JP3423962B2 - Printing device gap adjustment method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] The present invention relates to a gap for a printing apparatus.
The print head and the print head according to the paper thickness.
The Latin gap can be adjusted for proper gap adjustment.
Related to a gap adjusting method for a printing apparatus
It is. [0002] 2. Description of the Related Art Printing devices such as dot impact printers
The paper between the print head and the platen.
In rare cases, a pin called a dot pin is
The printed sheet is printed at a desired position on the sheet. Print head
A number of pins are arranged in the paper transport direction on the
While moving the shuttle in the paper width direction.
The pin is driven out at the required position, but the print head and paper
Paper came in contact with the print surface of
To prevent the pin from bending
A proper gap is provided. [0003] That is, between the print head and the platen
When the gap becomes too narrow, the pin
Buckles may break, break, or jam.
The print head and the platen.
If the gap is too wide, print fading may occur,
If the leading edge is caught on paper and is bent or broken
Might be. [0004] Therefore, as a solution, the present inventors have proposed
Japanese Patent Application Laid-Open No. 08-118751, "Gap Adjustment of Printing Apparatus"
Method and its mechanism "to enable proper gap adjustment
A method for adjusting the gap of a printing device was proposed. Sand
That is, as shown in FIG.
Between the platen 2 which is provided so as to be able to contact and separate the paper 3
Platen 2 is the first printing device to adjust the gap.
Distance n1 which is plus α to the distance from initial position to pressing position
Only the platen is sent by the motor and the paper 3
After pressing with the platen 2, the platen 2 is moved to a fixed origin position.
Away from the print head 1 until the print head 1
1, an appropriate position where an appropriate gap n2 remains, that is,
The distance from the pressing position to the origin position R
Platen 2 is printed up to the distance where appropriate gap n2 is reduced
Head 1 was made to approach. [0005] However, when the platen is driven,
Driver driver for the two-phase stepping motor
If the power transistor breaks due to excessive load,
Its rotation is no longer guaranteed and the movement becomes irregular. You
That is, the platen driven by the motor
Move or stop in the opposite direction
You. In other words, the movement command amount on the control side and the actual platen movement
The momentum does not match. [0006] Also, mechanically due to the harshness of gears and the like,
Detection is possible even if the stepping motor is out of step.
Therefore, similarly, the movement command amount on the control side and motor drive
Platen movement amounts will not match. Therefore,
Overfeed the Latin and press it against the print head and issue a command
Is actually in contact with the print head
The platen is set to the home position by the command to reverse to the next home position.
When returning to, the number of driving steps to return is small.
The printing device determines that the thickness of the paper is large and
Command a smaller amount of drive to the position and set a wider gap.
Will be determined. Conversely, when returning to the home position,
If the printer is driven for a longer time than
It was determined that the
And set a narrow gap. For this purpose, a stepping motor is driven.
The driver itself as a countermeasure for detecting driver malfunctions
A circuit to monitor the output was installed, and the transistor was broken
In this case, there is a method to notify the control side.
Adds hardware and leads to increased costs. The present invention
The purpose is to eliminate the above disadvantages and add special hard
Printing that can adjust the gap properly for the printing device
An object of the present invention is to provide a method of adjusting a gap of an apparatus. [0008] The present invention has been made in view of the above circumstances.
It is regarded as the control command and the motor drive.
By checking the platen movement amount
Eliminates positioning problems caused by data
The gap can be properly adjusted. That is, the method according to claim 1 is a print head.
Or move either platen by motorTo use
After pressing across the paper, separate the movable side to the home position,
After this, an appropriate gap is left between the movable side and the movable side.
Close to the movable sideThe print head and plastic
Adjusting the gap between the printer and the printer
Adjustment methodAndThe movable side is defined as the output signal of the origin sensor.
Move to the origin, which is the point of changeAfter,Go to a certain position
Motor drive amount and homeward travel required for forward travel during homeward travel
Compare the motor drive amount required for operationFor movement command
Check the followability of the movable side and try to guarantee the transmission mechanism.
Was. [0010] [0011] Embodiments of the present invention will be described below with reference to the drawings.
A description will be given below. FIG. 1 shows the mechanism of the present invention, and FIG. 2 shows the present invention.
