis motor 30 for feeding an object in the X-axis direction and a Y-axis for the object.
A Y-axis motor 40 for feeding in the axial direction is provided, and the X-axis motor 3 is provided.
0 and its Y-axis motor 40 are motor control devices for an XY moving mechanism that moves the object in the XY plane, and the amount of movement in the X-axis direction from one moving position to the next moving position (ΔX). And the stitch data input means 22 for inputting the stitch data 10 stored by pairing the movement amount (ΔY) in the Y-axis direction, and the stitch data input means 22.
Amount of movement of stitch data 10 input to (ΔX, Δ
Based on Y), the X-axis motor 30 moves the object by the movement amount (ΔX) in the X-axis direction within the same time, and the Y-axis motor 4
0 moves the object by the amount of movement (ΔY) in the Y-axis direction,
Further, the X-axis motor 30 is set so that the speed ratio in the X-axis direction and the Y-axis direction at any time during movement becomes equal to the ratio of the X-axis direction movement amount (ΔX) and the Y-axis direction movement amount (ΔY). And Y
It has drive signal output means 24 for outputting drive signals to the shaft motors 40, respectively.

Here, the term "motor" includes not only pulse motors but also all motors that operate by receiving a drive signal, such as servo motors incorporating a feedback control system. The term "drive signal" includes not only the pulse train output to the pulse motor but also the drive voltage output to the servo motor. Furthermore, the term "movement position" includes not only an absolute position but also a relative position.

[0013]

According to the first aspect of the present invention, the X-axis motor 3 is based on the movement amount (ΔX, ΔY) of the stitch data 10 input to the stitch data input unit 22.
0 moves the object by the amount of movement (ΔX) in the X-axis direction,
The Y-axis motor 40 moves the object by a movement amount (ΔY) in the Y-axis direction. During the movement of the object, the drive signal output means 24 determines that the speed ratio in the X-axis direction and the Y-axis direction at a given time is the movement amount (ΔX) in the X-axis direction and the movement amount (Δ
The drive signals are respectively output to the X-axis motor 30 and the Y-axis motor 40 so as to be equal to the ratio of (Y), and they are simultaneously driven. Therefore, the object does not move only in the X-axis direction or in the Y-axis direction but moves linearly and smoothly from one moving position to the next moving position.

[0014]

[Second Means for Solving the Problem] Claim 2 of the present application
The invention described in 1 is an X-axis motor 30 that sends an object in the X-axis direction, and a Y-axis motor 40 that sends the object in the Y-axis direction.
A motor control device for an XY moving mechanism for moving the object in the XY plane by the X-axis motor 30 and the Y-axis motor 40, the X-axis from one moving position to the next moving position. The stitch data input means 22 for inputting the stitch data 10 stored by pairing the movement amount (ΔX) in the direction and the movement amount (ΔY) in the Y axis direction and the stitch data input means 22 are in inverse proportion to the movement amount (ΔX) in the X axis direction. The drive signal output means 24 outputs pulses to the X-axis motor 30 at pulse intervals and outputs pulses to the Y-axis motor 40 at pulse intervals inversely proportional to the amount of movement (ΔY) in the Y-axis direction.

[0015]

According to the second aspect of the present invention, the drive signal output means 24 causes the X-axis motor 30 to drive the Y-axis motor 4 at a pulse interval inversely proportional to the movement amount (ΔX) in the X-axis direction.
At 0, pulses are output at pulse intervals inversely proportional to the amount of movement (ΔY) in the Y-axis direction. Therefore, since pulses are sent at pulse intervals that are inversely proportional to the X-axis and Y-axis movement amounts, the object moves from one movement position to the next movement position while maintaining the same direction.

[0016]

[Third Means for Solving the Problems] Claim 3 of the present application
In the invention described in claim 2, in the invention described in claim 2, the movement amount from one movement position to the next movement position is (ΔX
1, ΔY1) and the movement amount from the next movement position to the next movement position is (ΔX2, ΔY2), the drive signal output means 24 causes the movement amount (ΔX) in the X-axis direction.
After the pulse is output ΔX1 times at the pulse interval based on 1), the pulse is output ΔX2 times at the pulse interval based on the movement amount (ΔX2) in the X-axis direction, and the movement amount in the Y-axis direction (ΔY
After the pulse is output ΔY1 times at the pulse interval based on 1), the pulse is output ΔY2 times at the pulse interval based on the movement amount (ΔY2) in the Y-axis direction.

[0017]

According to the third aspect of the invention, the drive signal output means 24 outputs pulses from one moving position to the next moving position at pulse intervals based on the moving amount (ΔX1, ΔY1). Then, pulses are output from the next movement position to the next movement position at pulse intervals based on the movement amount (ΔX2, ΔY2). Therefore, the object is continuously fed without stopping at the next movement position. Moreover, the movement between the movement positions does not form a polygonal line.

[0018]

Fourth Means for Solving the Problems Claim 4 of the present application
In the invention described in claim 2, the drive signal output means 24 is the square of the number of pulses output to the X-axis motor 30 and the square of the number of pulses output to the Y-axis motor 40. The pulse is output so that the sum is constant per unit time.

[0019]

According to the invention of claim 4, the drive signal output means 24 outputs the pulses so that the number of pulses becomes constant in the direction of the vector sum in the X-axis direction and the Y-axis direction. To do. Therefore, the feeding speed of the object is kept constant.

[0020]

Fifth Means for Solving the Problems Claim 5 of the present application
The invention described in 1 is an X-axis motor 30 that sends an object in the X-axis direction, and a Y-axis motor 40 that sends the object in the Y-axis direction.
A motor control device for an XY moving mechanism for moving the object in the XY plane by the X-axis motor 30 and the Y-axis motor 40, the X-axis from one moving position to the next moving position. The stitch data input means 22 for inputting the stitch data 10 stored by pairing the movement amount (ΔX) in the direction and the movement amount (ΔY) in the Y-axis direction and the stitch data input means 22 which starts accelerating within the same time and then finishes decelerating. At the same time, a speed pattern storage unit stores an acceleration / deceleration pattern of a moving speed whose speed ratio does not change with time for each moving amount (ΔX or ΔY), and the stitch data input unit 22.
Amount of movement of stitch data 10 input to (ΔX, Δ
Y) has drive signal output means 24 for outputting drive signals to the X-axis motor 30 and the Y-axis motor 40, respectively, according to the acceleration / deceleration pattern of the moving speed stored in the speed pattern storage means. Here, if the speed ratio does not change with time, for example, in two acceleration / deceleration patterns for the movement amounts ΔX1 and ΔX2, the speed ratio does not change from the start of acceleration to the end of deceleration.

