Patent ID: 9340052
Filing Date: 2016-05-17
CPC Classification: B41J,G05B,G11B,H01Q,H02P

Claim Text:
1. A method of operating a motor control system including a motor having an associated rotary position encoder, and a controller for controlling the operation of the motor, the method comprising: switching the motor between a first control mode, where position is a dominant control parameter, and a second control mode, where torque is the dominant control parameter, when movement of tape by the motor between spools is completed, wherein the switching between the first control mode and the second control mode is carried out as a smooth transition; switching the motor between the second control mode and the first control mode in order to transfer the tape between the spools, wherein the switching between the second control mode and the first control mode is carried out as a smooth transition; and providing an input to the controller to determine the motor torque developed by the motor to effect the smooth transitions by (i) gradually increasing a torque bias for at least a portion of the switching between the first control mode and the second control mode, and (ii) gradually decreasing the torque bias for at least a portion of the switching between the second control mode and the first control mode.