3 to 8 are flowcharts. Figure
As shown in FIG. 1, a printing apparatus according to an embodiment of the present invention
Adjust the gap between the print head 1 and the platen 2
The gap adjusting mechanism 3 of the printing apparatus, the motor 4, and the motor
The platen 2 is driven by the
A contact / separation mechanism 6 for contacting / separating from the node 1. The contact / separation mechanism 6 contacts both ends of the platen 2.
A pair of cams 7 to be brought into contact with each other,
Gear train 8 and platen 2 against cam 7
A pair of springs 9 and a final gear of the gear train 8 are provided.
Between the gear 10 and the rotating shaft 11 supporting the cam 7.
A mitter 12 is interposed. The gear train 8
2 between the initial gear 13 and the final gear 10
Step reduction gears 14 and 15 and one intermediate gear 16 are provided.
It is. Further, a shaft 11 is provided at the front end of the rotating shaft 11.
The optical axis of the sensor 18 is shielded according to the rotation of the
A fan-shaped light shielding plate 10 for detecting the origin position is provided.
I have. As shown in FIG. 2, the paper 5 is located on the left side of FIG.
Feeding tractor 4 from below through paper end sensor 41
2 and further marked by a registration roller 43.
Print head in synchronization with the operation of the character head 1
1 is sent between the platen 2 and the
After that, it is discharged from between the print head 1 and the platen 2 by line feed.
The paper is fed to the upper right by the paper tractor 44 and finally
Transport to the paper output tray or paper output stacker of the printer.
Sent. Now, the direction and amount of rotation of the motor 4 will be described.
Is controlled by the contact / separation control device 20 shown in FIG.
Is done. The contact / separation control device 20 includes a counter, a ROM,
(Read only memory), RAM (random access memory)
CPU with a built-in memory
3) and various control circuits, as shown in FIGS.
A control program described later is stored in the ROM. So
And via a motor driver (motor drive circuit) 25
The drive and drive speed of the motor 4 are controlled. example
For example, a pulse motor as the motor 4 is used as a pulse signal.
The driving speed is changed more and the normal rotation and the reverse rotation are switched.
In this embodiment, one pulse drives the stepping motor 4 for one step.
The platen 2 is driven down by gears and reduced by 5 microns
Move. In the following description, the distance is equivalent to the number of pulses
It is. FIGS. 3 to 6 are flow charts of the present invention.
Automatic designated paper thickness gap control (AP
TC). First, the contact / separation control device 20 is illustrated
Automatically specified paper thickness gap from the main control unit of the printing device.
When the control command (APTC command in FIG. 1) is received,
The motor step counter (hereinafter referred to as the internal
Lower STEPCNT) is set to zero which is the initial value (Fig.
3. Step S1). Next, the platen 2 is moved to the platen open position.
(The position where the platen is farthest from the print head)
Presses the print head 1 with the platen 2 sandwiching the paper.
For this reason, the stepping mode is
Drive stepper 4 one step and add
(FIG. 3, step S2). At this time, the platen 2
Approach one step (5 microns) in the direction of the pad. Next, the platen 2 is pushed onto the print head 1.
X step which is a driving amount sufficient to attach (in the embodiment,
1800 steps) for the motor driver 25 (hereinafter omitted).
) To determine whether it has been sent to the stepping motor 4 via
Refuse. That is, the count value of the STEPPNT is specified.
It is determined whether or not the value X (1800) has been reached (FIG. 3,
Step S3). If it is determined in step S3 that STEPCN
When the count value of T is not X (1800)
Determines that the driving amount is insufficient, returns to step S2, and returns to step S2.
Repeat until the value of TEMPCNT becomes X. If S
When the value of TEMPCNT becomes X,
Platen 2 goes over the origin position to confirm the followability of
Whether the sensor 18 has moved to the print head
to decide. The output signal of the sensor 18 is opened by the platen 2.
In the dark position, changing from light to dark or dark to light
Is the origin position of the platen. Platen at origin
Output from the sensor 18 when approaching the print head
Becomes dark. When the output signal of this sensor 18 is in the open position
Whether the light has changed from light to dark beyond the origin
A judgment is made (FIG. 3, step S4). If it is determined in step S4 that the sensor 18
If the output signal remains bright (NO), the platen 2
Because it does not exceed the position, the platen tracking is poor,
Stop the subsequent processing as an APTC error and execute the APTC processing
To end. The reason for the APTC error is specified
For example, for the amount of motor drive, the gear tightness shown in FIG.