[0021]

According to the fifth aspect of the present invention, the drive signal output means 24 is the X-axis motor based on the movement amount (ΔX, ΔY) of the stitch data 10 input to the stitch data input means 22. The acceleration / deceleration pattern of the motor 30 and the Y-axis motor 40 is acquired from the speed pattern storage means. This acceleration / deceleration pattern is such that the speed ratio in the X-axis direction and the Y-axis direction at an arbitrary time during movement becomes equal to the ratio of the X-axis direction movement amount (ΔX) and the Y-axis direction movement amount (ΔY). Has been selected. After that, the drive signal output means 24 outputs drive signals to the X-axis motor 30 and the Y-axis motor 40, respectively, according to the acquired acceleration / deceleration pattern. Therefore, since the ratio of the moving speeds of the X-axis direction and the Y-axis direction of the object is kept constant,
Moves smoothly from one moving position to the next.

[0022]

[Sixth Means for Solving the Problems] Claim 6 of the present application
In the invention described in claim 1, 2 or 5, the continuous operation means for continuously operating the object, and the continuous operation means based on the moving speed of the object. And output control means for controlling the output of the continuous operation means so that the operation amount per unit movement amount of is constant.

Here, the "continuous operation means" means a laser cutting device for cutting an object with a laser beam, an ink jet device for spraying ink onto the object for coloring, and a high-pressure water to the object for cutting. A device such as a water cutting device. Further, the “actuation amount per unit movement amount” is the laser intensity, the ink amount, or the water amount per unit movement amount. Further, the term "actuation" includes embroidery, cutting, coloring, and all other physical or chemical actions performed on an object.

[0024]

According to the sixth aspect of the present invention, the output control means controls the output of the continuous operating means so that the operating amount per unit moving amount becomes constant based on the moving speed of the object. . Therefore, even if the relative movement speed between the head and the object changes, the operation amount performed by the continuous operation means on the object is maintained constant per unit movement amount.

[0025]

An embodiment of the present invention will be described below with reference to the drawings. For the sake of simplicity, an example will be described in which an embroidering machine, such as cloth or leather, is used for embroidery and cutting is performed with a laser beam. Further, in this embroidery sewing machine, the X-axis pulse motor 142 is used as the X-axis motor 30, and the Y-axis motor 40 is used as the Y-axis motor 40.
The axis pulse motor 132 is applied.

First, the first embodiment will be described. FIG. 2 is a block diagram showing the structure of the embroidery sewing machine, and shows the minimum structure necessary for carrying out the present invention. In the figure, the sewing machine control device 100 is one of the motor control devices 20, and includes a CPU 110, a ROM 102, and a RAM 1.
04, a display control circuit 106, a display device 108, an input processing circuit 112, and an output processing circuit 116.

The CPU 110 executes the sewing machine control device 100 according to the sewing machine control program stored in the ROM 102.
Control the whole. As the ROM 102, EPROM or EEPROM is used. In addition to the sewing machine control program, the ROM 102 also stores pattern data, which is a set of stitch data 10 indicating the movement position of the embroidery frame for each stitch. RAM 104 is SRAM
(Alternatively, DRAM), flash RAM, etc. are used, and time constant, target (embroidered object 1 described later 1
Various data such as the feed speed for sending 48) and the moving speed when the object is moving, or input / output signals are stored.

The display control circuit 106 follows the display control data sent from the CPU 110 via the bus 114.
This is a circuit that controls display on the display device 108. That is, line segment figures are sequentially drawn according to the pattern data included in the display control data, and the pattern is displayed on the display device 108. As the display device 108, a monochrome liquid crystal display device is optimally used in order to make the size of the housing compact and to suppress power consumption and cost. It should be noted that the display device 108 can display patterns, such as a color liquid crystal display device, a CRT, a plasma display device, and an LED display device (display device in which LEDs are arranged in a rectangular area in a grid pattern). Other display devices may be applied.

The input processing circuit 112 includes a keyboard (K
EY) 120, pointing device (pointing dev
ice) 122, an external storage device 124, an X-axis encoder 144, and a Y-axis encoder 134 are connected. The input processing circuit 112 receives the respective transmission signals sent from these devices and the like and receives the sewing machine control device 1
The data is converted into a data format that can be processed in 00 and transferred to the CPU 110 or the RAM 104 via the bus 114. Here, the X-axis encoder 144 and the Y-axis encoder 134
Is a device for generating one pulse for each axial component when the embroidery frame 146 moves at a predetermined interval (for example, 0.1 mm).

A mouse is most suitable as the pointing device 122. The pointing device 12
2, track ball, light pen, digitizer, touch-sensing screen (touch-sens)
positive screen) etc. may be applied. Of these, if a trackball, a light pen, and a touch-sensitive screen are applied, a space for moving the cursor is not taken, so that space can be saved. A flexible disk device is the most suitable as the external storage device 124. As the external storage device 124, a large-capacity storage device such as a hard disk device, a magneto-optical disk device, or a paper tape reader / punch device may be applied. In particular, when a hard disk device is applied, the access speed is improved, and when a magneto-optical disk device is applied, a huge amount of data can be stored.

The output processing circuit 116 receives drive data sent from the CPU 110 via the bus 114 and drives the drive device 13.
This is an interface for transferring to 0. The drive unit 130 includes a spindle motor 128, a laser cutting device 140, an X-axis pulse motor 142, and a Y-axis according to the drive data.
The axis pulse motor 132 is driven. The X-axis pulse motor 142, the Y-axis pulse motor 132, and the embroidery frame 146 are ones embodying the XY moving mechanism.

Here, the embroidered object 14 which is one of the objects.
8 is held by the embroidery frame 146, and the needle bar 126 and the laser cutting device 140 are housed in one head. The main shaft motor 128 moves a sewing needle provided on the needle bar 126 up and down to embroider the embroidered object 148. Laser cutting device 14
Reference numeral 0 denotes one of continuous operation means, which can adjust the laser intensity (intensity of laser light emitted per unit movement amount) according to a commanded control voltage, and irradiates the embroidered object 148 for cutting. . The X-axis pulse motor 142 moves the embroidery frame 146 in the X-axis direction according to the number of pulses sent,
The Y-axis pulse motor 132 moves the embroidery frame 146 in the Y-axis direction according to the number of pulses sent. It should be noted that each of the above components is coupled to the bus 114.
Further, since the object (embroidered object 148) is held by the embroidery frame 146, the moving speed of the embroidery frame 146 is the
It is also the moving speed of 48.

Next, a processing procedure for executing the first embodiment will be described with reference to FIGS. 3 to 8. FIG. 3, FIG. 5, and FIG. 6 are flowcharts showing the processing procedure for carrying out the first embodiment. The entire processing procedure is a processing embodying the drive signal output means 24, and is realized by the CPU 110 executing the processing program stored in the ROM 102 shown in FIG. Note that step S12 shown in FIG. 3 is a processing step that embodies the stitch data input means 22.

