CPC B41J 19/202 (2013.01) [B41J 2/01 (2013.01)] | 10 Claims |
1. A control system, comprising:
a motor;
a moving body configured to be driven by the motor to move along a passage and to process an object;
an encoder including an encoder scale and a sensor configured to move relative to the encoder scale in association with the moving body to output an encoder signal by reading the encoder scale;
a measuring instrument configured to measure a status amount representing a moving status of the moving body along the passage based on the encoder signal; and
a controller configured to:
control movement of the moving body by controlling the motor based on the status amount measured by the measuring instrument and a speed profile defining a target speed of the moving body within a moving path from a movement start position to a stop position, the speed profile being a standard profile or a modified standard profile,
set the standard profile, the standard profile including a first acceleration section, at least one non-processing section, a processing section and a first deceleration section, the moving body located at the movement start position being accelerated to a first speed in the first acceleration section, the moving body moving at the first speed being decelerated and stopped at the stop position in the first deceleration section, the moving body processing the object when moving in the processing section,
determine whether or not the at least one non-processing section of the standard profile has a second acceleration section and a second deceleration section, a speed being accelerated from the first speed to a speed higher in the second acceleration section, a speed being decelerated from the speed higher to the first speed in the second deceleration section,
in response to determining that the at least one non-processing section of the standard profile has the second acceleration section and the second deceleration section, determine presence or absence of an obstruction which prevents the sensor from normally reading the encoder scale at a portion of the encoder scale corresponding to at least one of the second acceleration section or the second deceleration section in the at least one non-processing section;
in response to determining the presence of the obstruction, selectively modify the standard profile to form the modified standard profile such that the moving body moves at the first speed at the portion corresponding to the obstruction, the modified standard profile being used as the speed profile.
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