Causes the stepping motor 4 to step out and the platen to be regulated
Did not move to position or two-phase stepping
Power transition of one phase with motor drive driver 25
Motor is destroyed, and current
Does not flow, and the operation of the motor becomes inaccurate.
Platen 2 driven by irregular movement moves to the origin position
Is not exceeded. If the step
In step S4, if the output signal of the sensor 18 is dark (YES)
In this case, it is determined that the platen 2 was driven normally
To return the platen 2 to the home position.
STEPPCNT is set to an initial value of zero (FIG. 3, step S
5). Next, the stepping motor 4 is separated.
Drive one step in the direction
The value is incremented by 1 (FIG. 3, step S6). Next, STEP
CNT value pressed platen 2 against print head 1
The number of steps required to return from the state to the home position
Y, which is the value of gear backlash plus α
It is determined whether or not (step S7 in FIG. 3). If the value of the STEPPCNT is Y or more,
In the case of, even though the specified amount of motor was driven,
Is the platen unable to move to the home position due to the described obstacle?
Is determined to have occurred, an APTC error is issued, and the process ends.
You. If the value of STEPPCNT is less than or equal to Y
The origin sensor detects whether the platen has returned to the origin position.
Check the output signal of 18, if the output signal changes clearly
If not, the platen returns to the home position
And returns to step S6 to reset the platen 2.
The motor drive for separating is repeated (step S in FIG. 3).
8). In step S8, if the origin sensor 1
When the output signal of 8 is bright, the platen 2 reaches the home position
And then move the platen close and
Reciprocating movement to guarantee gear tightness and
Ensure compliance. The first step is to start with STEPCNT.
The term value is cleared to zero (FIG. 4, step S9). Next
Then, drive the motor one step in the separation direction,
Separate one step and add STEPPNT plus 1
(FIG. 4, step S10). Next, whether the platen has moved in the separating direction
Is confirmed by the output signal of the origin sensor 18. If
When the output signal of the point sensor 18 is not bright but dark (NO)
Determines that it has moved in the opposite approaching direction and
An error is determined and the APTC process ends (FIG. 4, step
S11). If it is determined in step S11 that the origin sensor 1
When the output signal of No. 8 is light (YES), the specified distance is left.
Return to step S10 until this routine is executed A times (
Repeat in the example 200 times) and the STEPPCNT value becomes A.
Then, the separation of the platen is completed (FIG. 4, step S1).
2). Next, the platen is brought close to the platen by the specified amount.
First, set STEPPENT to the initial value of zero.
(Step S13 in FIG. 4). Next, close the motor
Direction, and drive the platen one step closer.
, And increment STEPPCNT by 1 (FIG. 4, step S
14). Next, the STEPPCNT value is set to the specified value A
Add F step, which is the gear backlash, to the step.
It is determined whether or not it has driven the calculated value or more (FIG. 4,
Step S15). In step S15, if STEPC
If the NT value is A + F step, the motor 4
Despite the A + F step drive, the platen is in gear
APTC determined that he did not return to the origin position due to the
Is issued, and the subsequent processing ends. If the step S
15, if the STEPCNT value is less than A + F step
If the platen has reached the origin, the position of the platen
Is determined by the output signal of the origin sensor 18 (FIG. 4, step
S16). If the output signal of the origin sensor 18 is dark and
If the Latin has not returned to the home position (NO), drive
It is determined that the amount is insufficient, and the process returns to step S14 and is repeated.
You. If it has returned to the origin position (YES),
Ten loses gear with the drive of motor 4 and loses gear
End of warranty of transmission mechanism assuming normal following without
Driver that drives the stepping motor
To perform electrical assurance. First, STE
PCNT is set to an initial value of zero (FIG. 5, step S1).
7). Next, the motor is driven one step in the approaching direction.
And move the platen one step closer
The value is incremented by one (FIG. 5, step S18). Next, STE
Judge whether the PCNT value is 10 steps or not.
If it is less than the step, it is determined that the drive amount is
Return to step S18 and repeat until 10 steps
(FIG. 5, step S19). If the number of steps is 10 or more, the platen
Has moved in the designated direction, that is, the origin sensor 18
Is dark and the platen is closer to the print head than the home position.
