Lateral and skew registration using closed loop feedback on the paper edge position
A closed loop feedback method that continuously adjusts the lateral and skew position of a sheet includes a first sensor that is used to measure lateral sheet edge position. A second sensor measures the lateral sheet edge position at a certain distance from the first sensor. Sheet skew values can thus be calculated. Lateral and skew controllers provide outputs to lateral and skew actuators, respectively, to adjust the sheet position. A different method of registering sheets laterally and in skew enables active sheet deskew without translating the sheet in the cross-process direction. A sensor carriage position is controlled to find the sheet edge after which deskew control can start. The average value of the carriage position can then be fed in a feedforward manner to move the image location to match the average paper position. This achieves good average lateral registration and active skew control at a reduced cost.
1. A closed loop registration method that continuously adjusts the lateral and skew position of a sheet en route within a predetermined sheet path; comprising:
providing shaft mounted first and second sheet feeding nips spaced apart a predetermined distance;
providing first and second sensors positioned downstream of and between both of said first and second sheet feeding nips and spaced apart a predetermined distance, said first and second sensors adapted to sense the arrival of a sheet;
providing third and fourth sensors positioned to measure an edge of the sheet in a lateral direction;
measuring a lateral error;
providing a lateral controller for receiving said lateral error;
providing a lateral actuator;
providing a lateral mechanism; and wherein said lateral error is processed by said lateral controller that, in turn, actuates said lateral actuator which moves said lateral mechanism which thereby moves said shaft mounted first and second sheet feeding nips laterally; and
simultaneously providing feedforward and feedback skew control.
2. The closed loop registration method of claim 1 , wherein said feedforward skew control includes:
providing a selector switch;
placing said selector switch in a in a first position;
measuring the skew of the sheet and sending a signal indicative of the skew measurement;
providing a skew actuator that is adapted to receive said skew measurement signal;
providing a skew mechanism adapted to be actuated by said skew actuator as a result of said skew actuator receiving said skew measurement signal to change a relative angle of said first and second sheet feeding nips to thereby deskew the sheet.
3. The closed loop registration method of claim 2 , wherein said feedback skew control includes:
placing said selector switch in a second position;
measuring the amount that said feedforward skew control was in error;
providing a skew controller;
sending said error to said skew controller;
sending a signal from said skew controller to said skew actuator; and
actuating said skew mechanism with said skew actuator to change the relative angle of said first and second sheet feeding nips to thereby deskew the sheet.
4. The closed loop registration method of claim 3 , including ceasing said feedback skew control a predetermined time before the sheet reaches a handoff point.
5. A registration method that continuously adjusts the lateral position of a sheet en route within a predetermined sheet path; comprising:
a) providing shaft mounted first and second sheet feeding nips spaced apart a predetermined distance;
b) providing first and second sensors positioned downstream of and between both of said first and second sheet feeding nips and spaced apart a predetermined distance, said first and second sensors adapted to sense the arrival of a sheet;
c) providing third and fourth analog sensors having a limited analog range of about +/−0.5 mm positioned to measure an edge position of the sheet in a lateral direction;
d) measuring a lateral error;
e) sending said lateral error to a lateral controller;
f) sending a signal from said lateral controller to a lateral actuator; and
g) actuating a lateral mechanism with said lateral actuator such that said lateral mechanism moves said shaft mounted first and second sheet feeding nips to thereby move the sheet laterally; and
h) continuously repeating d) through g) until the sheet reaches a handoff point.
6. The registration method of claim 5 , including simultaneously adjusting skew of the sheet.
7. The registration method of claim 6 , wherein said simultaneously adjusting skew of the sheet includes:
a) providing a selector switch;
b) placing said selector switch in a in a first position;
c) measuring the skew of the sheet and sending a signal indicative of the skew measurement;
d) providing a skew actuator that is adapted to receive said skew measurement signal;
e) providing a skew mechanism adapted to be actuated by said skew actuator as a result of said skew actuator receiving said skew measurement signal to change the relative angle of said first and second sheet feeding nips to thereby deskew the sheet;
f) placing said selector switch in a second position;
g) measuring the amount that said skew in step e) was in error;
h) providing a skew controller;
i) sending said skew error to said skew controller;
j) sending a signal from said skew controller to said skew actuator; and
k) actuating said skew mechanism with said skew actuator in response to said signal from said skew controller to change the relative angle of said first and second sheet feeding nips to thereby deskew the sheet further.
8. The registration method of claim 7 , including ceasing the action in f)-k) a predetermined time before the sheet reaches the handoff point.
9. The registration method of claim 1 , including providing said third and fourth sensor as analog sensors with a limited analog range of about +/−0.5 mm.