In FIG. 3, first, an initialization process necessary to start the operation of the embroidery sewing machine is performed (step S).
10). Since a plurality of pattern data are stored in the ROM 102, a list of these pattern data is displayed on the display device 108, and when the pattern data to be edited is selected, the ROM 102 is changed to a predetermined work area of the RAM 104. It is transferred (step S12). Embroidery processing is performed according to the pattern data thus input (step S14).
Here, an example of the pattern data will be described with reference to FIG.

As shown in FIG. 4A, for example, an embroidery frame 1
4 is first moved to the position P1 from the position P0 as the starting point, and then moved to the end point position Pn through the positions Pa-1, Pa and Pa + 1 on the way.
The pattern data 200 as shown in (B) is required.

That is, the pattern data 200 is composed of n stitch data, and each of these stitch data corresponds to the stitch data 10. Each stitch data is composed of three elements, [x-axis movement amount, y-axis movement amount, control code]. Furthermore, the control code consists of an identification code and a color code. The identification code is unique numerical data attached to identify the control target such as "needle bar", "laser", "inkjet", and the color code changes the color of the embroidered object 148. It is unique numerical data attached to each color when it is operated by. In this pattern data 200, the amount of movement from the position P0 to the position P1 is stored in the leading stitch data 202 [x1, y1, f1], and the amount of movement from the position Pa-1 to the position Pa is stitch data 204 [xa , Ya, fa], and the movement amount from the position Pa to the position Pa + 1 is stored in the stitch data 206 [xa +
1, ya + 1, fa + 1], and the movement amount for finally moving to the position Pn is stitch data 208 [xn, y
n, fn] are stored.

Next, a specific procedure of the embroidery process performed according to the pattern data will be described with reference to FIG. In FIG. 5, first, an initialization process necessary to start embroidery is performed (step S20). As specific contents of the initialization processing, for example, the embroidery frame 146 is returned to the origin, or a pointer pointing to stitch data acquired in step S28 described later is set to the head of the pattern data. Next, after the spindle motor 128 is activated (step S22), it is determined whether or not the embroidery has ended (specifically, the pointer points to a position beyond the final position of the pattern data) (step S24). In addition, the first execution is
Since the pointer points to the first stitch data of the pattern data, the embroidery is not the end (NO), and the process proceeds to step S28.

Then, the stitch data pointed by the pointer is acquired (step S28), and it is checked whether or not the identification code in the control code is "needle bar" (step S32). If the identification code is not "needle bar" (NO), the pointer is incremented (step S26),
Prepare for the next stitch data processing. That is, the increment sets a value indicating the position of the next stitch data. On the other hand, the identification code is "needle bar" (YE
In the case of S), it is checked whether or not the color code in the control code is different from the previously designated color code (step S3).
4) If only different, color conversion processing is performed (step S3).
6). In this color changing process, a process of selecting a sewing needle through which a thread of a specified color is passed is performed.

After that, the frame moving timing is set (step S38), and the stopped embroidery frame 146 is moved to the position designated by the stitch data (step S4).
0). Further, the timing of one-needle sewing is set (step S42), and embroidery is performed with the embroidery frame 146 stopped (step S44). In addition, in step S44
Is executed at regular intervals according to the rotation speed of the spindle motor 128. Therefore, the processes of steps S24 to S42 are executed during a fixed period.

After one stitch is embroidered, the pointer is incremented to process the next stitch data (step S26), and the process returns to step S24. In step S24, it is determined again whether or not the embroidery is finished, and unless the conditions are satisfied, the remaining stitch data of the pattern data are similarly subjected to steps S26 to S.
Step 44 is executed. And when the conditions are met (YE
S) to stop the spindle motor 128 (step S3
0), the processing procedure is ended.

Returning to FIG. 3, after finishing the embroidery process in step S14, a cutting process with laser light is performed (step S16a). A specific procedure of this cutting process will be described with reference to FIG. In FIG. 6, first, initialization processing necessary to start cutting is performed (step S5).
0). As the specific contents of the initialization processing, similar to step S20 shown in FIG. 5, for example, the embroidery frame 146 is returned to the origin, or the pointer indicating the stitch data acquired in step S28 described later is returned to the beginning of the pattern data. Or

Next, it is judged whether or not the cutting is completed (step S52). In the first execution, since the pointer points to the first stitch data of the pattern data, the cutting is not finished (NO), and the process proceeds to step S56.

Then, the stitch data pointed by the pointer is acquired (step S56), and it is checked whether or not the identification code in the control code is "laser" (step S58). If the identification code is not "laser" (NO), the pointer is incremented (step S5).
4) Prepare for the next stitch data processing. On the other hand, when the identification code is "laser" (YES), the time constant Tx, based on the x-axis movement amount and the y-axis movement amount designated by the stitch data, in order to feed the embroidery frame 146 at a constant speed. Ty is calculated (step S60). In the cutting process, the color code in the control code is ignored because it is not directly related to the control of continuous operation.

Here, the above-mentioned time constant is
It is a period of pulses output to the X-axis pulse motor 142 and the Y-axis pulse motor 132 shown in FIG. 2. The smaller the value, the faster the feeding speed of the embroidery frame 146, and conversely, the larger the value, the shorter the feeding of the embroidery frame 146. The speed will slow down. x-axis time constant Tx and y-axis time constant T
The calculation of y is performed by the following equations. Note that FIG.
As shown in (A), for example, when the embroidery frame 146 is moved from one position Pa-1 to the next position Pa, the preset feed speed of the embroidery frame 146 is V, the x-axis direction feed speed is Vx, The y-axis feed rate is Vy, the x-axis movement amount is Δx, and the y-axis movement amount is Δy. Vx = V · [Δx / {(Δx) ² + (Δy) ² } ^1/2 ] Tx = 1 / Vx Vy = V · [Δy / {(Δx) ² + (Δy) ² } ^1/2 ] Ty = 1 / Vy

The time constant T calculated in this way
x and Ty are sent to the driving device 130 shown in FIG. In the driving device 130, one pulse is output to the X-axis pulse motor 142 for each time constant Tx period, and one pulse is output to the Y-axis pulse motor 132 for each time constant Ty period to make the embroidery frame 146 coaxial with XY. To move. Note that in the example of FIG. 7A, the speed ratio in the x-axis direction and the y-axis direction is 4: 3, so as shown in FIG. 7B, during one cycle from time t10 to time t12, Four pulses are output to the X-axis pulse motor 142 and three pulses are output to the Y-axis pulse motor 132, respectively. This means that the speed ratio in the X-axis direction and the Y-axis direction becomes equal to the ratio of the movement amount (ΔX) in the X-axis direction and the movement amount (ΔY) in the Y-axis direction.