Location, and if it is dark, follow the instructions and drive
The working driver is guaranteed to be normal. on the other hand,
If the sensor output becomes brighter on the open side than the home position,
Latin determines that it has moved out of the specified direction and
Judge that there is something wrong with the bar circuit and issue an APTC error
The subsequent processing ends (FIG. 5, step S20). In step S20, if the driver is different.
If there is not always (YES), the gear should be
Gear when Latin is moved away from home position
60 seconds from that position to remove the backlash
Driving the motor only by the step and moving the platen to the print head
The value of STEPCCNT was set to be close and driven for 60 steps.
Is determined to be 60 (FIG. 5, step S21). In step S21, if STEPPCNT
Is not 60 (NO), the driving amount is insufficient.
It returns to step S18 and repeats. If STEPCNT
Is 60 (YES), move the platen to the home position.
To perform the return process. First, set the value of STEPNT to the initial value.
Is set to zero (FIG. 5, step S22). Next, the motor is driven one step in the separating direction.
Move the platen one step apart, and
Is incremented by 1 (FIG. 5, step S23). If ST
The value of EPCNT has taken the backlash of the gear.
To drive the motor by 60 steps
E step, which is the sum of the backlash
It is determined whether or not it has been moved (FIG. 5, step S24). In step S24, if STEPPCNT
Value is added to the mechanical backlash in 60 steps
If the E step is the specified value, the motor 4
Despite driving the Tep, the platen 2 is at the home position
Did not return to the
A TC error is issued, and the subsequent processing ends. Step S
25, if the value of STEPNPT is less than E step
If so, whether the platen has returned to the origin
The determination is made based on the force signal (FIG. 5, step S25). In step S25, if the origin sensor 18
Output signal is not returning to the home position
If the drive amount is not enough to reach the origin position, step S23
Return to and repeat. In step S25, if the origin sensor
If the output signal of 18 is clearly changing, the platen
Finally return the platen to the printhead
If the paper thickness is detected by pressing the
Step until a proper gap remains with Latin.
The process of moving the platen by the number G
When using paper, set the print head and platen according to the paper thickness.
Number of steps to a position where an appropriate gap remains between
A process of moving the platen by G is performed. That is, first,
Set the value of STEPPCNT to the initial value of zero (see FIG. 6, step
Step S26). Next, the platen is changed by the G step described above.
Drive the motor one step closer to the print head side.
To add 1 to STEPPNT (FIG. 6, step
S27). Next, to confirm the followability of the platen 2
Drive 30 steps, which is the amount of gear backlash
It is determined whether or not the process has been performed (FIG. 6, step S28). In step S28, if STEPPCNT
If the value of is less than 30 steps, the driving amount is not enough
Then, the process returns to step S27 and is repeated. Step S28
So, if the value of STEPCNT becomes 30 steps
If the platen is
Or the output signal of the sensor 18 is at the home position.
Check whether the light has changed from light to dark (Fig. 6,
Step S29). In step S29, if the sensor 18
If the force signal is clear, the platen 2 will not follow the motor
Then, an APTC error is issued and the processing is terminated. Stay
In step S29, if the output signal of the sensor 18 is dark.
If the G step drive has been completed,
The value of the counter is checked (FIG. 6, step S30). In step S30, if STEPPCNT
If the value of G is equal to or less than G, it is determined that the driving amount is insufficient.
Return to step S27 and repeat. In step S30, if S
When the value of TEMPCNT reaches G, the gap adjustment is completed.
As a result, the APTC process is terminated. Next, the book
Another embodiment of the present invention will be described below with reference to the drawings. The flowcharts shown in FIGS.
Step Paper Thickness Gap Control (APTC) in Another Example
The procedure will be described. In another embodiment, the paper type and its thickness are determined in advance.
Is the gap adjustment for stepped paper etc. registered in the machine.
You. Therefore, since the thickness of the paper is known in advance,
Control to calculate the thickness of the paper by pressing the paper against the paper.
I don't know. First, the step APTC command is transmitted to the contact / separation control
When accepted in step 20, the value of STEPPCNT is changed to the initial value.
