Patent ID: 7245103

Claim:
A printer, comprising: a motor having an encoder operatively coupled thereto, said encoder generating a pulse train indicative of the speed of said motor; a clock generating a periodic clock signal at a frequency greater than said pulse train, the clock signal frequency independent of the speed of said motor; a motor speed counter indicating the instantaneous speed of said motor by counting the number of clock signal cycles per cycle of said pulse train; a command position counter generating a command position signal defining a plurality of sampling points, the sampling points independent of the speed of said motor; and a controller receiving said pulse train, said periodic clock signal, said motor speed indication, and said command position signal and implementing first and second control loops, said first control loop operative to adjust the speed of said motor so as to receive a predetermined number of cycles of said periodic clock signal per cycle of said pulse train, and said second loop operative to adjust the speed of said motor so as to receive a predetermined number of cycles of said periodic clock signal between a sampling point of said command position signal and a transition of said pulse train.