Therefore, the time constants Tx, T
By outputting a pulse according to y, the embroidery frame 14
Linear interpolation is performed so as to move 6 from one movement position to the next movement position on the XY axis. Moreover, during this movement, the speed ratio between the X-axis direction and the Y-axis direction at any time is such that the movement amount in the X-axis direction (ΔX) and the movement amount in the Y-axis direction (ΔY)
Since pulses are output to the X-axis motor 30 and the Y-axis 40 so as to be equal to the ratio of the above, the embroidery frame 146 is linearly and smoothly sent from one moving position to the next moving position. Further, since the time constants Tx and Ty are obtained based on the feed speed V, the number of pulses becomes constant in the direction of vector sum in the X-axis direction and the Y-axis direction, and as a result, the embroidery frame 146 of the entire section is changed. Keep the speed of movement constant.

Thereafter, a predetermined control voltage is output to the laser cutting device 140 shown in FIG. 2 to irradiate the laser beam to cut the embroidered object 148 (step S64), and the time constant calculated in step S60 described above. Tx, T
The embroidery frame 146 is moved according to y (step S6
4), the irradiation of the laser light is stopped (step S66).
After the first execution of step S64, the embroidery frame 1
46 moves at a constant speed and continuously without stopping until the processing procedure is completed.

After cutting with the laser beam while moving the embroidery frame 146 in this way, the pointer is incremented to process the next stitch data (step S54), and the process returns to step S52. In this step S52, it is judged again whether or not the cutting is over, and unless the condition is satisfied, the remaining stitch data of the pattern data is similarly subjected to the steps S56 to S6.
6 is executed. And when the conditions are met (YE
S), the embroidery frame 146 is stopped, and this processing procedure ends.

Returning to FIG. 3 again, after finishing the cutting process of step S16a, it is judged whether or not there is other pattern data to be processed (step S18), and there is other pattern data to be processed (YES. In this case, steps S12 to S16a are repeated. If there is no other pattern data to be processed (NO), this processing procedure ends.

Here, how to process a specific pattern will be briefly described. FIG. 8 is a diagram showing an example of the pattern. FIG. 8A shows the contents of the pattern to be embroidered.
(B) shows the structure of the pattern data. FIG. 8 (A)
In the above, the pattern 300 is one in which three characters "ABC" and three figures (a pattern in which a house and a standing tree are simplified, and these patterns and an elliptical pattern surrounding the above characters) are combined.

The pattern data 310 shown in FIG. 8B is an example of a set of stitch data for operating the pattern 300 on the embroidered object 148. This pattern data 310
Is composed of three data parts, a character embroidery part 312, a graphic embroidery part 314, and a cutting part 316. The character embroidery section 312 is composed of 1 stitch data for embroidering the three characters "ABC", and the graphic embroidery section 314 is composed of m stitch data for embroidering a house and standing tree pattern. These character embroidery section 312 and figure embroidery section 31
In each of the items 4, a "needle bar" indicating a command to perform embroidery is designated as an identification code in the control code. The cutting unit 316 is composed of n stitch data for cutting with an elliptical pattern, and "laser" indicating a command for cutting is specified as an identification code in the control code.

In the pattern data 310, the stitch data of the character embroidery portion 312 and the graphic embroidery portion 314 is processed by the embroidery processing shown in FIG. 5, and the stitch data of the cutting portion 316 is processed by the cutting processing shown in FIG. To be done. For this reason, the three letters "ABC" and the design of the house and the standing tree are embroidered and cut into elliptical designs.

Therefore, the stitch data input means 22
Based on the movement amount (ΔX, ΔY) of the stitch data 10 input in (step S12 shown in FIG. 3), the drive signal output means 24 (processing procedure shown in FIGS. 3, 5 and 6) performs linear interpolation. Do X at any time during the move
The speed ratio in the axial direction and the Y-axis direction is the amount of movement in the X-axis direction (ΔX)
And the amount of movement in the Y-axis direction (ΔY) equal to X
Since the pulse is output to the shaft motor 30 and the Y-axis 40, the object can be linearly and smoothly sent from one moving position to the next moving position. Therefore, there is no movement only in the X-axis direction or only in the Y-axis direction, and the object moves smoothly from one moving position to the next moving position. Therefore, when cutting the object with the laser beam, The cut can be continuous and smooth.

Further, the drive signal output means 24 performs linear interpolation to thereby move the respective XY axes (ΔX, ΔY).
Since pulses are output at a pulse interval that is inversely proportional to (that is, a number of pulses corresponding to the movement amount are output at equal time intervals within a fixed period), it is possible to send an object at a constant speed while maintaining the same direction. it can. Therefore, when the object is cut with the laser light, the cut can be made uniform.

Further, when the object is sent to a certain moving position and passed therethrough, the drive signal output means 24 outputs pulses at different pulse intervals before and after the moving position, and the outputted pulses are continuous, so Items can be sent continuously without stopping. Therefore, when the object is cut by the laser light, the cut at a certain moving position becomes continuous and smooth.

Since the drive signal output means 24 outputs pulses so that the number of pulses becomes constant in the direction of vector sum in the X-axis direction and the Y-axis direction, the feeding speed of the object is kept constant all the time. can do. Therefore, when the object is cut with the laser light, the cut at a certain moving position can be made continuous and smooth all the time.

Next, the second embodiment will be described. The physical configuration of the first embodiment is the same as that of FIG. 2, and the processing procedure is also the same as that of FIGS. 3, 5, and 6.
Note that step S64 in FIG. 6 simply sends the object continuously (in other words, it is not necessary to send it at a constant speed).
Therefore, step S60 is not always necessary. The specific process of step S64 will be described with reference to FIG.

FIG. 9 is a diagram showing a specific example of the frame moving process. FIG. 9 (A) is a flowchart showing the processing procedure embodying the output control means, and FIG. 9 (B) is a flowchart showing the operation amount. The calculation methods are shown below. In FIG. 9A, first, a preset feed speed of the embroidery frame 146 is acquired (step S100), and the operation amount (that is, control voltage) of the laser cutting device 140 is calculated based on this feed speed ( Step S102).

This operation amount f (v) is given by the graph of the linear function shown in FIG.
It is calculated by the following formula. However, the coefficients a and b are unique constant values that differ for each laser cutting device 140. f (v) = av + b Thus, the operation amount calculated in step S102, that is, the control voltage is output to the laser cutting device 140 (step S104), and this processing procedure is ended.

Therefore, by performing the output control means {the processing procedure shown in FIG. 9A}, the operation amount per unit movement amount performed on the object (embroidered object 148) becomes constant. Therefore, when the object is cut by the continuous operation means (laser cutting device 140), the cut can be made uniform even if the relative speed between the head and the object changes. In the above example, the operation amount f (v)
Was obtained according to the graph of the linear function, and according to the characteristic of the actual operating amount with respect to the control voltage in the continuous operating means,
It may be obtained according to a graph of a quadratic function or higher. In this case, the continuous operating means can be operated with a more optimal control voltage.

