A workpiece transport apparatus for transporting a workpiece includes: a hand device; a moving device that includes a movable part mounted with the hand device and that includes at least one drive axis configured to operate the movable part; a current measurement section configured to measure a current value of a motor that drives the drive axis; and a workpiece number detection section configured to detect that a number of workpieces held by the hand device is different from an expected number based on a comparison result between the current value measured by the current measurement section when the hand device holds the workpiece, and a predetermined threshold value.

A medium transport device includes a feeding roller that feeds a recording medium, a transport roller that transports the recording medium toward a recording head, and a transport motor which is a common driving source for the feeding roller and the transport roller. The medium transport device includes a power transmission mechanism that transmits power of the transport motor to the feeding roller, and a control section that controls a current of the transport motor. The control section measures a current value flowing through the transport motor during driving as a measured current value, and adds a predetermined offset value to the measured current value to set a second limit value as a limit value of the current supplied to the transport motor.

An image forming apparatus includes a main body, a sheet cassette, and a controller. The main body includes a first electrode, a second electrode, and a capacitance detector configured to output a signal indicating a value corresponding to a quantity of electricity stored in the first electrode and the second electrode. The sheet cassette includes a sheet guide, and a conductor disposed in an upper portion of the sheet guide. In a state in which the sheet cassette is at an installation position defined in the main body, the first electrode and the second electrode face the conductor in an up-down direction and are at different positions in a moving direction in which the sheet guide is movable. The controller is configured to detect a position of the sheet guide from the value of the signal outputted from the capacitance detector.

An image forming apparatus includes a main body, a sheet cassette, and a controller. The main body includes a first electrode, a second electrode, and a capacitance detector configured to output a signal indicating a value corresponding to a quantity of electricity stored in the first electrode and the second electrode. The sheet cassette includes a sheet guide, and a conductor disposed in an upper portion of the sheet guide. In a state in which the sheet cassette is at an installation position defined in the main body, the first electrode and the second electrode face the conductor in an up-down direction and are at different positions in a moving direction in which the sheet guide is movable. The controller is configured to detect a position of the sheet guide from the value of the signal outputted from the capacitance detector.

A post-processing unit includes a stapler, a driving section, and a controller. The stapler is moved in a Y direction and executes a stapling process on a paper sheet. The driving section moves the stapler in the Y direction. The controller controls an operation of the stapler and an operation of the driving section. The controller executes first control to supply a set current or a set voltage to the driving section, second control to supply, to the driving section, the same supply current as the set current or the same supply voltage as the set voltage, and third control to stop the supply of the supply current or the supply voltage. When the stapler executes the stapling process a plurality of times, the controller repeatedly executes the second control and the third control and causes the stapler to execute the stapling process during the execution of the second control.

A stacking and dispensing module (2) for use in an automatic teller machine (4), the module is configured to be arranged in connection with a banknote storage unit (6) comprising a banknote tray (8) on which banknotes (10) are stacked, the stacking and dispensing module (2) is configured to be in a banknote stacking mode, when banknotes are stacked in said storage unit (6), and in a banknote dispensing mode, when banknotes are dispensed from said storage unit (6). A stacking wheel member (12) is active both during the banknote stacking mode and during the banknote dispensing mode, and that the rotation of the stacking wheel member (12) is configured to be controlled by a first direct current (DC) motor (20), and the rotation of a dispensing wheel member (16) is configured to be controlled by a second DC motor (22). The module further comprises:—a current measuring unit (24) configured to measure the currents applied to drive said first and second DC motors (20, 22) and to generate current signals (26, 28) in dependence thereto,—a control unit (30) configured to receive said current signals (26, 28), wherein the control unit (30) is configured to evaluate said current signals (26, 28) and to determine control signals (32, 34) for various functions of said module in dependence of said evaluation, and to apply said control signals for controlling said functions.

An example paper feed device includes a tray to feed printing paper, a magnetic force generation element to generate a magnetic flux, a 3D magnetic sensor to detect changes in the a density of the magnetic flux generated by the magnetic force generation element in each of three axes, and a controller. The tray has a movable element that is movable in relation to the printing paper. Either the magnetic force generation element or the 3D magnetic sensor is attached to the movable element. The controller determines the position of the movable element based on a detection signal received from the 3D magnetic sensor.

An example paper feed device includes a tray to feed printing paper, a magnetic force generation element to generate a magnetic flux, a 3D magnetic sensor to detect changes in the a density of the magnetic flux generated by the magnetic force generation element in each of three axes, and a controller. The tray has a movable element that is movable in relation to the printing paper. Either the magnetic force generation element or the 3D magnetic sensor is attached to the movable element. The controller determines the position of the movable element based on a detection signal received from the 3D magnetic sensor.

An image forming apparatus includes a stacking portion, a pickup roller, a motor, an image forming unit, and a controller. Upon receiving an instruction for starting a first image forming job, the controller performs an initial operation of supplying current to a motor winding of the motor in a stop state and determining a phase of the rotor based on the flowing current. Based on the determined phase, the controller supplies current to rotate the rotor from its stop state and holds the rotor at a first phase when the first job ends. Upon receiving start instructions for a second image forming job within a period until a predetermined time elapses from when the rotor is held at the first phase, the controller rotates the rotor without performing the initial operation. The controller stops supplying current to the winding if no instructions are not received for starting the second job.

A transportation apparatus includes a plurality of transportation members that are arranged in a transportation direction for a medium and transport the medium, a plurality of actuators that drive the plurality of transportation members, and a processor that controls the plurality of actuators in such a manner as to increase transportation velocities of the plurality of actuators in order from actuators for driving transportation members on a downstream side in the transportation direction to actuators for driving transportation members on an upstream side in the transportation direction.