There is provided a control system including: a motor, a moving apparatus, a detector, a driving circuit, and a controller. The controller executes: inputting, to the driving circuit, a first voltage command value up to a predetermined time; inputting, to the driving circuit, a second voltage command value since the predetermined time, and in accordance with a predetermined transfer function including an integral element; and setting an initial value of the integral element. The predetermined time is a time since the deceleration of the object has been started. When executing the switching from the first voltage command value to the second voltage command value, the controller sets a target position trajectory of the object up to the target stop position. Further, the controller sets the initial value of the integral element.

A recording apparatus includes: a carriage that has a recording head which performs recording on a medium; and a gap adjusting unit that causes the carriage to shift in a direction in which a gap between a medium and the recording head changes depending on rotation of a cam. In a state in which the carriage is positioned at an end portion in a moving range in the first direction, at least a part of the carriage and at least a part of the cam overlap in a moving direction of the carriage. In the state in which the carriage is positioned at the end portion in the moving range in the first direction, the cam does not project with respect to the carriage in the first direction.

According to an embodiment of this invention, the following processing is performed to solve a problem of accurately determining an abnormal state in a carriage by using an acceleration sensor. Output values from a plurality of acceleration sensors mounted in locations which have low degrees of mechanical/physical coupling in a carriage and a printing apparatus main body are transformed into data in a frequency domain. Subsequently, a carriage operation abnormality and a level of the abnormal state are determined based on a plurality of acceleration values in the frequency domain and a comparison of magnitudes of the acceleration values.

A movement control device configured to determine whether the moving unit moved by a driving unit is in a stopped state at a position before a predetermined target stop position, and whether a difference between the detection position and the target stop position is equal to or smaller than a threshold difference, based on a detection position of the moving unit, after the moving unit starts deceleration operation, and switch a control of the driving unit to a position control based on the difference between the detection position and the target stop position, from a speed control based on a designated speed associated with the detection position to the target stop position, if the moving unit is in the stopped state at a position before the predetermined target stop position, and the difference is equal to or smaller than the threshold difference.

A printing apparatus including a discharge head that performs scanning movement with respect to a print medium and discharges ink to a surface of the print medium, a signal output unit which includes a reference scale in which optical density changes stepwise along a scanning movement direction of the discharge head and a reading unit that optically reads the reference scale and outputs a signal according to the optical density and in which the reference scale and the reading unit move relatively with each other along with the movement of the discharge head, and a stain detection unit that detects stain of the signal output unit based on a detection result of a strength level of the signal.

According to one embodiment, a tablet printing apparatus includes: a conveyer configured to convey a tablet along a line; an applicator head including a plurality of nozzles arranged in a direction crossing the conveyance direction of the tablet conveyed by the conveyer, configured to perform printing on the tablet by ejecting a liquid from the nozzles; and a controller configured to control the ejection of the liquid from the nozzles of the applicator head. The length of an array of the nozzles in a direction perpendicular to the conveyance direction is equal to or longer than the length of the tablet in the direction perpendicular to the conveyance direction. The controller is further configured to control switching of a nozzle used for printing on the tablet among the nozzles by a plurality of sections determined in advance.

An apparatus detects movement of a target object, estimates a control quantity for first feedback control for the target object at a first period, based on a detection signal, and estimates a first state quantity of the target object and a second state quantity obtained by time differentiation of the first state quantity in order to perform second feedback control for the target object at a second period shorter than the first period, based on the detection signal. The apparatus generates a first operation quantity for the first feedback control, based on the estimated control quantity, generates a second operation quantity for the second feedback control, based on the estimated first and second state quantities, and determines an output value, based on a result of comparing the second operation quantity with a maximum value of the first operation quantity.

An electronic device includes a moving body, first and second sensors, and a processor. The first sensor detects the moving body passing a reference position while moving along a first axis. The second sensor outputs a second phase signal of a second phase according to the moving body moving along the first axis, wherein the second phase is shifted from a first phase. In a setting mode, the processor stores information data indicating a level of the second phase signal at a time when the first sensor detects the reference position. In an operation control mode, the processor sets, as a position pertaining to an origin on the first axis, a position of an earliest edge of the first phase after the second phase signal switches from a level identical with the level stored in the setting mode to a different level after the first sensor detects the reference position.

An ejection apparatus includes an ejection head having an ejection port, a droplet detection unit, an acquisition unit, a control unit, and a decision unit. The droplet detection unit detects that a droplet ejected from the ejection port has reached a predetermined position. The acquisition unit acquires information regarding a velocity of movement of the detected droplet. The control unit controls the ejection head to eject the droplet from the ejection port. The decision unit decides a number of consecutive ejections of a plurality of droplets from the ejection head based on the acquired information regarding the velocities of each of the plurality of droplets ejected consecutively and detected by the droplet detection unit. If the acquisition unit acquires the information regarding velocities of detected droplets, the control unit controls the ejection head to consecutively eject the droplets from the ejection head based on the decided number of consecutive ejections.

In an image forming apparatus, a carriage mounts a recording head for discharging droplets, and moves in a main scan direction. A guide member slidably guides the carriage. An encoder scale is arranged along the main scan direction. An encoder sensor reads the encoder scale. The carriage includes a head mounting part for mounting the recording head, and a sensor attaching part for attaching the encoder sensor. The sensor attaching part is provided so as to be extended from the head mounting part. The encoder scale is arranged at a location which the encoder sensor can read. A partition member is provided to separate the head mounting part from the sensor attaching part in the carriage. The head mounting part is arranged in a first space, and the sensor attaching part and the encoder scale are arranged in a second space separated from the first apace by the partition member.