Next, the third embodiment will be described. The physical configuration of the first embodiment is the same as that of FIG. 2, and the processing procedure is also the same as that of FIGS. 3, 5, and 6.
Note that step S64 of FIG. 6 may be performed at any feed speed including stop, and step S60 is not always necessary. The specific process of step S64 will be described with reference to FIG. Here, step S
114 and step S116 are one of other processes embodying the output control means.

FIG. 10 is a flow chart showing another procedure of the frame moving process. In the figure, first, the number of pulses output from the X-axis encoder 144 and the Y-axis encoder 134 in a predetermined period (for example, 0.1 seconds) is counted (step S110), and the moving speed of the embroidery frame 146 is calculated. (Step S112).

The moving speed of the embroidery frame 146 is calculated by the following equation. Note that the current moving speed of the embroidery frame 146 is vi, the number of pulses output from the X-axis encoder 144 is Cx, the number of pulses output from the Y-axis encoder 134 is Cy, and the moving amount per pulse is L, the predetermined period is Tc, the x-axis direction moving speed is vx, and the y-axis direction moving speed is vy. vx = (Cx · L) / Tc vy = (Cy · L) / Tc vi = {(vx) 2 + (vy) 2} 1/2

Based on the moving speed vi thus calculated, the operation amount (that is, the control voltage) of the laser cutting device 140 is calculated (step S114), as in steps S102 and S104 of FIG. 9, and the laser cutting device 140 is calculated. (Step S116), and the present processing procedure ends.

Therefore, the moving speed vi of the embroidery frame 146 is
According to the output control means (step S114 of FIG. 10,
Since S116) controls the operation amount performed on the object, the operation amount per unit movement amount becomes constant. Therefore, when the object is cut by the continuous operation means (laser cutting device 140), the moving speed vi of the object changes, or the object cannot be fed continuously (for example, intermittent feeding). Even if it is a feed including stop), the cut end becomes continuous and smooth.

In the embodiment described above, the embroidery machine performs embroidery and cutting with laser light is described. A fourth embodiment will be described in which embroidery is performed and coloring is performed by an ink jet device. 5 and 1
1 and FIG. 12 are flowcharts showing the processing procedure for implementing the fourth embodiment. These entire processing procedures are other processing procedures embodying the drive signal output means 24, and are all realized by the CPU 110 executing the processing program stored in the ROM 102 shown in FIG.

The above embodiment and the physical configuration are
The OM 102 stores an acceleration / deceleration pattern of a moving speed that starts decelerating and then decelerates within the same time for each moving amount (ΔX or ΔY). An example of this acceleration / deceleration pattern
It is shown in FIG. In addition, the laser cutting device 140,
The inkjet device is one of the other continuous operation means. Except for this point, the other elements are the same as those in FIG. Here, the inkjet device can adjust the ink amount (the amount of ink sprayed per unit movement amount) according to the commanded control voltage, similarly to the laser cutting device 140. Therefore, as the control voltage increases, the amount of ink increases, and the colored line segment becomes thicker.

FIG. 11 is a flow chart showing another procedure of the main processing. The same elements as those in FIG. 3 are designated by the same reference numerals and the description thereof will be omitted. Therefore, step S
After the embroidery process of 14, the coloring process is performed by the inkjet device (step S16b). The specific procedure of this coloring process is shown in FIG. 12 (and, if necessary, FIG. 6).
Will be described with reference to.

In FIG. 12, first, an initialization process necessary to start coloring is performed (step S70). The specific content of the initialization process is step S5 shown in FIG.
As with 0, for example, the embroidery frame 146 is returned to the origin,
A pointer pointing to the stitch data acquired in step S76 described later is set at the beginning of the pattern data. next,
It is determined whether the coloring is finished (step S72). In the first execution, since the pointer points to the first stitch data of the pattern data, the coloring is not the end (N
O), and proceeds to step S76.

Then, the stitch data pointed by the pointer is obtained (step S76), and it is checked whether the identification code in the control code is "ink jet" (step S7).
8). If the identification code is not "inkjet" (NO), the pointer is incremented (step S74) to prepare for the processing of the next stitch data. On the other hand, the identification code is “inkjet” (Y
ES), in order to send the embroidery frame 146 at a constant speed,
Time constants Tx and Ty are obtained based on the x-axis movement amount and the y-axis movement amount designated by the stitch data (step S80). In addition, this time constant Tx, T
The method for obtaining y is the same as that in step S60, and therefore its description is omitted.

Thereafter, it is checked whether the color code in the control code is different from the previously designated color code (step S
82), the color conversion process is performed only when the difference is present (step S).
84). In this color conversion process, a process of selecting a nozzle that sprays the ink of the designated color is performed. Then, a predetermined control voltage is output to the inkjet device, and ink is sprayed to color the embroidered object 148 (step S
86), the embroidery frame 146 is moved according to the time constants Tx and Ty calculated in step S80 (step S88), and the ink spraying is stopped (step S90). After the first execution of step S86, the embroidery frame 146 continuously moves at a constant speed without stopping until the processing procedure is completed.

After coloring by the ink jet device while moving the embroidery frame 146 in this way, the pointer is incremented to process the next stitch data (step S74), and the process returns to step S72. In this step S72, it is judged again whether or not the coloring is over, and unless the condition is satisfied, the steps S76 to S90 are similarly executed for the remaining stitch data of the pattern data. Then, when the condition is satisfied (YES), the embroidery frame 146 is stopped, and this processing procedure is ended.

Therefore, the stitch data input means 22
Based on the movement amount (ΔX, ΔY) of the stitch data 10 input in (step S12 shown in FIG. 3), the drive signal output means 24 (processing procedure shown in FIGS. 5, 11 and 12) performs linear interpolation. The X-axis motor is moved so that the speed ratio in the X-axis direction and the Y-axis direction at any time during the movement becomes equal to the ratio of the X-axis direction movement amount (ΔX) and the Y-axis direction movement amount (ΔY). Since pulses are output to 30 and the Y-axis 40, the object can be smoothly sent linearly from one moving position to the next moving position. Therefore, there is no movement only in the X-axis direction or only in the Y-axis direction, and the object moves smoothly from one moving position to the next moving position. The line width can be made continuous and constant.

Further, the drive signal output means 24 performs linear interpolation to thereby move the respective XY axes (ΔX, ΔY).
Since pulses are output at a pulse interval that is inversely proportional to (that is, a number of pulses corresponding to the amount of movement within a fixed period are output at equal time intervals), it is possible to send an object at a constant speed while maintaining the same direction. it can. Therefore, when ink is sprayed on the embroidered article 148 by an ink jet device to color it, the line width can be made uniform.

Further, when the object is sent to a certain moving position and passed therethrough, the drive signal output means 24 outputs pulses at different pulse intervals before and after the moving position, and the pulses to be outputted are continuous. Items can be sent continuously without stopping. Therefore, when ink is sprayed on an object to be colored by the inkjet device, the line width at a certain moving position is continuous and constant.