It is set to zero (FIG. 7, step S31). Next, the platen
From the platen open position to the position of origin sensor 18
To check if it has moved following the motor drive
First, the stepping motor 4 is driven one step,
STEPPCNT is incremented by 1 (FIG. 7, step S3).
2). Next, when the value of STEPPCNT is
Required to move from open position to origin sensor position
Backlash of the gear to a large number of steps C (240 steps)
Step to which F (for example, 30 steps) is added
It is determined whether the value has exceeded the number (see FIG. 7, step
S33). In step S33, if STEPC
If the value of NT is more than C + F step, the platen
Motor is used to drive the motor to the home position.
The platen does not reach the home position
An APTC error is issued assuming that there is an error in the
Stop processing. In step S33, if STEPPCNT
Is less than the above step, the platen is at the origin
Is confirmed by the output signal of the sensor 18 (Fig.
7, Step S34). In the open position, the sensor 18
The output signal is clear. In step S34, if the sensor
If the output signal of No. 18 is clear, it is determined that the driving amount is insufficient.
Returning to step S32, the driving of the motor is repeated. In step S34, if the output of the sensor 18 is
If the force signal is dark, drive the stepping motor further
The driver circuit to check for abnormalities
First, the STEPPCNT is cleared (FIG. 7, step
Step S35). Next, next, the motor is moved one
Step drive, bring the platen one step closer, STE
PCNT is incremented by 1 (FIG. 7, step S36).
To determine whether the motor has been driven for 10 steps
7, Step S37). In step S37, if STEPPCNT
If the value of is less than 10 steps, the driving amount is not enough
Judge and return to step S36 to repeat motor drive
You. If the value of STEPNTP is more than 10 steps
If the platen 2 moves correctly,
(Step S3 in FIG. 7)
8). In step S38, if the sensor 18
If the force signal is bright (NO), the motor drive circuit is abnormal
And the platen has moved in the opposite direction
An APTC error is issued and the process ends. Step S38
If the output signal of the sensor 18 is dark (YES)
If the motor is driven continuously, the value of STEPPCNT becomes
It is determined whether the number has reached 60 (FIG. 7, step S39). In step S39, if STEPPCNT
If the value has not reached 60, it is determined that the drive amount is insufficient.
Then, the process returns to step S37 to repeat the motor drive. S
In step S39, if the value of STEPCNT reaches 60
Then, the platen proximity feed is completed, and from there, the home position
Backlash of the mechanism in 60 steps which is the distance to the installation
Drive the motor with the number of steps added
First, to check whether it returns to the home position, STEP
The CNT is cleared (FIG. 8, step S40). Next, the stepping motor 4 is operated for one step.
Step drive to separate the platen 2 in the direction of the origin.
EPCNT is incremented by one (FIG. 8, step S41).
Subsequently, the value of STEPCNT is set to the mechanical value in the 60 steps.
E step, which is the number of steps to which the backlash of
It is determined whether or not the drive has been performed for more than
Step S42). In step S42, if STEPC
If the value of NT is equal to or greater than the E step, the platen
Despite using a motor to drive to the point position,
The platen reaches the origin position due to gear congestion
An APTC error is issued because it did not reach, and the subsequent processing
Interrupt. In step S42, if STEPPCNT
Is less than the above step, the platen is at the origin
Is confirmed by the output signal of the sensor 18 (Fig.
8, step S43). In step S43, if the output of the sensor 18 is
If the force signal is dark, determine that the drive amount is insufficient and
Returning to S40, the driving of the motor is repeated. Step S4
In step 3, if the output signal of the sensor 18 is clear,
Assuming that the motor normally follows the driving of the motor 4
After the confirmation of the followability is completed, the process proceeds to step S26 described above.
Then, the same process is performed, and in step S30 shown in FIG.
STEPCN to the number of steps G up to the gap of constant paper thickness
APTC processing when the value of the T counter becomes equivalent
To end. With the above method, the platen can be
The drive transformer of the two-phase stepping motor to be driven
The motor is not driven because the
The stepper motor is slipping due to the harshness of
Cannot be detected, causing a gap setting error.
As a result, the gap between the print head and the platen is
If the pin is too tight, the pin will buckle and bend
May break, break, or jam.
