Controlling a pick mechanism of a machine for handling sheet media
View Patent ↗A pick mechanism is described. The pick mechanism comprises: a movable pick component; a stepper motor; and, a stepper motor controller. The stepper motor is operably connected to the pick component to drive the pick component in a sequence of movements, and each movement involves the pick component travelling in one direction between one position and another position in a required time. The controller produces control signals that control the motor such that the pick component is driven during a movement at or close to the minimum rate of acceleration required to complete the movement in the required time.
1. A pick mechanism comprising:
a movable pick component;
a stepper motor; and
a stepper motor controller;
wherein the stepper motor is operably connected to the pick component to drive the pick component in a sequence of movements;
wherein each movement involves the pick component travelling in one direction between one position and another position in a required time;
wherein the controller produces control signals that control the motor such that the pick component is driven during a movement at or close to the minimum rate of acceleration required to complete the movement in the required time;
wherein each movement is divided into an initial phase and a final phase, and control signals are produced such that the pick component is driven with positive acceleration during the initial phase and with negative acceleration during the final phase; and
wherein the initial phase is equal to half of the required time with the acceleration rate during the initial phase calculated based on the rate required to complete half the movement in half of the required time and the deceleration during the final phase equal to the negative of the acceleration during the initial phase.
2. A pick mechanism according to claim 1 wherein each movement further comprises at least one intermediate phase, between the initial phase and final phase, during which the rate of acceleration of the pick component is increased, decreased or substantially constant.
3. A pick mechanism according to claim 1 wherein any phase is preceded or followed by a period when the pick component does not accelerate.
4. A pick mechanism according to claim 1 wherein the pick component comprises an arm pivotally mounted on a support.
5. A pick mechanism according to claim 4 wherein the stepper motor has a drive shaft on which a gear may be mounted, the arm is provided with a complementary gear and the gear and the complementary gear are engaged.
6. An automated teller machine comprising a pick mechanism according to claim 1 .
7. A method of operating a pick mechanism comprising a stepper motor, a stepper motor controller, and a movable pick component driven in a sequence of movements, wherein (i) each movement involves the pick component travelling in one direction between one position and another position in a required time, (ii) each movement includes an initial phase and a final phase, and the pick component is driven with positive acceleration during the initial phase and with negative acceleration during the final phase, and (iii) the initial phase is equal to half of the required time with the acceleration rate during the initial phase calculated based on the rate required to complete half the movement in half of the required time and the deceleration during the final phase equal to the negative of the acceleration during the initial phase, the method comprising:
driving the pick component during a movement at or close to the minimum rate of acceleration required to complete the movement in the required time.
8. A method of operating a pick mechanism according to claim 7 wherein each movement further comprises at least one intermediate phase, between the initial phase and final phase, during which the rate of acceleration of the pick component is increased, decreased or substantially constant.
9. A method of operating a pick mechanism according to claim 7 wherein any phase is preceded or followed by a period when the pick component does not accelerate.
10. A method according to claim 7
wherein the stepper motor is operably connected to the pick component to drive the pick component in the sequence of movements; and
wherein the controller executes instructions with which it is programmed, which cause the controller to produce control signals that control the motor.
11. A method according to claim 10 wherein the method is performed by a computer having a memory executing one or more programs of instructions which are tangibly embodied in a program storage medium readable by the computer.