Since the other drive signal output means 24 outputs pulses so that the number of pulses becomes constant in the direction of vector sum in the X-axis direction and the Y-axis direction, the feeding speed of the object is constant from beginning to end. Can be maintained at. For this reason, when ink is sprayed onto the embroidered article 148 by an inkjet device for coloring, the line width at a certain moving position can be made continuous and constant all the time.

The fourth embodiment described above corresponds to the first embodiment except that the continuous cutting means is different between the laser cutting device 140 and the ink jet device. Therefore, the first
In the same manner as the second embodiment and the third embodiment as modifications of the above embodiment, the second embodiment and the third embodiment are similarly applied as modifications of the fourth embodiment. Good. in this case,
By applying the second embodiment, the colored line width can be made constant even if the relative speed between the head and the object changes. Similarly, when the third embodiment is applied, when the moving speed of the object changes or when the object cannot be continuously fed (that is, the feed including the stop like the intermittent feed). Even if there is, the colored line width can be made constant.

Here, the case where the pulse motor is applied to the X-axis motor 30 and the Y-axis motor 40 has been described in the first to fourth embodiments, but the X-axis motor 3
A case where the X-axis servo motor 150 is applied as 0 and the Y-axis servo motor 160 is applied as the Y-axis motor 40 will be described below. The drive device 1 shown in FIG.
30 outputs drive voltages to the X-axis servomotor 150 and the Y-axis servomotor 160, respectively, according to the drive data sent from the CPU 110 via the bus 114. The X-axis servo motor 150 and the Y-axis servo motor 160 move the embroidery frame 146 according to this drive voltage. Therefore, the moving speed of the embroidery frame 146 is controlled by the X-axis servomotor 150.
And Y-axis servo motor 160 are respectively proportional to the drive voltage output to them.

In this case, as shown in FIG. 7A, for example, when the embroidery frame 146 is moved from one position Pa-1 to the next position Pa, the moving speed shown in FIG. Select an appropriate acceleration / deceleration pattern from the pattern group and
The output control of the drive voltage E as shown in FIG. 3 (B) is performed. That is, in FIG. 13A, the acceleration / deceleration pattern group (fp1 to fp8) of the moving speed is the acceleration / deceleration pattern of the moving speed that starts to accelerate within the same time (within time tc) and then finishes decelerating. Store for each (ΔX or ΔY). All acceleration / deceleration patterns start to accelerate at time t0 and
It starts moving at a constant speed at a, starts decelerating at time tb, and stops at time tc. Therefore, in each acceleration / deceleration pattern, the driving voltage E differs depending on the amount of movement. In addition,
Acceleration / deceleration pattern group of moving speed shown (fp1 to fp8)
Is an example.

If the ratio of the amount of movement between the acceleration / deceleration pattern fp3 and the acceleration / deceleration pattern fp4 is 3: 4, the ratio between the driving voltage E3 and the driving voltage E4 is 3: 4. If the ratio of the movement amount between the acceleration / deceleration pattern fp3 and the acceleration / deceleration pattern fp4 is 3: 4, the ratio of the movement speed is also 3: 4. Therefore, the speed ratio of the acceleration / deceleration pattern fp3 and the acceleration / deceleration pattern fp4 at each time is also 3: 4, and the speed ratio does not change with time. Therefore, in the acceleration / deceleration pattern for each movement amount, the speed ratio of one acceleration / deceleration pattern to another acceleration / deceleration pattern does not change from the start of acceleration to the end of deceleration. FIG. 7 (A)
In the above, the amount of movement from one position Pa-1 to the next position Pa is 4: 3 as the ratio of the amount of movement in the x-axis direction to the amount of movement in the y-axis direction. In this case, it is optimal to select the acceleration / deceleration pattern fp4 for the movement amount in the x-axis direction and the acceleration / deceleration pattern fp3 for the y-axis direction. That is, the X-axis servo motor 1
The voltage 50 is output according to the acceleration / deceleration pattern fp4, and the Y-axis servo motor 160 is output while changing the drive voltage E according to the acceleration / deceleration pattern fp3.

In FIG. 13B, the drive voltage E is changed from time t10 to time t12 according to the acceleration / deceleration pattern thus selected. That is, the X-axis servo motor 150 changes the drive voltage E according to the acceleration / deceleration pattern fx, and the Y-axis servo motor 160 changes the drive voltage E according to the acceleration / deceleration pattern fy. By this control, the embroidery frame 146 moves from time t10 to time t11a.
Until time t11a to time t11b, the vehicle moves at a constant speed and decelerates from time t11b to time t12. At this time, the drive voltage E according to the acceleration / deceleration pattern fx
And the drive voltage E according to the acceleration / deceleration pattern fy is time t1.
It is always 4: 3 from 0 to time t12.

Therefore, the drive voltage E is applied to the servo motor according to the acceleration / deceleration pattern fx and the acceleration / deceleration pattern fy described above.
By changing the output, the embroidery frame 146
It is possible to perform linear interpolation so that is moved from one movement position to the next movement position on the XY axis. Therefore, even when the servo motor is applied, the object (the embroidered object 14
When the continuous actuating means is actuated with respect to 8), the operation result can be made continuous and smooth.
For example, when the laser cutting device 140 irradiates and cuts an object with a laser beam, the cut end becomes continuous and smooth. Similarly, when ink is sprayed onto an object for coloring with an inkjet device, the line width can be made continuous and smooth. In addition, according to the third embodiment described above, if the control for making the operation amount per unit movement amount performed on the object constant according to the current moving speed of the object is performed, the operation is performed. The results can be continuous and constant.

An embodiment of the motor control device for the XY moving mechanism has been described above, but the structure of the other parts of the motor control device for the XY moving mechanism,
The shape, size, material, number, arrangement, operating conditions, etc. are not limited to those in this embodiment. For example, the drive signal output means 24 is configured to perform linear interpolation according to the stitch data 10, but may be configured to perform curved interpolation. That is, as shown in FIG.
For example, when the object is moved from one position Pa-1 to the next position Pa, pulses are output to the X-axis pulse motor 142 and the Y-axis pulse motor 132 while changing the pulse intervals. Specifically, as shown in FIG. 14 (B), the X-axis pulse motor 142 outputs a pulse while initially increasing the pulse interval and gradually shortening it.
On the other hand, the Y-axis pulse motor 132 outputs a pulse while the pulse interval is shortened at first and gradually lengthened. A method for performing curve interpolation based on these two or more positions is
Circular interpolation, Spline interpolation, Bezier
r) There is interpolation etc. By such variable control of the pulse interval, the object can be smoothly moved along the curve shown in FIG. Therefore, it is possible to perform operations such as curvilinearly cutting or coloring the object.