Conversely, the distance between the print head and the platen is too wide
Print fading occurs, or the tip of the pin
There was a risk of bending or breaking due to hanging
Was prevented. According to the gap adjusting method or apparatus of the present application,
Press the platen 2 against the paper.
When the pressure position reaches the perforated part of the continuous paper, the actual paper
The gap will be adjusted in the area thinner than the pressure.
You. By the way, the perforation of the paper is
Since the end sensor 41 is located at a fixed distance,
After detecting the leading edge of the paper, the perforation is
To the existing paper feeding means so that the paper is transported
It is preferable to indicate. However, this method is
Valid only when paper is set. Also, if the paper is loose,
It may cause incorrect detection of the correct pressing position or paper thickness.
When operating the gap adjusting mechanism of the present invention,
It is desirable to have tension. Therefore,
This kind of printing device
Perform paper tension processing on the provided paper feed control means
It is desirable to instruct. The paper tensioning process includes, for example,
Slightly reverse the tracker 42, or
The counter 44 slightly forward or both.
Either let it work. Above, print head 1
In contrast, only the case where the platen 2 moves has been described.
However, according to the present invention, the print head 1 moves with respect to the platen 2.
In the case of doing so, it can be naturally applied. [0053] As described above, according to the present invention,
If there is a problem with the driver or the
Detects slippage and accurately moves the platen closer to the print head
Can be made. And according to the present invention, the origin position
By reversing the operation of the contact / separation mechanism at
With the same amount as the backlash caused by the reversal of the contact / separation mechanism
Backlash in the reverse direction is generated at the home position,
And backlash at this origin position
The platen is in the correct position with zero set by canceling
It can move, eliminating the effects of backlash.
Can be. Also, the gap is automatically adjusted in this manner.
Gap adjustment is performed manually, and the gap is adjusted manually.
This eliminates the need for test printing to check the adjustment results.
Can be In the present invention, the gap adjusting mechanism is operated.
The procedure to be performed at regular intervals, at the end of each job, or
If it is done each time one hopper finishes printing,
Even if the gap between the platen and print head changes,
An appropriate gap can always be maintained. Further, the gap is adjusted for each predetermined number of rows.
Thus, it is possible to cope with a step medium. In addition,
Mark that can adjust the print density based on the paper thickness
When the character density adjustment means is used, a uniform
Printing density can be secured.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a principle diagram of the present invention. FIG. 2 is a side view of the present invention. FIG. 3 is a flowchart (1) of the present invention. FIG. 4 is a flowchart (part 2) of the present invention. FIG. 5 is a flowchart (3) of the present invention. FIG. 6 is a flowchart (part 4) of the present invention. FIG. 7 is a flowchart (part 1) of another embodiment of the present invention. FIG. 8 is a flowchart (part 2) of another embodiment of the present invention. FIG. 9 is a side view of the prior art. [Description of Signs] 1 Print head 2 Platen 3 Gap adjusting mechanism 4 Motor 5 Paper 6 Contact / separation mechanism 12 Torque limiter 17 Paper sensor 18 Origin sensor 20 Contact / separation control device n2 Appropriate gap R-n2 Appropriate pressing distance

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Yoshito Fukada 35-No. Saho, Shato-cho, Kato-gun, Hyogo (No address) Inside Fujitsu Peripheral Machinery Co., Ltd. (72) Inventor Akihiro Abe 4-chome, Kamiodanaka, Nakahara-ku, Kawasaki City, Kanagawa Prefecture No. 1 Fujitsu Limited (56) References JP-A-8-118751 (JP, A) JP-A-9-52404 (JP, A) JP-A-7-205499 (JP, A) (58) Survey Field (Int.Cl. ⁷ , DB name) B41J 11/20

Claims (1)

(57) [Claim 1] Either the print head or the platen is moved by a motor and pressed after sandwiching the paper, and then movable.
Side to the home position, and after that, between the movable side
A gap adjustment method for a printing apparatus that adjusts a gap between a print head and a platen by bringing a movable side close to an appropriate position where an appropriate gap remains , wherein the movable side is determined by a change point of an output signal of an origin sensor. After moving to a certain origin position, reciprocating to a certain position
Motor drive amount required for road travel and motor required for return travel
Gap adjustment method for a printing apparatus, wherein the TURMERIC row assurance check and transmission mechanism trackability of the movable relative to the movement command is compared with the driving amount.