Further, the case where a predetermined code is designated as the control code included in the stitch data is set as "when the predetermined condition is satisfied" so that the object (embroidered object 148) is continuously operated. However, when a predetermined operating condition is set, such as when a switch provided on the keyboard 120 shown in FIG. 2 is turned on, the object is continuously operated as “when the predetermined condition is satisfied”. It may be configured to allow it. With this configuration, since a predetermined code is not required for the stitch data, the amount of stitch data can be reduced. Further, it is possible to continuously operate the object while the object is being sent.

Similarly, the case where a predetermined code is designated as the control code included in the stitch data and the case where at least one of the case where the predetermined operation condition is set is satisfied is referred to as "when the predetermined condition is satisfied". It may be configured to operate continuously with respect to the object. With this configuration,
The condition can be set by any method of designating a predetermined code in the stitch data or setting a predetermined switch, so that the operator can set the condition by a convenient method.

Further, as the continuous operating means, a laser cutting device 140 for cutting an object with a laser beam or an ink jet device for spraying ink on the object for coloring is applied, but high-pressure water is applied to the object. Water cutting device for cutting,
Cutter that cuts the object (excluding laser cutting device),
Other continuous operation devices that continuously operate on the object, such as a nichrome wire that heats or burns the object, a dryer that dries the object, and the like, can be similarly applied. Even such a continuous operation device can be operated uniformly on the object. Similarly, although the object to be embroidered 148 is applied to the object, it is not limited to the object to be embroidered, and the object to be continuously operated such as an object to be cut or colored (for example, paper pattern) is used. You may apply the thing which obtains the shape of. That is, the present invention can be applied to any thing having a constant planar shape.

Further, although it is arranged to decide whether to perform continuous feeding or intermittent feeding depending on whether or not a predetermined condition is satisfied, it is configured such that all continuous feeding is performed regardless of the predetermined condition. Good. That is, even when performing embroidery, the object is continuously fed, but since the time from when the sewing needle is pierced into the object (embroidered object 148) to when it is withdrawn is very short, the needle hole may be slightly opened. If you set a large diameter,
Embroidery can be performed without trouble such as broken needles. In this configuration, the predetermined condition and its determination are not necessary, so that it does not take time and can be performed faster than when embroidering by intermittent feeding.

In the embodiment, the present invention is applied to an embroidery sewing machine to perform embroidery, cutting with a laser cutting device and coloring with an ink jet device.
Like a cutting device in which only a laser cutting device is provided in the head, or a coloring device in which an inkjet device is provided in the head,
The present invention can be similarly applied to a dedicated device that only continuously operates an object. In such a dedicated device, it is sufficient to carry out continuous feeding irrespective of the predetermined conditions, so that the cutting and coloring of the object can be quickly performed.

In addition, in the pattern data input process (step S12 shown in FIG. 3), the pattern data stored in the ROM 102 is directly input and then transferred to the display control circuit 106 for display. The pattern data is compressed in a predetermined format and stored in the ROM 102. When the compressed pattern data is read out and calculated or displayed, the compressed pattern data is expanded (restored) to perform calculation or display. It may be configured to do so. In this configuration, by compressing the pattern data and storing it in the ROM 102, the capacity required for storing the pattern data can be significantly reduced. For this reason, the required capacity of the ROM 102 can be reduced, which in turn can reduce the cost of the entire motor control device. Here, the compression method is MR (mo
dified READ) method and MMR (modified modified REA)
D) coding method, run-length coding method, LZ (Lempel-Ziv) coding method, arithmetic coding method, L
Encoding methods such as the ZSS encoding method and the LZW (Lempel-Ziv-Welch) encoding method are desirable.

Similarly, the pattern data is stored in the external storage device 124, and the pattern data is transferred (or the compressed pattern data is expanded) to the RAM 104 in advance at power-on or reset, or externally if necessary. The storage device may be accessed to obtain the pattern data. Similarly, basic pattern data that is often used is stored in ROM.
The pattern data stored in 102 may be distributed and stored so that the pattern data that is rarely used is stored in the external storage device 124. According to these configurations, the external storage device 1
24 has a huge capacity compared to the ROM 102,
A great deal of pattern data can be stored.

[0091]

As described above, according to the first aspect of the invention, the X-axis motor moves the target object X based on the movement amount (ΔX, ΔY) of the stitch data input to the stitch data input means. Move by the amount of axial movement (ΔX)
The axis motor moves the object by a movement amount (ΔY) in the Y-axis direction. During the movement of the object, the drive signal output means causes the speed ratio in the X-axis direction and the Y-axis direction at a given time to be a ratio of the movement amount (ΔX) in the X-axis direction and the movement amount (ΔY) in the Y-axis direction. Since the driving signals are respectively output to the X-axis motor and the Y-axis motor so that they are equal to each other, they are simultaneously driven.
The object does not move only in the X-axis direction or only in the Y-axis direction, but moves linearly and smoothly from one movement position to the next movement position. Therefore, when the continuous operation device (laser cutting device, ink jet device, etc.) is operated on the object, the operation result is not jagged and can be made continuous and smooth.

According to the invention of claim 2, the drive signal output means causes the X-axis pulse motor to move in the X-axis direction (Δ
The pulse interval is inversely proportional to (X) and the Y-axis pulse motor is configured to output pulses at pulse intervals inversely proportional to the movement amount (ΔY) in the Y-axis direction. Are pulsed at pulse intervals that are inversely proportional to the amount of movement. Therefore, the object can be sent in a straight line and can be sent at a constant speed while being sent from one moving position to the next moving position. Therefore, when the continuous operation device is operated on the object, the operation result can be made more continuous and smooth.

Further, according to the invention of claim 3, the amount of movement (ΔX1, ΔY1) from one movement position to the next movement position.
Pulses are output at pulse intervals based on, and the amount of movement from the next movement position to the next movement position (ΔX2, ΔY2)
Since it is configured to output pulses at pulse intervals based on, without stopping the object at the next movement position,
It can be sent continuously and at a constant speed. Therefore, the object does not stop at the moving position,
The continuous actuating device also does not act on the object continuously in one place. Therefore, the operation result can be made continuous and smooth before and after the moving position.

According to the invention of claim 4, the drive signal output means outputs the pulses so that the number of pulses becomes constant in the vector sum direction of the X-axis direction and the Y-axis direction. Therefore, the feeding speed of the object can be maintained constant. Therefore, even if the unit vector from one moving position to the next moving position and the unit vector from the next moving position to the next moving position are different, a uniform operation result can be obtained.

According to the invention of claim 5, the drive signal output means applies the X-axis motor and the Y-axis motor based on the movement amount (ΔX, ΔY) of the stitch data input to the stitch data input means. The deceleration pattern is acquired from the speed pattern storage means. This acceleration / deceleration pattern is such that the speed ratio in the X-axis direction and the Y-axis direction at an arbitrary time during movement becomes equal to the ratio of the X-axis direction movement amount (ΔX) and the Y-axis direction movement amount (ΔY). select. After that, the drive signal output means outputs the drive signals to the X-axis motor and the Y-axis motor in accordance with the acquired acceleration / deceleration pattern. Therefore, the object maintains a constant ratio of the moving speed in the X-axis direction and the moving speed in the Y-axis direction, and smoothly moves linearly from one moving position to the next moving position. Therefore, when the continuous actuation device is actuated on the object, the actuation result is not jagged and can be made linear and smooth.

According to the invention of claim 6, the output control means controls the output of the continuous operation means so that the operation amount per unit movement amount becomes constant based on the moving speed of the object. Therefore, the operation amount performed by the continuous operation means on the object can be kept constant per unit movement amount. Therefore, even when the relative movement speed between the head and the object changes, the operation result can be made continuous and smooth.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing a configuration of a motor control device of the present invention.

FIG. 2 is a block diagram showing an overall configuration of an embroidery sewing machine.

FIG. 3 is a flowchart showing a procedure of main processing.

4A and 4B are diagrams showing the contents of pattern data, in which FIG. 4A shows the positional relationship and FIG. 4B shows the structure of the pattern data.

FIG. 5 is a flowchart showing a procedure of embroidery processing.

FIG. 6 is a flowchart showing a procedure of cutting processing.

FIG. 7 is a diagram showing a feeding method (linear interpolation) in the motor control device of the present invention, in which FIG.
(B) shows pulse waveforms.

FIG. 8 is a diagram showing an example of a pattern, in which (A) shows the content of the pattern and (B) shows the structure of the pattern data.

FIG. 9 is a diagram showing a specific example of a frame moving process, including (A)
A flowchart of a processing procedure is shown in (B), and a method of calculating an operation amount is shown in (B).

FIG. 10 is a flowchart showing another procedure of a frame moving process.

FIG. 11 is a flowchart showing another procedure of main processing.

FIG. 12 is a flowchart illustrating a procedure of coloring processing.

FIG. 13 is a diagram showing a feeding method (linear interpolation) when a servo motor is applied, in which (A) shows a group of acceleration / deceleration patterns and (B) shows changes in control voltage.

FIG. 14 is a diagram showing another feeding method (curve interpolation) in the motor control device of the present invention, in which (A) shows a positional relationship and (B) shows a pulse waveform.

FIG. 15 is a diagram showing a feeding method when a pulse motor is applied to a conventional motor control device, in which (A) shows a positional relationship and (B) shows a pulse waveform.

16A and 16B are diagrams showing a feeding method when a servo motor is applied to a conventional motor control device, in which FIG. 16A shows a positional relationship and FIG. 16B shows a change in control voltage.

[Explanation of symbols]

 10 stitch data 20 motor control device 22 stitch data input means 24 drive signal output means 30 X-axis motor 40 Y-axis motor

Claims (6)

[Claims] 1. An X-axis motor for feeding an object in the X-axis direction,
A Y-axis motor for feeding the object in the Y-axis direction is provided.
A motor controller for an XY moving mechanism that moves the object in the XY plane by means of an axis motor and its Y axis motor, the amount of movement in the X axis direction from one moving position to the next moving position (ΔX) And a movement amount (ΔY) in the Y-axis direction as a pair to input the stored stitch data, and based on the movement amount (ΔX, ΔY) of the stitch data input to the stitch data input unit. X in the same time
The axis motor moves the object by the amount of movement in the X-axis direction (ΔX), the Y-axis motor moves the object by the amount of movement in the Y-axis direction (ΔY), and the X-axis direction at any time during the movement. And the speed ratio in the Y-axis direction is the amount of movement in the X-axis direction (ΔX) and Y
A motor control for an XY movement mechanism, comprising: drive signal output means for outputting a drive signal to each of the X-axis motor and the Y-axis motor so as to be equal to the ratio of the amount of movement (ΔY) in the axial direction. apparatus. 2. An X-axis motor for feeding an object in the X-axis direction,
A Y-axis motor for feeding the object in the Y-axis direction is provided.
A motor controller for an XY moving mechanism that moves the object in the XY plane by means of an axis motor and its Y axis motor, the amount of movement in the X axis direction from one moving position to the next moving position (ΔX) And a stitch data input means for inputting the stored stitch data by pairing the movement amount (ΔY) in the Y-axis direction, and X at a pulse interval inversely proportional to the movement amount (ΔX) in the X-axis direction.
A pulse is output to the axis motor to move in the Y-axis direction (ΔY)
And a drive signal output means for outputting a pulse to the Y-axis motor at a pulse interval inversely proportional to the motor control device for the XY movement mechanism. 3. When the amount of movement from one movement position to the next movement position is (ΔX1, ΔY1) and the amount of movement from the next movement position to the next movement position is (ΔX2, ΔY2), The drive signal output means is a movement amount in the X-axis direction (ΔX1)
After outputting ΔX1 pulse at the pulse interval based on, the pulse is output ΔX2 times at the pulse interval based on the movement amount (ΔX2) in the X-axis direction, and at the pulse interval based on the movement amount (ΔY1) in the Y-axis direction ΔY.
The amount of movement in the Y-axis direction (Δ
3. The motor control device for an XY moving mechanism according to claim 2, wherein pulses are output ΔY2 times at pulse intervals based on Y2). 4. The drive signal output means outputs pulses such that the sum of the square of the number of pulses output to the X-axis motor and the square of the number of pulses output to the Y-axis motor is constant per unit time. The motor controller for the XY movement mechanism according to claim 2. 5. An X-axis motor for feeding an object in the X-axis direction,
A Y-axis motor for feeding the object in the Y-axis direction is provided.
A motor controller for an XY moving mechanism that moves the object in an XY plane by an axis motor and a Y axis motor thereof, and a moving amount (ΔX) in a X axis direction from a certain moving position to a next moving position. And stitch data input means for inputting the stored stitch data by pairing the movement amount (ΔY) in the Y-axis direction, and starting deceleration within the same time and then finishing deceleration.
Speed pattern storage means for storing, for each movement amount (ΔX or ΔY), an acceleration / deceleration pattern of a moving speed whose speed ratio does not change with time; and movement of stitch data input to the stitch data input means. Drive signal output means for outputting drive signals to the X-axis motor and the Y-axis motor in accordance with the acceleration / deceleration pattern of the moving speed stored in the speed pattern storage means corresponding to the amount (ΔX, ΔY). A motor controller for a featured XY movement mechanism. 6. A continuous operation means for continuously operating with respect to an object, and the continuous operation means so that an operation amount per unit movement amount of the continuous operation means becomes constant based on a moving speed of the object. The motor control device for the XY moving mechanism according to claim 1, further comprising: output control means for controlling the output of the operating means.